CN111132870A - Control method of movable platform, movable platform and storage medium - Google Patents
Control method of movable platform, movable platform and storage medium Download PDFInfo
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- CN111132870A CN111132870A CN201880038483.0A CN201880038483A CN111132870A CN 111132870 A CN111132870 A CN 111132870A CN 201880038483 A CN201880038483 A CN 201880038483A CN 111132870 A CN111132870 A CN 111132870A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/13—Maintaining the SoC within a determined range
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/14—Preventing excessive discharging
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
A control method of a movable platform, the movable platform and a storage medium, the control method comprising: acquiring current load power of the movable platform and current power battery power boundary SOP power of a battery (S101); comparing the current load power and the current SOP power (S102); and adjusting the load power according to the comparison result to ensure that the current load power is smaller than the current SOP power (S103). The control method of the movable platform, the movable platform and the storage medium enable the movable platform to use a battery with high energy density without safety risk, thereby improving the endurance of the movable platform.
Description
Technical Field
The present invention relates generally to the field of control, and more particularly, to a method for controlling a movable platform, and a storage medium.
Background
At present, batteries used by most unmanned aerial vehicle manufacturers are characterized by low energy density (generally 180-.
However, at present, the unmanned aerial vehicle industry is concerned about endurance and safety indexes, and risks may exist if a low-discharge-rate high-energy-density battery is used. This is because: firstly, if the requirement of the unmanned aerial vehicle on the output power of the battery is high and even exceeds the SOP requirement, the service life of the battery is influenced, and the battery is even directly burnt under severe conditions; second, although the battery manufacturer gives the discharge rate of the battery core, the maximum power value cannot be estimated according to the discharge rate after the battery is assembled, especially in the case of low battery capacity, the maximum power value is very obviously attenuated, and currently, the unmanned aerial vehicle generally does not consider the dynamic power battery power boundary (SOP) of the battery, which greatly affects the service life and safety of the battery because the output power of the battery is likely to exceed the SOP of the battery. . In addition, even if a battery with low energy density and high discharge rate is used, the problem that the output power of the battery is likely to exceed the power limit (SOP) of the battery power battery can be faced, so that the service life of the battery is influenced, and the potential safety hazard exists.
Disclosure of Invention
The present invention has been made to solve at least one of the above problems. The invention provides a control method of a movable platform, the movable platform and a storage medium, which enable the movable platform to use a battery with high energy density and have no safety risk, thereby improving the endurance of the movable platform.
Specifically, a first aspect of the present invention provides a control method for a movable platform, the movable platform being powered by a battery, the control method comprising:
acquiring the current load power of the movable platform and the current power battery power boundary SOP power of a battery;
comparing the current load power with the current SOP power;
and adjusting the load power according to the comparison result to ensure that the current load power is smaller than the current SOP power.
A second aspect of the invention provides a moveable platform comprising:
a battery module for providing electrical energy to the battery powered device;
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the steps of:
acquiring the current load power of the movable platform and the current power battery power boundary SOP power of a battery;
comparing the current load power with the current SOP power;
and adjusting the load power according to the comparison result to ensure that the current load power is smaller than the current SOP power.
A third aspect of the invention provides a mobile platform, the mobile platform being battery powered, the mobile platform comprising:
the power acquisition module is used for acquiring the current load power of the movable platform and the current SOP power of the battery;
the comparison module is used for comparing the current load power with the current SOP power;
and the control module is used for adjusting the load power according to the comparison result of the comparison module so as to ensure that the current load power is smaller than the current SOP power.
A fourth aspect of the present invention provides a computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the control method according to the first aspect of the present invention.
The invention provides a control method of a movable platform, the movable platform and a storage medium, which can ensure that the current load power is smaller than the current SOP power by acquiring the load power and the current power battery power boundary SOP power of a battery in real time, comparing the two, and then adjusting the load power according to the comparison result, thereby ensuring that the battery output power (namely the load power) of the movable platform does not exceed the current power battery power boundary SOP power of the battery, enabling the movable platform to use the battery with high energy density, and improving the endurance of the movable platform. That is, according to the control method of the movable platform, the movable platform and the storage medium of the present invention, the load power is dynamically adjusted according to the dynamic SOP power of the battery, so that the battery output power (i.e. the load power) does not exceed the current power battery power boundary SOP power of the battery, and the load power requirement of the movable platform can be satisfied as much as possible.
Drawings
FIG. 1 is a schematic block diagram of an example electronic device for implementing a method of controlling a movable platform and a movable apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of a method of controlling a movable platform according to an embodiment of the present invention;
FIG. 3 is an exemplary detailed flow chart of a control method for an UAV according to an embodiment of the present invention;
FIG. 4 is a schematic block diagram of a movable device according to an embodiment of the invention; and
FIG. 5 is a schematic block diagram of a movable platform according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be set forth in the following description in order to explain the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
First, an example electronic apparatus 100 for a movable device and a control method for the movable device for implementing an embodiment of the present invention is described with reference to fig. 1.
As shown in FIG. 1, electronic device 100 includes one or more processors 102, one or more memory devices 104, an input device 106, an output device 108, and a battery module 110, which are interconnected via a bus system 112 and/or other form of connection mechanism (not shown). It should be noted that the components and structure of the electronic device 100 shown in fig. 1 are exemplary only, and not limiting, and the electronic device may have other components and structures as desired.
The processor 102 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions. The number of the processors 102 may be one or more.
The storage 104 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. On which one or more computer program instructions may be stored that may be executed by processor 102 to implement client-side functionality (implemented by the processor) and/or other desired functionality in embodiments of the invention described below. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.
The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.
The output device 108 may output various information (e.g., images or sounds) to an external (e.g., user), and may include one or more of a display, a speaker, and the like.
The battery module 110 may provide power to the electronic device 100. The battery module 110 includes a battery and various detection circuits and/or communication interfaces, where the various detection circuits are configured to detect parameters of the battery, such as output voltage, output current, current capacity, battery cycle number, cell temperature or ambient temperature, and send the parameters to the one or more processors 102 through the communication interfaces, and the battery module 110 and the processors 102 communicate with each other through a serial port.
Exemplary electronic devices for implementing the control method of the movable platform and the movable apparatus according to the embodiments of the present invention may be implemented as an unmanned aerial vehicle, an unmanned ship, a robot, an electric scooter, a balance car, a model airplane, and the like.
Fig. 2 is a schematic flow chart of a method of controlling a movable platform according to an embodiment of the present invention. As shown in fig. 2, a method for controlling a movable platform according to an embodiment of the present invention includes:
and S101, acquiring the current load power of the movable platform and the current power battery power boundary SOP power of the battery.
Illustratively, the current load power of the movable platform is obtained by: acquiring the current output voltage U and current I of a battery, and acquiring the current load power Pload of the movable platform according to the current output voltage U and current I of the battery, wherein the Pload is U I.
Illustratively, the current power battery power boundary SOP power of the battery of the movable platform is obtained by: and acquiring at least one of the current residual capacity, the cycle number, the cell temperature and the environment temperature of the battery, and acquiring the current SOP power of the battery according to at least one of the current residual capacity, the cycle number, the cell temperature and the environment temperature of the battery. The current SOP power of the battery is a functional relationship corresponding to one or more of the current remaining capacity, the cycle number, the cell temperature and the ambient temperature of the battery, the functional relationship may be determined by theoretical calculation or experiments, and the functional relationship may be a functional formula or a mapping table. After obtaining parameters of the current remaining capacity, cycle number, cell temperature, ambient temperature and the like of the battery, the current SOP power of the battery can be calculated through the function formula or obtained by inquiring the mapping table. It should be understood that the SOP power of the battery is a dynamic value related to the above parameters, and it should also be understood that a mapping table may be obtained through testing according to a plurality of or all of the above parameters, so as to obtain a more accurate correspondence between the SOP power and the above factors.
And step S102, comparing the current load power with the current SOP power. Namely, the values of the current load power and the current SOP power are obtained in the comparison step S101.
Step S103, adjusting the load power according to the comparison result to ensure that the current load power is smaller than the current SOP power.
Specifically, when the current load power is greater than the current SOP power, the load power is adjusted so that the current load power is less than the current SOP power, thereby ensuring the safety of the battery. And when the current load power is smaller than the current SOP power, the current load power can have a larger value, so that the power requirement of the movable platform is met. That is, if the current load power is greater than the current SOP power, limiting the power requirement of the load of the movable platform so that the current load power is less than the current SOP power; allowing an increase in power demand of a load of the movable platform if the current load power is less than the current SOP power. Therefore, the load power is dynamically adjusted according to the dynamic value of the SOP power, so that the current load power is smaller than the current SOP power, and the power requirement of the movable platform is met as far as possible under the permission of the current SOP power.
It should be understood that after the load power is adjusted to make the current load power smaller than the current SOP power, the load power may exceed the current SOP power at the instant, that is, the load power is adjusted dynamically for a period of time, and the load power may exceed the current SOP power for a period of time and then decrease below the current SOP power.
Adjusting the load power or the power demand of the load can be achieved in various feasible ways, for example, selecting a load with different power demands to operate, and selecting a load with a small power demand to operate if the current load power is greater than the current SOP power, for example, for an unmanned aerial vehicle, selecting a fixed wing (with a small power demand) to operate and stopping using a rotating wing (with a large power demand) if the current load power is greater than the current SOP power, so that the current load power can be reduced. For another example, if the current load power is greater than the current SOP power, the current movable platform is limited in maximum speed or current speed, and the current load power is reduced by limiting the current movable platform in maximum speed or current speed, so that the current load power is less than the current SOP power. As an example, if the current load power is greater than the current SOP power, the maximum speed set point for the movable platform is decreased. Specifically, if the current load power is greater than the current SOP power, the limit value of the maximum moving speed of the movable platform is decreased until the current load power is less than the current SOP power or the limit value of the maximum moving speed of the movable platform reaches a minimum set value. The aim of reducing the current speed of the movable platform can be achieved by reducing the limit value of the maximum moving speed of the movable platform, so that the current load power is reduced.
Further, if the current load power is always greater than the current SOP power when the load power or the power demand of the load is adjusted, the operation of the movable platform is limited hard to ensure safety. As an example, if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the duration in which the current load power remains greater than the current SOP power is greater than a set time, the operation of the movable platform is limited. If the limit value of the maximum moving speed of the movable platform reaches the minimum set value, and the duration that the current load power is kept larger than the current SOP power is longer than the set time, the current SOP power of the battery cannot meet the current power requirement of the movable platform, and in order to ensure that the operation of the movable platform is limited safely, for example, for an unmanned aerial vehicle, the return journey, landing and the like of the unmanned aerial vehicle can be controlled.
Further, if the current load power is smaller than the current SOP power after a period of time while adjusting the load power or the power demand of the load, the power demand of the load of the movable platform should be allowed to increase, that is, the load should be allowed, so that it can be ensured that the movable platform can have a higher power demand. As an example, if the current load power is less than the current SOP power and the limit value of the maximum moving speed of the movable platform is not the maximum set value, the limit value of the maximum moving speed of the movable platform is increased. This allows the movable platform to operate at greater travel speeds when required. For example, if the current maximum moving speed of the movable platform is limited to 20m/s and the current maximum moving speed is limited to 30/s, the current maximum moving speed limit may be adjusted to 25m/s if the current load power is less than the current SOP power. In some embodiments, when determining the adjustment, the adjustment needs to be performed after a predetermined time, for example, 0.05 second, 0.1 second, 1 second, 5 seconds, etc., is satisfied with the corresponding condition. By setting the preset time, the frequency of adjustment can be prevented from being too fast, and the burden of the system is prevented from being increased.
According to the control method of the movable platform, the load power and the current power battery power boundary SOP power of the battery are collected in real time, the magnitude of the load power and the current power battery power boundary SOP power of the battery are compared, and then the load power is adjusted according to the comparison result to ensure that the current load power is smaller than the current SOP power, so that the battery output power (namely the load power) of the movable platform cannot exceed the current power battery power boundary SOP power of the battery, the movable platform can use the battery with high energy density, and the endurance of the movable platform is improved. Namely, the control method of the movable platform according to the invention dynamically adjusts the load power according to the dynamic SOP power of the battery, so that the output power (i.e. the load power) of the battery does not exceed the current power battery power boundary SOP power of the battery, and the load power requirement of the movable platform can be met as much as possible.
The following describes in detail a control method of a movable platform according to an embodiment of the present invention, taking an unmanned aerial vehicle as an example, with reference to fig. 3.
Fig. 3 is an exemplary detailed flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the invention. As shown in fig. 3, the control method for an unmanned aerial vehicle according to the present embodiment includes:
step S201, acquiring current load power of the unmanned aerial vehicle and current power battery power boundary SOP power of a battery.
Illustratively, the unmanned aerial vehicle collects the output voltage U and the output current I of the battery in real time and calculates the real-time battery output power Pload. The battery output power Pload is composed of motor power, avionics system power, pan-tilt-zoom camera power and third party customer load power, and is P (motor) + P (avionics) + P (pan-tilt-zoom) + P (third party load).
Illustratively, a power supply line and a communication line are connected between the battery and the flight control of the unmanned aerial vehicle, the communication line adopts a serial port for example, and the battery transmits the current SOP power value to the flight control of the unmanned aerial vehicle in real time. The current SOP power value is a function of the current battery residual capacity, the battery cycle number, the battery core temperature and the environment temperature. The SOP function of the battery can be measured through testing, and the dynamic SOP power value can be given under different environment temperatures and different residual electric quantities through a table look-up method.
Step S202, judging whether the current load power is smaller than the current SOP power. If the current load power is smaller than the current SOP power, step S203 is performed, otherwise step S204 is performed.
In step S203, the maximum attitude angle of the unmanned aerial vehicle is limited to the maximum value in the current mode.
The unmanned aerial vehicle has different maximum attitude angles in different modes, that is, the maximum speeds allowed to operate in different modes are different. As an example, if the UAV is in a sport mode (i.e., S-range mode), the maximum attitude angle of the UAV is limited to a first maximum attitude angle, the maximum airspeed is limited to a first maximum airspeed, and the maximum ascent speed is limited to a first maximum ascent speed. Illustratively, the first maximum attitude angle is 35 degrees, the first maximum flying speed is 23m/s, and the first maximum rising speed is 5 m/s.
Further, the maximum attitude angle of the unmanned aerial vehicle in the current mode is also related to the number of the unmanned aerial vehicle mounting holders. As an example, if the unmanned aerial vehicle mounts the dual-gimbal, the maximum attitude angle of the unmanned aerial vehicle is limited to a second maximum attitude angle, the maximum flying speed is limited to a second maximum flying speed, and the maximum ascending speed is limited to a second maximum ascending speed. Illustratively, the second maximum attitude angle is 25 degrees, the second maximum flying speed is 16m/s, and the first maximum rising speed is 3 m/s.
Further, the maximum attitude angle of the unmanned aerial vehicle in the current mode is also related to whether the unmanned aerial vehicle mounts other loads. The other loads are non-self loads of the unmanned aerial vehicle, such as third party loads of the user or other loads related to the SDK. And if the unmanned aerial vehicle carries a non-self load, limiting the maximum attitude angle of the unmanned aerial vehicle to be a third maximum attitude angle, limiting the maximum flying speed to be a third maximum flying speed, and limiting the maximum ascending speed to be a third maximum ascending speed. Illustratively, the third maximum attitude angle is 25 degrees, the third maximum flying speed is 16m/s, and the third maximum rising speed is 3 m/s.
Further, when the unmanned aerial vehicle mounts a non-self load, the control method further includes: judging the power value of the unmanned aerial vehicle in suspension after the unmanned aerial vehicle is mounted with a non-self load and the current SOP power; if the power value of the unmanned aerial vehicle in suspension after the unmanned aerial vehicle is mounted with the non-self load is smaller than the set percentage of the current SOP power, for example, smaller than 60% of the current SOP power, the unmanned aerial vehicle is allowed to operate; otherwise, the operation of the unmanned aerial vehicle is limited, for example, the unmanned aerial vehicle is not allowed to fly.
In step S204, the maximum attitude angle of the unmanned aerial vehicle is decreased until the current load power is less than the current SOP power or the maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value.
Specifically, if the current load power is greater than the current SOP power, the maximum attitude angle limit value of the unmanned aerial vehicle is reduced from the maximum value in the current gear and mode until the current load power is less than the current SOP power or the maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value. The maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value, for example, 15 degrees.
In step S205, while reducing the maximum attitude angle of the unmanned aerial vehicle, it is further determined whether the limit value of the maximum attitude angle of the unmanned aerial vehicle reaches the minimum set value and the duration of the current load power kept greater than the current SOP power is greater than the set time, if so, step S20 is performed to limit the operation of the unmanned aerial vehicle, otherwise, steps S202 to S205 are performed continuously.
For example, if the maximum attitude angle of the UAV is limited to 15 degrees, if Pload > SOP hold time is greater than a set time, such as greater than 5 seconds, a safety function may be triggered to limit the operation of the UAV.
Further, in this embodiment, in the process of decreasing the maximum attitude angle of the unmanned aerial vehicle, if the current load power becomes smaller than the current SOP power and the limit value of the maximum attitude angle of the unmanned aerial vehicle is not the maximum set value, the limit value of the maximum attitude angle of the unmanned aerial vehicle is increased. This may allow the unmanned aerial vehicle to achieve greater flight speeds when needed. For example, when the maximum attitude angle of the unmanned aerial vehicle is reduced during upwind flight, and when the unmanned aerial vehicle changes to double-flight, the current load power is reduced and is smaller than the current SOP power, the unmanned aerial vehicle is allowed to fly at a speed which is allowed to be higher by the SOP power by increasing the maximum attitude angle of the unmanned aerial vehicle.
In step S205, the operation of the unmanned aerial vehicle is restricted. For example, the unmanned aerial vehicle is enabled to return to the air and land, the APP end of the unmanned aerial vehicle prompts the user that the user is currently in the battery overload working state, the user needs to immediately land and return to the air, and the third party load connected with the user is closed.
According to the control method for the unmanned aerial vehicle, the load power and the current power battery power boundary SOP power of the battery are collected in real time, the magnitude of the load power and the current power battery power boundary SOP power of the battery are compared, and then the load power is adjusted according to the comparison result to ensure that the current load power is smaller than the current SOP power, so that the battery output power (namely the load power) of the unmanned aerial vehicle cannot exceed the current power battery power boundary SOP power of the battery, the unmanned aerial vehicle can use the battery with high energy density, and the cruising duration of the unmanned aerial vehicle is improved. That is, the control method for the unmanned aerial vehicle according to the present embodiment dynamically adjusts the load power according to the dynamic SOP power of the battery, so that the battery output power (i.e., the load power) does not exceed the current power battery power boundary SOP power of the battery, and the load power demand of the unmanned aerial vehicle can be satisfied as much as possible.
FIG. 4 is a schematic block diagram of a movable device according to an embodiment of the invention.
As shown in fig. 4, the mobile device 400 according to the present embodiment includes a battery module 410, a power acquisition module 420, a comparison module 430, and a control module 440.
Wherein the battery module 410 is used to provide energy to the mobile device 400. The battery module 410 includes a battery, a detection module, a calculation module, and a communication module. The detection module is used for detecting the output voltage, the output current, the current electric quantity, the battery cycle times, the battery core temperature or the environment temperature of the battery; the calculation module is used for calculating the current load power of the battery power equipment and the current SOP power of the battery according to the detection result of the detection module; the communication module is configured to send the calculation result of the calculation module to the control module 440.
The power obtaining module 420 is used for obtaining the current load power of the movable platform and the current SOP power of the battery. The power obtaining module 420 may be implemented by the processor 102 in the electronic device shown in fig. 1 executing program instructions stored in the storage 104, and may perform steps S101 and S201 of the control method according to the embodiment of the present invention.
The comparing module 430 is configured to compare the current load power and the current SOP power. The comparison module 430 may be implemented by the processor 102 in the electronic device shown in fig. 1 executing program instructions stored in the storage 104, and may perform steps S102 and S202 of the control method according to the embodiment of the present invention.
The control module 440 is configured to adjust the load power according to the comparison result of the comparison module 430 to ensure that the current load power is smaller than the current SOP power. The control module 440 may be implemented by the processor 102 in the electronic device shown in fig. 1 executing program instructions stored in the storage 104, and may perform steps S103 and S203-S206 of the control method according to the embodiment of the present invention.
FIG. 5 is a schematic block diagram of a movable platform according to an embodiment of the present invention.
As shown in fig. 5, the movable platform 500 according to the present embodiment includes a load 510, a battery module 520, a storage device 530, and a processor 540.
The load 510 is the various energy-requiring devices in the movable platform 500. For example, for an unmanned aerial vehicle, loads 510 may be motors, avionics, pan-tilt-cameras, and third party loads.
The battery module 520 is used to provide power for the load 510, and send information of the battery module 520 to the processor 540. Illustratively, the battery module 520 includes a battery, a detection module, a calculation module, and a communication module. The detection module is used for detecting the output voltage, the output current, the current electric quantity, the battery cycle times, the battery core temperature or the environment temperature of the battery; the calculation module is used for calculating the current load power of the battery power equipment and the current SOP power of the battery according to the detection result of the detection module; the communication module is used for sending the calculation result of the calculation module to the processor 540.
The storage device 530 stores one or more program codes for implementing respective steps in the control method of the movable platform according to the embodiment of the present invention.
The processor 540 is configured to run the program codes stored in the storage device 530 to perform the corresponding steps of the control method of the movable platform according to the embodiment of the present invention, and is configured to implement the power obtaining module 420, the comparing module 430 and the control module 440 of the movable platform according to the embodiment of the present invention. The processor 540 may be one or more.
Illustratively, when the program code is executed by the processor 540, the following steps are performed:
acquiring the current load power of the movable platform and the current power battery power boundary SOP power of a battery;
comparing the current load power with the current SOP power;
and adjusting the load power according to the comparison result to ensure that the current load power is smaller than the current SOP power.
In one embodiment of the invention, the one or more processors 540 further perform the steps of:
and acquiring the current output voltage and current of the battery, and acquiring the current load power of the movable platform according to the current output voltage and current of the battery.
In one embodiment of the invention, the one or more processors 540 further perform the steps of:
and acquiring at least one of the current residual capacity, the cycle number, the cell temperature and the environment temperature of the battery, and acquiring the current SOP power of the battery according to at least one of the current residual capacity, the cycle number, the cell temperature and the environment temperature of the battery.
In one embodiment of the invention, the one or more processors 540 further perform the steps of: if the current load power is larger than the current SOP power, limiting the power requirement of the load of the movable platform so as to enable the current load power to be smaller than the current SOP power; allowing an increase in power demand of a load of the movable platform if the current load power is less than the current SOP power.
In one embodiment of the invention, the one or more processors 540 further perform the steps of: and if the current load power is larger than the current SOP power, reducing the maximum speed set value of the movable platform.
In one embodiment of the invention, the one or more processors 540 further perform the steps of: and if the current load power is greater than the current SOP power, reducing the limit value of the maximum moving speed of the movable platform until the current load power is less than the current SOP power or the limit value of the maximum moving speed of the movable platform reaches a minimum set value.
In one embodiment of the invention, the one or more processors 540 further perform the steps of: and if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the duration of the current load power which is kept larger than the current SOP power is larger than a set time, limiting the operation of the movable platform.
In one embodiment of the invention, the one or more processors 540 further perform the steps of: and if the current load power is less than the current SOP power and the limit value of the maximum moving speed of the movable platform is not the maximum set value, increasing the limit value of the maximum moving speed of the movable platform.
In one embodiment of the invention, the one or more processors 540 further perform the steps of:
if the current load power is smaller than the current SOP power, limiting the maximum attitude angle of the unmanned aerial vehicle to be the maximum value in the current mode;
if the current load power is larger than the current SOP power, reducing the maximum attitude angle of the unmanned aerial vehicle until the current load power is smaller than the current SOP power or the maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value.
In one embodiment of the invention, the one or more processors 540 further perform the steps of: and if the unmanned aerial vehicle is in the motion mode, limiting the maximum attitude angle of the unmanned aerial vehicle to be a first maximum attitude angle, limiting the maximum flying speed to be a first maximum flying speed, and limiting the maximum ascending speed to be a first maximum ascending speed.
In one embodiment of the invention, the one or more processors 540 further perform the steps of:
and judging whether the unmanned aerial vehicle is mounted with the double cloud platforms or not, if so, limiting the maximum attitude angle of the unmanned aerial vehicle to be a second maximum attitude angle, limiting the maximum flight speed to be a second maximum flight speed, and limiting the maximum ascending speed to be a second maximum ascending speed.
In one embodiment of the invention, the one or more processors 540 further perform the steps of:
and judging whether the unmanned aerial vehicle carries a non-self load or not, if so, limiting the maximum attitude angle of the unmanned aerial vehicle to be a third maximum attitude angle, limiting the maximum flight speed to be a third maximum flight speed, and limiting the maximum ascending speed to be a third maximum ascending speed.
In one embodiment of the invention, the one or more processors 540 further perform the steps of:
the first maximum attitude angle is greater than the second maximum attitude angle, which is greater than the third maximum attitude angle;
the first maximum airspeed is greater than the second maximum airspeed, which is greater than the third maximum airspeed;
the first maximum rising speed is greater than the second maximum rising speed, which is greater than the third maximum rising speed.
In one embodiment of the invention, the one or more processors 540 further perform the steps of: and if the limit value of the maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value and the duration of the current load power which is kept larger than the current SOP power is larger than the set time, limiting the operation of the unmanned aerial vehicle.
In one embodiment of the invention, the one or more processors 540 further perform the steps of: and if the current load power is smaller than the current SOP power and the limit value of the maximum attitude angle of the unmanned aerial vehicle is not the maximum set value, increasing the limit value of the maximum attitude angle of the unmanned aerial vehicle.
In one embodiment of the invention, the one or more processors 540 further perform the steps of:
when the unmanned aerial vehicle carries a non-self load, judging the power value of the unmanned aerial vehicle in suspension after carrying the non-self load and the current SOP power; if the power value of the unmanned aerial vehicle in suspension after the unmanned aerial vehicle is mounted with the non-self load is smaller than the set percentage of the current SOP power, allowing the unmanned aerial vehicle to run; otherwise, the unmanned aerial vehicle is limited to operate.
Further, according to an embodiment of the present invention, there is also provided a storage medium on which program instructions are stored, which when executed by a computer or a processor, are used for executing the respective steps of the control method for a movable platform/unmanned aerial vehicle according to an embodiment of the present invention, and for implementing the respective modules in the movable platform according to an embodiment of the present invention. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.
In one embodiment, the computer program instructions may implement the functional modules of the removable apparatus according to embodiments of the present invention when executed by a computer.
In one embodiment, the computer program instructions, when executed by a computer, perform the steps of: acquiring the current load power of the movable platform and the current power battery power boundary SOP power of a battery; comparing the current load power with the current SOP power; and adjusting the load power according to the comparison result to ensure that the current load power is smaller than the current SOP power.
According to the control method of the movable platform, the movable platform and the storage medium provided by the invention, the load power and the current power battery power boundary SOP power of the battery are collected in real time, the magnitude of the load power and the current power battery power boundary SOP power of the battery are compared, and then the load power is adjusted according to the comparison result to ensure that the current load power is smaller than the current SOP power, so that the battery output power (namely the load power) of the movable platform cannot exceed the current power battery power boundary SOP power of the battery, the movable platform can use the battery with high energy density, and the endurance of the movable platform is improved. That is, according to the control method of the movable platform, the movable platform and the storage medium of the present invention, the load power is dynamically adjusted according to the dynamic SOP power of the battery, so that the battery output power (i.e. the load power) does not exceed the current power battery power boundary SOP power of the battery, and the load power requirement of the movable platform can be satisfied as much as possible.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (37)
1. A method of controlling a movable platform, the movable platform being powered by a battery, the method comprising:
acquiring the current load power of the movable platform and the current power battery power boundary SOP power of a battery;
comparing the current load power with the current SOP power;
and adjusting the load power according to the comparison result to ensure that the current load power is smaller than the current SOP power.
2. The control method according to claim 1, characterized by further comprising:
and acquiring the current output voltage and current of the battery, and acquiring the current load power of the movable platform according to the current output voltage and current of the battery.
3. The control method according to claim 1, characterized by further comprising:
and acquiring at least one of the current residual capacity, the cycle number, the cell temperature and the environment temperature of the battery, and acquiring the current SOP power of the battery according to at least one of the current residual capacity, the cycle number, the cell temperature and the environment temperature of the battery.
4. The control method according to any one of claims 1-3, characterized by limiting the power demand of the load of the movable platform if the current load power is greater than the current SOP power, such that the current load power is less than the current SOP power;
or, if the current load power is less than the current SOP power, allowing an increase in the power demand of the load of the movable platform.
5. The control method of claim 4, wherein if the current load power is greater than the current SOP power, then decreasing the maximum speed set point for the movable platform.
6. The control method according to claim 5, wherein if the current load power is greater than the current SOP power, the limit value of the maximum moving speed of the movable platform is decreased until the current load power is less than the current SOP power or the limit value of the maximum moving speed of the movable platform reaches a minimum set value.
7. The control method of claim 6, wherein if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the duration for which the current load power remains greater than the current SOP power is greater than a set time, the operation of the movable platform is limited.
8. The control method according to claim 4, wherein if the current load power is less than the current SOP power and the limit value of the maximum moving speed of the movable platform is not a maximum set value, the limit value of the maximum moving speed of the movable platform is increased.
9. The control method of claim 1, wherein the movable platform comprises an unmanned aerial vehicle, an unmanned ship, a robot.
10. The control method according to claim 9,
if the current load power is smaller than the current SOP power, limiting the maximum attitude angle of the unmanned aerial vehicle to be the maximum value in the current mode;
if the current load power is larger than the current SOP power, reducing the maximum attitude angle of the unmanned aerial vehicle until the current load power is smaller than the current SOP power or the maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value.
11. The control method of claim 10, wherein if the UAV is in a motion mode, limiting a maximum attitude angle of the UAV to a first maximum attitude angle, a maximum airspeed to a first maximum airspeed, and a maximum ascent speed to a first maximum ascent speed.
12. The control method according to claim 11, characterized by further comprising:
and judging whether the unmanned aerial vehicle is mounted with the double cloud platforms or not, if so, limiting the maximum attitude angle of the unmanned aerial vehicle to be a second maximum attitude angle, limiting the maximum flight speed to be a second maximum flight speed, and limiting the maximum ascending speed to be a second maximum ascending speed.
13. The control method according to claim 12, characterized by further comprising:
and judging whether the unmanned aerial vehicle carries a non-self load or not, if so, limiting the maximum attitude angle of the unmanned aerial vehicle to be a third maximum attitude angle, limiting the maximum flight speed to be a third maximum flight speed, and limiting the maximum ascending speed to be a third maximum ascending speed.
14. The control method according to claim 13,
the first maximum attitude angle is greater than the second maximum attitude angle, which is greater than the third maximum attitude angle;
the first maximum airspeed is greater than the second maximum airspeed, which is greater than the third maximum airspeed;
the first maximum rising speed is greater than the second maximum rising speed, which is greater than the third maximum rising speed.
15. The control method according to claim 10, wherein if the limit value of the maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value and the duration for which the current load power remains greater than the current SOP power is greater than a set time, the operation of the unmanned aerial vehicle is limited.
16. The control method according to claim 10, characterized in that if the current load power is smaller than the current SOP power and the limit value of the maximum attitude angle of the unmanned aerial vehicle is not a maximum set value, the limit value of the maximum attitude angle of the unmanned aerial vehicle is increased.
17. The control method according to claim 9, characterized by further comprising:
when the unmanned aerial vehicle carries a non-self load, judging the power value of the unmanned aerial vehicle in suspension after carrying the non-self load and the current SOP power; if the power value of the unmanned aerial vehicle in suspension after the unmanned aerial vehicle is mounted with the non-self load is smaller than the set percentage of the current SOP power, allowing the unmanned aerial vehicle to run; otherwise, the unmanned aerial vehicle is limited to operate.
18. A movable platform, comprising:
a battery module for providing electrical energy to the battery powered device;
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the steps of:
acquiring the current load power of the movable platform and the current power battery power boundary SOP power of a battery;
comparing the current load power with the current SOP power;
and adjusting the load power according to the comparison result to ensure that the current load power is smaller than the current SOP power.
19. The movable platform of claim 18, wherein the one or more processors further perform the steps of:
and acquiring the current output voltage and current of the battery, and acquiring the current load power of the movable platform according to the current output voltage and current of the battery.
20. The movable platform of claim 18, wherein the one or more processors further perform the steps of:
and acquiring at least one of the current residual capacity, the cycle number, the cell temperature and the environment temperature of the battery, and acquiring the current SOP power of the battery according to at least one of the current residual capacity, the cycle number, the cell temperature and the environment temperature of the battery.
21. The movable platform of any one of claims 18-20, wherein the one or more processors further perform the steps of: if the current load power is larger than the current SOP power, limiting the power requirement of the load of the movable platform so as to enable the current load power to be smaller than the current SOP power; allowing an increase in power demand of a load of the movable platform if the current load power is less than the current SOP power.
22. The movable platform of claim 21, wherein the one or more processors further perform the steps of: and if the current load power is larger than the current SOP power, reducing the maximum speed set value of the movable platform.
23. The movable platform of claim 22, wherein the one or more processors further perform the steps of: and if the current load power is greater than the current SOP power, reducing the limit value of the maximum moving speed of the movable platform until the current load power is less than the current SOP power or the limit value of the maximum moving speed of the movable platform reaches a minimum set value.
24. The movable platform of claim 23, wherein the one or more processors further perform the steps of: and if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the duration of the current load power which is kept larger than the current SOP power is larger than a set time, limiting the operation of the movable platform.
25. The movable platform of claim 21, wherein the one or more processors further perform the steps of: and if the current load power is less than the current SOP power and the limit value of the maximum moving speed of the movable platform is not the maximum set value, increasing the limit value of the maximum moving speed of the movable platform.
26. The movable platform of claim 18, wherein the movable platform comprises an unmanned aerial vehicle, an unmanned ship, a robot.
27. The movable platform of claim 26, wherein the one or more processors further perform the steps of:
if the current load power is smaller than the current SOP power, limiting the maximum attitude angle of the unmanned aerial vehicle to be the maximum value in the current mode;
if the current load power is larger than the current SOP power, reducing the maximum attitude angle of the unmanned aerial vehicle until the current load power is smaller than the current SOP power or the maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value.
28. The movable platform of claim 27, wherein the one or more processors further perform the steps of: and if the unmanned aerial vehicle is in the motion mode, limiting the maximum attitude angle of the unmanned aerial vehicle to be a first maximum attitude angle, limiting the maximum flying speed to be a first maximum flying speed, and limiting the maximum ascending speed to be a first maximum ascending speed.
29. The movable platform of claim 28, wherein the one or more processors further perform the steps of:
and judging whether the unmanned aerial vehicle is mounted with the double cloud platforms or not, if so, limiting the maximum attitude angle of the unmanned aerial vehicle to be a second maximum attitude angle, limiting the maximum flight speed to be a second maximum flight speed, and limiting the maximum ascending speed to be a second maximum ascending speed.
30. The movable platform of claim 29, wherein the one or more processors further perform the steps of:
and judging whether the unmanned aerial vehicle carries a non-self load or not, if so, limiting the maximum attitude angle of the unmanned aerial vehicle to be a third maximum attitude angle, limiting the maximum flight speed to be a third maximum flight speed, and limiting the maximum ascending speed to be a third maximum ascending speed.
31. The movable platform of claim 30, wherein the one or more processors further perform the steps of:
the first maximum attitude angle is greater than the second maximum attitude angle, which is greater than the third maximum attitude angle;
the first maximum airspeed is greater than the second maximum airspeed, which is greater than the third maximum airspeed;
the first maximum rising speed is greater than the second maximum rising speed, which is greater than the third maximum rising speed.
32. The movable platform of claim 27, wherein the one or more processors further perform the steps of: and if the limit value of the maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value and the duration of the current load power which is kept larger than the current SOP power is larger than the set time, limiting the operation of the unmanned aerial vehicle.
33. The movable platform of claim 27, wherein the one or more processors further perform the steps of: and if the current load power is smaller than the current SOP power and the limit value of the maximum attitude angle of the unmanned aerial vehicle is not the maximum set value, increasing the limit value of the maximum attitude angle of the unmanned aerial vehicle.
34. The movable platform of claim 26, wherein the one or more processors further perform the steps of:
when the unmanned aerial vehicle carries a non-self load, judging the power value of the unmanned aerial vehicle in suspension after carrying the non-self load and the current SOP power; if the power value of the unmanned aerial vehicle in suspension after the unmanned aerial vehicle is mounted with the non-self load is smaller than the set percentage of the current SOP power, allowing the unmanned aerial vehicle to run; otherwise, the unmanned aerial vehicle is limited to operate.
35. The movable platform of claim 18, wherein the battery module comprises:
the detection module is used for detecting the output voltage, the output current, the current electric quantity, the battery cycle times, the battery core temperature or the environment temperature of the battery;
the calculation module is used for calculating the current load power of the battery power equipment and the current SOP power of the battery according to the detection result of the detection module;
and the communication module is used for sending the calculation result of the calculation module to the one or more processors.
36. A movable platform that is powered by a battery, comprising:
the power acquisition module is used for acquiring the current load power of the movable platform and the current SOP power of the battery;
the comparison module is used for comparing the current load power with the current SOP power;
and the control module is used for adjusting the load power according to the comparison result of the comparison module so as to ensure that the current load power is smaller than the current SOP power.
37. A computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, performs the steps of the method of any one of claims 1 to 17.
Applications Claiming Priority (1)
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|---|---|---|---|
| PCT/CN2018/118704 WO2020107451A1 (en) | 2018-11-30 | 2018-11-30 | Control method for movable platform, movable platform and storage medium |
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| CN111132870A true CN111132870A (en) | 2020-05-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112388640A (en) * | 2020-11-27 | 2021-02-23 | 深圳优地科技有限公司 | Speed control method and device based on load, robot and storage medium |
| WO2023082253A1 (en) * | 2021-11-15 | 2023-05-19 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle, and storage medium |
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| CN108860622A (en) * | 2018-04-28 | 2018-11-23 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle (UAV) control method, apparatus and computer readable storage medium |
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