CN113484765B - Unmanned aerial vehicle endurance time determining method, unmanned aerial vehicle endurance time determining device, processing equipment and medium - Google Patents
Unmanned aerial vehicle endurance time determining method, unmanned aerial vehicle endurance time determining device, 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. Comprising the following steps: acquiring preset flight information of each leg in a target 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 leg; and determining the 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 section. The obtained preset flight information of each leg in the target route can indicate the electric quantity consumption information and time consumption information of each leg, the electric quantity consumption information indicated in the preset flight information of each leg in the target route is subdivided, the flight states of different legs 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 leg.
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 a unmanned plane which is controlled by radio remote control equipment and a self-contained program control device. Along with the increasing degree of intellectualization of unmanned aerial vehicle, the prediction of remaining endurance also becomes the hot spot of research.
In the related art, a sensor is adopted to acquire current sampled in 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 residual 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 in a period of time, which is only suitable for an application scene with a constant flight state, and the problem that the determined remaining endurance time is inaccurate easily occurs for the application scene with a variable flight state.
Disclosure of Invention
The invention aims to provide a method, a device, processing equipment 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 a current sampled for a period of time, the method, the device and the medium are only suitable for application scenes with unchanged flight states, and the determined residual endurance time is inaccurate for the application scenes with changed flight states.
In order to achieve the above purpose, the technical scheme adopted by the embodiment of the invention is as follows:
in a first aspect, an embodiment of the present invention provides a method for determining a endurance time of an unmanned aerial vehicle, including:
acquiring preset flight information of each leg in a target 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 leg;
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 section.
Optionally, the preset flight information of each leg includes: the preset consumption current of each navigation section and the preset flight time length.
Optionally, before the acquiring the preset flight information of each leg in the target route of the unmanned aerial vehicle, the method further includes:
determining the preset consumption current of each leg according to the corresponding operation state of each leg, wherein the operation state comprises at least one of the following: ascending, descending, hovering, turning, and advancing.
Optionally, the determining the preset consumption current of each leg according to the operation state corresponding to each leg includes:
and determining the preset consumption current of each leg according to the corresponding operation state of each leg and the flight scene of each leg.
Optionally, the determining the duration of the unmanned aerial vehicle according to the current battery power of the unmanned aerial vehicle and the preset flight information of each leg includes:
determining the power consumption of each leg according to the preset consumption current and the preset flight duration of each leg in the target route;
determining a target leg of the unmanned aerial vehicle where the reachable position is located according to the consumed electric quantity of each leg in the target course and the current electric quantity of the battery;
determining the endurance time of the target leg according to the current electric quantity of the battery, the electric quantity consumed by each flyable leg before the target leg and the preset consumed current of the target leg;
and determining the duration of the unmanned aerial vehicle according to the preset flight duration of each flyable leg and the duration of the target leg.
Optionally, determining the duration of the target leg according to the current electric quantity of the battery, the electric quantity consumed by each flyable leg before the target leg, and the preset consumed current of the target leg includes:
determining the first battery residual capacity of the target leg according to the current electric quantity of the battery and the consumed electric quantity of each flyable leg;
And determining the endurance time of the target leg according to the residual electric quantity of the first battery and the preset consumption current of the target leg.
Optionally, the preset flight information includes: the method further comprises the steps of:
determining the flight distance of each flyable leg according to the preset flight speed and the preset flight duration of each flyable leg;
determining the flight distance of the target leg according to the preset flight speed of the target leg and the duration of the target leg;
and determining the remaining mileage of the unmanned aerial vehicle according to the flight distance of each flyable leg and the flight distance of the target leg.
Optionally, the current electric quantity of the battery is: the initial battery power of unmanned aerial vehicle when not flying, or, the current second battery residual power of unmanned aerial vehicle flight in-process.
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 the preset flight information of each leg in the target route of the unmanned aerial vehicle comprises the following steps:
before the unmanned aerial vehicle takes off, acquiring the preset flight information of each leg in the target 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 leg, the method further comprises:
acquiring the current position of the unmanned aerial vehicle and the current navigation section of the current position;
and determining the second battery residual capacity according to the power consumption corresponding to each flown leg before the current leg and the preset battery initial power.
In a second aspect, an embodiment of the present invention further provides a device for determining a endurance time of 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 leg in a target 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 leg;
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 section.
Optionally, the preset flight information of each leg includes: the preset consumption current of each navigation section and the preset flight time length.
Optionally, the method further comprises:
the first determining module is configured to determine the preset consumption current of each leg according to a working state corresponding to each leg, where the working state includes at least one of the following: ascending, descending, hovering, turning, and advancing.
Optionally, the first determining module is further configured to determine the preset consumption current of each leg according to the operation state corresponding to each leg and the flight scene of each leg.
Optionally, the determining module is further configured to determine the power consumption of each leg according to a preset current consumption and a preset flight duration of each leg in the target route; determining a target leg of the unmanned aerial vehicle where the reachable position is located according to the consumed electric quantity of each leg in the target course and the current electric quantity of the battery; determining the endurance time of the target leg according to the current electric quantity of the battery, the electric quantity consumed by each flyable leg before the target leg and the preset consumed current of the target leg; and determining the duration of the unmanned aerial vehicle according to the preset flight duration of each flyable leg and the duration of the target leg.
Optionally, the determining module is further configured to determine a first battery remaining power of the target leg according to the current power of the battery and the power consumption of each flyable leg; and determining the endurance time of the target leg according to the residual electric quantity of the first battery and the preset consumption current of the target leg.
Optionally, the preset flight information includes: the device further comprises:
the second determining module is used for determining the flight distance of each flyable leg according to the preset flight speed and the preset flight duration of each flyable leg; determining the flight distance of the target leg according to the preset flight speed of the target leg and the duration of the target leg; and determining the remaining mileage of the unmanned aerial vehicle according to the flight distance of each flyable leg and the flight distance of the target leg.
Optionally, the current electric quantity of the battery is: the initial battery power of unmanned aerial vehicle when not flying, or, the current second battery residual power of unmanned aerial vehicle flight in-process.
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 leg in the target 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 apparatus further comprises:
The first acquisition module is used for acquiring the current position of the unmanned aerial vehicle and the current navigation section of the current position;
and the third determining module is used for determining the second battery residual capacity according to the power consumption corresponding to each flown leg before the current leg and the preset battery initial power.
In a third aspect, an embodiment of the present invention further provides a processing apparatus, including: a memory storing a computer program executable by the processor, and a processor implementing the method of any one of the first aspects when the processor executes the computer program.
In a fourth aspect, an embodiment of the present invention further provides a storage medium, where a computer program is stored, where the computer program is read and executed to implement the method according to any one of the first aspects.
The beneficial effects of the invention are as follows: 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 leg in a target 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 leg; and determining the 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 section. The obtained preset flight information of each leg in the target route can indicate the electric quantity consumption information and time consumption information of each leg, the electric quantity consumption information indicated in the preset flight information of each leg in the target route is subdivided, the flight states of different legs 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 leg.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a method for determining the endurance time of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of various legs of a target route provided by an embodiment of the present invention;
fig. 3 is a flow chart of a method for determining the endurance time of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a flow chart of a method for determining the endurance time of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a flow chart of a method for determining the endurance time of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 6 is a flow chart of a method for determining the endurance time of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a device for determining the endurance time 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
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In the description of the present application, it should be noted that, if the terms "upper", "lower", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or an azimuth or the positional relationship that is commonly put when the product of the application is used, it is merely for convenience of description and simplification of the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present application.
Furthermore, the terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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, without conflict, features in embodiments of the present application may be combined with each other.
In the related art, the duration of the battery is estimated by sampling the current or the voltage at a certain time, and the method can only adapt to specific application scenes, for example, the quality of the unmanned aerial vehicle is kept unchanged, the external interference is zero, or the posture of the unmanned aerial vehicle is unchanged. If the quality of the unmanned aerial vehicle changes in a nonlinear manner, the residual capacity can be calculated inaccurately by simply using the voltage or the current sampled back for a certain time.
For example, when the plant protection unmanned aerial vehicle takes off in full load, the motor needs to do more work in full load, so that the required current can be increased, the residual time calculated by the sampled current is lower, and when the plant protection unmanned aerial vehicle works in flight, the work required by the motor is reduced along with the reduction of the quality of a medicine chest, and the residual time calculated according to the current is higher; similarly, for a vertical-up fixed wing unmanned aerial vehicle with two flight modes, in a multi-rotor state, the required current is far higher than the current in the fixed wing state, and the estimated remaining time of the battery is far shorter than the estimated remaining time in the fixed wing state in the multi-rotor state, so that the current or voltage sampled at a certain moment is simply used for estimating the remaining time, 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 is affected by the sampling value at the next moment to cause the problem of abrupt change of the estimated remaining time.
The embodiment of the application provides a method for determining the endurance time of an unmanned aerial vehicle, wherein the obtained preset flight information of each leg in a target route can indicate the electric quantity consumption information of each leg and time consumption information, the electric quantity consumption information indicated in the preset flight information of each leg in the target route is subdivided, the flight states of different legs 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 leg is also more accurate.
According to the method for determining the endurance time of the unmanned aerial vehicle, the execution main body can be processing equipment, and the processing equipment can be a controller arranged on the unmanned aerial vehicle; the device 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 be used, and the embodiments of the present application do not specifically limit this.
It should be noted that, the method for determining the endurance time of the unmanned aerial vehicle provided by the embodiment of the application can be applied to a scene where the unmanned aerial vehicle does not fly along the target route, can also be applied to a scene where the unmanned aerial vehicle flies along the target route, and can also be applied to other scenes, and the embodiment of the application does not limit the method specifically.
The following explains the method for determining the endurance time of the unmanned aerial vehicle provided in the embodiment of the present application by using the processing device as an execution body.
Fig. 1 is a flow chart of a method for determining a endurance time of an unmanned aerial vehicle according to an embodiment of the present invention, as shown in fig. 1, the method may include:
s101, acquiring preset flight information of each leg in a target 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 air range.
In an embodiment of the present application, the target route may include a plurality of legs, each having a corresponding unmanned aerial vehicle flight status. Unmanned aerial vehicle flight state that different flight sections correspond can be the same, also can be different. For the air sections 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 flight sections with different flight states of the unmanned aerial vehicle.
It should be noted that, the time consumption information indicated by the preset flight information of each leg may be information planned by the target route, and the electric power consumption information indicated by the preset flight information of each leg may be information obtained by a pre-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 preset flight information of each flight section.
In some embodiments, the processing device may determine a flyable leg of the unmanned aerial vehicle according to a current battery power of the unmanned aerial vehicle, power consumption information indicated in preset flight information of each leg, and time consumption information; and then determining the duration of the unmanned aerial vehicle according to the current electric quantity of the battery and the electric quantity consumption information and time consumption information indicated in the preset flight information of the flyable leg.
It should be noted that, according to the method for determining the endurance time of the unmanned aerial vehicle provided by the embodiment of the application, the endurance time of the unmanned aerial vehicle can be determined before the unmanned aerial vehicle flies along the target route, and then the current electric quantity of the battery of the unmanned aerial vehicle is the initial electric quantity of the battery; the duration 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, the embodiment of the invention provides a method for determining the endurance time of an unmanned aerial vehicle, which includes: acquiring preset flight information of each leg in a target 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 leg; and determining the 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 section. The obtained preset flight information of each leg in the target route can indicate the electric quantity consumption information and time consumption information of each leg, the electric quantity consumption information indicated in the preset flight information of each leg in the target route is subdivided, the flight states of different legs 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 leg.
Optionally, the preset flight information of each leg includes: the preset consumption current of each navigation section and the preset flight time length.
Wherein, each leg can be a flight state, and the preset consumption current of a leg can be: and when the unmanned aerial vehicle flies in the flight state corresponding to the flight section and the preset flight time, the obtained average consumption current.
In an embodiment of the present application, the target route may include a plurality of legs, each having a corresponding unmanned aerial vehicle flight status. The preset consumption current of the unmanned aerial vehicle flight segments with the same flight state can be the same, and the preset flight duration of the unmanned aerial vehicle flight segments can be the same or different.
Optionally, before the process of acquiring the preset flight information of each leg in the target route of the unmanned aerial vehicle in S101, the method may further include: and determining the preset consumption current of each leg according to the corresponding operation state of each leg.
Wherein the job status may include at least one of: ascending, descending, hovering, turning, and advancing. The leg corresponding to the ascending operation state may be referred to as an ascending leg, the leg corresponding to the descending operation state may be referred to as a descending leg, the leg corresponding to the hovering operation state is an unmanned aerial vehicle stopping operation, hovering in the air time period may be referred to as a suspending leg, the leg corresponding to the turning operation state may be referred to as a turning leg, and the leg corresponding to the advancing operation state may be referred to as an advancing leg.
The preset consumption currents of the ascending leg, the descending leg, the hovering leg, the turning leg and the advancing leg can be respectively expressed as I Lifting device 、I Lowering blood pressure 、I Stop and stop 、I Front part 、I Rotation . The preset flight time length of the ascending leg, the descending leg, the hovering leg, the turning leg and the advancing leg can be respectively expressed as t Lifting device 、t Lowering blood pressure 、t Stop and stop 、t Front part 、t Rotation 。
The preset flight information of each leg in the target route may include: the method comprises the following steps of a preset flight duration of an ascending leg, a descending leg, a hovering leg, a turning leg and a forward leg.
In addition, the directional test is carried out in a specific experimental environment, and the preset consumption current in the ascending, descending, hovering, turning and advancing states is tested in a specific condition.
FIG. 2 is a schematic diagram of each leg of a target route according to an embodiment of the present invention, where, as shown in FIG. 2, the target route may include: ascending leg, descending leg, hovering leg, turning leg, and advancing leg. The number of ascending legs, descending legs and hovering legs can be 1, the number of forward legs can be 3, and the number of turning legs can be 2.
Optionally, the process of determining the preset consumption current of each leg according to the operation state corresponding to each leg may include: and determining the preset consumption current of each leg according to the corresponding operation state of each leg and the flight scene of each leg.
The flight scenario of each leg may include the season and geographic location of each leg, among other things.
In practical application, the factors influencing the preset consumption current are not only flight states of the unmanned aerial vehicle, but also different currents consumed by the unmanned aerial vehicle when scene conditions are different under the same flight states. Therefore, according to the corresponding operation state and flight scene of each leg, the preset consumption current of each leg is determined, so that the determined preset consumption current is more accurate, and the determined endurance time is more accurate later.
In addition, the preset consumption current of each leg can represent the average consumption current of each leg when the unmanned aerial vehicle works in the corresponding working state of each leg.
Fig. 3 is a 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. 3, a process for determining a duration of the unmanned aerial vehicle according to a current battery power of the unmanned aerial vehicle and preset flight information of each leg in S102 may include:
s301, determining the power consumption of each leg according to the preset consumed current and the preset flight duration of each leg in the target route.
In some embodiments, the preset consumption current I of the rising leg is Lifting device Multiplying the preset flight time t of the ascending flight segment Lifting device Obtaining the electricity consumption Q of the ascending navigation section 1 . Preset consumption current I of a forward leg Front part Multiplying a preset flight time t of a forward flight section Front part Obtaining the consumed electric quantity Q of a forward navigation section 2 . Preset consumption current I of a turning leg Rotation Multiplying a preset flight time t of a turning leg Rotation Obtaining the electricity consumption Q of a turning leg 3 . Preset consumption current I of hovering leg Stop and stop Multiplying the preset flight time t of the suspension section Front part Obtaining the consumed electric quantity Q of the suspension navigation section 6 . Preset consumption current I of descending leg Lowering blood pressure Multiplying the preset flight time t of the descent leg Lowering blood pressure ObtainingPower consumption Q of descending leg 6 。
In addition, the corresponding relation between the power consumption of each leg and the leg is shown in FIG. 2, and the power consumption Q of another forward leg can be obtained in the same way 4 And the power consumption Q of another turning leg 5 。
S302, determining the target leg of the reachable position of the unmanned aerial vehicle according to the consumed electric quantity of each leg in the target course and the current electric quantity of the battery.
In this embodiment of the present application, the processing device may sequentially superimpose the power consumption of each leg according to the order of each leg, and the power consumption after the superimposition of the previous p-1 legs may be expressed as: The power consumption after superposition of the first p legs can be expressed as: />
If the current electric quantity of the battery is larger than the electric quantity which is overlapped by the p-1 navigation segments and smaller than the electric quantity which is overlapped by the p navigation segments, namelyWherein Q is 0 The processing device may determine that the target leg at which the reachable position of the unmanned aerial vehicle is located is a p leg, representing a current charge of the battery.
S303, determining the endurance time of the target leg according to the current electric quantity of the battery, the electric quantity consumed by each flyable leg before the target leg and the preset consumed current of the target leg.
The processing device can adopt a preset formula, and determines the endurance time of the target leg according to the current electric quantity of the battery, the consumed electric quantity of each flyable leg before the target leg and the preset consumed current of the target leg.
S304, determining the duration of the unmanned aerial vehicle according to the preset flight duration of each flyable leg and the duration of the target leg.
The processing device may use a sum of a preset flight duration of each flyable leg and a duration of the target leg as a duration of the unmanned aerial vehicle.
It should be noted that, each flyable leg may be p-1 legs, and the sum of the preset flight durations of each flyable leg may be expressed as: The endurance of the target leg may be expressed as: t (T) m The duration of the unmanned aerial vehicle may be +.>
Optionally, fig. 4 is a 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. 4, a process for determining the duration of a target leg according to a current battery level, a consumed power level of each flyable leg before the target leg, and a preset consumed current of the target leg in S303 may include:
s401, determining the first battery residual capacity of the target leg according to the current battery capacity and the consumed electric capacity of each flyable leg.
In some embodiments, the processing device may calculate a sum of the power consumption of each of the flyable legs, and subtract the sum of the power consumption of each of the flyable legs from the current power of the battery, so as to obtain the first remaining power of the battery.
Wherein the sum of the power consumption of each flyable leg can be expressed asThe current charge of the battery can be expressed as Q 0 The first battery remaining power may be expressed as: />
S402, determining the endurance time of the target leg according to the residual capacity of the first battery and the preset consumption current of the target leg.
In this embodiment of the present application, the processing device may divide the remaining power of the first battery by a preset consumption current of the target leg to obtain a duration of the target leg.
Wherein the preset consumption current of the target leg can be expressed as I m The endurance of the target leg may be expressed as:
it should be noted that, the preset flight duration of each flyable leg may be obtained from preset flight information corresponding to the target heading, or the preset flight information of each flyable leg includes: and dividing the flight distance by the flight speed to obtain the preset flight duration.
Optionally, fig. 5 is a 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. 5, where the method may further include:
s501, determining the flight distance of each flyable leg according to the preset flight speed and the preset flight duration of each flyable leg.
The processing device can calculate the product between the preset flight speed and the preset flight duration of each flyable leg to obtain the flight distance of each flyable leg.
Of course, the flight distance of each flyable leg may be a preset value, and calculation is not required, which is not particularly limited in the embodiment of the present application.
S502, determining the flight distance of the target leg according to the preset flight speed of the target leg and the duration of the target leg.
In the embodiment of the application, the processing device may take the product of the preset flight speed of the target leg and the duration of the target leg as the flight distance of the target leg.
S503, determining the remaining mileage of the unmanned aerial vehicle according to the flight distance of each flyable leg and the flight distance of the target leg.
It should be noted that, the processing device may use the sum of the flight distance of each flyable leg and the flight distance of the target leg as the remaining mileage of the unmanned plane.
Optionally, the current electric quantity of the battery is: the initial battery power of the unmanned aerial vehicle when not flying, or the current second battery residual power of the unmanned aerial vehicle in the flying process.
Optionally, if the current electric quantity of the battery is: initial electric quantity of a battery when the unmanned aerial vehicle does not fly;
the process of obtaining the preset flight information of each leg in the target route of the unmanned aerial vehicle in S101 may include: before the unmanned aerial vehicle takes off, preset flight information of each leg in the target route and initial battery electric quantity of the unmanned aerial vehicle are obtained.
Optionally, fig. 6 is a flow chart of a method for determining the endurance time of an unmanned aerial vehicle according to an embodiment of the present invention, as shown in fig. 6, if the current battery power is the current second battery power remaining in the flight process of the unmanned aerial vehicle; in S102, before the process of determining the duration of the unmanned aerial vehicle according to the current battery power of the unmanned aerial vehicle and the preset flight information of each leg, the method may further include:
S601, acquiring the current position of the unmanned aerial vehicle and the current navigation section of the current position.
The processing device can acquire the current position of the unmanned aerial vehicle through a flight controller of the unmanned aerial vehicle.
In some embodiments, the processing device may store a position coordinate range corresponding to each leg, and the processing device may determine, according to the current position, a target position coordinate range in which the current position is located, and then use the leg corresponding to the target position coordinate range as the current leg.
S602, determining the remaining capacity of the second battery according to the corresponding consumed electric quantity of each flown leg before the current leg and the preset initial electric quantity of the battery.
The current leg may be the L-th leg, and each flown leg preceding the current leg may be from the 1 st leg to the L-1 st leg.
In some embodiments, the processing device may superimpose the power consumption corresponding to each flown leg to obtain a sum of the power consumption corresponding to each flown leg, and subtract the sum of the power consumption corresponding to each flown leg from the preset initial power of the battery to obtain the remaining power of the second battery.
In the embodiment of the present application, the sum value of the consumed electric power corresponding to each flown leg may be expressed as: The preset initial charge of the battery can be expressed as Q 0 The second battery remaining capacity may be expressed as:
in summary, the embodiment of the invention provides a method for determining the endurance time of an unmanned aerial vehicle, which includes: acquiring preset flight information of each leg in a target 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 leg; and determining the 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 section. The obtained preset flight information of each leg in the target route can indicate the electric quantity consumption information and time consumption information of each leg, the electric quantity consumption information indicated in the preset flight information of each leg in the target route is subdivided, the flight states of different legs 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 leg.
And moreover, by modeling the flight state of the unmanned aerial vehicle, the superposition correction model of factors such as state change, environmental change and the like in the flight process can finally achieve accurate prediction of the current change of the unmanned aerial vehicle, and the unmanned aerial vehicle flight route is combined, so that the prediction of the endurance time of the unmanned aerial vehicle can be realized in advance. The specific flight route is combined, and factors with larger difference of electricity consumption rates under different flight states are considered, so that the electricity calculation is more reasonable; the mode experiment is carried out on various flight states and various scenes corresponding to each operation, so that the obtained preset flight information is more accurate, and then the estimated duration is more accurate.
The following describes a device, a processing device, a storage medium, and the like for determining the endurance time of the unmanned aerial vehicle, which are used for executing the method for determining the endurance time of the unmanned aerial vehicle provided by the application, and specific implementation processes and technical effects of the device and the method refer to relevant contents of the method for determining the endurance time of the unmanned aerial vehicle, which are not described in detail below.
Fig. 7 is a schematic structural diagram of a device for determining the endurance time of an unmanned aerial vehicle according to an embodiment of the present invention, where, as shown in fig. 7, the device may include:
the acquiring module 701 is configured to acquire preset flight information of each leg in a target route of the unmanned aerial vehicle, where the preset flight information is used to indicate electric quantity consumption information and time consumption information of each leg;
the determining module 702 is configured to determine a duration of the unmanned aerial vehicle according to a current battery power of the unmanned aerial vehicle and preset flight information of each leg.
Optionally, the preset flight information of each leg includes: the preset consumption current of each navigation section and the preset flight time length.
Optionally, the method further comprises:
the first determining module is used for determining preset consumption current of each leg according to the corresponding operation state of each leg, and the operation state comprises at least one of the following: ascending, descending, hovering, turning, and advancing.
Optionally, the first determining module is further configured to determine a preset consumption current of each leg according to the operation state corresponding to each leg and the flight scene of each leg.
Optionally, the determining module 702 is further configured to determine the power consumption of each leg according to a preset current consumption and a preset flight duration of each leg in the target route; determining a target leg of the unmanned aerial vehicle where the reachable position is located according to the power consumption of each leg in the target course and the current power of the battery; determining the endurance time of the target leg according to the current electric quantity of the battery, the electric quantity consumed by each flyable leg before the target leg and the preset consumed current of the target leg; and determining the duration of the unmanned aerial vehicle according to the preset flight duration of each flyable leg and the duration of the target leg.
Optionally, the determining module 702 is further configured to determine a first remaining battery power of the target leg according to the current battery power and the power consumption of each flyable leg; and determining the endurance time of the target leg according to the residual electric quantity of the first battery and the preset consumption current of the target leg.
Optionally, the preset flight information includes: the device further comprises:
The second determining module is used for determining the flight distance of each flyable leg according to the preset flight speed and the preset flight duration of each flyable leg; determining the flight distance of the target leg according to the preset flight speed of the target leg and the duration of the target leg; and determining the remaining mileage of the unmanned aerial vehicle according to the flight distance of each flyable leg and the flight distance of the target leg.
Optionally, the current electric quantity of the battery is: the initial battery power of the unmanned aerial vehicle when not flying, or the current second battery residual power of the unmanned aerial vehicle in the flying process.
Optionally, if the current electric quantity of the battery is: initial electric quantity of a battery when the unmanned aerial vehicle does not fly;
the acquiring module 701 is further configured to acquire preset flight information of each leg in the target route and 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 apparatus further comprises:
the first acquisition module is used for acquiring the current position of the unmanned aerial vehicle and the current navigation section of the current position;
and the third determining module is used for determining the residual electric quantity of the second battery according to the electric quantity consumed by each flown leg before the current leg and the preset initial electric quantity of the battery.
The foregoing apparatus is used for executing the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
The above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more microprocessors (digital singnal processor, abbreviated as DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), or the like. For another example, when a module above 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 (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the 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 device for determining the endurance time of an unmanned aerial vehicle according to an embodiment of the present invention, as shown in fig. 8, the processing device may include: a processor 801, and a memory 802.
The memory 802 is used for storing a program, and the processor 801 calls the program stored in the memory 802 to execute the above method embodiment. The specific implementation manner and the technical effect are similar, and are not repeated here.
Optionally, the present invention also provides a program product, such as a computer readable storage medium, comprising a program for performing the above-described method embodiments when being executed by a processor.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods according to the embodiments of the invention. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. The unmanned aerial vehicle endurance time determining method is characterized by comprising the following steps of:
acquiring preset flight information of each leg in a target 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 leg;
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 determining the duration of the unmanned aerial vehicle according to the current battery power of the unmanned aerial vehicle and the preset flight information of each leg comprises the following steps:
determining a target navigation section of the reachable position of the unmanned aerial vehicle;
determining the endurance time of the target leg according to the current electric quantity of the battery, the electric quantity consumed by each flyable leg before the target leg and the preset consumed current of the target leg;
and determining the duration of the unmanned aerial vehicle according to the preset flight duration of each flyable leg and the duration of the target leg.
2. The method of claim 1, wherein the predetermined flight information for each leg comprises: the preset consumption current of each navigation section and the preset flight time length.
3. The method of claim 2, wherein before the acquiring the preset flight information of each leg in the target route of the unmanned aerial vehicle, further comprises:
determining the preset consumption current of each leg according to the corresponding operation state of each leg, wherein the operation state comprises at least one of the following: ascending, descending, hovering, turning, and advancing.
4. A method according to claim 3, wherein said determining the preset consumption current for each leg according to the corresponding operational status of each leg comprises:
and determining the preset consumption current of each leg according to the corresponding operation state of each leg and the flight scene of each leg.
5. The method of claim 2, wherein the determining the target leg at which the reachable location of the drone is located comprises:
determining the power consumption of each leg according to the preset consumption current and the preset flight duration of each leg in the target route;
and determining the target navigation section according to the consumed electric quantity of each navigation section in the target navigation line and the current electric quantity of the battery.
6. The method of claim 5, wherein determining the endurance time of the target leg based on the current battery level, the power consumption of each of the flyable legs preceding the target leg, and the preset current consumption of the target leg comprises:
Determining the first battery residual capacity of the target leg according to the current electric quantity of the battery and the consumed electric quantity of each flyable leg;
and determining the endurance time of the target leg according to the residual electric quantity of the first battery and the preset consumption current of the target leg.
7. The method of claim 5, wherein the preset flight information comprises: the method further comprises the steps of:
determining the flight distance of each flyable leg according to the preset flight speed and the preset flight duration of each flyable leg;
determining the flight distance of the target leg according to the preset flight speed of the target leg and the duration of the target leg;
and determining the remaining mileage of the unmanned aerial vehicle according to the flight distance of each flyable leg and the flight distance of the target leg.
8. The method of claim 1, wherein the current charge of the battery is: the initial battery power of unmanned aerial vehicle when not flying, or, the current second battery residual power of unmanned aerial vehicle flight in-process.
9. The method of claim 8, wherein if the current charge of the battery is: the initial electric quantity of the battery when the unmanned aerial vehicle does not fly;
The obtaining the preset flight information of each leg in the target route of the unmanned aerial vehicle comprises the following steps:
before the unmanned aerial vehicle takes off, acquiring the preset flight information of each leg in the target route and the initial battery electric quantity of the unmanned aerial vehicle.
10. The method of claim 8, wherein if the current battery level is a second battery level remaining during the unmanned aerial vehicle flight;
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 leg, the method further comprises:
acquiring the current position of the unmanned aerial vehicle and the current navigation section of the current position;
and determining the second battery residual capacity according to the power consumption corresponding to each flown leg before the current leg and the preset battery initial power.
11. Unmanned aerial vehicle's duration determining means, characterized in that includes:
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 leg in a target 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 leg;
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 section;
the determining module is specifically configured to determine a target leg where an reachable position of the unmanned aerial vehicle is located; determining the endurance time of the target leg according to the current electric quantity of the battery, the electric quantity consumed by each flyable leg before the target leg and the preset consumed current of the target leg; and determining the duration of the unmanned aerial vehicle according to the preset flight duration of each flyable leg and the duration of the target leg.
12. A processing apparatus, comprising: a memory and a processor, the memory storing a computer program executable by the processor, the processor implementing the method of any of the preceding claims 1-10 when the computer program is executed.
13. A storage medium having stored thereon a computer program which, when read and executed, implements the method of any of the preceding claims 1-10.
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| CN114137426B (en) * | 2021-11-30 | 2024-04-09 | 广州极飞科技股份有限公司 | Residual electric quantity estimation method, device, equipment and storage medium |
| CN114253293B (en) * | 2021-12-16 | 2024-07-05 | 长春长光博翔无人机有限公司 | Multi-rotor plant protection unmanned aerial vehicle operation method |
| CN114347852B (en) * | 2021-12-31 | 2024-05-03 | 中国第一汽车股份有限公司 | Method and device for displaying duration of vehicle, electronic equipment and storage medium |
| CN114548551A (en) * | 2022-02-21 | 2022-05-27 | 广东汇天航空航天科技有限公司 | Method and device for determining residual endurance time, aircraft and medium |
| CN114625171A (en) * | 2022-03-24 | 2022-06-14 | 广州极飞科技股份有限公司 | Time-of-flight calculation method and device, terminal equipment and storage medium |
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