CN114167895A - Unmanned aerial vehicle endurance control method and device, computer equipment and storage medium - Google Patents
Unmanned aerial vehicle endurance control method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to an unmanned aerial vehicle endurance control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring performance change information of the unmanned aerial vehicle at different altitude temperatures; the performance change information is obtained based on an index change curve corresponding to the unmanned aerial vehicle, and the index change curve is constructed by testing the performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment; determining the estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the current flight task of the unmanned aerial vehicle; dividing the current flight task into at least two flight task sections according to the altitude temperature, and determining the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section according to the estimated energy consumption of the unmanned aerial vehicle; and respectively adjusting the performance index parameters corresponding to the unmanned aerial vehicles in each flight task section based on the performance change information so that the energy consumption of each unmanned aerial vehicle section meets the lowest energy consumption condition. By adopting the method, the cruising ability of the unmanned aerial vehicle in a low-temperature environment can be ensured.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle endurance control method, an unmanned aerial vehicle endurance control device, computer equipment, a storage medium and a computer program product.
Background
At present, with the development of unmanned aerial vehicle technique, the work of patrolling and examining is explored at most high altitudes and can adopt unmanned aerial vehicle to accomplish. Because in the area of height above sea level 3500 meters, along with the rise of height above sea level, the temperature in area can show and descend, and the low temperature environment of high height above sea level can lead to unmanned aerial vehicle unable normal work in low temperature environment to lead to its unable continuation of the journey to accomplish complete high height above sea level and explore the work of patrolling and examining.
Therefore, the problem that the working efficiency of the unmanned aerial vehicle is low in the low-temperature environment exists in the related art.
Disclosure of Invention
In view of the above, it is necessary to provide a method, an apparatus, a computer device, a storage medium, and a computer program product for controlling cruising of an unmanned aerial vehicle, which can solve the above problems.
In a first aspect, the application provides a method for controlling endurance of an unmanned aerial vehicle, the method including:
acquiring performance change information of the unmanned aerial vehicle at different altitude temperatures; the performance change information is obtained based on an index change curve corresponding to the unmanned aerial vehicle, and the index change curve is constructed by testing the performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment;
determining estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the current flight task of the unmanned aerial vehicle;
dividing the current flight task into at least two flight task sections according to the altitude temperature, and determining the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section according to the estimated energy consumption of the unmanned aerial vehicle;
and respectively adjusting the performance index parameters corresponding to the unmanned aerial vehicles in each flight task section based on the performance change information so as to enable the energy consumption of each unmanned aerial vehicle section to meet the minimum energy consumption condition.
In one embodiment, before the step of obtaining the performance change information of the drone at different altitude temperatures, the method further includes:
testing first performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment; the first performance index change condition comprises a first battery voltage change condition and a first battery temperature change condition under different flight speeds;
testing a second performance index change condition of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment; the second performance index change condition comprises a second battery voltage change and a second battery temperature change under different heating temperatures;
and combining the first performance index change condition and the second performance index change condition to construct the index change curve.
In one embodiment, the determining, according to the current flight mission of the unmanned aerial vehicle, estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight mission includes:
acquiring a current flight task of the unmanned aerial vehicle, and determining an expected flight route of the current flight task;
and obtaining the estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the standard flight speed of the unmanned aerial vehicle, the estimated flight route and the index change curve.
In one embodiment, the dividing the current flight mission into at least two flight mission sections according to the altitude temperature includes:
determining a plurality of altitude temperature intervals according to the altitude temperature change amplitude under the unit altitude change;
and dividing the current flight task into at least two flight task sections according to the plurality of altitude temperature intervals.
In one embodiment, the determining the energy consumption of the unmanned aerial vehicle section corresponding to each flight mission section according to the estimated energy consumption of the unmanned aerial vehicle includes:
determining performance index parameters corresponding to the unmanned aerial vehicle in each flight task section;
and obtaining the unmanned aerial vehicle section energy consumption corresponding to each flight task section based on the unmanned aerial vehicle estimated energy consumption and the performance index parameters.
In one embodiment, the adjusting, based on the performance change information, the performance index parameter corresponding to the drone in each flight mission segment, so that energy consumption of each drone segment meets a minimum energy consumption condition includes:
for each flight task section, adjusting performance index parameters corresponding to the unmanned aerial vehicle in the flight task section based on the performance change information to obtain a plurality of adjusted energy consumption of the unmanned aerial vehicle section;
according to the section energy consumption comparison result, the section energy consumption of the unmanned aerial vehicle after the adjustment of the minimum energy consumption is used as the section energy consumption of the target unmanned aerial vehicle, and a target performance index parameter corresponding to the section energy consumption of the target unmanned aerial vehicle is determined;
and adjusting the performance index parameter corresponding to the unmanned aerial vehicle in the flight task section to the target performance index parameter so that the adjusted energy consumption of the unmanned aerial vehicle section meets the minimum energy consumption condition.
In a second aspect, the present application further provides an unmanned aerial vehicle endurance control apparatus, the apparatus includes:
the performance change information acquisition module is used for acquiring performance change information of the unmanned aerial vehicle at different altitude temperatures; the performance change information is obtained based on an index change curve corresponding to the unmanned aerial vehicle, and the index change curve is constructed by testing the performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment;
the energy consumption estimation module is used for determining the estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the current flight task of the unmanned aerial vehicle;
the task section dividing module is used for dividing the current flight task into at least two flight task sections according to the altitude temperature and determining the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section according to the estimated energy consumption of the unmanned aerial vehicle;
and the index parameter adjusting module is used for respectively adjusting the performance index parameters corresponding to the unmanned aerial vehicles in each flight task section based on the performance change information so as to enable the energy consumption of each unmanned aerial vehicle section to meet the minimum energy consumption condition.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the unmanned aerial vehicle endurance control method when executing the computer program.
In a fourth aspect, the present application further provides a computer-readable storage medium. The computer readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the drone endurance control method as described above.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of the drone endurance control method as described above.
The unmanned aerial vehicle endurance control method, the device, the computer equipment, the storage medium and the computer program product are characterized in that the performance change information of the unmanned aerial vehicle at different altitude temperatures is obtained on the basis of the index change curve corresponding to the unmanned aerial vehicle, the index change curve is constructed by testing the performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment, then the estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task is determined according to the current flight task of the unmanned aerial vehicle, the current flight task is divided into at least two flight task sections according to the altitude temperatures, the energy consumption of the unmanned aerial vehicle corresponding to each flight task section is determined according to the estimated energy consumption of the unmanned aerial vehicle, and further the performance index parameters corresponding to the unmanned aerial vehicle in each flight task section are respectively adjusted on the basis of the performance change information so that the energy consumption of each unmanned aerial vehicle section meets the lowest energy consumption condition, the control optimization of the endurance of the unmanned aerial vehicle under the low-temperature environment is realized, the performance index parameters in the task process of the unmanned aerial vehicle are adjusted based on different altitude temperature environments, so that the energy consumption in the flight process of the unmanned aerial vehicle is controlled, the unmanned aerial vehicle can be controlled to advance based on the adjusted performance index parameters in the actual task execution process, and the endurance of the unmanned aerial vehicle in the low-temperature environment is ensured.
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Fig. 1 is a schematic flow chart of a method for controlling endurance of an unmanned aerial vehicle according to an embodiment;
FIG. 2 is a schematic flow chart illustrating the steps of constructing an index variation curve according to an embodiment;
fig. 3 is a schematic flow chart of another method for controlling endurance of an unmanned aerial vehicle according to an embodiment;
fig. 4 is a block diagram of a cruising control device of an unmanned aerial vehicle according to an embodiment;
FIG. 5 is a diagram of the internal structure of a computer device, in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for presentation, analyzed data, etc.) referred to in this application are information and data authorized by the user or sufficiently authorized by each party; correspondingly, the application also provides a corresponding user authorization entrance for the user to select authorization or to select denial.
In an embodiment, as shown in fig. 1, there is provided a method for controlling endurance of an unmanned aerial vehicle, where the embodiment is exemplified by applying the method to an unmanned aerial vehicle, and the method in the embodiment includes the following steps:
the unmanned aerial vehicle can be controlled through a microprocessor control chip installed in the unmanned aerial vehicle so as to execute the unmanned aerial vehicle endurance control method.
As an example, the index variation curve may represent a variation degree of each parameter data in the system performance index of the drone under the change of the altitude temperature.
In practical application, through testing the performance index change condition of unmanned aerial vehicle under different altitude temperatures in standard laboratory environment, can establish the index change curve that unmanned aerial vehicle corresponds in advance, and then can acquire the performance change information that unmanned aerial vehicle is in under different altitude temperatures according to this index change curve.
Specifically, in order to be in actual high altitude low temperature environment, guarantee that unmanned aerial vehicle can work according to expected task, guarantee unmanned aerial vehicle's duration, can simulate in advance in standard laboratory environment and construct test environment, based on the test environment who constructs, can simulate out the environmental aspect under the different altitude temperature, then in standard laboratory environment, can simulate the change of test unmanned aerial vehicle system performance index under each altitude temperature, change such as battery voltage, and then can be according to the data that simulation test obtained, draw the index change curve that unmanned aerial vehicle corresponds, thereby based on the index change curve, can characterize under the altitude temperature change, the change degree of each parameter data in unmanned aerial vehicle's the system performance index.
102, determining estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the current flight task of the unmanned aerial vehicle;
in concrete realization, can acquire unmanned aerial vehicle's current flight task, and then can be to current flight task, according to the performance variation information that unmanned aerial vehicle is in under the different altitude temperatures, confirm that the unmanned aerial vehicle that current flight task corresponds predicts the energy consumption to through predicting the simulation to the task process of patrolling and examining of unmanned aerial vehicle, can calculate the energy consumption of predicting of whole process.
For example, because the flight plans of the unmanned aerial vehicle are different every time, by acquiring the current flight task (i.e., the current flight task) of the unmanned aerial vehicle, the environment area where the current flight task passes through and the data such as the altitude and the temperature of the environment area can be determined, and then the estimated energy consumption required by the unmanned aerial vehicle when executing the current task can be estimated and calculated in advance.
103, dividing the current flight task into at least two flight task sections according to the altitude temperature, and determining the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section according to the estimated energy consumption of the unmanned aerial vehicle;
after the estimated energy consumption of the unmanned aerial vehicle is determined, the process of the current flight task can be divided according to the change condition of the altitude temperature to obtain at least two flight task sections, and then the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section can be determined according to the estimated energy consumption of the unmanned aerial vehicle.
In an example, as the altitude is higher, the temperature is lower, the battery power loss or failure degree of the unmanned aerial vehicle is higher, the worse the cruising effect of the unmanned aerial vehicle is caused, but the whole change process is not linear change, and as the temperature is reduced, the performance of the unmanned aerial vehicle may generate sudden change at a certain node. For more reasonable simulation calculation and planning of the process of the unmanned aerial vehicle for executing the task, the corresponding process of the current flight task of the unmanned aerial vehicle can be divided into at least two task sections (namely flight task sections) according to the change condition of the altitude temperature, so that the index parameters of the task sections are respectively adjusted by further combining the preset corresponding index change curve of the unmanned aerial vehicle.
And 104, respectively adjusting performance index parameters corresponding to the unmanned aerial vehicles in each flight task section based on the performance change information so that the energy consumption of each unmanned aerial vehicle section meets the minimum energy consumption condition.
In practical application, based on performance change information, the performance index parameters corresponding to the unmanned aerial vehicles in each flight task section can be respectively adjusted by combining with the index change curves corresponding to the unmanned aerial vehicles, so that the energy consumption of each unmanned aerial vehicle section meets the minimum energy consumption condition, namely, the minimum energy consumption corresponding to the flight task section can be determined based on the finally adjusted performance index parameters for each flight task section, and the cruising ability of the whole unmanned aerial vehicle in the task process can be ensured.
Compared with the traditional method, according to the technical scheme of the embodiment, the estimated energy consumption of the whole process is calculated by estimating and simulating the routing inspection task process of the unmanned aerial vehicle, and the index parameters of the whole task process of the unmanned aerial vehicle can be adjusted according to the performance index changes of the battery of the unmanned aerial vehicle in different altitude temperature environments, so that the unmanned aerial vehicle can advance based on the adjusted index parameters in the actual task process, the energy consumption of the unmanned aerial vehicle in the flight process is controlled, and the cruising ability of the unmanned aerial vehicle in the low-temperature environment is ensured.
In the unmanned aerial vehicle endurance control method, the performance change information of the unmanned aerial vehicle at different altitude temperatures is acquired, then the estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task is determined according to the current flight task of the unmanned aerial vehicle, the current flight task is divided into at least two flight task sections according to the altitude temperatures, the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section is determined according to the estimated energy consumption of the unmanned aerial vehicle, and further the performance index parameters corresponding to the unmanned aerial vehicle in each flight task section are respectively adjusted based on the performance change information, so that the energy consumption of each unmanned aerial vehicle section meets the minimum energy consumption condition, the control optimization of the unmanned aerial vehicle endurance in the low-temperature environment is realized, the performance index parameters in the unmanned aerial vehicle mission process are adjusted based on different altitude temperature environments, and further the energy consumption in the unmanned aerial vehicle flight process is controlled, so that the unmanned aerial vehicle can actually execute the mission process, and the advancing is controlled based on the adjusted performance index parameters, so that the cruising ability of the unmanned aerial vehicle in the low-temperature environment is ensured.
In one embodiment, as shown in fig. 2, before the step of acquiring the performance change information of the drone at different altitude temperatures, the following steps may be further included:
in concrete realization, through simulation in standard laboratory environment in advance and construct the test environment, and then can simulate out the environmental aspect under the different altitude temperature based on the test environment who constructs to can in standard laboratory environment, the change of simulation test unmanned aerial vehicle system performance index under each altitude temperature, if under different flying speed, change conditions such as unmanned aerial vehicle's battery voltage (be first battery voltage change condition, first battery temperature change condition).
For example, because the airspeed of different unmanned aerial vehicles is different, and power is also different, then unmanned aerial vehicle is also different to the electric quantity loss of battery in the unit interval, based on in standard laboratory environment, the first performance index variation that test unmanned aerial vehicle obtained under different altitude temperature, it can characterize unmanned aerial vehicle battery voltage change and battery temperature change under different airspeeds, and then can be directed against different airspeeds, obtains unmanned aerial vehicle's battery voltage's variation conditions such as variation.
in an example, the change of the system performance index of the unmanned aerial vehicle at each altitude temperature can be simulated and tested in a standard laboratory environment, such as the change of the battery voltage of the unmanned aerial vehicle (i.e. the second battery voltage change and the second battery temperature change) at different heating temperatures.
For example, when ambient temperature is lower, in order to guarantee that unmanned aerial vehicle can normal operating, need heat parts such as motor, battery, and then can test unmanned aerial vehicle heating performance index situation of change under different height above sea level temperatures, it can characterize unmanned aerial vehicle battery voltage change and battery temperature change under the heating temperature of difference, and then can be to under the heating temperature of difference, obtain unmanned aerial vehicle's change conditions such as battery voltage.
And 203, combining the first performance index change situation and the second performance index change situation to construct the index change curve.
After the first performance index change condition and the second performance index change condition are obtained, an index change curve can be constructed by combining the first performance index change condition under different altitude temperatures and the second performance index change condition under different altitude temperatures, and if the system performance index change and the heating performance index change under different altitude temperatures obtained by testing can be integrated and drawn to obtain the index change curve corresponding to the unmanned aerial vehicle.
In this embodiment, through testing unmanned aerial vehicle first performance index change situation under different altitude temperatures in standard laboratory environment, and test unmanned aerial vehicle second performance index change situation under different altitude temperatures in standard laboratory environment, and then combine first performance index change situation and second performance index change situation, establish index change curve, can simulate out the environmental aspect under different altitude temperatures based on the test environment who constructs, obtain the system performance index change of unmanned aerial vehicle under each altitude temperature with the test, provide data support for accurately adjusting index parameter.
In an embodiment, the determining, according to the current flight mission of the unmanned aerial vehicle, estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight mission may include the following steps:
acquiring a current flight task of the unmanned aerial vehicle, and determining an expected flight route of the current flight task; and obtaining the estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the standard flight speed of the unmanned aerial vehicle, the estimated flight route and the index change curve.
In practical application, the current flight task of the unmanned aerial vehicle can be obtained, a predicted flight path can be determined for the current flight task, then an environment area through which the current flight task passes in the process can be determined according to the predicted flight path, data such as altitude and temperature of the environment area can be obtained, and then the predicted energy consumption of the current flight task can be calculated by combining the standard flight speed and the index change curve of the unmanned aerial vehicle.
In an example, through in the simulation test, setting and testing the model, old and new of unmanned aerial vehicle, can confirm the standard flying speed of unmanned aerial vehicle under normal operating conditions, and then can combine standard flying speed and index variation curve estimation unmanned aerial vehicle's continuation of the journey circumstances, judge whether can guarantee this flight task goes on smoothly to can carry out subsequent optimization adjustment based on this estimate energy consumption data.
In the embodiment, the predicted flight route of the current flight task is determined by obtaining the current flight task of the unmanned aerial vehicle, and then the estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task is obtained according to the standard flight speed, the predicted flight route and the index change curve of the unmanned aerial vehicle, so that the cruising condition of the unmanned aerial vehicle can be effectively estimated, and data support is provided for subsequent performance index parameter optimization and adjustment.
In one embodiment, the dividing the current flight mission into at least two flight mission sections according to the altitude temperature may include the following steps:
determining a plurality of altitude temperature intervals according to the altitude temperature change amplitude under the unit altitude change; and dividing the current flight task into at least two flight task sections according to the plurality of altitude temperature intervals.
In an example, because along with the change of altitude temperature, data such as unmanned aerial vehicle's battery power loss probably take place the sudden change, in order to guarantee the accuracy degree of calculation and adjustment, can be based on the node that takes place the sudden change, the division sets up a plurality of altitude temperature intervals, and then can be according to the flight process of this flight task (be current flight task), the altitude temperature interval that the regional correspondence that confirms passed through, in order to carry out the division of flight task section, thereby can be directed against every flight task section, according to index change curved change rule adjustment performance index parameter, can make unmanned aerial vehicle's energy consumption reduce to minimumly, flight continuation of the journey has been guaranteed.
In this embodiment, through according to the altitude temperature range of change under the unit altitude change, confirm a plurality of altitude temperature intervals, and then according to a plurality of altitude temperature intervals, divide into two at least flight task sections with current flight task, can divide the flight task section based on altitude temperature interval, promoted unmanned aerial vehicle control accuracy.
In an embodiment, the determining the energy consumption of the unmanned aerial vehicle section corresponding to each flight mission section according to the estimated energy consumption of the unmanned aerial vehicle may include the following steps:
determining performance index parameters corresponding to the unmanned aerial vehicle in each flight task section; and obtaining the unmanned aerial vehicle section energy consumption corresponding to each flight task section based on the unmanned aerial vehicle estimated energy consumption and the performance index parameters.
In specific implementation, for each flight task section, a performance index parameter corresponding to the unmanned aerial vehicle in the flight task section can be acquired, then energy consumption and the performance index parameter are estimated based on the unmanned aerial vehicle, energy consumption of the unmanned aerial vehicle section corresponding to the flight task section is determined, and further energy consumption of the unmanned aerial vehicle section corresponding to each flight task section can be obtained for a current flight task of the unmanned aerial vehicle, so that the performance index parameter is further adjusted according to an index change curve, and energy consumption of the unmanned aerial vehicle section corresponding to each flight task section is reduced.
For example, a current index parameter (i.e., a performance index parameter corresponding to the drone in the flight task section) may be set for each flight task section, and based on the current index parameter, a current task section energy consumption (i.e., drone section energy consumption) of the flight task section may be calculated.
In this embodiment, the performance index parameters corresponding to the unmanned aerial vehicle in each flight task section are determined, and then the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section is obtained based on the estimated energy consumption and performance index parameters of the unmanned aerial vehicle, so that data support is provided for further adjusting the performance index parameters to reduce the energy consumption of the section.
In an embodiment, the adjusting, based on the performance change information, the performance index parameter corresponding to the unmanned aerial vehicle in each flight mission segment, so that energy consumption of each unmanned aerial vehicle segment meets a minimum energy consumption condition, may include:
for each flight task section, adjusting performance index parameters corresponding to the unmanned aerial vehicle in the flight task section based on the performance change information to obtain a plurality of adjusted energy consumption of the unmanned aerial vehicle section; according to the section energy consumption comparison result, the section energy consumption of the unmanned aerial vehicle after the adjustment of the minimum energy consumption is used as the section energy consumption of the target unmanned aerial vehicle, and a target performance index parameter corresponding to the section energy consumption of the target unmanned aerial vehicle is determined; and adjusting the performance index parameter corresponding to the unmanned aerial vehicle in the flight task section to the target performance index parameter so that the adjusted energy consumption of the unmanned aerial vehicle section meets the minimum energy consumption condition.
In an example, for each flight task section, because energy consumption of the corresponding unmanned aerial vehicle section is related to data such as flight speed, flight time, heating temperature, heating time and the like of the unmanned aerial vehicle in an altitude temperature interval corresponding to the flight task section, an index change curve can be used as a calculation basis, and performance index parameters corresponding to the unmanned aerial vehicle in the flight task section are continuously adjusted, if multiple adjusted performance index parameters can be repeatedly calculated to be compared, so that the performance index parameter with the minimum energy consumption can be selected and used as an optimal performance index parameter (namely a target performance index parameter), and the optimal performance index parameter corresponds to the minimum energy consumption of the section (namely the energy consumption of the target unmanned aerial vehicle section).
In another example, the performance index parameter corresponding to the unmanned aerial vehicle in each flight task section can be adjusted to the optimal performance index parameter (i.e., the target performance index parameter) of the flight task section, so that the energy consumption required in the whole process of the flight task can be controlled to be the lowest value, and the flight endurance of the unmanned aerial vehicle is ensured.
In this embodiment, through aiming at each flight task section, based on performance change information, adjust the performance index parameter that unmanned aerial vehicle corresponds in the flight task section, obtain a plurality of unmanned aerial vehicle section energy consumptions after adjusting, then according to section energy consumption comparison result, unmanned aerial vehicle section energy consumption after adjusting with minimum energy consumption is as target unmanned aerial vehicle section energy consumption, and confirm the target performance index parameter that target unmanned aerial vehicle section energy consumption corresponds, and then with the performance index parameter that unmanned aerial vehicle corresponds in the flight task section, adjust to target performance index parameter, so that unmanned aerial vehicle section energy consumption after adjusting satisfies minimum energy consumption condition, can make the required energy consumption of the whole in-process of flight task all control to the minimum, unmanned aerial vehicle flight continuation of journey has been guaranteed.
In one embodiment, as shown in fig. 3, a flow chart of another method for controlling endurance of a drone is provided. In this embodiment, the method includes the steps of:
in step 301, testing a first performance index change condition of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment; the first performance index change condition comprises a first battery voltage change condition and a first battery temperature change condition under different flight speeds. In step 302, testing a second performance index change condition of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment; the second performance index change condition comprises second battery voltage change and second battery temperature change under different heating temperatures. In step 303, the index variation curve is constructed by combining the first performance index variation condition and the second performance index variation condition. In step 304, performance change information of the unmanned aerial vehicle at different altitude temperatures is acquired. In step 305, according to the current flight mission of the unmanned aerial vehicle, determining estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight mission. In step 306, the current flight mission is divided into at least two flight mission sections according to the altitude temperature, and the energy consumption of the unmanned aerial vehicle section corresponding to each flight mission section is determined according to the estimated energy consumption of the unmanned aerial vehicle. In step 307, for each flight task segment, based on the performance change information, adjusting a performance index parameter corresponding to the unmanned aerial vehicle in the flight task segment to obtain a plurality of adjusted energy consumptions of the unmanned aerial vehicle segment. In step 308, according to the section energy consumption comparison result, the adjusted unmanned aerial vehicle section energy consumption with the minimum energy consumption is used as the target unmanned aerial vehicle section energy consumption, and a target performance index parameter corresponding to the target unmanned aerial vehicle section energy consumption is determined. In step 309, adjusting the performance index parameter corresponding to the unmanned aerial vehicle in the flight mission segment to the target performance index parameter, so that the adjusted energy consumption of the unmanned aerial vehicle segment meets the minimum energy consumption condition. It should be noted that, for the specific limitations of the above steps, reference may be made to the above specific limitations on the unmanned aerial vehicle endurance control method, which is not described herein again.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides an unmanned aerial vehicle endurance control device for realizing the unmanned aerial vehicle endurance control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so that specific limitations in one or more embodiments of the unmanned aerial vehicle endurance control device provided below can be referred to the limitations on the unmanned aerial vehicle endurance control method in the above description, and details are not repeated herein.
In one embodiment, as shown in fig. 4, there is provided a drone endurance control apparatus, including:
the performance change information acquisition module 401 is configured to acquire performance change information of the unmanned aerial vehicle at different altitude temperatures; the performance change information is obtained based on an index change curve corresponding to the unmanned aerial vehicle, and the index change curve is constructed by testing the performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment;
the energy consumption estimation module 402 is configured to determine estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the current flight task of the unmanned aerial vehicle;
a task section division module 403, configured to divide the current flight task into at least two flight task sections according to an altitude temperature, and determine, according to the estimated energy consumption of the unmanned aerial vehicle, an energy consumption of an unmanned aerial vehicle section corresponding to each flight task section;
an index parameter adjusting module 404, configured to respectively adjust performance index parameters corresponding to the drones in each flight mission segment based on the performance change information, so that energy consumption of each drone segment meets a minimum energy consumption condition.
In one embodiment, the apparatus further comprises:
the first testing module is used for testing the change condition of a first performance index of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment; the first performance index change condition comprises a first battery voltage change condition and a first battery temperature change condition under different flight speeds;
the second testing module is used for testing the change condition of a second performance index of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment; the second performance index change condition comprises a second battery voltage change and a second battery temperature change under different heating temperatures;
and the index change curve construction module is used for constructing the index change curve by combining the first performance index change condition and the second performance index change condition.
In one embodiment, the energy consumption estimation module 402 includes:
the current flight task obtaining sub-module is used for obtaining a current flight task of the unmanned aerial vehicle and determining an expected flight route of the current flight task;
and the estimated energy consumption obtaining submodule is used for obtaining the estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the standard flight speed of the unmanned aerial vehicle, the estimated flight route and the index change curve.
In one embodiment, the task segment division module 403 comprises:
the altitude temperature interval determination submodule is used for determining a plurality of altitude temperature intervals according to the altitude temperature change amplitude under the unit altitude change;
and the flight task dividing submodule is used for dividing the current flight task into at least two flight task sections according to the plurality of altitude temperature intervals.
In one embodiment, the task segment division module 403 comprises:
a section index parameter determination submodule for determining a performance index parameter corresponding to the unmanned aerial vehicle in each flight task section;
and the section energy consumption obtaining submodule is used for obtaining the section energy consumption of the unmanned aerial vehicle corresponding to each flight task section based on the estimated energy consumption of the unmanned aerial vehicle and the performance index parameter.
In one embodiment, the metric parameter adjustment module 404 includes:
the adjusted section energy consumption obtaining submodule is used for adjusting the performance index parameters corresponding to the unmanned aerial vehicle in the flight task sections based on the performance change information aiming at each flight task section to obtain a plurality of adjusted unmanned aerial vehicle section energy consumptions;
the target performance index parameter determining submodule is used for taking the adjusted unmanned aerial vehicle section energy consumption with the minimum energy consumption as the target unmanned aerial vehicle section energy consumption according to the section energy consumption comparison result and determining a target performance index parameter corresponding to the target unmanned aerial vehicle section energy consumption;
and the parameter adjusting submodule is used for adjusting the performance index parameter corresponding to the unmanned aerial vehicle in the flight task section into the target performance index parameter so as to enable the adjusted energy consumption of the unmanned aerial vehicle section to meet the minimum energy consumption condition.
Each module in the unmanned aerial vehicle endurance control device can be wholly or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 5. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of drone endurance control.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring performance change information of the unmanned aerial vehicle at different altitude temperatures; the performance change information is obtained based on an index change curve corresponding to the unmanned aerial vehicle, and the index change curve is constructed by testing the performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment;
determining estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the current flight task of the unmanned aerial vehicle;
dividing the current flight task into at least two flight task sections according to the altitude temperature, and determining the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section according to the estimated energy consumption of the unmanned aerial vehicle;
and respectively adjusting the performance index parameters corresponding to the unmanned aerial vehicles in each flight task section based on the performance change information so as to enable the energy consumption of each unmanned aerial vehicle section to meet the minimum energy consumption condition.
In one embodiment, the processor, when executing the computer program, further implements the steps of the drone endurance control method in the other embodiments described above.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring performance change information of the unmanned aerial vehicle at different altitude temperatures; the performance change information is obtained based on an index change curve corresponding to the unmanned aerial vehicle, and the index change curve is constructed by testing the performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment;
determining estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the current flight task of the unmanned aerial vehicle;
dividing the current flight task into at least two flight task sections according to the altitude temperature, and determining the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section according to the estimated energy consumption of the unmanned aerial vehicle;
and respectively adjusting the performance index parameters corresponding to the unmanned aerial vehicles in each flight task section based on the performance change information so as to enable the energy consumption of each unmanned aerial vehicle section to meet the minimum energy consumption condition.
In one embodiment, the computer program when executed by the processor further implements the steps of the drone endurance control method in the other embodiments described above.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:
acquiring performance change information of the unmanned aerial vehicle at different altitude temperatures; the performance change information is obtained based on an index change curve corresponding to the unmanned aerial vehicle, and the index change curve is constructed by testing the performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment;
determining estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the current flight task of the unmanned aerial vehicle;
dividing the current flight task into at least two flight task sections according to the altitude temperature, and determining the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section according to the estimated energy consumption of the unmanned aerial vehicle;
and respectively adjusting the performance index parameters corresponding to the unmanned aerial vehicles in each flight task section based on the performance change information so as to enable the energy consumption of each unmanned aerial vehicle section to meet the minimum energy consumption condition.
In one embodiment, the computer program when executed by the processor further implements the steps of the drone endurance control method in the other embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. An unmanned aerial vehicle endurance control method, characterized in that the method comprises:
acquiring performance change information of the unmanned aerial vehicle at different altitude temperatures; the performance change information is obtained based on an index change curve corresponding to the unmanned aerial vehicle, and the index change curve is constructed by testing the performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment;
determining estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the current flight task of the unmanned aerial vehicle;
dividing the current flight task into at least two flight task sections according to the altitude temperature, and determining the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section according to the estimated energy consumption of the unmanned aerial vehicle;
and respectively adjusting the performance index parameters corresponding to the unmanned aerial vehicles in each flight task section based on the performance change information so as to enable the energy consumption of each unmanned aerial vehicle section to meet the minimum energy consumption condition.
2. The method of claim 1, further comprising, prior to the step of obtaining information of performance variation of drones at different altitude temperatures:
testing first performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment; the first performance index change condition comprises a first battery voltage change condition and a first battery temperature change condition under different flight speeds;
testing a second performance index change condition of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment; the second performance index change condition comprises a second battery voltage change and a second battery temperature change under different heating temperatures;
and combining the first performance index change condition and the second performance index change condition to construct the index change curve.
3. The method of claim 1, wherein determining, according to the current flight mission of the drone, the estimated energy consumption of the drone corresponding to the current flight mission comprises:
acquiring a current flight task of the unmanned aerial vehicle, and determining an expected flight route of the current flight task;
and obtaining the estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the standard flight speed of the unmanned aerial vehicle, the estimated flight route and the index change curve.
4. The method of claim 1, wherein said dividing said current mission into at least two mission sections by altitude temperature comprises:
determining a plurality of altitude temperature intervals according to the altitude temperature change amplitude under the unit altitude change;
and dividing the current flight task into at least two flight task sections according to the plurality of altitude temperature intervals.
5. The method of claim 1, wherein determining the drone segment energy consumption for each flight mission segment based on the predicted drone energy consumption comprises:
determining performance index parameters corresponding to the unmanned aerial vehicle in each flight task section;
and obtaining the unmanned aerial vehicle section energy consumption corresponding to each flight task section based on the unmanned aerial vehicle estimated energy consumption and the performance index parameters.
6. The method according to any one of claims 1 to 5, wherein the adjusting, based on the performance change information, the performance index parameter corresponding to the UAV in each flight mission segment to enable energy consumption of each UAV segment to meet a minimum energy consumption condition includes:
for each flight task section, adjusting performance index parameters corresponding to the unmanned aerial vehicle in the flight task section based on the performance change information to obtain a plurality of adjusted energy consumption of the unmanned aerial vehicle section;
according to the section energy consumption comparison result, the section energy consumption of the unmanned aerial vehicle after the adjustment of the minimum energy consumption is used as the section energy consumption of the target unmanned aerial vehicle, and a target performance index parameter corresponding to the section energy consumption of the target unmanned aerial vehicle is determined;
and adjusting the performance index parameter corresponding to the unmanned aerial vehicle in the flight task section to the target performance index parameter so that the adjusted energy consumption of the unmanned aerial vehicle section meets the minimum energy consumption condition.
7. An unmanned aerial vehicle continuation of journey controlling means, its characterized in that, the device includes:
the performance change information acquisition module is used for acquiring performance change information of the unmanned aerial vehicle at different altitude temperatures; the performance change information is obtained based on an index change curve corresponding to the unmanned aerial vehicle, and the index change curve is constructed by testing the performance index change conditions of the unmanned aerial vehicle at different altitude temperatures in a standard laboratory environment;
the energy consumption estimation module is used for determining the estimated energy consumption of the unmanned aerial vehicle corresponding to the current flight task according to the current flight task of the unmanned aerial vehicle;
the task section dividing module is used for dividing the current flight task into at least two flight task sections according to the altitude temperature and determining the energy consumption of the unmanned aerial vehicle section corresponding to each flight task section according to the estimated energy consumption of the unmanned aerial vehicle;
and the index parameter adjusting module is used for respectively adjusting the performance index parameters corresponding to the unmanned aerial vehicles in each flight task section based on the performance change information so as to enable the energy consumption of each unmanned aerial vehicle section to meet the minimum energy consumption condition.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 6 when executed by a processor.
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