WO2019206112A1 - 无人机控制方法、装置及计算机可读存储介质 - Google Patents
无人机控制方法、装置及计算机可读存储介质 Download PDFInfo
- Publication number
- WO2019206112A1 WO2019206112A1 PCT/CN2019/083804 CN2019083804W WO2019206112A1 WO 2019206112 A1 WO2019206112 A1 WO 2019206112A1 CN 2019083804 W CN2019083804 W CN 2019083804W WO 2019206112 A1 WO2019206112 A1 WO 2019206112A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- battery
- battery power
- power limit
- limit value
- parameter
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 57
- 230000007613 environmental effect Effects 0.000 claims abstract description 222
- 238000013507 mapping Methods 0.000 claims abstract description 50
- 238000004590 computer program Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 12
- 238000012360 testing method Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 8
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 4
- 230000032683 aging Effects 0.000 description 4
- 238000013500 data storage Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Definitions
- the present invention relates to the field of batteries, and in particular, to a drone control method, apparatus, and computer readable storage medium.
- UAV-based applications have the characteristics of mobility and flexibility. Most of the current UAVs support battery power, for example, powered by a lithium battery.
- the battery provides power to support the flexible movement of the drone, but the chemical activity of the battery is easily affected by environmental factors. For example, in a low temperature environment, the internal resistance of the battery increases, which may cause the battery to jump.
- the invention provides a drone control method and device and a computer readable storage medium for ensuring the stability and reliability of the power supply of the unmanned battery.
- a first aspect of the present invention provides a drone control method for a drone, the drone including a battery for powering the drone, including:
- the environmental parameters include battery temperature, number of battery cycles, and battery power;
- the method further includes:
- the environmental parameter ranges include a battery temperature range, a battery cycle number range, and a battery power range;
- the selecting a plurality of environmental parameters from the range of environmental parameters includes:
- the plurality of environmental parameters are obtained by taking each of the selected battery cell temperatures, the number of cycles per battery, and the combination of each battery power as a single environmental parameter.
- the mapping between the environmental parameter and the battery power limit value is established according to the actual values of the plurality of environmental parameters and their corresponding battery power limit values, including:
- the analyzing according to the actual values of the plurality of environmental parameters and their corresponding battery power limit values, obtaining a relationship formula between the environmental parameters and the battery power limit value, including:
- the adjusting the flying power of the drone so that the output power of the battery does not exceed the battery power limit value corresponding to the current environmental parameter includes:
- the present invention also provides a drone control device, including:
- An obtaining module configured to obtain current environmental parameters of the drone battery, wherein the environmental parameters include a battery temperature, a battery cycle number, and a battery power;
- a processing module configured to obtain, according to a mapping relationship between a pre-established environment parameter and a battery power limit value, a battery power limit value corresponding to the current environment parameter, where the The battery power limit value is used to characterize a critical value of battery power when a power jump occurs under the environmental parameter;
- a control module configured to adjust a flight power of the drone so that an output power of the unmanned battery does not exceed a battery power limit value corresponding to the current environmental parameter.
- the device further includes:
- An acquisition module configured to respectively select a plurality of environmental parameters from a range of environmental parameters, wherein the environmental parameter ranges include a battery temperature range, a battery cycle number range, and a battery power range;
- test module configured to measure an actual value of a battery power limit value corresponding to the plurality of environmental parameters, wherein the actual of the UAV battery power limit value corresponding to the plurality of environmental parameters a value is a critical value of an output power of the unmanned battery when a power jump occurs under the environmental parameter;
- a establishing module configured to establish a mapping relationship between the environmental parameter and the battery power limit value according to the actual values of the plurality of environmental parameters and their corresponding battery power limit values.
- the collecting module is specifically configured to select a plurality of battery temperatures and a plurality of battery cycles from the battery temperature range, the battery cycle number range, and the battery power range. And multiple battery levels;
- the collecting module is further configured to obtain the plurality of environmental parameters by using a combination of each selected cell temperature, each battery cycle number, and each battery power as a single environmental parameter.
- the establishing module is specifically configured to analyze and obtain a relationship between the environmental parameter and the battery power limit value according to the actual values of the plurality of environmental parameters and corresponding battery power limit values.
- the processing module is specifically configured to substitute the current environment parameter into the relationship formula, and calculate a battery power limit value corresponding to the current environment parameter.
- the establishing module is configured to analyze and obtain each environmental parameter range according to an actual value of each of the plurality of environmental parameters and a corresponding battery power limit value thereof. The relationship between the lower environmental parameters and the battery power limit value;
- the processing module includes:
- a determining unit configured to determine a first environment parameter range in which the current environment parameter is located
- a calculating unit configured to substitute the current environment parameter into a relationship formula under the first environment parameter range, and calculate a battery power limit value corresponding to the current environment parameter.
- control module is specifically configured to adjust a motor speed of the drone so that an output power of the unmanned battery does not exceed a battery power corresponding to the current environmental parameter. Limit value.
- the present invention also provides a drone control apparatus, including: a processor and a memory;
- the memory stores a computer program; the processor executes the computer program stored by the memory to implement the drone control method described above.
- the present invention also provides a computer readable storage medium having stored therein a computer program, the computer program being executed to implement the above-described drone control method.
- the drone control method, device and computer readable storage medium provided by the present invention determine a current battery power limit value according to a current environmental parameter based on a mapping relationship between a pre-established environmental parameter and a battery power limit value.
- the battery power limit value can reflect the battery power threshold value that may cause the power jump under the current environmental parameters.
- the scheme controls the drone to make the output power of the drone battery not exceed the battery power limit value, thereby avoiding The battery of the drone battery has a power jump, which effectively ensures the stability and reliability of the battery power supply of the drone.
- FIG. 1 is a schematic flow chart of a drone control method according to Embodiment 1 of the present invention.
- FIGS. 2A-2C are schematic flowcharts of a drone control method according to Embodiment 2 of the present invention.
- FIG. 3 is a schematic structural diagram of a drone control device according to Embodiment 3 of the present invention.
- FIGS. 4A-4B are schematic structural diagrams of a drone control device according to Embodiment 4 of the present invention.
- FIG. 5 is a schematic structural diagram of a drone control method according to Embodiment 5 of the present invention.
- FIG. 6 is a schematic structural diagram of a drone control device according to Embodiment 7 of the present invention.
- the chemical activity of the battery is greatly affected by environmental factors.
- the temperature factor as an example: in a low temperature environment, as the internal resistance of the battery increases, the battery capacity decreases. If the battery outputs a large power supply signal (such as current discharge) at this time, it may cause a power jump. Therefore, for the UAV application scenario in low temperature environment, one way is to heat the battery to avoid the increase of the internal resistance of the battery.
- this method requires adding a heating device in the unmanned aerial vehicle with high integration requirements, which is not only difficult to integrate. Large, the heating device itself also consumes the power of the drone battery. Another way is to directly limit low temperature flight, but this approach largely limits the flexibility of the drone application scenario.
- FIG. 1 is a schematic flowchart of a method for controlling a drone according to a first embodiment of the present invention.
- the embodiment provides a drone control method for ensuring an unmanned battery. Stability and reliability of power supply in different environments.
- the embodiment is applied to a drone control device, and the drone control method includes:
- the battery power limit value corresponding to the environmental parameter is used to represent a critical value of the battery power when the power jump occurs under the environmental parameter.
- the main body of the drone control method may be a drone control device.
- the UAV control device can be implemented by a software code, and the UAV control device can also be a medium storing an execution code, such as a U disk, etc.; or, the UAV control device can also A physical device that integrates or installs relevant execution code, such as a chip, a processor, a drone, and the like.
- the environmental parameters can be determined according to the factors actually considered.
- the environmental parameters include battery temperature, battery aging degree, and battery power.
- the battery temperature can be characterized by the cell temperature
- the battery aging degree can be characterized by the number of cycles of the battery
- the battery power can be characterized by the percentage of remaining battery.
- the battery core temperature, the number of battery cycles, and the battery power are used as environmental parameters affecting battery stability to determine the battery power limit value, so that the battery power limit value can be more realistically and accurately fit the actual scene, and the drone control method is improved. Accuracy to avoid battery jumps.
- the drone control method provided by the solution can be actively implemented, that is, the method provided by the solution can be executed without triggering or manual operation; or the related opening option can also be provided by the user.
- the method provided by the solution is manually triggered; or the trigger condition may be preset, for example, when the ambient temperature is detected or the telecommunication temperature is lower than a certain limit, the method provided by the solution is triggered, and the implementation of the solution is not implemented here.
- the scene is limited.
- the current environmental parameters are first acquired.
- the environmental parameters may be obtained by sensor integration integrated in the drone, or the environmental parameters may be obtained by reading the drone data.
- the battery power limit value corresponding to the current environmental parameter is determined.
- the mapping relationship is used to characterize the relationship between the environmental parameters and the battery power limit value.
- the mapping relationship may be a corresponding relationship, that is, different environmental parameters have corresponding battery power limit values.
- the mapping relationship may include: a battery power limit value of 250 watts corresponding to a cell temperature of 5 degrees Celsius, and a battery power limit value of 150 watts corresponding to a cell temperature of 0 degrees Celsius.
- the battery power limit value corresponding to the current environmental parameter can be directly and quickly determined, thereby improving the efficiency of the drone control method and avoiding the power jump in time.
- the mapping relationship may also be a relationship formula, that is, a calculation formula for calculating a battery power limit value according to the environmental parameter.
- the relationship formula can be obtained in advance. When it is necessary to determine the battery power limit value corresponding to an environmental parameter, the relationship formula can be calculated and obtained.
- the embodiment can reduce the amount of data storage, save storage space, and has a wider range of applicable environmental parameters, ensuring reliability of the drone control method and avoiding power jump.
- the drone After determining the battery power limit value corresponding to the current environmental parameter, the drone can be controlled so that the output power of the drone battery does not exceed the battery power limit value corresponding to the current environmental parameter, thereby avoiding a power jump. .
- the output power of the battery can be limited by adjusting the flight power of the drone.
- 103 specifically includes:
- the output power of the battery may be monitored in real time, and when the output power of the battery may be detected or may exceed the battery corresponding to the current environmental parameter,
- the motor speed of the drone is adjusted, for example, the motor speed is reduced, thereby reducing the output power of the battery so that the output power of the battery does not exceed the battery power limit value corresponding to the current environmental parameter.
- the output power of the battery is adjusted by controlling the rotation speed of the motor of the unmanned machine, so that the output power of the battery does not exceed the battery power limit value corresponding to the current environmental parameter, thereby ensuring the stability and normal output of the battery of the drone.
- the drone control method provided in this embodiment determines a current battery power limit value according to a current environmental parameter based on a mapping relationship between a preset environmental parameter and a battery power limit value, and the battery power limit value can reflect the current environment.
- the battery power threshold value that may cause the power jump under the parameter.
- the scheme controls the drone to make the output power of the drone battery not exceed the battery power limit value, thereby avoiding the power jump of the drone battery. It effectively guarantees the stability and reliability of the battery power supply of the drone.
- FIG. 2A is a schematic flowchart of a method for controlling a drone according to a second embodiment of the present invention.
- FIG. 2A shows that the present embodiment provides a non-distribution relationship between the environment parameters and the battery power limit value.
- a human-machine control method is used to establish a mapping relationship between environmental parameters and battery power limit values.
- the embodiment is applied to the drone control device for description.
- the drone control method includes:
- the actual value of the battery power limit value corresponding to the environmental parameter is a critical value of the output power of the unmanned battery when the power jump occurs under the environmental parameter.
- the range of environmental parameters can be determined according to the working environment of the battery. For example, if the power jump does not occur under non-low temperature conditions, the low temperature range can be used as the environmental parameter range to reduce unnecessary processing flow and save no Human machine power consumption.
- the number of the environment parameter ranges may be multiple, that is, a plurality of value ranges of the parameter may be set as the environment parameter range respectively, and the mapping relationship corresponding to the different environment parameter ranges is established in the embodiment, and the battery can be improved. The accuracy of the power limit value.
- a mapping relationship may be established with less than 5 degrees Celsius as the environmental parameter range.
- 0 to 5 degrees Celsius, -5 to 0 degrees Celsius, and -10 to -5 degrees Celsius may be respectively used as environmental parameter ranges to establish corresponding mapping relationships for different environmental parameter ranges.
- the actual value of the battery power limit value corresponding to an environmental parameter is a critical value of the battery output power when the power jump occurs under the environmental parameter. That is to say, under the environmental parameter, when the output power of the battery is greater than the critical value, a power jump occurs, and if it is less than the critical value, the power jump does not occur.
- the threshold value can be obtained through actual testing. In actual applications, after obtaining the actually measured threshold value, the threshold value can be appropriately reduced as the actual value of the battery power limit value, for example, according to a certain ratio. The measured critical value is lowered to further ensure the stability of the power supply of the drone and to achieve the consistency of the battery.
- the number of environmental parameters can be determined according to the accuracy requirement. It can be understood that the more environmental parameters are selected, the more accurate the obtained mapping relationship is.
- the environmental parameters include cell temperature, battery level, and number of battery cycles. That is, each environmental parameter includes three parameters of cell temperature, battery power and number of battery cycles.
- 201 may specifically include:
- the plurality of environmental parameters are obtained by taking each of the selected battery cell temperatures, the number of cycles per battery, and the combination of each battery power as a single environmental parameter.
- the battery core temperature, the number of battery cycles, and the battery power are used as environmental parameters affecting battery stability to determine the battery power limit value, so that the battery power limit value can be more realistically and accurately fit the actual scene, and the drone control method is improved. Accuracy to avoid battery jumps.
- mapping relationship is used as an example, as shown in FIG. 2B.
- the 203 may specifically include:
- 102 may specifically include:
- the relationship can be calculated by using the relationship formula.
- the embodiment can reduce the amount of data storage, save storage space, and has a wider range of applicable environmental parameters, ensuring reliability of the drone control method and avoiding power jump.
- the number of the environmental parameter ranges is exemplified, as shown in FIG. 2C.
- the number of the environmental parameter ranges is multiple.
- 2031 may specifically include:
- 1021 may specifically include:
- a plurality of environment parameter ranges are obtained by dividing, and a mapping relationship is established for each environment parameter range, and then according to the current environment parameter, the environment parameter range in which the environment parameter is located is determined first, and then the mapping relationship corresponding to the environment parameter range is further determined. Based on the mapping relationship, the corresponding battery power limit value is obtained, thereby improving the accuracy and reliability of the drone control.
- the drone control method provided in this embodiment establishes a mapping relationship between the environment parameter and the battery power limit value, and subsequently determines the current battery power limit value according to the current environmental parameter and the mapping relationship, and correspondingly, controls the drone. So that the output power of the drone battery does not exceed the battery power limit value, thereby avoiding the power jump of the drone battery, and effectively ensuring the stability and reliability of the drone battery power supply.
- FIG. 3 is a schematic structural diagram of a drone control device according to a third embodiment of the present invention. As shown in FIG. 3, the embodiment provides a drone control device for ensuring that an unmanned battery is powered in different environments. Stability and reliability.
- the drone control device includes:
- the obtaining module 31 is configured to obtain current environment parameters.
- the processing module 32 is configured to obtain, according to a pre-established mapping relationship between the environment parameter and the battery power limit value, a battery power limit value corresponding to the current environment parameter;
- the control module 33 is configured to adjust the flight power of the drone so that the output power of the drone battery does not exceed the battery power limit value corresponding to the current environmental parameter.
- the UAV control device can be implemented by a software code, and the UAV control device can also be a medium storing an execution code, such as a U disk, etc.; or, the UAV control device can also A physical device that integrates or installs relevant execution code, such as a chip, a processor, a drone, and the like.
- the environmental parameters can be determined according to the factors actually considered.
- the environmental parameters include battery temperature, battery aging degree, and battery power.
- the battery temperature can be characterized by the cell temperature
- the battery aging degree can be characterized by the number of cycles of the battery
- the battery power can be characterized by the percentage of remaining battery.
- the battery core temperature, the number of battery cycles, and the battery power are used as environmental parameters affecting battery stability to determine the battery power limit value, so that the battery power limit value can be more realistically and accurately fit the actual scene, and the drone control method is improved. Accuracy to avoid battery jumps.
- the mapping relationship may be a corresponding relationship.
- the implementation manner can directly and quickly determine a battery power limit value corresponding to the current environmental parameter, thereby improving the efficiency of the UAV control method and avoiding power jump in time.
- the mapping relationship may also be a relationship formula, which can reduce the amount of data storage, save storage space, and has a wider range of applicable environmental parameters, ensuring reliability of the drone control method, and avoiding power jumps. .
- the output power of the battery can be limited by adjusting the flight power of the drone.
- the control module 33 is specifically configured to adjust the motor speed of the drone so that the output power of the unmanned battery does not exceed the battery power limit corresponding to the current environmental parameter.
- the output power of the battery is adjusted by controlling the rotation speed of the motor of the unmanned machine, so that the output power of the battery does not exceed the battery power limit value corresponding to the current environmental parameter, thereby ensuring the stability and normal output of the battery of the drone.
- the UAV control device determines a current battery power limit value according to a current environmental parameter based on a mapping relationship between a preset environmental parameter and a battery power limit value, and the battery power limit value can reflect the current environment.
- the battery power threshold value that may cause the power jump under the parameter.
- the scheme controls the drone to make the output power of the drone battery not exceed the battery power limit value, thereby avoiding the power jump of the drone battery. It effectively guarantees the stability and reliability of the battery power supply of the drone.
- FIG. 4A is a schematic structural diagram of a drone control device according to Embodiment 4 of the present invention.
- the present embodiment provides a non-distribution relationship between the environment parameter and the battery power limit value.
- the human-machine control device is configured to establish a mapping relationship between the environmental parameter and the battery power limit value.
- the drone control device further includes:
- the acquiring module 41 is configured to select multiple environment parameters from the environment parameter range;
- the test module 42 is configured to measure an actual value of the battery power limit value corresponding to the plurality of environmental parameters, where the actual value of the battery power limit value corresponding to the environmental parameter is not generated when the power jump occurs under the environmental parameter The critical value of the output power of the human battery;
- the establishing module 43 is configured to establish a mapping relationship between the environmental parameter and the battery power limit value according to the actual values of the plurality of environmental parameters and their corresponding battery power limit values.
- the threshold value can be appropriately lowered as the actual value of the battery power limit value, for example, the measured threshold value is lowered according to a certain ratio, so as to further ensure the power supply of the drone. Stability, and can balance battery consistency.
- the environmental parameters include cell temperature, battery power, and number of battery cycles. That is, each environmental parameter includes three parameters of cell temperature, battery power and number of battery cycles.
- the collecting module 41 is specifically configured to select a plurality of cell temperatures, a plurality of battery cycles, and a plurality of battery states from a battery temperature range, a battery cycle number range, and a battery power range; the acquiring module 41 is further specific The plurality of environmental parameters are obtained by using a combination of each of the selected cell temperatures, the number of cycles per battery, and the amount of each battery as a single environmental parameter.
- the battery core temperature, the number of battery cycles, and the battery power are used as environmental parameters affecting battery stability to determine the battery power limit value, so that the battery power limit value can be more realistically and accurately fit the actual scene, and the drone control method is improved. Accuracy to avoid battery jumps.
- the mapping relationship is used as a relationship formula.
- the module 43 is configured to be used according to the actuality of the multiple environmental parameters and their corresponding battery power limit values. The value is obtained by analyzing the relationship between the environment parameter and the battery power limit value.
- the processing module 32 is specifically configured to substitute the current environment parameter into the relationship formula, and obtain and calculate the current environment parameter. Battery power limit value. The embodiment can reduce the amount of data storage, save storage space, and has a wider range of applicable environmental parameters, ensuring reliability of the drone control method and avoiding power jump.
- the number of the environmental parameter ranges is exemplified, as shown in FIG. 4B.
- the number of the environmental parameter ranges is multiple.
- the establishing module 43 is specifically configured to analyze and obtain the environmental parameter and the battery power limit value in each environmental parameter range according to the plurality of environmental parameters selected from each environmental parameter range and the corresponding actual values of the battery power limit values. Relationship formula between;
- the processing module 32 includes:
- a determining unit 321 configured to determine a first environment parameter range where the current environment parameter is located
- the calculating unit 322 is configured to substitute the current environment parameter into a relationship formula under the first environment parameter range, and calculate a battery power limit value corresponding to the current environment parameter.
- a plurality of environment parameter ranges are obtained by dividing, and a mapping relationship is established for each environment parameter range, and then according to the current environment parameter, the environment parameter range in which the environment parameter is located is determined first, and then the mapping relationship corresponding to the environment parameter range is further determined. Based on the mapping relationship, the corresponding battery power limit value is obtained, thereby improving the accuracy and reliability of the drone control.
- the UAV control device provided in this embodiment establishes a mapping relationship between the environment parameter and the battery power limit value, and subsequently determines the current battery power limit value according to the current environmental parameter and the mapping relationship, and correspondingly, controls the drone. So that the output power of the drone battery does not exceed the battery power limit value, thereby avoiding the power jump of the drone battery, and effectively ensuring the stability and reliability of the drone battery power supply.
- FIG. 5 is a schematic structural diagram of a drone control method according to Embodiment 5 of the present invention.
- the drone control method provided by the solution can be implemented by using an architecture as shown in the figure.
- the architecture includes: drone batteries, drone flight controls, and motors.
- the architecture realizes power limitation on the entire aircraft by controlling the motor by the UAV flight control, thereby realizing the limitation of the output power of the battery.
- mapping relationship as a relational formula as an example
- a large amount of test data can be collected in advance, and then the data is summarized to summarize the relationship formula between the environmental parameters and the battery power limit value, and finally the test data is compared to verify the relationship formula.
- the relationship formula is written into the battery microprocessor of the drone battery in the form of a computer program.
- the battery microprocessor obtains the current environmental parameters, and determines the corresponding battery power limit value (power data in the figure) to be sent to the drone flight control according to the mapping relationship, and the drone flight control adjusts the motor speed (no in the figure)
- the man-machine flight control sends the motor power to the motor so that the output power of the battery does not exceed the battery power limit value.
- Cycle indicates the number of battery cycles
- Rsoc indicates the battery power
- Temp indicates the battery temperature.
- these three parameters can be obtained by reading the fuel gauge of the drone battery 51.
- Measure indicates the actual value of the battery power limit value
- the result in the table is the 30 watt (W) reduction of the critical value obtained by the test.
- Calculate is the battery power limit value calculated according to the relationship formula, and Difference represents the difference between the actual value and the calculated value. Taking the data in the table as an example, the relationship between the summarized environmental parameters and the battery power limit value is:
- the relationship formula is placed in the battery microprocessor in the form of a computer program by programming, and the battery microprocessor will timely and accurately give the battery power limit value under the current environmental parameters according to the change of the environmental parameters.
- the processing method of the environmental parameters (such as the cell temperature, the battery power, and the number of battery cycles) is not limited to the processing flow in the above example, and other methods capable of acquiring the actual values of the environmental parameters and their corresponding battery power limit values, and based on The solution for obtaining the mapping relationship between the environmental parameters and the battery power limit value falls within the protection scope of the solution.
- the invention is based on a mapping relationship between a pre-established environmental parameter and a battery power limit value, and determines a current battery power limit value according to a current environmental parameter, the battery power limit value being capable of reflecting a battery that may cause a power jump under current environmental parameters
- the power threshold correspondingly, the scheme controls the drone to make the output power of the drone battery not exceed the battery power limit value, thereby avoiding the power jump of the drone battery, and effectively ensuring the battery power supply of the drone. Stability and reliability.
- Embodiment 6 of the present invention provides a drone, which includes the drone control device according to any of the foregoing embodiments.
- the UAV provided by this embodiment determines a current battery power limit value according to a current environmental parameter based on a mapping relationship between a preset environmental parameter and a battery power limit value, and the battery power limit value can reflect the current environmental parameter.
- the battery power threshold value that may cause the power jump correspondingly, the scheme controls the drone to make the output power of the drone battery not exceed the battery power limit value, thereby avoiding the power jump of the drone battery, effectively Guarantee the stability and reliability of the drone battery power supply.
- FIG. 6 is a schematic structural diagram of a drone control apparatus according to Embodiment 7 of the present invention.
- the UAV control apparatus includes: a processor and a memory.
- the memory stores a computer program.
- a computer program can include program code, the program code including computer operating instructions.
- the memory may include a high speed RAM memory and may also include a non-volatile memory such as at least one disk memory.
- the processor executes the computer program stored in the memory to implement the method in the above embodiments.
- the processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more configured to implement the embodiments of the present invention. Integrated circuits.
- the memory and the processor may be connected to each other through a bus and complete communication with each other.
- the bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Wait.
- ISA Industry Standard Architecture
- PCI Peripheral Component
- EISA Extended Industry Standard Architecture
- the bus can be divided into an address bus, a data bus, a control bus, etc., but does not mean that there is only one bus or one type of bus.
- the memory and the processor can complete communication with each other through the internal interface.
- the present invention also provides a computer readable storage medium storing a computer program that, when executed, implements the method of any of the above embodiments.
- the aforementioned program can be stored in a computer readable storage medium.
- the program when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Secondary Cells (AREA)
Abstract
一种无人机控制方法，包括：获取当前的环境参数；根据预先建立的关于环境参数与电池功率限制值之间的映射关系，获得所述当前的环境参数对应的电池功率限制值，其中，环境参数对应的电池功率限制值用于表征在该环境参数下发生电量跳变时电池功率的临界值；调整无人机的飞行功率，以使无人机电池的输出功率不超过所述当前的环境参数对应的电池功率限制值，上述方案能够避免环境因素导致无人机电池发生电量跳变，有效保证无人机电池供电的稳定性和可靠性。另外还涉及一种无人机控制装置及计算机可读存储介质。
Description
相关发明的交叉引用
本发明要求申请号为201810403805.9，申请日为2018年4月28日的中国专利申请的优先权，其全部内容通过引用结合于本文。
本发明涉及电池领域，尤其涉及一种无人机控制方法、装置及计算机可读存储介质。
基于无人机的应用场景具有移动性和灵活性强的特点，目前的大部分无人机都支持电池供电，例如，采用锂电池供电。电池能够为无人机的灵活移动提供供电支持，但电池的化学活性很容易受环境因素的影响。例如，在低温环境下，电池的内阻会增大，这就可能导致电量跳变。
针对无人机的应用场景，由于无人机的工作环境复杂多变，一旦电池发生电量跳变，将导致无人机无法启动，甚至导致坠机风险。因此，如何保证无人机电池稳定和可靠成为亟待解决的问题。
发明内容
本发明提供一种无人机控制方法、装置及计算机可读存储介质，用于保证无人机电池供电的稳定性和可靠性。
本发明的第一个方面是提供一种无人机控制方法，应用于无人机，所述无人机包括用于给所述无人机提供动力的电池，包括：
获取所述电池的当前的环境参数，其中，所述环境参数包括电池温度、电池循环次数和电池电量；
根据预先建立的环境参数与电池功率限制值之间的映射关系，获得与所述当前的环境参数对应的电池功率限制值，其中，所述与所述环境参数对应 的所述电池功率限制值用于表征在所述环境参数下发生电量跳变时电池功率的临界值；
调整所述无人机的飞行功率，以使所述电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。
在本发明的一实施例中，所述方法还包括：
从各环境参数范围中分别选取多个环境参数，其中所述环境参数范围包括电池温度范围、电池循环次数范围和电池电量范围；
测量获得与所述多个环境参数对应的电池功率限制值的实际值，其中，所述与所述多个环境参数对应的所述电池功率限制值的所述实际值为在所述多个环境参数下发生电量跳变时所述电池的输出功率的临界值；
根据所述多个环境参数及其对应的电池功率限制值的实际值，建立关于环境参数与电池功率限制值之间的映射关系。
在本发明的一实施例中，所述从环境参数范围中选取多个环境参数，包括：
从所述电池温度范围、所述电池循环次数范围和所述电池电量范围中，分别选取多个电池温度、多个电池循环次数和多个电池电量；
通过将选取的每个电芯温度、每个电池循环次数和每个电池电量的组合作为单个环境参数，获得所述多个环境参数。
在本发明的一实施例中，所述根据所述多个环境参数及其对应的电池功率限制值的实际值，建立关于环境参数与电池功率限制值之间的映射关系，包括：
根据所述多个环境参数及其对应的电池功率限制值的实际值，分析获得关于环境参数与电池功率限制值之间的关系公式；则
所述根据预先建立的环境参数与电池功率限制值之间的映射关系，获得与所述当前的环境参数对应的电池功率限制值，包括：
将所述当前的环境参数代入所述关系公式，计算获得所述当前的环境参数对应的电池功率限制值。
在本发明的一实施例中，所述根据所述多个环境参数及其对应的电池功率限制值的实际值，分析获得关于环境参数与电池功率限制值之间的关系公式，包括：
根据所述多个环境参数中每一个环境参数及其对应的电池功率限制值的实际值，分析获得所述每一个环境参数下，该环境参数与电池功率限制值之间的关系公式；则
所述将所述当前的环境参数代入所述关系公式，计算获得所述当前的环境参数对应的电池功率限制值，包括：
确定所述当前的环境参数所在的第一环境参数范围；
将所述当前的环境参数代入所述第一环境参数范围下的关系公式，计算获得所述当前的环境参数对应的电池功率限制值。
在本发明的一实施例中，所述调整所述无人机的飞行功率，以使所述电池的输出功率不超过所述当前的环境参数对应的电池功率限制值，包括：
调整所述无人机的电机转速，以使所述电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。
第二方面，本发明还提供了一种无人机控制装置，包括：
获取模块，用于获取无人机电池当前的环境参数，其中，所述环境参数包括电池温度、电池循环次数和电池电量；
处理模块，用于根据预先建立的环境参数与电池功率限制值之间的映射关系，获得与所述当前的环境参数对应的电池功率限制值，其中，所述与所述环境参数对应的所述电池功率限制值用于表征在所述环境参数下发生电量跳变时电池功率的临界值；
控制模块，用于调整所述无人机的飞行功率，以使所述无人机电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。
在本发明的一实施例中，所述装置还包括：
采集模块，用于从各环境参数范围中分别选取多个环境参数，其中所述环境参数范围包括电池温度范围、电池循环次数范围和电池电量范围；
测试模块，用于测量获得与所述多个环境参数对应的电池功率限制值的实际值，其中，所述与所述多个环境参数对应的所述无人机电池功率限制值的所述实际值为在所述环境参数下发生电量跳变时所述无人机电池的输出功率的临界值；
建立模块，用于根据所述多个环境参数及其对应的电池功率限制值的实际值，建立关于环境参数与电池功率限制值之间的映射关系。
在本发明的一实施例中，所述采集模块，具体用于从所述电池温度范围、所述电池循环次数范围和所述电池电量范围中，分别选取多个电池温度、多个电池循环次数和多个电池电量；
所述采集模块，还具体用于通过将选取的每个电芯温度、每个电池循环次数和每个电池电量的组合作为单个环境参数，获得所述多个环境参数。
在本发明的一实施例中，所述建立模块，具体用于根据所述多个环境参数及其对应的电池功率限制值的实际值，分析获得关于环境参数与电池功率限制值之间的关系公式；
所述处理模块，具体用于将所述当前的环境参数代入所述关系公式，计算获得所述当前的环境参数对应的电池功率限制值。
在本发明的一实施例中，所述建立模块，具体用于根据所述多个环境参数中每一个环境参数及其对应的电池功率限制值的实际值，分析获得所述每一个环境参数范围下环境参数与电池功率限制值之间的关系公式；
所述处理模块包括：
确定单元，用于确定所述当前的环境参数所在的第一环境参数范围；
计算单元，用于将所述当前的环境参数代入所述第一环境参数范围下的关系公式，计算获得所述当前的环境参数对应的电池功率限制值。
在本发明的一实施例中，所述控制模块，具体用于调整所述无人机的电机转速，以使所述无人机电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。
第三方面，本发明还提供了一种无人机控制装置，包括：处理器和存储器；
所述存储器存储有计算机程序；所述处理器执行所述存储器存储的计算机程序，以实现上述所述的无人机控制方法。
第四方面，本发明还提供了一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序，所述计算机程序被执行时实现上述所述的无人机控制方法。
本发明提供的无人机控制方法、装置及计算机可读存储介质中，基于预先建立的环境参数与电池功率限制值之间的映射关系，根据当前的环境参数确定当前的电池功率限制值，该电池功率限制值能够反映当前环境参数下可 能导致电量跳变的电池功率临界值，相应的，本方案通过控制无人机来使无人机电池的输出功率不超过该电池功率限制值，从而避免无人机电池发生电量跳变，有效保证无人机电池供电的稳定性和可靠性。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，还可以根据这些附图获得其他的附图。
图1为本发明实施例一提供的一种无人机控制方法的流程示意图；
图2A-图2C为本发明实施例二提供的无人机控制方法的流程示意图；
图3为本发明实施例三提供的一种无人机控制装置的结构示意图；
图4A-图4B为本发明实施例四提供的无人机控制装置的结构示意图；
图5为本发明实施例五提供的一种无人机控制方法的架构实现图；
图6为本发明实施例七提供的无人机控制装置的结构示意图。
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。
实际应用中，电池的化学活性受环境因素影响较大。以温度因素作为示例：低温环境下，随着电池内阻增大，电池容量会减小。如果此时电池输出较大的供电信号(例如电流放电)，就有可能导致电量跳变。故针对低温环境的无人机应用场景，一种方式是为电池加热，以避免电池内阻增大，但这种方式需要在集成度要求很高的无人机内增设加热装置，不但集成难度大，加热装置本身还会耗费无人机电池的电量。另一种方式是直接限制低温飞行，但该方式很大程度上限制了无人机应用场景的灵活性。
为了解决上述问题，图1为本发明实施例一提供的一种无人机控制方法的流程示意图；参考图1可知，本实施例提供了一种无人机控制方法，用于 保证无人电池在不同环境下供电的稳定性和可靠性。具体的，以该实施例应用于无人机控制装置进行说明，该无人机控制方法包括：
101、获取当前的环境参数；
102、根据预先建立的关于环境参数与电池功率限制值之间的映射关系，获得所述当前的环境参数对应的电池功率限制值；
103、调整无人机的飞行功率，以使无人机电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。
其中，环境参数对应的电池功率限制值用于表征在该环境参数下发生电量跳变时电池功率的临界值。实际应用中，该无人机控制方法的执行主体可以为无人机控制装置。在实际应用中，该无人机控制装置可以通过软件代码实现，该无人机控制装置也可以为存储有相关执行代码的介质，例如，U盘等；或者，该无人机控制装置还可以为集成或安装有相关执行代码的实体装置，例如，芯片、处理器、无人机等。
其中，环境参数可以根据实际考虑的因素来确定。优选的，在一种实施方式中，所述环境参数包括电池温度、电池老化程度和电池电量。其中，电池温度可以用电芯温度来表征，电池老化程度可以用电池的循环次数来表征，电池电量可以用剩余电量百分比来表征。
本实施方式将电芯温度、电池循环次数和电池电量作为影响电池稳定性的环境参数来确定电池功率限制值，能够使电池功率限制值更加真实准确地贴合实际场景，提高无人机控制方法的准确性，避免发生电量跳变。
结合实际场景进行示例：实际应用中，可以主动实施本方案提供的无人机控制方法，即无需触发或手动操作即可执行本方案提供的方法；或者，也可以提供相关的开启选项，由用户手动触发实施本方案提供的方法；或者还可以预先设定触发条件，例如，当检测到环境温度或者电信温度低于某限值时，触发实施本方案提供的方法，在此不对本方案的实施场景进行限制。
具体的，首先获取当前的环境参数，例如，可以通过集成于无人机的传感器采集获得所述环境参数，或者，通过读取无人机数据获得所述环境参数。之后，根据预先建立的映射关系，确定当前的环境参数对应的电池功率限制值。其中该映射关系用于表征环境参数与电池功率限制值之间的关系。
可选的，该映射关系可以为对应关系，即不同的环境参数对应有相应的 电池功率限制值。例如，假设环境参数包括电芯温度，所述映射关系可以包括：电芯温度为5摄氏度对应的电池功率限制值为250瓦，电芯温度为0摄氏度对应的电池功率限制值为150瓦。该实施方式，能够直接快速地确定当前环境参数对应的电池功率限制值，从而提高无人机控制方法的效率，及时避免电量跳变。
再可选的，该映射关系还可以为关系公式，即用于根据环境参数计算电池功率限制值的计算公式。该关系公式可以预先获得，当需要确定某环境参数对应的电池功率限制值时，可以通过该关系公式计算获得。该实施方式能够减少数据存储量，节省存储空间，并且适用的环境参数范围更广，保证无人机控制方法的可靠性，避免电量跳变。
确定当前的环境参数对应的电池功率限制值后，即可控制无人机，以使无人机电池的输出功率不超过所述当前的环境参数对应的电池功率限制值，从而避免发生电量跳变。可选的，可以通过调整无人机的飞行功率来限制电池的输出功率。进一步可选的，在一种实施方式中，103具体可以包括：
调整无人机的电机转速，以使无人机电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。
具体的，获取当前的环境参数，并根据当前的环境参数确定出对应的电池功率限制值后，可以实时监测电池的输出功率，当检测到电池的输出功率可能或已经超过当前环境参数对应的电池功率限制值时，即调整无人机的电机转速，例如，降低电机转速，从而降低电池的输出功率，以使电池的输出功率不超过当前环境参数对应的电池功率限制值。
本实施方式通过控制无人机电机的转速来调整电池的输出功率，以使电池的输出功率不超过当前环境参数对应的电池功率限制值，从而保证无人机电池的稳定和正常输出。
本实施例提供的无人机控制方法，基于预先建立的环境参数与电池功率限制值之间的映射关系，根据当前的环境参数确定当前的电池功率限制值，该电池功率限制值能够反映当前环境参数下可能导致电量跳变的电池功率临界值，相应的，本方案通过控制无人机来使无人机电池的输出功率不超过该电池功率限制值，从而避免无人机电池发生电量跳变，有效保证无人机电池供电的稳定性和可靠性。
为了预先建立环境参数与电池功率限制值之间的映射关系，图2A为本发明实施例二提供的一种无人机控制方法的流程示意图；参考图2A可知，本实施例提供了一种无人机控制方法，用于建立环境参数与电池功率限制值之间的映射关系。具体的，仍以该实施例应用于无人机控制装置进行说明，在实施例一的基础上，该无人机控制方法包括：
201、从环境参数范围中选取多个环境参数；
202、测量获得所述多个环境参数对应的电池功率限制值的实际值；
203、根据所述多个环境参数及其对应的电池功率限制值的实际值，建立关于环境参数与电池功率限制值之间的映射关系。
其中，环境参数对应的电池功率限制值的实际值为在所述环境参数下发生电量跳变时无人机电池的输出功率的临界值。其中，环境参数范围可以根据电池的工作环境确定，例如，假设在非低温情况下不会导致电量跳变，则可将低温范围作为所述环境参数范围，以减少不必要的处理流程，节省无人机功耗。进一步可选的，所述环境参数范围的数量可以为多个，即可以设定参数的多个取值范围分别作为环境参数范围，本实施方式建立不同环境参数范围对应的映射关系，能够提高电池功率限制值的准确性。
以电芯温度作为环境参数举例来说，假设针对5摄氏度以下的低温场景实施本方案提供的方法，则可将低于5摄氏度作为所述环境参数范围来建立映射关系。或者，还可分别将0～5摄氏度，-5～0摄氏度、-10～-5摄氏度分别作为环境参数范围，来针对不同的环境参数范围建立相应的映射关系。
具体的，某环境参数对应的电池功率限制值的实际值为该环境参数下发生电量跳变时电池输出功率的临界值。也就是说，在该环境参数下，当电池的输出功率大于这个临界值就会出现电量跳变，小于这个临界值就不会发生电量跳变。可选的，该临界值可以通过实际测试得出，实际应用中，在获得实际测得的临界值之后，还可以适当降低后的临界值作为电池功率限制值的实际值，比如按一定的比例降低测得的临界值，以便进一步保证无人机供电的稳定性，且能兼顾电池的一致性。其中，环境参数的数量可以根据精确度要求确定，可以理解，选取的环境参数越多，则得到的映射关系越精确。
优选的，在一种实施方式中，所述环境参数包括电芯温度、电池电量和 电池循环次数。即每个环境参数均包括电芯温度、电池电量和电池循环次数这三个参数。相应的，201具体可以包括：
从电池温度范围、电池循环次数范围和电池电量范围中，分别选取多个电芯温度、多个电池循环次数和多个电池电量；
通过将选取的每个电芯温度、每个电池循环次数和每个电池电量的组合作为单个环境参数，获得所述多个环境参数。
本实施方式将电芯温度、电池循环次数和电池电量作为影响电池稳定性的环境参数来确定电池功率限制值，能够使电池功率限制值更加真实准确地贴合实际场景，提高无人机控制方法的准确性，避免发生电量跳变。
可选的，以映射关系为关系公式作为示例，如图2B所示，在实施例二中任一实施方式的基础上，203具体可以包括：
2031、根据所述多个环境参数及其对应的电池功率限制值的实际值，分析获得关于环境参数与电池功率限制值之间的关系公式；
相应的，102具体可以包括：
1021、将所述当前的环境参数代入所述关系公式，计算获得所述当前的环境参数对应的电池功率限制值。
具体的，当需要确定某环境参数对应的电池功率限制值时，可以通过该关系公式计算获得。该实施方式能够减少数据存储量，节省存储空间，并且适用的环境参数范围更广，保证无人机控制方法的可靠性，避免电量跳变。
再可选的，结合上述实施方式，以环境参数范围的数量为多个进行示例，如图2C所示，在实施例二中任一实施方式的基础上，所述环境参数范围的数量为多个；
相应的，2031具体可以包括：
204、根据从每个环境参数范围选取的多个环境参数及其对应的电池功率限制值的实际值，分析获得每个环境参数范围下环境参数与电池功率限制值之间的关系公式；
相应的，1021具体可以包括：
205、确定所述当前的环境参数所在的第一环境参数范围；
206、将所述当前的环境参数代入所述第一环境参数范围下的关系公式，计算获得所述当前的环境参数对应的电池功率限制值。
本实施方式通过划分获得多个环境参数范围，并针对每个环境参数范围建立映射关系，后续根据当前的环境参数，先确定其所在的环境参数范围，再进一步确定该环境参数范围对应的映射关系，基于该映射关系获得相应的电池功率限制值，从而提高无人机控制的精确度和可靠性。
本实施例提供的无人机控制方法，建立环境参数与电池功率限制值之间的映射关系，后续根据当前的环境参数和映射关系确定当前的电池功率限制值，相应的，通过控制无人机来使无人机电池的输出功率不超过该电池功率限制值，从而避免无人机电池发生电量跳变，有效保证无人机电池供电的稳定性和可靠性。
图3为本发明实施例三提供的一种无人机控制装置的结构示意图；参考图3可知，本实施例提供了一种无人机控制装置，用于保证无人电池在不同环境下供电的稳定性和可靠性。具体的，该无人机控制装置包括：
获取模块31，用于获取当前的环境参数；
处理模块32，用于根据预先建立的关于环境参数与电池功率限制值之间的映射关系，获得所述当前的环境参数对应的电池功率限制值；
控制模块33，用于调整无人机的飞行功率，以使无人机电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。
在实际应用中，该无人机控制装置可以通过软件代码实现，该无人机控制装置也可以为存储有相关执行代码的介质，例如，U盘等；或者，该无人机控制装置还可以为集成或安装有相关执行代码的实体装置，例如，芯片、处理器、无人机等。
其中，环境参数可以根据实际考虑的因素来确定。优选的，在一种实施方式中，所述环境参数包括电池温度、电池老化程度和电池电量。其中，电池温度可以用电芯温度来表征，电池老化程度可以用电池的循环次数来表征，电池电量可以用剩余电量百分比来表征。本实施方式将电芯温度、电池循环次数和电池电量作为影响电池稳定性的环境参数来确定电池功率限制值，能够使电池功率限制值更加真实准确地贴合实际场景，提高无人机控制方法的准确性，避免发生电量跳变。
可选的，该映射关系可以为对应关系，该实施方式能够直接快速地确定 当前环境参数对应的电池功率限制值，从而提高无人机控制方法的效率，及时避免电量跳变。再可选的，该映射关系还可以为关系公式，该实施方式能够减少数据存储量，节省存储空间，并且适用的环境参数范围更广，保证无人机控制方法的可靠性，避免电量跳变。
可选的，可以通过调整无人机的飞行功率来限制电池的输出功率。进一步可选的，在一种实施方式中，控制模块33，具体用于调整无人机的电机转速，以使无人机电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。本实施方式通过控制无人机电机的转速来调整电池的输出功率，以使电池的输出功率不超过当前环境参数对应的电池功率限制值，从而保证无人机电池的稳定和正常输出。
本实施例提供的无人机控制装置，基于预先建立的环境参数与电池功率限制值之间的映射关系，根据当前的环境参数确定当前的电池功率限制值，该电池功率限制值能够反映当前环境参数下可能导致电量跳变的电池功率临界值，相应的，本方案通过控制无人机来使无人机电池的输出功率不超过该电池功率限制值，从而避免无人机电池发生电量跳变，有效保证无人机电池供电的稳定性和可靠性。
为了预先建立环境参数与电池功率限制值之间的映射关系，图4A为本发明实施例四提供的一种无人机控制装置的结构示意图；参考图4A可知，本实施例提供了一种无人机控制装置，用于建立环境参数与电池功率限制值之间的映射关系。具体的，在实施例三的基础上，该无人机控制装置还包括：
采集模块41，用于从环境参数范围中选取多个环境参数；
测试模块42，用于测量获得所述多个环境参数对应的电池功率限制值的实际值，其中，环境参数对应的电池功率限制值的实际值为在所述环境参数下发生电量跳变时无人机电池的输出功率的临界值；
建立模块43，用于根据所述多个环境参数及其对应的电池功率限制值的实际值，建立关于环境参数与电池功率限制值之间的映射关系。
实际应用中，在获得实际测得的临界值之后，还可以适当降低后的临界值作为电池功率限制值的实际值，比如按一定的比例降低测得的临界值，以便进一步保证无人机供电的稳定性，且能兼顾电池的一致性。
优选的，在一种实施方式中，所述环境参数包括电芯温度、电池电量和电池循环次数。即每个环境参数均包括电芯温度、电池电量和电池循环次数这三个参数。相应的，采集模块41，具体用于从电池温度范围、电池循环次数范围和电池电量范围中，分别选取多个电芯温度、多个电池循环次数和多个电池电量；采集模块41，还具体用于通过将选取的每个电芯温度、每个电池循环次数和每个电池电量的组合作为单个环境参数，获得所述多个环境参数。本实施方式将电芯温度、电池循环次数和电池电量作为影响电池稳定性的环境参数来确定电池功率限制值，能够使电池功率限制值更加真实准确地贴合实际场景，提高无人机控制方法的准确性，避免发生电量跳变。
可选的，以映射关系为关系公式作为示例，在实施例四中任一实施方式的基础上，建立模块43，具体用于根据所述多个环境参数及其对应的电池功率限制值的实际值，分析获得关于环境参数与电池功率限制值之间的关系公式；相应的，处理模块32，具体用于将所述当前的环境参数代入所述关系公式，计算获得所述当前的环境参数对应的电池功率限制值。该实施方式能够减少数据存储量，节省存储空间，并且适用的环境参数范围更广，保证无人机控制方法的可靠性，避免电量跳变。
再可选的，结合上述实施方式，以环境参数范围的数量为多个进行示例，如图4B所示，在实施例四中任一实施方式的基础上，所述环境参数范围的数量为多个；
相应的，建立模块43，具体用于根据从每个环境参数范围选取的多个环境参数及其对应的电池功率限制值的实际值，分析获得每个环境参数范围下环境参数与电池功率限制值之间的关系公式；
相应的，处理模块32包括：
确定单元321，用于确定所述当前的环境参数所在的第一环境参数范围；
计算单元322，用于将所述当前的环境参数代入所述第一环境参数范围下的关系公式，计算获得所述当前的环境参数对应的电池功率限制值。
本实施方式通过划分获得多个环境参数范围，并针对每个环境参数范围建立映射关系，后续根据当前的环境参数，先确定其所在的环境参数范围，再进一步确定该环境参数范围对应的映射关系，基于该映射关系获得相应的电池功率限制值，从而提高无人机控制的精确度和可靠性。
本实施例提供的无人机控制装置，建立环境参数与电池功率限制值之间的映射关系，后续根据当前的环境参数和映射关系确定当前的电池功率限制值，相应的，通过控制无人机来使无人机电池的输出功率不超过该电池功率限制值，从而避免无人机电池发生电量跳变，有效保证无人机电池供电的稳定性和可靠性。
图5为本发明实施例五提供的一种无人机控制方法的架构实现图，如图5所示，本方案提供的无人机控制方法可以通过如图所示的架构实现。该架构包括：无人机电池、无人机飞控和电机。
具体的，该架构通过无人机飞控控制电机来实现对整个飞机的功率限制，从而实现对电池的输出功率的限制。以映射关系为关系公式为例，实际应用中，可以预先采集大量的测试数据，然后整理数据总结出关于环境参数和电池功率限制值的关系公式，最后再比对测试数据来验证该关系公式，最终把关系公式以计算机程序的形式写入到无人机电池的电池微处理器内部。
后续，电池微处理器获取当前的环境参数，根据映射关系确定出相应的电池功率限制值(图中的功率数据)发送给无人机飞控，无人机飞控调整电机转速(图中无人机飞控向电机发送电机功率)，以使电池的输出功率不超过该电池功率限制值。
举例来说，可以先确定出无人机所能工作的低温温度范围，比如-10～5℃。假设每5℃为一个梯度，从中选取-10℃，-5℃，0℃，5℃这几个电芯温度；再根据电池的寿命特性，以50个循环为梯度选取0循环，50循环，100循环，150循环这几个电池循环次数：再以20％为梯度选取100％，80％，60％，40％这几个电池电量。然后分别测出不同温度点、不同寿命点、不同电量点的组合下电池功率限制值的实际值。举例来说，测试和比对数据可以如下表所示：
其中，Cycle表示电池循环次数，Rsoc表示电池电量；Temp表示电芯温度。实际应用中，这三个参数都可以通过读取无人机电池51的电量计得到。Measure表示电池功率限制值的实际值，表格中为测试获得的临界值减小30瓦(W)后的结果。Calculate是根据关系公式计算出来的电池功率限制值，Difference表示实际值和计算值的差值。以表格中的数据为例，总结的环境参数与电池功率限制值之间的关系公式为：
W＝260-0.4N+7×(C-5)-1.5×(100-100×B)
其中，N是电池循环次数；C是电芯温度，该值有±；B为电池电量。通过编程的方式把该关系公式以计算机程序的形式放置于电池微处理器内部，电池微处理器会根据环境参数的变化适时、准确的给出当前环境参数下的电池功率限制值。
需要说明的是，上述内容仅为一种示例。其中，环境参数(例如电芯温度、电池电量和电池循环次数)的处理方法不限于上述实例中的处理流程，其它能够获取环境参数及其对应的电池功率限制值的实际值的方法、以及基于此获得环境参数与电池功率限制值之间映射关系的方案均落在本方案的保护范围。
本发明基于预先建立的环境参数与电池功率限制值之间的映射关系，根据当前的环境参数确定当前的电池功率限制值，该电池功率限制值能够反映 当前环境参数下可能导致电量跳变的电池功率临界值，相应的，本方案通过控制无人机来使无人机电池的输出功率不超过该电池功率限制值，从而避免无人机电池发生电量跳变，有效保证无人机电池供电的稳定性和可靠性。
本发明实施例六提供一种无人机，该无人机包括如前述任一实施例所述的无人机控制装置。
本实施例提供的无人机，基于预先建立的环境参数与电池功率限制值之间的映射关系，根据当前的环境参数确定当前的电池功率限制值，该电池功率限制值能够反映当前环境参数下可能导致电量跳变的电池功率临界值，相应的，本方案通过控制无人机来使无人机电池的输出功率不超过该电池功率限制值，从而避免无人机电池发生电量跳变，有效保证无人机电池供电的稳定性和可靠性。
图6为本发明实施例七提供的无人机控制装置的结构示意图，该无人机控制装置包括：处理器和存储器。
存储器存储有计算机程序。具体地，计算机程序可以包括程序代码，所述程序代码包括计算机操作指令。存储器可能包括高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
所述处理器执行所述存储器存储的计算机程序，以实现上述实施例中的方法。其中，处理器可能是一个中央处理器(Central Processing Unit，简称为CPU)，或者是特定集成电路(Application Specific Integrated Circuit，简称为ASIC)，或者是被配置成实施本发明实施例的一个或多个集成电路。
可选的，在具体实现上，如果存储器和处理器独立实现，则存储器和处理器可以通过总线相互连接并完成相互间的通信。所述总线可以是工业标准体系结构(Industry Standard Architecture，简称为ISA)总线、外部设备互连(Peripheral Component，简称为PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，简称为EISA)总线等。所述总线可以分为地址总线、数据总线、控制总线等，但并不表示仅有一根总线或一种类型的总线。
可选的，在具体实现上，如果存储器和处理器集成在一块芯片上实现， 则存储器和处理器可以通过内部接口完成相互间的通信。
本发明还提供一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，所述计算机程序被执行时实现上述任一实施例中的方法。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述装置侧实施例的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。需要说明的是，本发明中的各实施方式可以单独实施，也可以在不冲突的前提下结合实施。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (14)
- 一种无人机控制方法，应用于无人机，所述无人机包括用于给所述无人机提供动力的电池，其特征在于，包括：获取所述电池的当前的环境参数，其中，所述环境参数包括电池温度、电池循环次数和电池电量；根据预先建立的环境参数与电池功率限制值之间的映射关系，获得与所述当前的环境参数对应的电池功率限制值，其中，所述与所述环境参数对应的所述电池功率限制值用于表征在所述环境参数下发生电量跳变时电池功率的临界值；调整所述无人机的飞行功率，以使所述电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：从各环境参数范围中分别选取多个环境参数，其中所述环境参数范围包括电池温度范围、电池循环次数范围和电池电量范围；测量获得与所述多个环境参数对应的电池功率限制值的实际值，其中，所述与所述多个环境参数对应的所述电池功率限制值的所述实际值为在所述多个环境参数下发生电量跳变时所述电池的输出功率的临界值；根据所述多个环境参数及其对应的电池功率限制值的实际值，建立关于环境参数与电池功率限制值之间的映射关系。
- 根据权利要求2所述的方法，其特征在于，所述从环境参数范围中选取多个环境参数，包括：从所述电池温度范围、所述电池循环次数范围和所述电池电量范围中，分别选取多个电池温度、多个电池循环次数和多个电池电量；通过将选取的每个电芯温度、每个电池循环次数和每个电池电量的组合作为单个环境参数，获得所述多个环境参数。
- 根据权利要求3所述的方法，其特征在于，所述根据所述多个环境参数及其对应的电池功率限制值的实际值，建立关于环境参数与电池功率限制值之间的映射关系，包括：根据所述多个环境参数及其对应的电池功率限制值的实际值，分析获得关于环境参数与电池功率限制值之间的关系公式；则所述根据预先建立的环境参数与电池功率限制值之间的映射关系，获得与所述当前的环境参数对应的电池功率限制值，包括：将所述当前的环境参数代入所述关系公式，计算获得所述当前的环境参数对应的电池功率限制值。
- 根据权利要求4所述的方法，其特征在于，所述根据所述多个环境参数及其对应的电池功率限制值的实际值，分析获得关于环境参数与电池功率限制值之间的关系公式，包括：根据所述多个环境参数中每一个环境参数及其对应的电池功率限制值的实际值，分析获得所述每一个环境参数下，该环境参数与电池功率限制值之间的关系公式；则所述将所述当前的环境参数代入所述关系公式，计算获得所述当前的环境参数对应的电池功率限制值，包括：确定所述当前的环境参数所在的第一环境参数范围；将所述当前的环境参数代入所述第一环境参数范围下的关系公式，计算获得所述当前的环境参数对应的电池功率限制值。
- 根据权利要求1-5中任一项所述的方法，其特征在于，所述调整所述无人机的飞行功率，以使所述电池的输出功率不超过所述当前的环境参数对应的电池功率限制值，包括：调整所述无人机的电机转速，以使所述电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。
- 一种无人机控制装置，其特征在于，包括：获取模块，用于获取无人机电池当前的环境参数，其中，所述环境参数包括电池温度、电池循环次数和电池电量；处理模块，用于根据预先建立的环境参数与电池功率限制值之间的映射关系，获得与所述当前的环境参数对应的电池功率限制值，其中，所述与所述环境参数对应的所述电池功率限制值用于表征在所述环境参数下发生电量跳变时电池功率的临界值；控制模块，用于调整所述无人机的飞行功率，以使所述无人机电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。
- 根据权利要求6所述的装置，其特征在于，所述装置还包括：采集模块，用于从各环境参数范围中分别选取多个环境参数，其中所述环境参数范围包括电池温度范围、电池循环次数范围和电池电量范围；测试模块，用于测量获得与所述多个环境参数对应的电池功率限制值的实际值，其中，所述与所述多个环境参数对应的所述无人机电池功率限制值的所述实际值为在所述环境参数下发生电量跳变时所述无人机电池的输出功率的临界值；建立模块，用于根据所述多个环境参数及其对应的电池功率限制值的实际值，建立关于环境参数与电池功率限制值之间的映射关系。
- 根据权利要求8所述的装置，其特征在于，所述采集模块，具体用于从所述电池温度范围、所述电池循环次数范围和所述电池电量范围中，分别选取多个电池温度、多个电池循环次数和多个电池电量；所述采集模块，还具体用于通过将选取的每个电芯温度、每个电池循环次数和每个电池电量的组合作为单个环境参数，获得所述多个环境参数。
- 根据权利要求9所述的装置，其特征在于，所述建立模块，具体用于根据所述多个环境参数及其对应的电池功率限制值的实际值，分析获得关于环境参数与电池功率限制值之间的关系公式；所述处理模块，具体用于将所述当前的环境参数代入所述关系公式，计算获得所述当前的环境参数对应的电池功率限制值。
- 根据权利要求10所述的装置，其特征在于，所述建立模块，具体用于根据所述多个环境参数中每一个环境参数及其对应的电池功率限制值的实际值，分析获得所述每一个环境参数范围下环境参数与电池功率限制值之间的关系公式；所述处理模块包括：确定单元，用于确定所述当前的环境参数所在的第一环境参数范围；计算单元，用于将所述当前的环境参数代入所述第一环境参数范围下的关系公式，计算获得所述当前的环境参数对应的电池功率限制值。
- 根据权利要求7-11中任一项所述的装置，其特征在于，所述控制模块，具体用于调整所述无人机的电机转速，以使所述无人机电池的输出功率不超过所述当前的环境参数对应的电池功率限制值。
- 一种无人机控制装置，其特征在于，包括：处理器和存储器；所述存储器存储有计算机程序；所述处理器执行所述存储器存储的计算机程序，以实现权利要求1-6中任一项所述的方法。
- 一种计算机可读存储介质，其特征在于，该计算机可读存储介质中存储有计算机程序，所述计算机程序被执行时实现权利要求1-6中任一项所述的方法。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403805.9A CN108860622A (zh) | 2018-04-28 | 2018-04-28 | 无人机控制方法、装置及计算机可读存储介质 |
| CN201810403805.9 | 2018-04-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2019206112A1 true WO2019206112A1 (zh) | 2019-10-31 |
Family
ID=64326890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2019/083804 WO2019206112A1 (zh) | 2018-04-28 | 2019-04-23 | 无人机控制方法、装置及计算机可读存储介质 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108860622A (zh) |
| WO (1) | WO2019206112A1 (zh) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860622A (zh) * | 2018-04-28 | 2018-11-23 | 深圳市道通智能航空技术有限公司 | 无人机控制方法、装置及计算机可读存储介质 |
| WO2020107451A1 (zh) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | 可移动平台的控制方法、可移动平台及存储介质 |
| CN109739253B (zh) * | 2019-01-28 | 2021-11-26 | 深圳市道通智能航空技术股份有限公司 | 一种飞行器电池监控方法、装置、电池及飞行器 |
| CN113661120A (zh) * | 2019-12-13 | 2021-11-16 | 深圳市大疆创新科技有限公司 | 管理方法和设备 |
| WO2021142592A1 (zh) * | 2020-01-13 | 2021-07-22 | 深圳市大疆创新科技有限公司 | 无人飞行器及控制方法、电子设备及电池功率状态管理方法 |
| WO2021217459A1 (zh) * | 2020-04-28 | 2021-11-04 | 深圳市大疆创新科技有限公司 | 可移动平台的控制方法、可移动平台、控制终端及系统 |
| CN113343579A (zh) * | 2021-06-25 | 2021-09-03 | 海南小鲨鱼智能科技有限公司 | 一种电池输出功率的控制方法、装置及计算机存储介质 |
| CN113504790B (zh) * | 2021-07-08 | 2022-08-26 | 中国南方电网有限责任公司超高压输电公司大理局 | 一种无人机的飞行控制方法、装置及无人机 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016192020A1 (en) * | 2015-06-01 | 2016-12-08 | SZ DJI Technology Co., Ltd. | Method, apparatus, and kit for assembling a mobile platform |
| JP2016222031A (ja) * | 2015-05-28 | 2016-12-28 | ソニー株式会社 | 電動式航空機および電源装置 |
| CN106542102A (zh) * | 2016-11-26 | 2017-03-29 | 杭州迅蚁网络科技有限公司 | 一种无人机电源管理系统及其控制方法 |
| JP6170370B2 (ja) * | 2013-08-07 | 2017-07-26 | 三菱航空機株式会社 | 航空機におけるロードシェッド方法および制御装置 |
| CN108860622A (zh) * | 2018-04-28 | 2018-11-23 | 深圳市道通智能航空技术有限公司 | 无人机控制方法、装置及计算机可读存储介质 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646240A (zh) * | 2015-10-29 | 2017-05-10 | 宝山钢铁股份有限公司 | 锂电池最大放电功率的估算方法 |
| CN106451592B (zh) * | 2016-07-29 | 2019-04-05 | 北京车和家信息技术有限公司 | 电池充放电的控制方法、电池充放电的控制设备和电动车 |
| CN106842038B (zh) * | 2016-12-14 | 2020-08-14 | 广东恒沃动力科技有限公司 | 一种电池最大放电功率在线估算方法 |
| CN107450026A (zh) * | 2017-07-06 | 2017-12-08 | 惠州晟芯源科技有限公司 | 一种无人机用动力电池soc估算方法 |
| CN107643493A (zh) * | 2017-09-15 | 2018-01-30 | 深圳市道通智能航空技术有限公司 | 一种电池电量预估方法和装置、无人机 |
-
2018
- 2018-04-28 CN CN201810403805.9A patent/CN108860622A/zh active Pending
-
2019
- 2019-04-23 WO PCT/CN2019/083804 patent/WO2019206112A1/zh active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6170370B2 (ja) * | 2013-08-07 | 2017-07-26 | 三菱航空機株式会社 | 航空機におけるロードシェッド方法および制御装置 |
| JP2016222031A (ja) * | 2015-05-28 | 2016-12-28 | ソニー株式会社 | 電動式航空機および電源装置 |
| WO2016192020A1 (en) * | 2015-06-01 | 2016-12-08 | SZ DJI Technology Co., Ltd. | Method, apparatus, and kit for assembling a mobile platform |
| CN106542102A (zh) * | 2016-11-26 | 2017-03-29 | 杭州迅蚁网络科技有限公司 | 一种无人机电源管理系统及其控制方法 |
| CN108860622A (zh) * | 2018-04-28 | 2018-11-23 | 深圳市道通智能航空技术有限公司 | 无人机控制方法、装置及计算机可读存储介质 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108860622A (zh) | 2018-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2019206112A1 (zh) | 无人机控制方法、装置及计算机可读存储介质 | |
| JP7249754B2 (ja) | バッテリ充電方法及び装置 | |
| WO2018196121A1 (zh) | 一种确定电池内短路的方法及装置 | |
| WO2017000912A2 (zh) | 电池健康状态的检测装置及方法 | |
| WO2018113773A1 (zh) | 一种电池微短路的检测方法及装置 | |
| JP6622448B2 (ja) | バッテリ管理システムおよびその駆動方法 | |
| WO2019144646A1 (zh) | 电池的电量状态估算方法、装置及电子设备 | |
| CN110994734B (zh) | 电池充电方法、装置及电子辅助设备 | |
| CN108268082B (zh) | 功率控制方法及装置 | |
| JP6330605B2 (ja) | 推定プログラム、推定方法および推定装置 | |
| CN112470017B (zh) | 电池管理装置、电池管理方法和电池组 | |
| CN112818535B (zh) | 建立电热仿真模型及获得电热仿真值的方法和装置 | |
| US20210099002A1 (en) | Techniques for software implemented gas-gauging | |
| TWI687701B (zh) | 判斷電量狀態的方法及其電子裝置 | |
| TW201814309A (zh) | 電荷狀態指示方法及指示系統 | |
| KR20230171968A (ko) | 전지성능 평가장치 및 전지성능 평가방법 | |
| CN109324941B (zh) | 一种温度采集方法、终端及存储介质 | |
| US11474160B2 (en) | Battery emulation apparatus | |
| CN111538392B (zh) | 一种风扇控制方法、装置、电子设备和可读存储介质 | |
| KR20200085575A (ko) | 배터리 팩의 최대 허용 전력을 결정하기 위한 장치 및 방법 | |
| WO2020015653A1 (zh) | 飞行器剩余飞行时间的估算方法、装置、电池及飞行器 | |
| JP2022526179A (ja) | バッテリの充電状態を初期化するための方法 | |
| CN111132870A (zh) | 可移动平台的控制方法、可移动平台及存储介质 | |
| WO2022116037A1 (zh) | 电量预测方法和设备 | |
| WO2021142593A1 (zh) | 功率输出能力的估算方法、电池组件、可移动平台和存储介质 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19791602 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 19791602 Country of ref document: EP Kind code of ref document: A1 |