CN116625379A

CN116625379A - Unmanned aerial vehicle, return electric quantity adjusting method and device thereof and flight controller

Info

Publication number: CN116625379A
Application number: CN202310912167.4A
Authority: CN
Inventors: 员荣海
Original assignee: Shenzhen Shenhai Innovation Technology Co ltd
Current assignee: Shenzhen Botan Intelligent Co.,Ltd.
Priority date: 2023-07-25
Filing date: 2023-07-25
Publication date: 2023-08-22
Anticipated expiration: 2043-07-25
Also published as: CN116625379B

Abstract

The application relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle, a return electric quantity adjusting method and device thereof, and a flight controller, wherein the return electric quantity adjusting method of the unmanned aerial vehicle is applied to the flight controller and comprises the following steps: obtaining estimated electric quantity of the unmanned aerial vehicle for returning; acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies; acquiring an adjustment coefficient of the estimated electric quantity according to the ambient wind speed and the ambient wind direction; and adjusting the estimated electric quantity according to the adjustment coefficient to obtain the adjusted return electric quantity. According to the method, the accuracy of unmanned aerial vehicle return electric quantity prediction can be improved by acquiring the adjustment coefficient of unmanned aerial vehicle return electric quantity according to the ambient wind speed and the ambient wind direction and adjusting the unmanned aerial vehicle return estimated electric quantity according to the adjustment coefficient.

Description

Unmanned aerial vehicle, return electric quantity adjusting method and device thereof and flight controller

Technical Field

The embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle, a return electric quantity adjusting method and device thereof and a flight controller.

Background

In the flight process of the unmanned aerial vehicle, the electric power is provided by virtue of an onboard battery, so that the onboard equipment and a power system can work normally. When the battery power is low, triggering and responding to low-power protection to perform actions such as returning, forced landing and the like. The low-electricity return of the unmanned aerial vehicle is that when the electric quantity of the on-board battery is lower than a certain threshold value, the unmanned aerial vehicle automatically flies to a set return point, and meanwhile, when the unmanned aerial vehicle reaches the upper air of the return point, a certain electric quantity is still available for safe landing and other actions.

In the prior art, setting a threshold value of the electric quantity of the unmanned aerial vehicle during the return of the unmanned aerial vehicle is generally adopted to ensure that the unmanned aerial vehicle has sufficient electric quantity, for example: setting a fixed threshold, such as triggering low-power return when the electric quantity is lower than 20%; estimating the electric quantity required by the unmanned aerial vehicle to return according to the distance from the unmanned aerial vehicle to the return point, and setting a dynamic return electric quantity threshold according to the estimated electric quantity; and comprehensively calculating a dynamic return electric quantity threshold according to the distance from the unmanned aerial vehicle to the return point and the wind power condition of the environment where the unmanned aerial vehicle is positioned at the current moment.

However, the unmanned aerial vehicle cannot accurately predict the return electric quantity of the unmanned aerial vehicle due to the conditions of changeable flight environment, changeable height and the like, so that the situation that a lot of electric quantity is still reserved or the electric quantity is exhausted when the unmanned aerial vehicle returns to the return point or the unmanned aerial vehicle still does not return to the return point may occur.

Disclosure of Invention

The embodiment of the application provides an unmanned aerial vehicle, a method and a device for adjusting the return electric quantity of the unmanned aerial vehicle, and a flight controller.

The embodiment of the application provides the following technical scheme:

In a first aspect, an embodiment of the present application provides a method for adjusting a return electric quantity of an unmanned aerial vehicle, which is applied to a flight controller, and includes:

obtaining estimated electric quantity of the unmanned aerial vehicle for returning;

acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies;

acquiring an adjustment coefficient of the estimated electric quantity according to the ambient wind speed and the ambient wind direction;

and adjusting the estimated electric quantity according to the adjustment coefficient to obtain the adjusted return electric quantity.

In some embodiments, obtaining an estimated amount of power for a return trip of an unmanned aerial vehicle includes:

acquiring flight offline data of the unmanned aerial vehicle, wherein the flight offline data comprises flight altitude and flight distance;

according to the flight offline data, a battery power consumption model is established;

according to the battery power consumption model, a statistical model of the battery power consumption model is built, wherein the statistical model obeys normal distribution;

and determining an expected value of the statistical model as the estimated electric quantity of the unmanned aerial vehicle returning according to the statistical model.

In some embodiments, obtaining the ambient wind speed and the ambient wind direction while the drone is flying includes:

acquiring acceleration and an accelerator instruction of the current horizontal movement of the unmanned aerial vehicle, wherein the accelerator instruction comprises the size of an accelerator;

And obtaining the ambient wind speed and the ambient wind direction of the unmanned aerial vehicle when the unmanned aerial vehicle flies according to the acceleration, the throttle and the current flight speed of the unmanned aerial vehicle.

In some embodiments, according to the acceleration of the current horizontal movement of the unmanned aerial vehicle, the throttle and the current flight speed of the unmanned aerial vehicle, the environmental wind speed and the environmental wind direction when the unmanned aerial vehicle flies are obtained, which specifically comprises:

acquiring the propeller thrust of the unmanned aerial vehicle according to the throttle command-thrust model;

according to the propeller thrust, obtaining the motion acceleration generated by the propeller thrust comprises the following steps:

，

wherein ,motion acceleration for propeller thrust generation, +.>For propeller thrust->Sine value of unmanned plane tilt angle, +.>Is the quality of the unmanned aerial vehicle;

according to the motion acceleration generated by the propeller thrust and the acceleration of the current horizontal motion of the unmanned aerial vehicle, determining the acceleration generated by the airflow acting on the unmanned aerial vehicle, and comprises the following steps:

，

wherein ,acceleration generated for the airflow acting on the unmanned aerial vehicle, +.>Acceleration for current horizontal movement of unmanned aerial vehicle, +.>The motion acceleration generated for the propeller thrust;

and acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies according to the acceleration generated by the airflow acting on the unmanned aerial vehicle.

In some embodiments, obtaining the ambient wind speed and the ambient wind direction of the unmanned aerial vehicle when flying according to the acceleration generated by the airflow acting on the unmanned aerial vehicle comprises:

acquiring the current flight speed of the unmanned aerial vehicle, and combining the aerodynamic drag model to obtain the aerodynamic drag acceleration;

and acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies according to the acceleration and the aerodynamic resistance acceleration generated by the airflow acting on the unmanned aerial vehicle.

In some embodiments, when the ambient wind direction is opposite to the direction of return of the unmanned aerial vehicle, the adjustment coefficient of the amount of return electricity of the unmanned aerial vehicle is greater than 1;

when the environmental wind direction is the same as the return direction of the unmanned aerial vehicle, the adjustment coefficient of the return electric quantity of the unmanned aerial vehicle is smaller than 1.

In some embodiments, according to the adjustment coefficient, adjusting the estimated electric quantity of the unmanned aerial vehicle for return journey to obtain the adjusted electric quantity, including:

，

wherein ,for the adjusted electric quantity, < >>To adjust the coefficient +.>The electric quantity is estimated for the unmanned aerial vehicle to return to the journey.

In a second aspect, an embodiment of the present application provides a device for adjusting a return electric quantity of an unmanned aerial vehicle, where the device is applied to a flight controller, and the device comprises:

the acquisition unit is used for acquiring estimated electric quantity of the unmanned aerial vehicle during the return journey and acquiring the ambient wind speed and the ambient wind direction of the unmanned aerial vehicle during the flight;

The adjusting unit is used for acquiring an adjusting coefficient of the estimated electric quantity according to the ambient wind speed and the ambient wind direction; and adjusting the estimated electric quantity according to the adjustment coefficient to obtain the adjusted return electric quantity.

In a third aspect, an embodiment of the present application provides a flight controller, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of adjusting the amount of return power of the unmanned aerial vehicle as in the first aspect.

In a fourth aspect, an embodiment of the present application provides a multi-rotor unmanned aerial vehicle, including:

the flight controller of the third aspect.

The beneficial effects of the embodiment of the application are as follows: different from the situation of the prior art, the embodiment of the application provides a method for adjusting the return electric quantity of an unmanned aerial vehicle, which is applied to a flight controller and comprises the following steps: obtaining estimated electric quantity of the unmanned aerial vehicle for returning; acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies; acquiring an adjustment coefficient of the estimated electric quantity according to the ambient wind speed and the ambient wind direction; and adjusting the estimated electric quantity according to the adjustment coefficient to obtain the adjusted return electric quantity. According to the method, the accuracy of unmanned aerial vehicle return electric quantity prediction can be improved by acquiring the adjustment coefficient of unmanned aerial vehicle return electric quantity according to the ambient wind speed and the ambient wind direction and adjusting the unmanned aerial vehicle return estimated electric quantity according to the adjustment coefficient.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to scale, unless expressly stated otherwise.

FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

fig. 2 is a schematic flow chart of a method for adjusting the return electric quantity of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 3 is a schematic diagram of a refinement flow of step S201 in fig. 2;

fig. 4 is a schematic diagram of a refinement flow of step S202 in fig. 2;

fig. 5 is a schematic diagram of a refinement flow of step S222 in fig. 4;

fig. 6 is a schematic diagram of a refinement flow of step S2204 in fig. 5;

fig. 7 is a schematic structural diagram of a return electric quantity adjusting device of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a flight controller according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.

Reference numerals illustrate:

Detailed Description

In order that the application may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.

The technical scheme of the application is specifically described below with reference to the accompanying drawings of the specification:

referring to fig. 1, fig. 1 is a schematic diagram of an application environment according to an embodiment of the present application;

as shown in fig. 1, the application environment 100 includes: the unmanned aerial vehicle 10, remote controller 20, wherein unmanned aerial vehicle 10 and remote controller 20 pass through network communication connection, and wherein, this network includes wired network and/or wireless network. It is understood that the network includes wireless networks such as 2G, 3G, 4G, 5G, wireless lan, bluetooth, etc., and may also include wired networks such as serial lines, network lines, etc.

In an embodiment of the present application, the drone 10 includes a fuselage and power system, a communication module, and a flight controller. It should be noted that the unmanned aerial vehicle includes, but is not limited to, a three-axis multi-rotor unmanned aerial vehicle, a four-axis multi-rotor unmanned aerial vehicle, a six-axis multi-rotor unmanned aerial vehicle, and an eight-axis multi-rotor unmanned aerial vehicle.

In the embodiment of the application, a multi-rotor unmanned aerial vehicle (Multirotor Unmanned Aircraft, MUA) is taken as an example, and is also called a multi-rotor unmanned aerial vehicle (multisator), the fuselage of the multi-rotor unmanned aerial vehicle is a main skeleton of the multi-rotor unmanned aerial vehicle and is used for supporting and protecting the internal structure of the multi-rotor unmanned aerial vehicle, light materials are generally adopted for manufacturing the multi-rotor unmanned aerial vehicle to reduce the load capacity of the unmanned aerial vehicle, other parts are required to be installed according to the layout of the fuselage, wherein the low-speed multi-rotor unmanned aerial vehicle structure is mainly made of wood, plastic, glass fiber or carbon fiber composite material honeycomb sandwich structure, the high-speed multi-rotor unmanned aerial vehicle structure is mainly made of aluminum alloy, and other materials are made of titanium alloy or carbon fiber composite materials which are suitable for an advanced manufacturing process mode, so that the purposes of increasing the bearing capacity and reducing the structural mass are achieved.

In the embodiment of the application, the power system of the unmanned aerial vehicle is used for providing power for the unmanned aerial vehicle, the power system comprises a propeller, a motor, an electronic speed regulator and a power supply, wherein the propeller is a main component for generating thrust for the unmanned aerial vehicle, the four-rotor unmanned aerial vehicle is used for example, the four-rotor unmanned aerial vehicle is provided with four propellers, the four-rotor unmanned aerial vehicle is used for generating ascending power, namely lifting force by changing the rotating speed of the motor, when the sum of the lifting force of the four propellers of the unmanned aerial vehicle is equal to the total weight of the unmanned aerial vehicle, the lifting force of the unmanned aerial vehicle and the weight balance of the unmanned aerial vehicle are balanced, the unmanned aerial vehicle can hover in the air, and in order to avoid continuous spin of the unmanned aerial vehicle, the rotating directions of the two adjacent propellers are set to be opposite directions, for example, the two propellers are set to rotate clockwise, and the two propellers are set to rotate anticlockwise.

The motor of the unmanned aerial vehicle, also called a motor, is used for converting electric energy into mechanical energy and driving the propeller to rotate so as to generate thrust. It should be noted that the motor includes, but is not limited to, a brush motor and a brushless motor. The two most relevant technical indicators of the motor are the rotation speed and the power, wherein the rotation speed of the motor is generally expressed by kV, and kV refers to the no-load rotation speed per minute which can be achieved per volt (V), for example, using a motor of kV1000 and a battery of 11.1V, the rotation speed of the motor is 1000x11.1=11100, i.e. 11100 rotations per minute, i.e. 1000 rotations per increment of no-load rotation speed of the motor of 1V.

The Electronic speed regulator (Electronic SpedCotoller, ESC) of the unmanned aerial vehicle is used for regulating the rotating speed of the motor according to the control signal, and is also used for supplying power to steering engines of other channels on the remote control receiver and converting direct current provided by the battery into three-phase alternating current capable of directly driving the motor.

The power supply of the unmanned aerial vehicle is used for providing electric energy for the unmanned aerial vehicle, and the power supply directly relates to important indexes such as hovering time, maximum load weight, flight distance and the like of the unmanned aerial vehicle, and a chemical battery is generally adopted as the power supply of the unmanned aerial vehicle, and the power supply comprises, but is not limited to, a nickel-hydrogen battery, a nickel-chromium battery, a lithium polymer battery and a lithium ion power battery.

In the embodiment of the application, the communication module of the unmanned aerial vehicle comprises a remote controller receiver which is in communication connection with a remote controller transmitter in the remote controller and is used for transmitting data, for example: receiving a signal or an instruction sent by a transmitter of a remote controller; alternatively, data is sent to a remote control transmitter, for example: the signal feedback information is sent to the remote controller transmitter, and the four-rotor unmanned aerial vehicle is used for example, and the signal transmitted by the remote controller transmitter needs to be transmitted through four channels so as to respectively control the front, rear, left and right groups of suspension shafts and motors. In the embodiment of the application, the communication module can realize communication with the internet and the internet, wherein the communication module further comprises, but is not limited to, a communication unit such as a WIFI module, a ZigBee module, an NB_iot module, a 4G module, a 5G module, a Bluetooth module and the like.

In the embodiment of the application, the flight controller is arranged in the unmanned aerial vehicle, also called as a flight management and control system, and is used as a control core of the unmanned aerial vehicle for controlling the unmanned aerial vehicle to fly and return, and comprises a main control unit, an inertial measurement unit and a GPS compass module so as to realize the reliability and the accuracy of the data transmission of the unmanned aerial vehicle. The main control unit is a core unit of the flight controller and is used for realizing autonomous flight and data recording; an Inertial Measurement Unit (IMU) includes a gyroscope, an accelerometer, a geomagnetic sensor, and a barometer, and is a device that measures a three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, where the accelerometers detect acceleration signals of the object in the carrier coordinate system in three axes independently, and the gyroscopes detect angular velocity signals of the carrier relative to the navigation coordinate system, measure angular velocity and acceleration of the unmanned aerial vehicle in three dimensions, and calculate the attitude of the unmanned aerial vehicle based on the angular velocity and acceleration, for example, calculate the tilt angle of the unmanned aerial vehicle; the GPS compass module is used for navigation and positioning.

In embodiments of the application, the flight controller may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single-chip microcomputer, ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. The flight controller may also be any conventional processor, controller, microcontroller, or state machine. The flight controller may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP and/or any other such configuration, or one or more combinations of a micro-control unit (Microcontroller Unit, MCU), field-programmable gate array (Field-Programmable Gate Array, FPGA), system on Chip (SoC).

It will be appreciated that the flight controller in embodiments of the application further includes a memory module including, but not limited to: FLASH memory, NAND FLASH memory, vertical NAND FLASH memory (VNAND), NOR FLASH memory, resistive Random Access Memory (RRAM), magnetoresistive Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), spin transfer torque random access memory (STT-RAM), and the like.

In an embodiment of the present application, the remote control 20 includes a handle, a remote control transmitter, and a power source for controlling the flight and return of the drone. The working principle of the unmanned aerial vehicle is that the unmanned aerial vehicle is controlled through the transmission of remote control signals. The handle is a main body of the remote controller and comprises a control rod, a button, a switch and other components, and the parameters such as the flight direction, the height and the speed of the unmanned aerial vehicle are controlled through the handle; the remote controller transmitter is a device for transmitting wireless remote control signals and generally comprises an antenna, a circuit board, a modulation circuit and other components, and converts control signals generated by a handle into wireless signals and transmits the signals to a remote controller receiver through the antenna so as to realize control of the unmanned aerial vehicle; the power source is used to provide electrical energy to the remote control, including but not limited to nickel-hydrogen batteries, nickel-chromium batteries, lithium polymer batteries, lithium ion power batteries.

Referring to fig. 2, fig. 2 is a flow chart of a method for adjusting return electric quantity of an unmanned aerial vehicle according to an embodiment of the present application;

the method for adjusting the return electric quantity of the unmanned aerial vehicle is applied to a flight controller, and specifically, an execution main body of the method for adjusting the return electric quantity of the unmanned aerial vehicle is one or at least two processors of the flight controller.

As shown in fig. 2, the method for adjusting the return electric quantity of the unmanned aerial vehicle includes:

step S201: obtaining estimated electric quantity of the unmanned aerial vehicle for returning;

referring to fig. 3 again, fig. 3 is a schematic diagram of a refinement flow of step S201 in fig. 2;

as shown in fig. 3, step S201: obtaining estimated electric quantity of the unmanned aerial vehicle during the return journey comprises the following steps:

step S2011: acquiring flight offline data of the unmanned aerial vehicle;

specifically, aiming at the same model of unmanned aerial vehicle battery, a large number of test flights are carried out under different environments, the different environments cover different flight heights and upwind scenes, flight offline data of the unmanned aerial vehicle are obtained, wherein the flight offline data comprise flight heights and flight distances and battery power consumption corresponding to the flight distances.

Step S2012: according to the flight offline data, a battery power consumption model is established;

specifically, according to the flight offline data, fitting a large number of flight offline data of the unmanned aerial vehicle by using a least square method to obtain a battery power consumption model related to the flight altitude of the unmanned aerial vehicleThe following formula:

，

wherein ,the electric quantity required by the flight unit distance of the unmanned aerial vehicle is +.>For flying height>、/>Model parameters for a battery consumption model, which model parameters are fitted from flight offline data, +. >Is the total electric quantity of the unmanned aerial vehicle battery, < >>In the embodiment of the application, the battery power consumption model can take a flying height interval of 10 to 20m, the unit distance is 1m, for example, when the flying height of an unmanned plane is 80m, the power consumption percentage per meter is 0.02%, namely>=80，/>=0.02; when the flight height of the unmanned aerial vehicle is 100m, the power consumption percentage per meter is 0.01 percent, namely +.>=100，/>=0.01。

Needs to be as followsNote that, the battery power consumption model is a model fitted by flight offline data under actual conditions, and the model fitted by the flight offline data is not necessarily a linear model or other models with mathematical analysis formula, so the battery power consumption model does not necessarily have a definite mathematical analysis formula, and the battery power consumption model can be understood as being at different flight altitudesUnder, the electric quantity required by the flight unit distance of the unmanned aerial vehicle is +.>The battery consumption model actually represents the flying height +.>And the electric quantity required by the flight unit distance of the unmanned aerial vehicle +.>The input and output relationship between the battery power consumption model may be a model having a mathematical analysis formula, for example, The present application is not limited to this, and other models may be used to obtain the amount of electricity required for the unmanned aerial vehicle to fly in a unit distance according to the flying height of the unmanned aerial vehicle.

Step S2013: according to the battery power consumption model, constructing a statistical model of the battery power consumption model;

specifically, according to a battery power consumption model, combining flight offline data, calculating expected value and variance of electric quantity required by the unmanned aerial vehicle in a flight unit distance to obtain a statistical model of the battery power consumption model, wherein the statistical model is subjected to normal distribution, and the statistical model is represented by the following formula:

，

wherein ,for battery power consumption model>Statistical model for battery consumption model, +.>For the expected value of the statistical model, +.>Is the variance of the statistical model.

Step S2014: according to the statistical model, determining an expected value of the statistical model as estimated electric quantity of the unmanned aerial vehicle returning;

specifically, the expected value of the statistical model represents an average value of power consumption of the battery, and the expected value of the statistical model is determined as the estimated electric quantity of the unmanned aerial vehicle for returning according to the statistical model.

In the embodiment of the application, the estimated electric quantity of the unmanned aerial vehicle for returning is not the accurate electric quantity of the unmanned aerial vehicle for returning, and the estimated electric quantity of the unmanned aerial vehicle for returning needs to be further adjusted in real time according to the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies.

Step S202: acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies;

referring to fig. 4 again, fig. 4 is a schematic diagram of a refinement flow of step S202 in fig. 2;

as shown in fig. 4, step S202: obtaining an ambient wind speed and an ambient wind direction when the unmanned aerial vehicle flies, comprising:

step S221: acquiring acceleration and throttle instructions of the current horizontal movement of the unmanned aerial vehicle;

specifically, the unmanned aerial vehicle comprises an Inertial Measurement Unit (IMU), wherein the inertial measurement unit internally comprises a 3-axis gyroscope and a 3-axis accelerometer, the acceleration of the current horizontal movement of the unmanned aerial vehicle is obtained through the inertial measurement unit, and a throttle instruction is obtained, wherein the throttle instruction is a pulse width modulation instruction (pwm instruction) sent to a power system by a flight controller.

Step S222: according to the acceleration, the throttle and the current flight speed of the unmanned aerial vehicle, the environmental wind speed and the environmental wind direction when the unmanned aerial vehicle flies are obtained;

referring to fig. 5 again, fig. 5 is a schematic diagram of the refinement flow of step S222 in fig. 2;

as shown in fig. 5, step S222: according to the acceleration, the throttle size and the current flight speed of the unmanned aerial vehicle of the current horizontal movement of the unmanned aerial vehicle, obtain the environment wind speed and the environment wind direction when the unmanned aerial vehicle flies, include:

Step S2201: acquiring the propeller thrust of the unmanned aerial vehicle according to the throttle command-thrust model;

specifically, offline bench test data of an engine of the unmanned aerial vehicle are obtained, the offline bench test data comprise a large number of accelerator commands and propeller thrust data generated by the accelerator commands, a least square method is adopted to fit the accelerator commands and the propeller thrust data generated by the accelerator commands to obtain an accelerator command-thrust model, the accelerator command-thrust model is a mapping relation between the accelerator size and the propeller thrust, the mapping relation is in a linear relation, when the accelerator size is larger, the propeller thrust generated by the corresponding accelerator is larger, and therefore the propeller thrust of the unmanned aerial vehicle corresponding to the accelerator size is obtained according to the accelerator size.

Step S2202: acquiring the motion acceleration generated by the propeller thrust according to the propeller thrust;

specifically, the mass of the unmanned aerial vehicle is obtained, the sine value of the inclination angle of the unmanned aerial vehicle is obtained through an inertia measurement unit, and the motion acceleration generated by the propeller thrust is obtained according to the propeller thrust, wherein the motion acceleration is represented by the following formula:

，

wherein ,motion acceleration for propeller thrust generation, +.>For propeller thrust->Sine value of unmanned plane tilt angle, +. >Is the quality of the unmanned aerial vehicle. It should be noted that, since the motion acceleration generated by the propeller thrust is a vector, the motion acceleration generated by the propeller thrust includes the magnitude and direction of the acceleration.

Step S2203: determining the acceleration generated by the airflow acting on the unmanned aerial vehicle according to the motion acceleration generated by the propeller thrust and the acceleration of the current horizontal motion of the unmanned aerial vehicle;

specifically, because the unmanned aerial vehicle can receive the air current effect in the flight, so unmanned aerial vehicle's acceleration of current horizontal motion is not equal to the motion acceleration that the screw thrust produced. And (3) taking the difference between the motion acceleration generated by the propeller thrust and the acceleration of the current horizontal motion of the unmanned aerial vehicle, and determining the acceleration generated by the action of the airflow on the unmanned aerial vehicle, wherein the acceleration is represented by the following formula:

，

wherein ,acceleration generated for the airflow acting on the unmanned aerial vehicle, +.>Acceleration for current horizontal movement of unmanned aerial vehicle, +.>The motion acceleration is generated for the propeller thrust. It should be noted that, since the acceleration generated by the airflow acting on the unmanned aerial vehicle is a vector, the acceleration generated by the airflow acting on the unmanned aerial vehicle includes the magnitude and direction of the acceleration.

Step S2204: according to acceleration generated by the action of the airflow on the unmanned aerial vehicle, obtaining the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies;

Referring to fig. 6 again, fig. 6 is a schematic diagram of the refinement procedure of step S2204 in fig. 5;

as shown in fig. 6, step S2204: according to the acceleration generated by the airflow acting on the unmanned aerial vehicle, the environmental wind speed and the environmental wind direction when the unmanned aerial vehicle flies are obtained, and the method comprises the following steps:

step S2241: acquiring the current flight speed of the unmanned aerial vehicle, and combining the aerodynamic drag model to obtain the aerodynamic drag acceleration;

specifically, the current flight speed of the unmanned aerial vehicle is obtained through a flight controller, and an aerodynamic drag model is combinedObtaining aerodynamic drag acceleration, wherein the aerodynamic drag model is a model related to the current flight speed of the unmanned aerial vehicle, and comprises:

，

wherein ,for pneumatic resistance acceleration->For the speed coefficient +.>Is a constant determined by the density of the air, the shape of the unmanned aerial vehicle and the volume of the unmanned aerial vehicle, +.>Is the current flight speed of the unmanned aerial vehicle, +.>Sine value of unmanned plane tilt angle, +.>Is the quality of the unmanned aerial vehicle.

It should be noted that the aerodynamic drag model may beOther models capable of calculating aerodynamic drag acceleration are also possible, and the present application is not limited to this.

Step S2242: according to acceleration and aerodynamic resistance acceleration generated by the action of the airflow on the unmanned aerial vehicle, obtaining the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies;

Specifically, the aerodynamic resistance comprises thrust or resistance of the air flow received by the unmanned aerial vehicle, and the acceleration generated by the air flow acting on the unmanned aerial vehicle and the aerodynamic resistance acceleration are differenced, so that the acceleration of the environmental wind during the flight of the unmanned aerial vehicle can be obtained, wherein the acceleration is represented by the following formula:

，

wherein ,acceleration of ambient wind when unmanned aerial vehicle is flown, +.>Acceleration generated for the airflow acting on the unmanned aerial vehicle, +.>Is pneumatic resistance acceleration.

After the acceleration of the environmental wind during the flight of the unmanned aerial vehicle is obtained, the environmental wind speed is obtained by using the following formula:

，

wherein ,for the ambient wind speed>Acceleration of ambient wind when unmanned aerial vehicle is flown, +.>In units of time, e.g.>=1s。

Since the acceleration of the ambient wind is a vector, the direction of the ambient wind when the unmanned aerial vehicle flies can be obtained from the direction of the acceleration of the ambient wind. It will be appreciated that, when the direction of the ambient wind is the same as the current flight direction of the drone, the drone is subject to the thrust of the ambient wind,is negative; when the direction of the ambient wind is opposite to the current flight direction of the unmanned aerial vehicle, the unmanned aerial vehicle is subjected to the resistance of the ambient wind, +.>Positive values.

Step S203: acquiring an adjustment coefficient of the estimated electric quantity according to the ambient wind speed and the ambient wind direction;

Specifically, the estimated electric quantity of the unmanned aerial vehicle for returning acquired in step S201 needs to be adjusted in real time according to the ambient wind speed and the ambient wind direction in the actual situation, at this time, an adjustment coefficient of the estimated electric quantity needs to be determined, where the adjustment coefficient is selected according to the ambient wind speed, for example, if the power consumption of the unmanned aerial vehicle per 1m in the windless situation is 0.02, when the ambient wind direction is opposite to the unmanned aerial vehicle for returning, i.e. the upwind, the ambient wind speed is 4m/S, and the adjustment coefficient is 1.4; when the ambient wind direction is opposite to the unmanned aerial vehicle return direction, namely, the upwind, the ambient wind speed is 8m/s, and the adjustment coefficient is 1.8.

It can be understood that when the environmental wind direction is opposite to the unmanned aerial vehicle return direction, the unmanned aerial vehicle needs to overcome the resistance caused by wind power, so that the adjustment coefficient of the unmanned aerial vehicle return electric quantity is greater than 1; when the environmental wind direction is the same as the unmanned aerial vehicle returning direction, then the adjustment coefficient of unmanned aerial vehicle returning electric quantity is less than 1.

Step S204: according to the adjustment coefficient, adjusting the estimated electric quantity to obtain the adjusted return electric quantity;

specifically, according to the adjustment coefficient, multiplying the adjustment coefficient by the estimated electric quantity to adjust the estimated electric quantity, and obtaining the adjusted return electric quantity, wherein the adjustment formula is as follows:

，

In the embodiment of the application, if the environmental wind direction is upwind and k is more than 1 during the unmanned aerial vehicle returning, the power consumption per unit distance is increased during the unmanned aerial vehicle returning process; and if the environmental wind direction is upwind during the unmanned aerial vehicle returning, and k is less than 1, the power consumption per unit distance of the unmanned aerial vehicle is reduced during the unmanned aerial vehicle returning. The selection of the adjustment coefficient is determined according to the magnitude of the ambient wind speed, and the larger the wind speed is, for example, the larger the adjustment coefficient is, the value interval of the adjustment coefficient is [0.6,1.8], and it is noted that the adjustment coefficient intervals of unmanned aerial vehicles of different models are different, and the value interval of the adjustment coefficient needs to be determined according to the model of the unmanned aerial vehicle. It will be appreciated that in actual situations, when the ambient wind speed and the ambient wind direction change, the adjustment coefficient also changes, so as to adjust the estimated electric quantity in real time.

In summary, in the embodiment of the present application, the manner of adjusting the estimated electric quantity in real time includes the following two ways:

(1) According to the actual situation, updating the battery power consumption model and the statistical model of the battery power consumption model, namely, fitting a large amount of newly acquired offline data into a new battery power consumption model and the statistical model of the battery power consumption model, and transmitting new model parameters into the flight controller.

(2) Acquiring an adjustment coefficient of the estimated electric quantity according to the ambient wind speed and the ambient wind direction; according to the adjustment coefficient, the estimated electric quantity is adjusted, and the adjusted return electric quantity is obtained, for example, under the condition of different heights, the power consumption of the unmanned aerial vehicle is different, the higher the flying height is, the larger the ambient wind speed is, the power consumption of the unmanned aerial vehicle is increased, and when the ambient wind speed is increased, the flight controller of the unmanned aerial vehicle can adjust the estimated electric quantity required by the return of the unmanned aerial vehicle.

In the embodiment of the application, the method for adjusting the return electric quantity of the unmanned aerial vehicle is applied to the flight controller and comprises the following steps: obtaining estimated electric quantity of the unmanned aerial vehicle for returning; acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies; acquiring an adjustment coefficient of the estimated electric quantity according to the ambient wind speed and the ambient wind direction; and adjusting the estimated electric quantity according to the adjustment coefficient to obtain the adjusted return electric quantity. According to the method, the accuracy of unmanned aerial vehicle return electric quantity prediction can be improved by acquiring the adjustment coefficient of unmanned aerial vehicle return electric quantity according to the ambient wind speed and the ambient wind direction and adjusting the unmanned aerial vehicle return estimated electric quantity according to the adjustment coefficient.

Referring to fig. 7 again, fig. 7 is a schematic structural diagram of a return electric quantity adjusting device of an unmanned aerial vehicle according to an embodiment of the present application;

The device for adjusting the return electric quantity of the unmanned aerial vehicle is applied to a flight controller, and particularly, the device for adjusting the return electric quantity of the unmanned aerial vehicle is applied to one or more processors of the flight controller.

As shown in fig. 7, the return electric quantity adjusting device 70 of the unmanned aerial vehicle includes:

an obtaining unit 701, configured to obtain estimated electric quantity of the unmanned aerial vehicle for return voyage; acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies;

an adjusting unit 702, configured to obtain an adjustment coefficient of the estimated electric quantity according to the ambient wind speed and the ambient wind direction; and adjusting the estimated electric quantity according to the adjustment coefficient to obtain the adjusted return electric quantity.

In the embodiment of the present application, the obtaining unit 701 is specifically configured to:

acquiring flight offline data of the unmanned aerial vehicle, wherein the flight offline data comprises flight altitude, flight distance and electric quantity required by a flight unit distance;

according to the statistical model, determining an expected value of the statistical model as estimated electric quantity of the unmanned aerial vehicle returning;

In the embodiment of the present application, the adjusting unit 702 is specifically configured to:

according to the adjustment coefficient, adjust unmanned aerial vehicle return journey estimated electric quantity, obtain the electric quantity after the adjustment, include:

，

In the embodiment of the application, the device for adjusting the return electric quantity of the unmanned aerial vehicle can also be built by hardware devices, for example, the device for adjusting the return electric quantity of the unmanned aerial vehicle can be built by one or more than two chips, and the chips can work in a coordinated manner to complete the method for adjusting the return electric quantity of the unmanned aerial vehicle described in the above embodiments. For another example, the return electricity amount adjustment device of the unmanned aerial vehicle may also be constructed by various logic devices, such as a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip microcomputer, ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

The device for adjusting the return electric quantity of the unmanned aerial vehicle in the embodiment of the application can be a device, and can also be a component, an integrated circuit or a chip in a terminal. The device may be a mobile electronic device or a non-mobile electronic device. By way of example, the mobile electronic device may be a cell phone, tablet computer, notebook computer, palm computer, vehicle mounted electronic device, wearable device, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), netbook or personal digital assistant (personal digital assistant, PDA), etc., and the non-mobile electronic device may be a server, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (TV), teller machine or self-service machine, etc., and embodiments of the present application are not limited in particular.

The device for adjusting the return electric quantity of the unmanned aerial vehicle in the embodiment of the application can be a device with an operating system. The operating system may be an Android operating system, an ios operating system, or other possible operating systems, and the embodiment of the present application is not limited specifically.

The device for adjusting the return electric quantity of the unmanned aerial vehicle provided by the embodiment of the application can realize each process realized by the figure 2, and in order to avoid repetition, the description is omitted here.

It should be noted that, the return electric quantity adjusting device of the unmanned aerial vehicle provided by the embodiment of the application can execute the return electric quantity adjusting method of the unmanned aerial vehicle, and has the corresponding functional modules and beneficial effects of the executing method. Technical details not described in detail in the embodiments of the return electric quantity adjusting device of the unmanned aerial vehicle can be referred to the return electric quantity adjusting method of the unmanned aerial vehicle provided in the above embodiments.

In an embodiment of the present application, by providing a return electricity amount adjustment device for an unmanned aerial vehicle, the return electricity amount adjustment device includes: the acquisition unit is used for acquiring estimated electric quantity of the unmanned aerial vehicle for returning; acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies; the adjusting unit is used for acquiring an adjusting coefficient of the estimated electric quantity according to the ambient wind speed and the ambient wind direction; according to the adjustment coefficient, the estimated electric quantity is adjusted to obtain the adjusted return electric quantity, the adjustment coefficient of the unmanned aerial vehicle return electric quantity can be obtained according to the ambient wind speed and the ambient wind direction, and the estimated unmanned aerial vehicle return electric quantity is adjusted according to the adjustment coefficient, so that the accuracy of unmanned aerial vehicle return electric quantity prediction is improved.

Referring to fig. 8 again, fig. 8 is a schematic structural diagram of a flight controller according to an embodiment of the present application;

As shown in fig. 8, the flight controller 80 includes one or more processors 801 and memory 802. In fig. 8, a processor 801 is taken as an example.

The processor 801 and the memory 802 may be connected by a bus or otherwise, for example in fig. 8.

A processor 801, configured to provide computing and control capabilities for controlling the flight controller 80 to perform corresponding tasks, for example, controlling the flight controller 80 to perform the method for adjusting the amount of return charge of the unmanned aerial vehicle in any of the method embodiments described above, includes: obtaining estimated electric quantity of the unmanned aerial vehicle for returning; acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies; acquiring an adjustment coefficient of the estimated electric quantity according to the ambient wind speed and the ambient wind direction; and adjusting the estimated electric quantity according to the adjustment coefficient to obtain the adjusted return electric quantity.

According to the method, the accuracy of unmanned aerial vehicle return electric quantity prediction can be improved by acquiring the adjustment coefficient of unmanned aerial vehicle return electric quantity according to the ambient wind speed and the ambient wind direction and adjusting the unmanned aerial vehicle return estimated electric quantity according to the adjustment coefficient.

The processor 801 may be a general purpose processor including a central processing unit (CentralProcessingUnit, CPU), a network processor (NetworkProcessor, NP), a hardware chip, or any combination thereof; it may also be a digital signal processor (DigitalSignalProcessing, DSP), an application specific integrated circuit (ApplicationSpecificIntegratedCircuit, ASIC), a programmable logic device (programmable logic device, PLD), or a combination thereof. The PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (field-programmable gate array, FPGA), general-purpose array logic (generic array logic, GAL), or any combination thereof.

The memory 802, as a non-transitory computer readable storage medium, may be used to store a non-transitory software program, a non-transitory computer executable program, and a module, such as a program instruction/module corresponding to the method for adjusting the return electricity of the unmanned aerial vehicle in the embodiment of the application. The processor 801 may implement the return charge adjustment method of the unmanned aerial vehicle in any of the method embodiments described below by running non-transitory software programs, instructions, and modules stored in the memory 802. In particular, the memory 802 may include Volatile Memory (VM), such as random access memory (random access memory, RAM); the memory 802 may also include a non-volatile memory (NVM), such as read-only memory (ROM), flash memory (flash memory), hard disk (HDD) or Solid State Drive (SSD), or other non-transitory solid state storage device; memory 802 may also include combinations of the above types of memory.

The memory 802 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 802 may optionally include memory located remotely from processor 801, which may be connected to processor 801 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

One or more modules are stored in the memory 802 that, when executed by the one or more processors 801, perform the method of adjusting the amount of return charge of the drone in any of the method embodiments described above, for example, performing the steps shown in fig. 2 described above; the functions of the individual modules or units of fig. 7 may also be implemented.

In the embodiment of the present application, the flight controller 80 may further have a wired or wireless network interface, a keyboard, an input/output interface, and other components for implementing the functions of the device, which are not described herein.

Referring to fig. 9 again, fig. 9 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;

as shown in fig. 9, the drone 10 includes a power system 101, a communication module 102, and a flight controller 80. It should be noted that the unmanned aerial vehicle includes, but is not limited to, a three-axis multi-rotor unmanned aerial vehicle, a four-axis multi-rotor unmanned aerial vehicle, a six-axis multi-rotor unmanned aerial vehicle, and an eight-axis multi-rotor unmanned aerial vehicle.

In the embodiment of the present application, the power system 101 is used for providing power for the multi-rotor unmanned aerial vehicle, where the power system 101 includes a propeller, a motor, an electronic speed regulator, and a power source, where the propeller is a main component of the multi-rotor unmanned aerial vehicle for generating thrust, for example, the four-rotor unmanned aerial vehicle is equipped with four propellers, the four-rotor unmanned aerial vehicle depends on changing the rotation speed of the motor to make the propellers generate ascending power, that is, lift force, when the sum of the lift forces of the four propellers of the unmanned aerial vehicle is equal to the total weight of the unmanned aerial vehicle, the weight balance of the unmanned aerial vehicle and the lifting force of the unmanned aerial vehicle can hover in the air, and in order to avoid the unmanned aerial vehicle from constantly spinning, the rotation directions of two adjacent propellers are set to opposite directions, for example, the two propellers are set to rotate clockwise, and the two propellers are set to rotate counterclockwise.

An electric motor, also called motor, is used to convert electrical energy into mechanical energy, driving the propeller in rotation, thereby generating thrust. It should be noted that the motor includes, but is not limited to, a brush motor and a brushless motor. The two most relevant technical indicators of the motor are the rotation speed and the power, wherein the rotation speed of the motor is generally expressed by kV, and kV refers to the no-load rotation speed per minute which can be achieved per volt (V), for example, using a motor of kV1000 and a battery of 11.1V, the rotation speed of the motor is 1000x11.1=11100, i.e. 11100 rotations per minute, i.e. 1000 rotations per increment of no-load rotation speed of the motor of 1V.

The Electronic speed regulator (Electronic SpedCotoller, ESC) is used for regulating the rotating speed of the motor according to the control signal, supplying power to the steering engine of other channels on the remote control receiver and converting direct current provided by the battery into three-phase alternating current capable of directly driving the motor.

The power supply is used for providing electric energy for the unmanned aerial vehicle, and directly relates to important indexes such as hovering time, maximum load weight, flight distance and the like of the unmanned aerial vehicle, and a chemical battery is generally adopted as the power supply of the unmanned aerial vehicle, and attention is paid to the power supply which comprises, but is not limited to, a nickel-hydrogen battery, a nickel-chromium battery, a lithium polymer battery and a lithium ion power battery.

In an embodiment of the present application, the communication module 102 includes a remote controller receiver communicatively connected to a remote controller transmitter in the remote controller for transmitting data, for example: receiving a signal or an instruction sent by a transmitter of a remote controller; alternatively, data is sent to a remote control transmitter, for example: the signal feedback information is sent to the remote controller transmitter, and the four-rotor unmanned aerial vehicle is used for example, and the signal transmitted by the remote controller transmitter needs to be transmitted through four channels so as to respectively control the front, rear, left and right groups of suspension shafts and motors. In the embodiment of the application, the communication module can realize communication with the internet and the internet, wherein the communication module further comprises, but is not limited to, a communication unit such as a WIFI module, a ZigBee module, an NB_iot module, a 4G module, a 5G module, a Bluetooth module and the like.

In the embodiment of the present application, the flight controller 80 is disposed inside the unmanned aerial vehicle 10, also referred to as a flight management and control system, and the controller is used as a control core of the unmanned aerial vehicle for controlling the unmanned aerial vehicle to fly and return, where the flight controller 80 includes a main control unit, an inertial measurement unit, and a GPS compass module, so as to achieve reliability and accuracy of data transmission of the unmanned aerial vehicle. The main control unit is a core unit of the flight controller and is used for realizing autonomous flight and data recording; an Inertial Measurement Unit (IMU) includes a gyroscope, an accelerometer, a geomagnetic sensor, and a barometer, and is a device that measures a three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, where the accelerometers detect acceleration signals of the object in the carrier coordinate system in three axes independently, and the gyroscopes detect angular velocity signals of the carrier relative to the navigation coordinate system, measure angular velocity and acceleration of the unmanned aerial vehicle in three dimensions, and calculate the attitude of the unmanned aerial vehicle based on the angular velocity and acceleration, for example, calculate the tilt angle of the unmanned aerial vehicle; the GPS compass module is used for navigation and positioning.

The embodiment of the application also provides a computer readable storage medium, such as a memory comprising program codes, wherein the program codes can be executed by a processor to complete the method for adjusting the return electric quantity of the unmanned aerial vehicle in the embodiment. For example, the computer readable storage medium may be Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), compact disc Read-Only Memory (CDROM), magnetic tape, floppy disk, optical data storage device, etc.

Embodiments of the present application also provide a computer program product comprising one or more program codes stored in a computer-readable storage medium. The processor of the electronic device reads the program code from the computer readable storage medium, and the processor executes the program code to complete the method steps of the return electric quantity adjustment method of the unmanned aerial vehicle provided in the above embodiment.

It will be appreciated by those of ordinary skill in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by program code related hardware, where the program may be stored in a computer readable storage medium, where the storage medium may be a read only memory, a magnetic disk or optical disk, etc.

From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Those skilled in the art will appreciate that all or part of the processes implementing the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, and the program may include processes of the embodiments of the methods described above when executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the application, the steps may be implemented in any order, and there are many other variations of the different aspects of the application as described above, which are not provided in detail for the sake of brevity; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims

1. A method for adjusting the return electricity of an unmanned aerial vehicle, which is applied to a flight controller, the method comprising:

2. The method of claim 1, wherein the obtaining the estimated amount of power for the return of the unmanned aerial vehicle comprises:

and determining an expected value of the statistical model as estimated electric quantity of the unmanned aerial vehicle returning according to the statistical model.

3. The method of claim 1, wherein the acquiring the ambient wind speed and the ambient wind direction of the drone while flying comprises:

Acquiring acceleration and an accelerator instruction of the current horizontal movement of the unmanned aerial vehicle, wherein the accelerator instruction comprises the accelerator size;

4. The method according to claim 1, wherein the obtaining the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies according to the acceleration, the throttle size and the current flying speed of the unmanned aerial vehicle comprises:

according to the propeller thrust, acquiring the motion acceleration generated by the propeller thrust, including:

，

according to the motion acceleration generated by the propeller thrust and the acceleration of the current horizontal motion of the unmanned aerial vehicle, determining the acceleration generated by the airflow acting on the unmanned aerial vehicle, wherein the method comprises the following steps:

，

wherein ,acceleration generated for the airflow acting on the unmanned aerial vehicle, +. >Acceleration for current horizontal movement of unmanned aerial vehicle, +.>The motion acceleration generated for the propeller thrust;

and according to the acceleration generated by the airflow acting on the unmanned aerial vehicle, acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies.

5. The method of claim 4, wherein the obtaining the ambient wind speed and the ambient wind direction during the flight of the unmanned aerial vehicle based on the acceleration generated by the airflow acting on the unmanned aerial vehicle comprises:

acquiring the current flight speed of the unmanned aerial vehicle, and combining an aerodynamic resistance model to obtain aerodynamic resistance acceleration;

and acquiring the ambient wind speed and the ambient wind direction when the unmanned aerial vehicle flies according to the acceleration generated by the airflow acting on the unmanned aerial vehicle and the aerodynamic resistance acceleration.

6. The method according to any one of claim 1 to 4, wherein,

when the environmental wind direction is opposite to the return direction of the unmanned aerial vehicle, the adjustment coefficient of the return electric quantity of the unmanned aerial vehicle is larger than 1;

7. The method according to any one of claims 1-4, wherein adjusting the estimated amount of return travel of the unmanned aerial vehicle according to the adjustment coefficient, to obtain the adjusted amount of electric power, comprises:

，

8. A return electricity amount adjustment device for an unmanned aerial vehicle, the device being applied to a flight controller, the device comprising:

9. A flight controller, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of return charge adjustment of the unmanned aerial vehicle of any of claims 1-7.

10. An unmanned aerial vehicle, comprising:

the flight controller of claim 9.