CN113484765A - Method and device for determining duration of unmanned aerial vehicle, processing equipment and medium - Google Patents
Method and device for determining duration of unmanned aerial vehicle, processing equipment and medium Download PDFInfo
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Abstract
The invention provides a method, a device, processing equipment and a medium for determining the endurance time of an unmanned aerial vehicle, and relates to the technical field of data processing. The method comprises the following steps: acquiring preset flight information of each flight segment in a target air route of the unmanned aerial vehicle, wherein the preset flight information is used for indicating electric quantity consumption information and time consumption information of each flight segment; and determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment. The acquired preset flight information of each flight segment in the target flight line can indicate the electric quantity consumption information and the time consumption information of each flight segment, the electric quantity consumption information indicated in the preset flight information of each flight segment in the target flight line is subdivided, the flight states of different flight segments are changed, the electric quantity consumption information is different, and the determined endurance time is more accurate based on the current electric quantity of the battery and the preset flight information of each flight segment.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a method, a device, processing equipment and a medium for determining the endurance time of an unmanned aerial vehicle.
Background
The unmanned plane is an unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device. With the increasing degree of intelligence of the unmanned aerial vehicle, the estimation of the remaining endurance time also becomes a research hotspot.
In the related art, a sensor is adopted to obtain current sampled within a period of time; subtracting the product of the sampled current and the sampling time from the current capacity of the battery to obtain the remaining electric quantity of the battery; and dividing the residual electric quantity of the battery by the sampled current to obtain the residual endurance time.
However, in the related art, the remaining endurance time is estimated based on the current sampled for a period of time, and is only applicable to an application scenario with a constant flight state, and the problem that the determined remaining endurance time is inaccurate easily occurs for an application scenario with a variable flight state.
Disclosure of Invention
The invention aims to provide a method, a device, a processing device and a medium for determining the endurance time of an unmanned aerial vehicle, aiming at the defects in the prior art, so as to solve the problems that in the related art, the residual endurance time is estimated based on the current sampled for a period of time, the method is only suitable for application scenes with unchanged flight state, and the determined residual endurance time is inaccurate easily generated for application scenes with changed flight state.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a method for determining a duration of an unmanned aerial vehicle, including:
acquiring preset flight information of each flight segment in a target air route of the unmanned aerial vehicle, wherein the preset flight information is used for indicating electric quantity consumption information and time consumption information of each flight segment;
and determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment.
Optionally, the preset flight information of each flight segment includes: the preset consumed current and the preset flight time of each flight segment.
Optionally, before acquiring preset flight information of each flight segment in a target flight path of the unmanned aerial vehicle, the method further includes:
determining the preset consumed current of each flight segment according to the operation state corresponding to each flight segment, wherein the operation state comprises at least one of the following: rise, fall, hover, turn, advance.
Optionally, determining the preset consumed current of each leg according to the operation state corresponding to each leg includes:
and determining the preset consumed current of each flight segment according to the operation state corresponding to each flight segment and the flight scene of each flight segment.
Optionally, according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment, determining the duration of the unmanned aerial vehicle, including:
determining the consumed electric quantity of each flight segment according to the preset consumed current and the preset flight time of each flight segment in the target flight line;
determining a target flight path where the reachable position of the unmanned aerial vehicle is located according to the consumed electric quantity of each flight path in the target flight path and the current electric quantity of the battery;
determining the endurance time of the target flight segment according to the current electric quantity of the battery, the consumed electric quantity of each flyable flight segment before the target flight segment and the preset consumed current of the target flight segment;
and determining the duration of the unmanned aerial vehicle according to the preset flight duration of each flyable flight segment and the duration of the target flight segment.
Optionally, determining the endurance time of the target flight segment according to the current electric quantity of the battery, the electric quantity consumed by each flyable flight segment before the target flight segment, and the preset consumed current of the target flight segment, includes:
determining the first battery residual capacity of the target flight segment according to the current electric quantity of the battery and the consumed electric quantity of each flyable flight segment;
and determining the endurance time of the target flight segment according to the first battery residual capacity and the preset consumed current of the target flight segment.
Optionally, the preset flight information includes: a preset airspeed, the method further comprising:
determining the flight distance of each flyable flight segment according to the preset flight speed and the preset flight time of each flyable flight segment;
determining the flight distance of the target flight segment according to the preset flight speed of the target flight segment and the endurance time of the target flight segment;
and determining the remaining mileage of the unmanned aerial vehicle according to the flight distance of each flyable flight segment and the flight distance of the target flight segment.
Optionally, the current electric quantity of the battery is: the initial electric quantity of the battery when the unmanned aerial vehicle does not fly, or the current second battery residual capacity in the flight process of the unmanned aerial vehicle.
Optionally, if the current electric quantity of the battery is: the initial electric quantity of the battery when the unmanned aerial vehicle does not fly;
the preset flight information of each flight segment in the target air route of the unmanned aerial vehicle is acquired, and the method comprises the following steps:
and before the unmanned aerial vehicle takes off, acquiring the preset flight information of each flight segment in the target air route and the initial battery electric quantity of the unmanned aerial vehicle.
Optionally, if the current electric quantity of the battery is the current second battery residual electric quantity in the flight process of the unmanned aerial vehicle;
before determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment, the method further comprises the following steps:
acquiring the current position of the unmanned aerial vehicle and the current flight segment where the current position is located;
and determining the residual electric quantity of the second battery according to the corresponding consumed electric quantity of each flying flight segment before the current flight segment and the preset initial electric quantity of the battery.
In a second aspect, an embodiment of the present invention further provides a duration determining apparatus for an unmanned aerial vehicle, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring preset flight information of each flight segment in a target air route of the unmanned aerial vehicle, and the preset flight information is used for indicating electric quantity consumption information and time consumption information of each flight segment;
and the determining module is used for determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment.
Optionally, the preset flight information of each flight segment includes: the preset consumed current and the preset flight time of each flight segment.
Optionally, the method further includes:
the first determining module is configured to determine the preset consumed current of each leg according to an operation state corresponding to each leg, where the operation state includes at least one of the following: rise, fall, hover, turn, advance.
Optionally, the first determining module is further configured to determine the preset consumed current of each leg according to an operation state corresponding to each leg and a flight scene of each leg.
Optionally, the determining module is further configured to determine the power consumption of each flight segment according to a preset consumed current and a preset flight time of each flight segment in the target flight path; determining a target flight path where the reachable position of the unmanned aerial vehicle is located according to the consumed electric quantity of each flight path in the target flight path and the current electric quantity of the battery; determining the endurance time of the target flight segment according to the current electric quantity of the battery, the consumed electric quantity of each flyable flight segment before the target flight segment and the preset consumed current of the target flight segment; and determining the duration of the unmanned aerial vehicle according to the preset flight duration of each flyable flight segment and the duration of the target flight segment.
Optionally, the determining module is further configured to determine a first remaining battery capacity of the target leg according to the current battery capacity and the consumed battery capacity of each flyable leg; and determining the endurance time of the target flight segment according to the first battery residual capacity and the preset consumed current of the target flight segment.
Optionally, the preset flight information includes: a preset airspeed, the device further comprising:
the second determining module is used for determining the flight distance of each flyable flight segment according to the preset flight speed and the preset flight time of each flyable flight segment; determining the flight distance of the target flight segment according to the preset flight speed of the target flight segment and the endurance time of the target flight segment; and determining the remaining mileage of the unmanned aerial vehicle according to the flight distance of each flyable flight segment and the flight distance of the target flight segment.
Optionally, the current electric quantity of the battery is: the initial electric quantity of the battery when the unmanned aerial vehicle does not fly, or the current second battery residual capacity in the flight process of the unmanned aerial vehicle.
Optionally, if the current electric quantity of the battery is: the initial electric quantity of the battery when the unmanned aerial vehicle does not fly;
the acquisition module is further used for acquiring the preset flight information of each flight segment in the target air route and the initial battery electric quantity of the unmanned aerial vehicle before the unmanned aerial vehicle takes off.
Optionally, if the current electric quantity of the battery is the current second battery residual electric quantity in the flight process of the unmanned aerial vehicle; the device further comprises:
the first acquisition module is used for acquiring the current position of the unmanned aerial vehicle and the current flight segment where the current position is located;
and the third determining module is used for determining the residual electric quantity of the second battery according to the corresponding consumed electric quantity of each flying flight segment before the current flight segment and the preset initial electric quantity of the battery.
In a third aspect, an embodiment of the present invention further provides a processing device, including: a memory storing a computer program executable by the processor, and a processor implementing the method of any of the first aspects when executing the computer program.
In a fourth aspect, an embodiment of the present invention further provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is read and executed, the method of any one of the above first aspects is implemented.
The invention has the beneficial effects that: the embodiment of the invention provides a method for determining the endurance time of an unmanned aerial vehicle, which comprises the following steps: acquiring preset flight information of each flight segment in a target air route of the unmanned aerial vehicle, wherein the preset flight information is used for indicating electric quantity consumption information and time consumption information of each flight segment; and determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment. The acquired preset flight information of each flight segment in the target flight line can indicate the electric quantity consumption information and the time consumption information of each flight segment, the electric quantity consumption information indicated in the preset flight information of each flight segment in the target flight line is subdivided, the flight states of different flight segments are changed, the electric quantity consumption information is different, and the determined endurance time is more accurate based on the current electric quantity of the battery and the preset flight information of each flight segment.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a method for determining a cruising time of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of various segments of a target route provided by an embodiment of the invention;
fig. 3 is a schematic flow chart of a method for determining a cruising time of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for determining a cruising time of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a method for determining a cruising time of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of a method for determining a cruising time of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a duration determining apparatus of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a processing apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that if the terms "upper", "lower", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually arranged when the product of the application is used, the description is only for convenience of describing the application and simplifying the description, but the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and operation, and thus, cannot be understood as the limitation of the application.
Furthermore, the terms "first," "second," and the like in the description and in the claims, as well as in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
In the related art, the endurance time of the battery is estimated by sampling the current or voltage at a certain time, and the method can only adapt to specific application scenes, such as the quality of the unmanned aerial vehicle is kept unchanged, the external interference is zero, or the attitude of the unmanned aerial vehicle is unchanged. If the mass of the unmanned aerial vehicle changes in a nonlinear mode, the calculation of the residual capacity by simply using the voltage or current sampled at a certain time becomes inaccurate.
For example, when the plant protection unmanned aerial vehicle takes off in full load, the required current increases because the motor needs to do more work in full load, and the remaining time calculated by the sampled current is lower at this time; similarly, for a vertical fixed wing drone with two flight modes, the current required by the vertical fixed wing drone in a multi-rotor state is much higher than the current in the fixed wing state, and at the moment, the estimated battery remaining time is much shorter than the estimated remaining time in the fixed wing state, so that the remaining time is estimated by simply using the current or voltage sampled at a certain moment, and the actual current or voltage at the next moment cannot be accurately predicted, so that the currently estimated remaining time is inaccurate. And the remaining time may be affected by the sampled value at the next time instant, causing a problem of abrupt change in the estimated remaining time.
The embodiment of the application provides a method for determining the endurance time of an unmanned aerial vehicle, the acquired preset flight information of each flight segment in a target flight line can indicate the electric quantity consumption information and the time consumption information of each flight segment, the electric quantity consumption information indicated in the preset flight information of each flight segment in the target flight line is subdivided, the flight states of different flight segments are changed, the electric quantity consumption information is also different, and the endurance time determined based on the current electric quantity of a battery and the preset flight information of each flight segment is more accurate.
According to the method for determining the endurance time of the unmanned aerial vehicle, an execution main body can be processing equipment, and the processing equipment can be a controller arranged on the unmanned aerial vehicle; a device that may also be independent of the drone and may communicate with the drone, for example, the processing device may be a terminal or a server; other devices with processing functions may also be used, which is not specifically limited in the embodiments of the present application.
It should be noted that the method for determining the duration of the unmanned aerial vehicle provided by the embodiment of the present application may be applied to a scene in which the unmanned aerial vehicle does not fly along the target air route, may also be applied to a scene in which the unmanned aerial vehicle flies along the target air route, and may also be applied to other scenes, which is not specifically limited by the embodiment of the present application.
The following explains a method for determining the cruising time of the unmanned aerial vehicle, which is provided by the embodiment of the present application, with processing equipment as an execution subject.
Fig. 1 is a schematic flow chart of a method for determining a duration of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 1, the method may include:
s101, acquiring preset flight information of each flight segment in a target air route of the unmanned aerial vehicle.
Wherein the target course is used to characterize the course trajectory. The preset flight information is used for indicating the electric quantity consumption information and the time consumption information of each flight segment.
In this application embodiment, the target route may include a plurality of legs, each leg having a corresponding unmanned aerial vehicle flight status. The unmanned aerial vehicle flight state that different flight legs correspond can be the same, also can be different. For the flight segments with the same flight state of the unmanned aerial vehicle, the electric quantity consumption information in unit time can be the same; correspondingly, the electric quantity consumption information in unit time can be different in the different flight sections of unmanned aerial vehicle flight state.
It should be noted that the time consumption information indicated by the preset flight information of each flight segment may be information planned by the target route, and the electric quantity consumption information indicated by the preset flight information of each flight segment may be information obtained by a preliminary test.
S102, determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment.
In some embodiments, the processing device may determine the flyable flight segments of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle, electric quantity consumption information indicated in the preset flight information of each flight segment, and time consumption information; and then determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery and electric quantity consumption information and time consumption information indicated in the preset flight information of the flyable flight segment.
It should be noted that the method for determining the endurance of the unmanned aerial vehicle provided by the embodiment of the application can determine the endurance of the unmanned aerial vehicle before the unmanned aerial vehicle flies along the target air route, and the current electric quantity of the battery of the unmanned aerial vehicle is the initial electric quantity of the battery; the duration time of the unmanned aerial vehicle can be determined in the process that the unmanned aerial vehicle flies along the target course, and then the current electric quantity of the battery is the first battery residual electric quantity.
In summary, an embodiment of the present invention provides a method for determining a duration of an unmanned aerial vehicle, including: acquiring preset flight information of each flight segment in a target air route of the unmanned aerial vehicle, wherein the preset flight information is used for indicating electric quantity consumption information and time consumption information of each flight segment; and determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment. The acquired preset flight information of each flight segment in the target flight line can indicate the electric quantity consumption information and the time consumption information of each flight segment, the electric quantity consumption information indicated in the preset flight information of each flight segment in the target flight line is subdivided, the flight states of different flight segments are changed, the electric quantity consumption information is different, and the determined endurance time is more accurate based on the current electric quantity of the battery and the preset flight information of each flight segment.
Optionally, the preset flight information of each flight segment includes: the preset consumed current and the preset flight time of each flight segment.
Wherein, each flight segment can be a flight state, and the consumption current of predetermineeing of a flight segment can be: when the unmanned aerial vehicle flies in the flight state corresponding to the flight segment and the preset flight duration, the obtained average consumed current is obtained.
In this application embodiment, the target route may include a plurality of legs, each leg having a corresponding unmanned aerial vehicle flight status. The section of navigating that unmanned aerial vehicle flight state is the same, and it is preset the consumption current and can be the same, and it is preset that the flight duration can be the same, also can be different.
Optionally, before the process of acquiring the preset flight information of each flight segment in the target flight path of the unmanned aerial vehicle in S101, the method may further include: and determining the preset consumed current of each flight segment according to the operation state corresponding to each flight segment.
Wherein the operation state may include at least one of: rise, fall, hover, turn, advance. The flight segment that the operation state that rises corresponds can be called rise flight segment, and the flight segment that the operation state that descends corresponds can be called landing flight segment, and the flight segment that the operation state that hovers corresponds is unmanned aerial vehicle stop operation, hovers in the air time quantum, can be called the flight segment that hovers, and the flight segment that the operation state that turns corresponds can be called the flight segment that turns, and the flight segment that the operation state that advances corresponds can be called the flight segment that advances.
It should be noted that the preset current consumptions of the ascending leg, the descending leg, the hovering leg, the turning leg and the advancing leg can be respectively represented as ILifting of wine、IDescend、IStop、IFront side、IRotating shaft. The preset flight time of the ascending flight segment, the descending flight segment, the hovering flight segment, the turning flight segment and the advancing flight segment can be respectively represented as tLifting of wine、tDescend、tStop、tFront side、tRotating shaft。
The preset flight information of each flight segment in the target flight path can include: the preset flight time of the ascending flight segment, the descending flight segment, the hovering flight segment, the turning flight segment and the advancing flight segment.
In addition, the directional test is carried out in a specific experimental environment, and the preset consumed current in the ascending, descending, hovering, turning and advancing states is tested in a directional mode under specific conditions.
Fig. 2 is a schematic diagram of each segment of a target route provided in an embodiment of the present invention, and as shown in fig. 2, the target route may include: the ascending navigation section, the descending navigation section, the hovering navigation section, the turning navigation section and the advancing navigation section. The number of the ascending navigation section, the descending navigation section and the hovering navigation section can be 1, the number of the advancing navigation section can be 3, and the number of the turning navigation section can be 2.
Optionally, the process of determining the preset consumed current of each leg according to the operation state corresponding to each leg may include: and determining the preset consumed current of each flight segment according to the operation state corresponding to each flight segment and the flight scene of each flight segment.
The flight scene of each flight segment can include the season and the geographic position of each flight segment.
In practical application, the influence is predetermine the flight state of consumption electric current of factor more than unmanned aerial vehicle, and under the same condition of flight state, the scene condition is different, and the electric current that unmanned aerial vehicle consumed is also different. Therefore, the preset consumed current of each flight segment is determined according to the operation state and the flight scene corresponding to each flight segment, so that the determined preset consumed current can be more accurate, and the determined endurance time can be more accurate later.
In addition, the preset current consumption of each flight segment can represent the average current consumption of each flight segment when the unmanned aerial vehicle operates in the operation state corresponding to each flight segment.
Fig. 3 is a schematic flow chart of a method for determining a duration of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 3, the process of determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment in S102 may include:
s301, determining the consumed electric quantity of each flight segment according to the preset consumed current and the preset flight time of each flight segment in the target flight line.
In some embodiments, the preset consumption current I of the upper flight segment is setLifting of wineMultiplied by the preset flight time t of the ascending flight segmentLifting of wineObtaining the consumed electric quantity Q of the ascending navigation section1. Of a forward flight sectionPresetting consumption current IFront sideMultiplied by a preset flight time t of a forward flight segmentFront sideObtaining the consumed electric quantity Q of a forward navigation section2. A preset consumption current I of a turn sectionRotating shaftMultiplying by a preset flight time t of a turning flight segmentRotating shaftTo obtain the consumed electric quantity Q of a turn section3. Presetting current consumption I of hovering navigation sectionStopMultiplied by the preset flight time t of the hovering flight segmentFront sideObtaining the consumed electric quantity Q of the hovering navigation section6. The preset consumption current I of the descending flight segmentDescendMultiplied by the preset flight time t of the descending flight segmentDescendObtaining the consumed electric quantity Q of the descending flight segment6。
In addition, the corresponding relationship between the power consumption of each leg and the leg, as shown in fig. 2, can obtain the power consumption Q of another forward leg similarly4And the power consumption Q of another turn flight segment5。
S302, determining a target flight segment where the reachable position of the unmanned aerial vehicle is located according to the consumed electric quantity of each flight segment in the target flight path and the current electric quantity of the battery.
In this embodiment of the application, the processing device may sequentially superimpose the power consumption of each leg according to the sequence of each leg, and then the power consumption after the superimposition of the first p-1 legs may be represented as:
the power consumption after the superposition of the first p legs can be represented as:
if the current electric quantity of the battery is larger than the electric quantity consumed after the superposition of the previous p-1 flight sections and is smaller than the electric quantity consumed after the superposition of the previous p flight sections, namely
Wherein Q is0Representing the current electric quantity of the battery, the processing device may determine that the target flight segment at which the reachable position of the drone is located is a p flight segment.
S303, determining the endurance time of the target flight segment according to the current electric quantity of the battery, the electric quantity consumed by each flyable flight segment before the target flight segment and the preset consumed current of the target flight segment.
The processing equipment can adopt a preset formula, and determines the endurance time of the target flight segment according to the current electric quantity of the battery, the consumed electric quantity of each flyable flight segment before the target flight segment and the preset consumed current of the target flight segment.
S304, determining the duration of the unmanned aerial vehicle according to the preset flight duration of each flyable flight segment and the duration of the target flight segment.
The sum of the preset flight duration of each flyable flight segment and the endurance time of the target flight segment can be used as the endurance time of the unmanned aerial vehicle by the processing equipment.
It should be noted that each flyable leg may be the first p-1 legs, and the sum of the preset flight durations of each flyable leg may be represented as:
the endurance of the target leg may be expressed as: t ismThen the duration of the endurance of the unmanned aerial vehicle can be
Optionally, fig. 4 is a schematic flow chart of a method for determining a endurance of an unmanned aerial vehicle according to an embodiment of the present invention, as shown in fig. 4, a process of determining the endurance of the target flight segment according to the current electric quantity of the battery, the consumed electric quantity of each flyable flight segment before the target flight segment, and the preset consumed current of the target flight segment in S303 may include:
s401, determining the first battery residual capacity of the target flight segment according to the current electric quantity of the battery and the consumed electric quantity of each flyable flight segment.
In some embodiments, the processing device may calculate a sum of the power consumptions of the flyable segments, and subtract the sum of the power consumptions of the flyable segments from the current power of the battery, so as to obtain the first remaining battery power.
Wherein, the sum of the consumed electric quantity of each flyable segment can be expressed as
The current charge of the battery can be represented as Q0Then, the first remaining battery capacity may be expressed as:
s402, determining the endurance time of the target flight segment according to the first battery residual capacity and the preset consumed current of the target flight segment.
In this embodiment of the application, the processing device may divide the remaining capacity of the first battery by a preset consumed current of the target flight segment to obtain a duration of the target flight segment.
Wherein the preset consumption current of the target flight segment can be represented as ImThen, the endurance time of the target leg can be expressed as:
it should be noted that the preset flight time of each flyable leg may be obtained from preset flight information corresponding to the target course, or the preset flight information of each leg includes: and (4) dividing the flying distance by the flying speed to obtain the preset flying time length for each flying distance of the flying speed.
Optionally, fig. 5 is a schematic flow chart of a method for determining a duration of a drone provided by an embodiment of the present invention, and as shown in fig. 5, the method may further include:
s501, determining the flight distance of each flyable flight segment according to the preset flight speed and the preset flight time of each flyable flight segment.
The processing device may calculate a product between a preset flight speed and a preset flight time of each flyable leg, and obtain a flight distance of each flyable leg.
Of course, the flying distance of each flyable flight segment may be a preset value, and calculation is not required, which is not specifically limited in the embodiment of the present application.
S502, determining the flight distance of the target flight segment according to the preset flight speed of the target flight segment and the endurance time of the target flight segment.
In this embodiment of the application, the processing device may use a product of a preset flight speed of the target flight segment and a duration of the target flight segment as a flight distance of the target flight segment.
S503, determining the remaining mileage of the unmanned aerial vehicle according to the flight distance of each flyable flight segment and the flight distance of the target flight segment.
It should be noted that, the processing device may use a sum of the flight distance of each flyable leg and the flight distance of the target leg as the remaining mileage of the drone.
Optionally, the current electric quantity of the battery is: the initial electric quantity of the battery when the unmanned aerial vehicle does not fly, or the current second battery residual capacity in the flight process of the unmanned aerial vehicle.
Optionally, if the current electric quantity of the battery is: the initial electric quantity of the battery when the unmanned aerial vehicle does not fly;
the process of acquiring the preset flight information of each flight segment in the target route of the unmanned aerial vehicle in S101 may include: and before the unmanned aerial vehicle takes off, acquiring preset flight information of each flight segment in the target flight line and the initial battery electric quantity of the unmanned aerial vehicle.
Optionally, fig. 6 is a schematic flow chart of a method for determining a duration of an unmanned aerial vehicle according to an embodiment of the present invention, as shown in fig. 6, if the current electric quantity of the battery is the current second remaining electric quantity of the battery in a flight process of the unmanned aerial vehicle; before the process of determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment in the step S102, the method may further include:
s601, acquiring the current position of the unmanned aerial vehicle and the current flight segment where the current position is located.
Wherein, processing equipment can obtain unmanned aerial vehicle's current position through unmanned aerial vehicle's flight controller.
In some embodiments, the processing device may store the position coordinate range corresponding to each leg, and the processing device may determine a target position coordinate range where the current position is located according to the current position, and then use the leg corresponding to the target position coordinate range as the current leg.
S602, determining the residual electric quantity of the second battery according to the corresponding consumed electric quantity of each flying flight segment before the current flight segment and the preset initial electric quantity of the battery.
The current flight segment may be the lth flight segment, and each flown flight segment before the current flight segment may be from the 1 st flight segment to the L-1 st flight segment.
In some embodiments, the processing device may superimpose the electric power consumption corresponding to each flown leg to obtain a sum of the electric power consumption corresponding to each flown leg, and subtract the sum of the electric power consumption corresponding to each flown leg from the preset initial electric power of the battery to obtain the remaining electric power of the second battery.
In the embodiment of the present application, the sum of the consumed electric quantities corresponding to each flown flight segment may be represented as:
the preset initial battery charge may be represented as Q0Then, the second remaining battery capacity may be expressed as:
in summary, an embodiment of the present invention provides a method for determining a duration of an unmanned aerial vehicle, including: acquiring preset flight information of each flight segment in a target air route of the unmanned aerial vehicle, wherein the preset flight information is used for indicating electric quantity consumption information and time consumption information of each flight segment; and determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment. The acquired preset flight information of each flight segment in the target flight line can indicate the electric quantity consumption information and the time consumption information of each flight segment, the electric quantity consumption information indicated in the preset flight information of each flight segment in the target flight line is subdivided, the flight states of different flight segments are changed, the electric quantity consumption information is different, and the determined endurance time is more accurate based on the current electric quantity of the battery and the preset flight information of each flight segment.
In addition, by modeling the flight state of the unmanned aerial vehicle, the current change of the unmanned aerial vehicle in flight can be accurately estimated by finally using a superposition correction model of factors such as state change, environmental change and the like in the flight process, and the time of endurance of the unmanned aerial vehicle can be estimated in advance by combining the flight route of the unmanned aerial vehicle. The specific flight route is combined, and the factor of large difference of electric quantity consumption rates in different flight states is considered, so that electric quantity calculation is more reasonable; various flight states and various scenes corresponding to each operation of the mode experiment enable the acquired preset flight information to be more accurate, and then the estimated duration is more accurate.
The following describes a duration determining apparatus, a processing device, a storage medium, and the like of the unmanned aerial vehicle for executing the duration determining method of the unmanned aerial vehicle provided in the present application, and specific implementation processes and technical effects thereof are referred to relevant contents of the duration determining method of the unmanned aerial vehicle, and are not described in detail below.
Fig. 7 is a schematic structural diagram of a duration determining apparatus of a drone according to an embodiment of the present invention, and as shown in fig. 7, the apparatus may include:
the acquiring module 701 is used for acquiring preset flight information of each flight segment in a target air route of the unmanned aerial vehicle, wherein the preset flight information is used for indicating electric quantity consumption information and time consumption information of each flight segment;
the determining module 702 is configured to determine a duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and preset flight information of each flight segment.
Optionally, the preset flight information of each flight segment includes: the preset consumed current and the preset flight time of each flight segment.
Optionally, the method further includes:
the first determining module is used for determining the preset consumed current of each flight segment according to the operation state corresponding to each flight segment, and the operation state comprises at least one of the following: rise, fall, hover, turn, advance.
Optionally, the first determining module is further configured to determine the preset consumed current of each flight segment according to the operation state corresponding to each flight segment and the flight scene of each flight segment.
Optionally, the determining module 702 is further configured to determine the consumed electric quantity of each flight segment according to a preset consumed current and a preset flight time of each flight segment in the target flight line; determining a target flight segment where the reachable position of the unmanned aerial vehicle is located according to the consumed electric quantity of each flight segment in the target flight path and the current electric quantity of the battery; determining the endurance time of the target flight segment according to the current electric quantity of the battery, the consumed electric quantity of each flyable flight segment before the target flight segment and the preset consumed current of the target flight segment; and determining the duration of the unmanned aerial vehicle according to the preset flight duration of each flyable flight segment and the duration of the target flight segment.
Optionally, the determining module 702 is further configured to determine a first remaining battery capacity of the target leg according to the current battery capacity and the consumed battery capacity of each flyable leg; and determining the endurance time of the target flight segment according to the residual electric quantity of the first battery and the preset consumed current of the target flight segment.
Optionally, the preset flight information includes: presetting the flying speed, the device also comprises:
the second determining module is used for determining the flight distance of each flyable flight segment according to the preset flight speed and the preset flight time of each flyable flight segment; determining the flight distance of the target flight segment according to the preset flight speed of the target flight segment and the endurance time of the target flight segment; and determining the remaining mileage of the unmanned aerial vehicle according to the flight distance of each flyable flight segment and the flight distance of the target flight segment.
Optionally, the current electric quantity of the battery is: the initial electric quantity of the battery when the unmanned aerial vehicle does not fly, or the current second battery residual capacity in the flight process of the unmanned aerial vehicle.
Optionally, if the current electric quantity of the battery is: the initial electric quantity of the battery when the unmanned aerial vehicle does not fly;
the obtaining module 701 is further configured to obtain preset flight information of each flight segment in the target air route and an initial battery power of the unmanned aerial vehicle before the unmanned aerial vehicle takes off.
Optionally, if the current electric quantity of the battery is the current second battery residual electric quantity in the flight process of the unmanned aerial vehicle; the device also includes:
the first acquisition module is used for acquiring the current position of the unmanned aerial vehicle and the current flight segment where the current position is located;
and the third determining module is used for determining the residual electric quantity of the second battery according to the corresponding consumed electric quantity of each flying flight segment before the current flight segment and the preset initial electric quantity of the battery.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 8 is a schematic structural diagram of a duration determining apparatus of a drone according to an embodiment of the present invention, and as shown in fig. 8, the processing device may include: a processor 801 and a memory 802.
The memory 802 is used for storing programs, and the processor 801 calls the programs stored in the memory 802 to execute the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the invention also provides a program product, for example a computer-readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. A method for determining the duration of a flight of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring preset flight information of each flight segment in a target air route of the unmanned aerial vehicle, wherein the preset flight information is used for indicating electric quantity consumption information and time consumption information of each flight segment;
and determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment.
2. The method of claim 1, wherein the preset flight information for each leg comprises: the preset consumed current and the preset flight time of each flight segment.
3. The method of claim 2, wherein before obtaining the preset flight information of each segment in the target route of the drone, the method further comprises:
determining the preset consumed current of each flight segment according to the operation state corresponding to each flight segment, wherein the operation state comprises at least one of the following: rise, fall, hover, turn, advance.
4. The method according to claim 3, wherein the determining the preset consumed current for each leg according to the operation state corresponding to each leg comprises:
and determining the preset consumed current of each flight segment according to the operation state corresponding to each flight segment and the flight scene of each flight segment.
5. The method according to claim 2, wherein determining the duration of the unmanned aerial vehicle according to the current battery level of the unmanned aerial vehicle and the preset flight information of each flight segment comprises:
determining the consumed electric quantity of each flight segment according to the preset consumed current and the preset flight time of each flight segment in the target flight line;
determining a target flight path where the reachable position of the unmanned aerial vehicle is located according to the consumed electric quantity of each flight path in the target flight path and the current electric quantity of the battery;
determining the endurance time of the target flight segment according to the current electric quantity of the battery, the consumed electric quantity of each flyable flight segment before the target flight segment and the preset consumed current of the target flight segment;
and determining the duration of the unmanned aerial vehicle according to the preset flight duration of each flyable flight segment and the duration of the target flight segment.
6. The method of claim 5, wherein determining the endurance time of the target flight segment according to the current battery capacity, the consumed battery capacity of each flyable flight segment before the target flight segment, and the preset consumed current of the target flight segment comprises:
determining the first battery residual capacity of the target flight segment according to the current electric quantity of the battery and the consumed electric quantity of each flyable flight segment;
and determining the endurance time of the target flight segment according to the first battery residual capacity and the preset consumed current of the target flight segment.
7. The method of claim 5, wherein the preset flight information comprises: a preset airspeed, the method further comprising:
determining the flight distance of each flyable flight segment according to the preset flight speed and the preset flight time of each flyable flight segment;
determining the flight distance of the target flight segment according to the preset flight speed of the target flight segment and the endurance time of the target flight segment;
and determining the remaining mileage of the unmanned aerial vehicle according to the flight distance of each flyable flight segment and the flight distance of the target flight segment.
8. The method of claim 1, wherein the current charge of the battery is: the initial electric quantity of the battery when the unmanned aerial vehicle does not fly, or the current second battery residual capacity in the flight process of the unmanned aerial vehicle.
9. The method of claim 8, wherein if the current charge level of the battery is: the initial electric quantity of the battery when the unmanned aerial vehicle does not fly;
the preset flight information of each flight segment in the target air route of the unmanned aerial vehicle is acquired, and the method comprises the following steps:
and before the unmanned aerial vehicle takes off, acquiring the preset flight information of each flight segment in the target air route and the initial battery electric quantity of the unmanned aerial vehicle.
10. The method of claim 8, wherein if the current charge of the battery is a current second remaining charge of the battery during the flight of the drone;
before determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment, the method further comprises the following steps:
acquiring the current position of the unmanned aerial vehicle and the current flight segment where the current position is located;
and determining the residual electric quantity of the second battery according to the corresponding consumed electric quantity of each flying flight segment before the current flight segment and the preset initial electric quantity of the battery.
11. An apparatus for determining a duration of a flight of an unmanned aerial vehicle, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring preset flight information of each flight segment in a target air route of the unmanned aerial vehicle, and the preset flight information is used for indicating electric quantity consumption information and time consumption information of each flight segment;
and the determining module is used for determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery of the unmanned aerial vehicle and the preset flight information of each flight segment.
12. A processing device, comprising: a memory storing a computer program executable by the processor, and a processor implementing the method of any of the preceding claims 1-10 when executing the computer program.
13. A storage medium having stored thereon a computer program which, when read and executed, implements the method of any of claims 1-10.
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