WO2020015653A1

WO2020015653A1 - Method and device for estimating remaining flight time of aircraft, battery, and aircraft

Info

Publication number: WO2020015653A1
Application number: PCT/CN2019/096205
Authority: WO
Inventors: 刘玉华
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2018-07-20
Filing date: 2019-07-16
Publication date: 2020-01-23
Also published as: CN108896927A; CN108896927B

Abstract

A method and device for estimating a remaining flight time of an aircraft, a battery, and an aircraft comprising the battery. The method comprises: determining optimal currents corresponding to respective time points in a preset time period, wherein a termination time point of the preset time period is the current time point, and the optimal current is a current obtained by processing a sampling current of each time point correspondingly according to a preset current condition (101); on the basis of the optimal currents corresponding to the respective time points in the preset time period, calculating an average current over the preset time period (102); acquiring a remaining capacity of the battery (103); and on the basis of the remaining capacity of the battery and the average current, obtaining a remaining flight time of the aircraft (104). The method is used to obtain the remaining flight time of the aircraft, which can directly reflect how much longer the aircraft can fly.

Description

Method, device, battery and aircraft for estimating remaining flight time of aircraft

Cross-reference to related applications

This application claims priority from a Chinese patent application filed on July 20, 2018, with application number 201810802918.6, the filing date of which is incorporated herein by reference.

Technical field

Embodiments of the present invention relate to the technical field of aircraft, and in particular, to a method for estimating the remaining flight time of an aircraft, a device, a chip, a battery, and an aircraft for estimating the remaining flight time of the aircraft.

Background technique

Currently aircraft are used in more and more fields. Take unmanned aerial vehicle (UAV) as an example, it is widely used in aerial photography, agriculture, plant protection, disaster rescue, news reporting, power inspection, disaster relief, film and television shooting and other fields. As a core component of the aircraft system, the battery is mainly used to provide flight power for the aircraft system. In the application scenario of the aircraft, while the aircraft's battery provides the source of flight power, it usually also provides battery power information, such as the remaining capacity of the battery or the percentage of remaining battery power (State of Charge, SOC), etc. Provide a reference on the endurance time of the aircraft to ensure the safety of the aircraft flight.

During the implementation of the present invention, the inventors found that the related technology has at least the following problems: Although the battery life information can provide a reference for the battery life, the battery power information cannot directly reflect how long the aircraft can fly.

Summary of the invention

The main purpose of the present invention is to provide a method, device, chip, battery and aircraft for estimating the remaining flight time of an aircraft, which can obtain the remaining flight time of the aircraft, and the remaining flight time can directly reflect how long the aircraft can fly. .

The embodiments of the present invention disclose the following technical solutions:

In order to solve the above technical problem, an embodiment of the present invention provides a method for estimating a remaining flight time of an aircraft. The aircraft includes a battery, and the method includes:

Determine the optimal current corresponding to each time point in the preset time period, wherein the end time point of the preset time period is the current time point, and the optimal current is the sampling current of each time point according to the preset current condition Corresponds to the current obtained after processing;

Calculating an average current in the preset time period according to an optimal current corresponding to each time point in the preset time period;

Obtaining the remaining capacity of the battery;

The remaining flight time of the aircraft is obtained according to the remaining capacity of the battery and the average current.

In order to solve the above technical problem, an embodiment of the present invention further provides a device for estimating a remaining flight time of an aircraft. The aircraft includes a battery, and the device includes:

The optimal current determining module is configured to determine an optimal current corresponding to each time point in a preset time period, wherein an end time point of the preset time period is a current time point, and the optimal current is a value of each time point. Sampling current is obtained after corresponding processing according to preset current conditions;

An average current determining module, configured to calculate an average current in the preset time period according to an optimal current corresponding to each time point in the preset time period;

A remaining capacity acquisition module, configured to obtain a remaining capacity of the battery;

The remaining flight time determination module is configured to obtain the remaining flight time of the aircraft according to the remaining capacity of the battery and the average current.

To solve the above technical problems, an embodiment of the present invention further provides a chip, including:

At least one processor; and

A memory connected in communication with the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the method for estimating a remaining flight time of an aircraft as described above. .

In order to solve the above technical problem, an embodiment of the present invention further provides a computer program product. The computer program product includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer is caused to execute the method for estimating the remaining flight time of the aircraft as described above.

In order to solve the above technical problem, an embodiment of the present invention further provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to execute The method of estimating the remaining flight time of the aircraft as described above.

In order to solve the above technical problem, an embodiment of the present invention further provides a battery, including a chip as described above.

In order to solve the above technical problem, an embodiment of the present invention further provides an aircraft, which includes the battery as described above, and the battery is used to provide power.

In the embodiment of the present invention, the remaining flight time of the aircraft can be determined by the remaining battery capacity of the aircraft and the average current within a preset time period. The remaining flight time can directly reflect how long the aircraft can fly , So that the user can better judge the flight capability of the aircraft and determine the return time of the aircraft according to the remaining time, thereby improving the user experience and enhancing the flight safety of the aircraft.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments are exemplified by the pictures in the accompanying drawings. These exemplary descriptions do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the drawings in the drawings do not constitute a limitation on scale.

FIG. 1 is a schematic flowchart of a method for estimating a remaining flight time of an aircraft according to an embodiment of the present invention;

FIG. 2 is a detailed flowchart of a method for estimating a remaining flight time of an aircraft according to an embodiment of the present invention; FIG.

3 is a schematic diagram of a remaining flight time curve of an aircraft obtained based on a sampling current according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an aircraft remaining flight time curve obtained based on an optimal current acquisition according to an embodiment of the present invention; FIG.

5 is a schematic diagram of an apparatus for estimating a remaining flight time of an aircraft according to an embodiment of the present invention;

6 is a schematic diagram of a hardware structure of a chip according to an embodiment of the present invention;

7 is a schematic diagram of a battery provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of an aircraft provided by an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

The embodiments of the present invention will be further described below with reference to the accompanying drawings.

Example 1:

FIG. 1 is a schematic flowchart of a method for estimating a remaining flight time of an aircraft according to an embodiment of the present invention. The method of remaining flight time of an aircraft can be used to estimate the remaining flight time of various aircraft, such as unmanned aerial vehicles, manned aircraft, and the like. The aircraft includes a battery for supplying power to provide flight power, and the battery may be various suitable storage batteries, such as a lithium battery, a nickel-cadmium battery, and the like. The method for estimating the remaining flight time of the aircraft may be performed by any suitable type of chip or controller, such as a main control chip (such as an MCU) of a battery, which has a certain logic operation capability and can realize the function of estimating the remaining flight time of the aircraft. The following takes a battery main control chip as an example for detailed description.

Referring to FIG. 1, the method for estimating the remaining flight time of the aircraft includes:

101: Determine an optimal current corresponding to each time point in a preset time period.

The end time point of the preset time period is the current time point. The duration of the preset time period may be the duration configured in the main control chip of the battery in advance, or the duration may be customized as required. The preset time period can be determined according to the current time point and the duration of the preset time period. For example, if the duration of the preset time period is 15s, the preset time period is the corresponding time period within 15s closest to the current time point. If the current time point is: "8:30:14", the Set the time period as: "8: 30: 00-8: 30: 14".

The optimal current is a current obtained after the sampling current at each time point is processed according to a preset current condition. The sampling current is a battery power supply current for powering the aircraft, and it can also be understood as a current flowing through the battery.

During the flight of the aircraft, the main control chip of the battery can sample the power supply current of the battery in real time according to a preset sampling frequency to obtain the sampling current. The preset sampling frequency may be pre-configured in a main control chip of the battery, or may be a value that is custom-set according to needs. For example, the preset sampling frequency may be 1 Hz, that is, the sampling current is acquired once per second to obtain the sampling current at each time point in the preset time period. For example, if the duration of the preset time period is 15s, the sampling currents at various time points within 15s closest to the current time point are obtained, that is, a total of 15 sampling currents are obtained.

During the flight of the aircraft, in order to meet the various flight needs of the aircraft, the power supply current of the battery may increase sharply to a large or decrease in a short time, that is, the battery's main control chip is obtained. The sampling current may be large or small. If the estimated remaining flight time of the aircraft is directly estimated based on the acquired sampling current, there will be a large error between the remaining flight time of the actual aircraft. Therefore, in order to improve the accuracy of estimating the remaining flight time, in the embodiment of the present invention, it is necessary to estimate the remaining flight time of the aircraft based on the current obtained after corresponding processing of the sampling current according to the preset current condition, that is, the optimal current. For example, there may be at least one preset current condition. Based on each preset current condition, a corresponding processing is performed on the sampling current to obtain an optimal current. The preset current condition may be: the sampling current is within a preset current range, or the sampling current exceeds a preset current range. For example, when the preset current condition that the sampling current is within the preset current range is satisfied, it corresponds to a method of processing the sampling current to determine the optimal current; when the preset current condition that the sampling current exceeds the preset current range is satisfied, it corresponds to another A way to process the sampled current to determine the optimal current.

Specifically, determining the optimal current corresponding to each time point in the preset time period includes: determining whether the sampling current at each time point in the preset time period is within a preset current range; when the preset time When the sampling current at each time point in the segment is within the preset current range, determining the sampling current at each time point in the preset time period as the optimal current; when each time in the preset time period is When there is a sampling current exceeding the preset current range in the point sampling current, filtering processing is performed on the sampling current exceeding the preset current range to determine the optimal current.

Further, when there is a sampling current exceeding the preset current range in the sampling current at each time point in the preset time period, filtering the sampling current exceeding the preset current range to determine the The optimal current includes: when a sampling current smaller than the lower limit of the preset current range exists in the sampling current at each time point in the preset time period, the lower limit of the preset current range is lowered The sampling current of the filter current is filtered so that the optimal current at the time point corresponding to the sampling current that is smaller than the lower limit value of the preset current range is the lower limit value of the preset current range. When the sampling current at each time point in the preset time period is greater than the upper limit value of the preset current range, filtering processing is performed on the sampling current that is greater than the upper limit value of the preset current range, so that the The optimal current at the time point corresponding to the sampling current of the upper limit value of the preset current range is the upper limit value of the preset current range.

The process of determining the optimal current corresponding to each time point in the preset time period by the main control chip of the battery will be specifically described with reference to FIG. 2. FIG. 2 is a schematic flowchart of a method for estimating a remaining flight time of an aircraft according to an embodiment of the present invention.

During the actual flight of the aircraft, when the aircraft is in a state of flight in which the space position remains basically unchanged at a certain height, that is, when the aircraft is in the hovering phase, the power supply current required by the aircraft is very small, that is, the battery's main control chip obtains The sampling current is very small. If the remaining time of the aircraft is calculated based on the sampling current, it will be much larger than the actual remaining flight time of the aircraft. In order to improve the accuracy of the subsequent estimation of the remaining flight time of the aircraft, the sampling current needs to be filtered.

Considering that the maximum flightable time of the aircraft is determined according to the current when the aircraft is hovering (that is, the hovering current), when the sampling current at each time point in the preset time period is less than the preset current When sampling current at the lower limit of the range, filtering is performed on the sampling current smaller than the lower limit of the preset current range, so that the time point corresponding to the sampling current smaller than the lower limit of the preset current range corresponds The optimal current is the lower limit of the preset current range. The lower limit of the preset current range is determined by the preset hovering current of the aircraft.

The preset hovering current may be pre-configured in a main control chip of the battery, and a method for determining the preset hovering current may include: determining the preset hovering current according to historical flight data of the aircraft. For example, the current of the aircraft during the hovering phase 100 times is counted in advance, and the average value of the current during the 100 hovering phases is used as the preset hovering current. In some embodiments, the preset hovering current may also be determined according to characteristics of various batteries or may be customized according to requirements.

Taking Figure 2 as an example, the preset hovering current is 9500mA, that is, the lower limit value of the preset current range is 9500mA, and it is determined whether the sampling current is less than 9500mA. The current is 9500mA.

Filtering is performed by using a sampling current that is less than the lower limit of the preset current range. On the one hand, the accuracy of estimating the remaining flight time of the aircraft can be improved; Therefore, the remaining flight time of the aircraft can be provided to the user immediately after the aircraft takes off, so that the user can understand the flight performance of the aircraft and better plan when to return.

During the flight of the aircraft, when the flight range is large, such as sudden acceleration and deceleration, in order to meet the flight requirements of the aircraft, the battery needs to provide a large power supply current, that is, the sampling current at this time will be large. The remaining flight time estimated from the sampling current is very different from the actual flight time of the aircraft, that is, during the sudden acceleration and deceleration of the aircraft, the remaining flight time estimated based on the sampling current will fluctuate greatly, and there will be remaining time. The situation of a sharp decrease or a sharp increase in the remaining time provides misleading information to the user, which not only causes trouble to the user, but the provision of such a large remaining time does not have great reference significance.

Therefore, when the sampling current at each time point in the preset time period is greater than the upper limit value of the preset current range, the sampling current greater than the upper limit value of the preset current range is filtered, so that The optimal current at the time point corresponding to the sampling current that is larger than the upper limit value of the preset current range is the upper limit value of the preset current range. The upper limit of the preset current range is determined by the preset average current fluctuation range of the aircraft during flight, so as to filter out the sampling current that exceeds the preset average current fluctuation range.

The preset average current fluctuation range may be pre-configured in the battery's main control chip, and the method for determining the preset average current fluctuation range may include: determining the preset average current fluctuation range according to historical flight data of the aircraft. For example, the average current fluctuation amplitude of the aircraft during 100 flights is counted in advance, and then the average current fluctuation amplitude of 100 times is averaged to obtain a preset average current fluctuation amplitude. In some embodiments, the preset average current fluctuation range may also be determined according to the characteristics of the aircraft or may be customized according to requirements.

Taking FIG. 2 as an example, the preset average current fluctuation amplitude is 12500mA, that is, the upper limit of the preset current range is 12500mA, and it is determined whether the sampling current is greater than 12500mA. If the sampling current is greater than 12500mA, the corresponding The excellent current is 12500mA.

Further, because the end time point of the preset time period is the current time point, and when the flight time of the aircraft is shorter than the length of the preset time period, the battery's main control chip cannot obtain samples at various time points in the preset time period. Current, for example, because the duration of the preset time period is 15s, the current aircraft has flown for 2s. At this time, the battery's main control chip can only obtain the sampling current within 2s of the flight of the aircraft (the sampling current of the first second of flight) And the sampling current of the second second of the flight), it is not possible to obtain the sampling current after 2 s, that is, when the flight time of the aircraft is shorter than the duration of the preset time period, it is impossible to determine the optimal corresponding to each time point in the preset time period. Current. Therefore, in order to obtain the remaining flight time of the aircraft corresponding to each time point in the flight process in real time during the flight of the aircraft, the main current control chip of the battery is used to preset the optimal current and time corresponding to each time point in the preset time period. Initialize the configuration at the current time point so that the aircraft can provide users with the remaining flight time just after takeoff.

As shown in FIG. 2, the current time point is initialized and configured such that the initial current time point is t = 0, where t = 0 is used to characterize the start time point of the aircraft flight. Assuming that the duration of the preset time period is 15s, the expression is represented by I [0] -I [14] (including an array of 15 elements of I [0], I [2] ... I [14]) An array for caching the optimal current. Because the maximum flight time of the aircraft is determined based on the preset hovering current, the optimal current corresponding to each time point within the preset time period corresponding to the initial current time point t = 0 is initialized and the preset The hovering current is assigned to the array I [0] -I [14], that is, the values of I [0] -I [14] are all preset hovering currents, such as I [0] -I [14] are all 9500mA.

After the battery's main control chip is initialized and configured, the optimal current corresponding to each time point in the preset time period can be determined in turn from the current time point t = 0 in order to subsequently obtain the aircraft corresponding to each time point during the flight of the aircraft. Remaining flight time.

For example, if the preset current range is [9500mA, 12500mA] (9500mA or more and 12500mA or less), when t = 0, the sampling current A at this time is 10000mA, which is within the preset current range, then t = The optimal current at 0 is the corresponding sampling current, that is, I [0] = 10000mA, so that the subsequent values based on the values of I [1] -I [14] in initialization and the optimal current at t = 0 (I [0] = 10000 mA), to obtain the remaining flight time of the aircraft corresponding to t = 0;

When t = 1, the sampling current A obtained at this time is 9000mA, which is less than the lower limit value of the preset current range, then the optimal current at t = 1 is the lower limit value of the preset current range, that is, I [ 1] = 9500mA, so as to follow based on the values of I [2] -I [14] during initialization, the optimal current at t = 0 (I [0] = 10000mA) and the optimal current at t = 1 (I [1] = 9500mA), to obtain the remaining flight time of the aircraft corresponding to t = 1;

When t = 2, the sampling current A obtained at this time is 13000mA, which is greater than the upper limit value of the preset current range, then the optimal current at t = 2 is the upper limit value of the preset current range, that is, I [ 2] = 12500mA, so as to follow based on the values of I [3] -I [14] in the initialization, the optimal current at t = 0 (I [0] = 10000mA), the optimal current at t = 1 (I [1] = 9500mA) and optimal current at t = 2 (I [2] = 12500mA) to get the remaining flight time of the aircraft corresponding to t = 2; and so on to get t = 0 to t = 14 The optimal current corresponding to each time point in the time period.

In the embodiment of the present invention, a circular covering method is adopted, and the size of the storage array is equal to the duration of a preset time period. For example, after the last I [14] is stored, it returns to the beginning I [0] to store the optimal current. This reciprocates in order to save the overhead resources of the array, that is, to save the storage space required to store the array. For example, when t> 14, such as t = 15, the time is reset to zero, that is, the calculation is restarted from t = 0. If the sampling current A obtained at this time is 11000mA, it is determined that it is in the preset In the current range, the optimal current at this time is the sampling current, which is equivalent to acquiring t = 15 to obtain the sampling current A at this time as 11000mA and assigning it to I [0], that is, in a new preset time period I [0] = 11000mA, in order to obtain a new cycle based on the previously obtained optimal current from t = 1 to t = 14, and I [0] = 11000mA in a new preset time period The remaining flight time of the aircraft corresponding to the time t = 0, and the remaining flight time of the aircraft corresponding to each time point during the flight.

102: Calculate an average current in the preset time period according to an optimal current corresponding to each time point in the preset time period.

Wherein, by averaging the sum of the optimal currents corresponding to the respective time points in the preset time period, the average current in the preset time period can be obtained. Specifically, the formula for calculating the average current in a preset time period is as follows:

Among them, I _avg represents the average current (the unit is mA / s) in the preset time period, I _i represents the optimal current (the unit is mA / s) corresponding to each time point in the preset time period, and n represents the preliminary current Set the duration of the time period (unit is s), where n can be any natural number, such as n = 15.

Taking FIG. 2 as an example, the average current I _{avg in the} corresponding preset time period is obtained according to the following method:

I _avg = (I [0] + I [1] + ... + I [14]) / 15

For example, when t = 1, the sampling current A obtained at this time is 9000mA, which is less than the lower limit value of the preset current range, then the optimal current at t = 1 is the lower limit value of the preset current range, that is, If I [1] = 9500mA, the values of I [2] -I [14], the optimal current at t = 0 (I [0] = 10000mA) and the optimal current at t = 1 ( I [1] = 9500mA) Take the average value to obtain the average current in a preset time period corresponding to the current time point t = 1.

When t> 14, such as when t = 15, the time is reset to zero, that is, the calculation is restarted from t = 0. If the sampling current A obtained at this time is 11000mA, it is determined that it is in the preset current range. Within this time, the optimal current at this time is the sampling current, which is equivalent to obtaining the sampling current A obtained at t = 15 at 11000mA and assigning it to I [0], that is, I in a new preset time period. [0] = 11000 mA, then the optimal current obtained from t = 1 to t = 14 and the sum of I [0] = 11000 mA in a new preset time period are averaged to obtain the current time point. The average current in the corresponding preset time period.

103: Obtain the remaining capacity of the battery.

The remaining capacity of the battery refers to the remaining capacity of the battery after a certain period of use, that is, the remaining capacity of the battery corresponding to the current point in time.

The manner in which the battery's main control chip obtains the remaining capacity of the battery includes but is not limited to the following:

1. Open circuit voltage method. Among them, the open-circuit voltage refers to the terminal voltage of the battery in an open-circuit state, which is close to the electromotive force of the battery in value. The method specifically includes: first, obtaining a current open-circuit voltage of the battery; and then obtaining a remaining capacity corresponding to the current open-circuit voltage according to a preset correspondence relationship (such as a linear proportional relationship) between the remaining capacity of the battery and the open-circuit voltage.

2. Coulomb monitoring method. The method specifically includes: firstly, obtaining the discharge capacity of the battery according to the integral of the discharge current over time for a period of time; and then obtaining the current remaining capacity of the battery according to the discharge capacity of the battery.

3. Determine the remaining capacity of the battery based on the internal resistance of the battery. The changes in battery temperature, capacity percentage, and battery life (that is, the age of the battery) can be reflected in changes in battery internal resistance, that is, the internal resistance of the battery and the temperature, capacity percentage, and age of the battery are complicated. Functional relationship. Therefore, the internal resistance of the battery is a very important variable, and determining the remaining capacity of the battery based on the internal resistance of the battery can improve the accuracy of calculating the remaining capacity of the battery. Among them, the main idea of this method is: according to the current temperature corresponding to the discharge depth, the mapping relationship between the open circuit voltage and the battery internal resistance (including the first correspondence between the discharge depth and the open circuit voltage and the first relationship between the discharge depth and the battery internal resistance Two corresponding relationships), and combined with the current at the current time point, to determine the discharge depth of the battery when the discharge voltage is the discharge termination voltage, and then determine the remaining capacity of the battery based on the discharge depth.

Specifically, the method for determining the remaining capacity of the battery based on the internal resistance of the battery includes: establishing a mapping relationship between a battery's discharge depth, an open circuit voltage, and the internal resistance of the battery in each preset temperature interval in advance; obtaining the current at the current point in time; obtaining A mapping relationship corresponding to the current temperature, and according to the obtained mapping relationship and the current at the current point in time, determining a discharge depth of the battery when the discharge voltage is a discharge end voltage; obtaining a maximum chemical capacity of the battery And obtaining a current discharge depth of the battery; and determining a remaining capacity of the battery according to the current discharge depth, the maximum chemical capacity, and a discharge depth corresponding to a discharge termination voltage of the battery.

104: Obtain the remaining flight time of the aircraft according to the remaining capacity of the battery and the average current.

Specifically, the formula for calculating the remaining flight time of the aircraft is as follows:

Among them, T represents the remaining flight time of the aircraft (the unit is s), C represents the remaining capacity of the battery (the unit is mAH), and I _avg represents the average current within a preset time period (the unit is mA / s).

The battery's main control chip can get the current remaining flight time of the aircraft based on the above formula for calculating the remaining flight time of the aircraft. The remaining flight time can directly reflect how long the aircraft can fly, so that users can use the The remaining flight time can better judge the flight capability of the aircraft and determine the return time of the aircraft. For example, the battery's main control chip can output the remaining flight time after obtaining the remaining flight time of the aircraft, such as displaying the remaining flight time on the display interface of the aircraft, so that the user can more directly understand the aircraft based on the remaining flight time How long can you fly to improve the user experience and enhance the safety of the aircraft.

In addition, in the embodiment of the present invention, in the process of determining the remaining flight time, the sampling current exceeding the preset current range is also filtered to improve the accuracy of estimating the remaining flight time of the aircraft. Take FIG. 3 and FIG. 4 as an example, where FIG. 3 shows that the sampling current exceeding the preset current range is not filtered, and the remaining flight time curve of the aircraft is directly obtained based on the sampling current; FIG. 4 shows The sampling current exceeding the preset current range is filtered, and the remaining flight time curve of the aircraft obtained based on the optimal current is obtained (the abscissa represents the flight time t of the aircraft, and the ordinate represents the remaining flight time T of the aircraft). It can be obtained from FIG. 3 and FIG. 4 that the remaining flight time curve of the aircraft obtained based on the optimal current is smoother, that is, the estimated remaining flight time of the aircraft after the filtering process is close to that of the aircraft during the actual flight of the aircraft. Flight time remaining.

It should be noted that those skilled in the art can understand from the description of the embodiments of the present invention that, in different embodiments, without conflict, the steps 101-104 may have different execution orders, for example, first execute Step 103, and then step 101 and so on.

In the embodiment of the present invention, the remaining flight time of the aircraft is determined by the remaining battery capacity of the aircraft and the average current within a preset time period. The remaining flight time can directly reflect how long the aircraft can fly for the convenience of the user. According to the remaining time, the flight capability of the aircraft can be better judged and the return time of the aircraft can be determined, thereby improving the user experience and enhancing the flight safety of the aircraft.

Example 2:

FIG. 5 is a schematic diagram of an apparatus for estimating a remaining flight time of an aircraft according to an embodiment of the present invention. The device 50 for remaining flight time of the aircraft may be used to estimate the remaining flight time of various aircraft, such as unmanned aerial vehicles, manned aircraft, and the like. The aircraft includes a battery for supplying power to provide flight power, and the battery may be various suitable storage batteries, such as a lithium battery, a nickel-cadmium battery, and the like. The device 50 for remaining flight time of the aircraft may be configured in any suitable type of chip with a certain logic operation capability, such as a main control chip (such as an MCU) configured in a battery.

Referring to FIG. 5, the apparatus 50 for remaining flight time of the aircraft includes an optimal current determination module 501, an average current determination module 502, a remaining capacity acquisition module 503, and a remaining flight time determination module 504.

Specifically, the optimal current determining module 501 is configured to determine an optimal current corresponding to each time point in a preset time period.

The end time point of the preset time period is the current time point. The duration of the preset time period may be a duration configured in the optimal current determining module 501 in advance, or may be a custom-set duration as required. The preset time period can be determined according to the current time point and the duration of the preset time period.

The optimal current is a current obtained after the sampling current at each time point is processed according to a preset current condition. The sampling current is a battery power supply current for powering the aircraft, and it can also be understood as a current flowing through the battery. During the flight of the aircraft, the optimal current determining module 501 may sample the power supply current of the battery in real time according to a preset sampling frequency to obtain the sampling current.

During the flight of the aircraft, in order to meet the various flight needs of the aircraft, the power supply current of the battery may suddenly increase to a large value or decrease to a small value in a short time, that is, the optimal current determination module 501 obtains The obtained sampling current may have a large or small sampling current. If the estimated remaining flight time of the aircraft is directly estimated based on the acquired sampling current, there will be a large error between the remaining flight time of the actual aircraft. Therefore, the optimal current determined by the optimal current determination module 501 is required to improve the accuracy of the subsequent remaining flight time determination module 504 to estimate the remaining flight time.

Specifically, the optimal current determining module 501 is specifically configured to determine whether the sampling current at each time point in the preset time period is within a preset current range; when the sampling current at each time point in the preset time period is within When within the preset current range, the sampling current at each time point in the preset time period is determined as the optimal current; when the sampling current at each time point in the preset time period exceeds the preset current When the sampling current in the current range is set, the sampling current exceeding the preset current range is filtered to determine the optimal current.

Further, the optimal current determining module 501 performs a sampling current exceeding the preset current range when a sampling current exceeding the preset current range exists in the sampling current at each time point in the preset time period. The filtering process to determine the optimal current includes: when there is a sampling current smaller than the lower limit of the preset current range in the sampling current at each time point in the preset time period, measuring the current smaller than the preset current. The sampling current of the lower limit value of the current range is filtered so that the optimal current at the time point corresponding to the sampling current that is lower than the lower limit value of the preset current range is the lower limit value of the preset current range. When the sampling current at each time point in the preset time period is greater than the upper limit value of the preset current range, filtering processing is performed on the sampling current that is greater than the upper limit value of the preset current range, so that the The optimal current at the time point corresponding to the sampling current of the upper limit value of the preset current range is the upper limit value of the preset current range.

During the actual flight of the aircraft, when the aircraft is in a state of flight in which the space position is basically unchanged at a certain height, that is, when the aircraft is in the hovering phase, the power supply current required by the aircraft is very small, that is, the sampling current is small at this time If the remaining time of the aircraft calculated based on the sampling current is much larger than the actual remaining flight time of the aircraft, in order to improve the accuracy of the subsequent estimation of the remaining flight time of the aircraft, the sampling current needs to be filtered by the optimal current determination module 501 .

Considering that the maximum flightable time of the aircraft is determined according to the current when the aircraft is hovering (that is, the hovering current), when the sampling current at each time point in the preset time period is less than the preset current When the sampling current is at the lower limit of the range, the optimal current determination module 501 performs filtering processing on the sampling current that is smaller than the lower limit of the preset current range, so that the sampling is smaller than the lower limit of the preset current range. The optimal current at the time point corresponding to the current is the lower limit of the preset current range. The lower limit of the preset current range is determined by the preset hovering current of the aircraft. If the preset hovering current is 9500 mA, that is, the lower limit of the preset current range is 9500 mA, it is determined whether the sampling current is less than 9500 mA. If it is less than 9500 mA, the optimal current corresponding to the sampling current is 9500 mA.

The optimal current determining module 501 performs filtering processing on the sampling current that is smaller than the lower limit of the preset current range. On the one hand, the accuracy of estimating the remaining flight time of the aircraft can be improved; on the other hand, because the It is hovering when taking off, so you can provide the user with the remaining flight time of the aircraft just after takeoff, so that the user can understand the flight performance of the aircraft and better plan when to return.

During the flight of the aircraft, when the flight range is large, such as sudden acceleration and deceleration, in order to meet the flight requirements of the aircraft, the battery needs to provide a large power supply current, that is, the sampling current at this time will be large. The remaining flight time estimated from the sampling current is very different from the actual flight time of the aircraft, that is, during the sudden acceleration and deceleration of the aircraft, the remaining flight time estimated based on the sampling current will fluctuate greatly, and there will be remaining time The situation of a sharp decrease or a sharp increase in the remaining time provides misleading information to the user, which not only causes trouble to the user, but also the provision of such a large remaining time does not have great reference significance.

Therefore, when the sampling current at each time point in the preset time period is greater than the upper limit value of the preset current range, the optimal current determination module 501 performs The sampling current is filtered so that the optimal current at the time point corresponding to the sampling current that is greater than the upper limit of the preset current range is the upper limit of the preset current range. The upper limit of the preset current range is determined by the preset average current fluctuation range of the aircraft during flight, so as to filter out the sampling current that exceeds the preset average current fluctuation range. If the preset average current fluctuation amplitude is 12500 mA, that is, the upper limit of the preset current range is 12500 mA, it is determined whether the sampling current is greater than 12500 mA, and if it is greater than 12500 mA, the optimal current corresponding to the sampling current is 12500 mA.

Further, since the end time point of the preset time period is the current time point, when the flight time of the aircraft is shorter than the length of the preset time period, it is impossible to obtain the sampling current at each time point in the preset time period. Therefore, in order to obtain the remaining flight time of the aircraft corresponding to each time point in the flight process in real time during the flight of the aircraft, the apparatus 50 for estimating the remaining flight time of the aircraft further includes an initialization module, which is used to convert The optimal current corresponding to each time point and the current time point are initialized and configured, so that the aircraft can provide users with the remaining flight time just after taking off. The initialization module can sequentially determine the optimal current corresponding to each time point in a preset time period from the current time point t = 0 (t = 0 is used to characterize the starting time point of the aircraft flight) in order to subsequently obtain the aircraft flight process. The remaining flight time of the aircraft corresponding to each time point.

Specifically, the average current determining module 502 is configured to calculate an average current in the preset time period according to an optimal current corresponding to each time point in the preset time period.

The average current determining module 502 averages the sum of the optimal currents corresponding to the respective time points in the preset time period to obtain the average current in the preset time period. Specifically, the formula for calculating the average current in a preset time period is as follows:

Taking FIG. 2 as an example, the average current determining module 502 obtains the average current I _{avg in a} corresponding preset time period according to the following manner:

I _avg = (I [0] + I [1] + ... + I [14]) / 15

Specifically, the remaining capacity obtaining module 503 is configured to obtain a remaining capacity of the battery.

The remaining capacity obtaining module 503 obtains the remaining capacity of the battery in a manner including, but not limited to, an open-circuit voltage method, a coulomb monitoring method, or determining the remaining capacity of the battery based on the internal resistance of the battery.

Specifically, the remaining flight time determination module 504 is configured to obtain the remaining flight time of the aircraft according to the remaining capacity of the battery and the average current.

Specifically, the formula for calculating the remaining flight time of the aircraft by the remaining time of flight determination module 504 is as follows:

The remaining flight time determination module 504 can obtain the current remaining flight time of the aircraft based on the above calculation formula for calculating the remaining flight time of the aircraft, and the remaining flight time can directly reflect how long the aircraft can fly for the convenience of the user. The remaining flight time is better for judging the flight capability of the aircraft and determining the return time of the aircraft. For example, after obtaining the remaining flight time of the aircraft, the remaining flight time can be output, such as displaying the remaining flight time on the display interface of the aircraft, so that the user can more directly understand how long the aircraft can fly based on the remaining flight time Time to improve the user experience and enhance the safety of aircraft flight.

It should be noted that, in the embodiment of the present invention, the apparatus for estimating the remaining flight time of the aircraft 50 can execute the method for estimating the remaining flight time of the aircraft provided by the embodiment of the present invention, and has corresponding function modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the apparatus 50 for estimating the remaining flight time of the aircraft, reference may be made to the method for estimating the remaining flight time of the aircraft provided by the embodiment of the present invention.

Example 3:

FIG. 6 is a schematic diagram of a chip hardware structure according to an embodiment of the present invention, where the chip may be a main control chip of various smart batteries and the like. As shown in FIG. 6, the chip 60 includes:

One or more processors 601 and a memory 602. One processor 601 is taken as an example in FIG. 6.

The processor 601 and the memory 602 may be connected through a bus or in other manners. In FIG. 6, the connection through the bus is taken as an example.

The memory 602 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as a method for estimating a remaining flight time of an aircraft in the embodiment of the present invention. Corresponding program instructions / modules (for example, the optimal current determination module 501, the average current determination module 502, the remaining capacity acquisition module 503, and the remaining time of flight determination module 504 shown in FIG. 5). The processor 601 executes various functional applications and data processing of the chip by running non-volatile software programs, instructions, and modules stored in the memory 602, that is, a method for estimating the remaining flight time of the aircraft in the method embodiment.

The memory 602 may include a storage program area and a storage data area, where the storage program area may store an operating system and an application program required for at least one function; the storage data area may store data created according to chip usage, and the like. In addition, the memory 602 may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 602 may optionally include memory remotely set relative to the processor 601, and these remote memories may be connected to the chip through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The one or more modules are stored in the memory 602, and when executed by the one or more processors 601, execute the method for estimating the remaining flight time of the aircraft in the arbitrary method embodiment, for example, executing the above The described method steps 101 to 104 in FIG. 1 implement the functions of modules 501-5504 in FIG.

The chip can execute the method of remaining flight time of the aircraft provided by the method embodiment, and has corresponding function modules and beneficial effects of executing the method. For technical details that are not described in detail in the chip embodiment, refer to the method for estimating the remaining flight time of an aircraft provided in the method invention embodiment.

An embodiment of the present invention provides a computer program product. The computer program product includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, At that time, the computer is caused to execute the method for estimating the remaining flight time of the aircraft as described above. For example, step 101 to step 104 of the method in FIG. 1 described above are performed to implement the functions of modules 501 to 504 in FIG. 5.

An embodiment of the present invention provides a non-volatile computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to perform the remaining flight of the aircraft as described above. Method for estimating time. For example, step 101 to step 104 of the method in FIG. 1 described above are performed to implement the functions of modules 501 to 504 in FIG. 5.

Example 4:

FIG. 7 is a schematic diagram of a battery according to an embodiment of the present invention. The battery 70 includes a casing (not shown), the chip 60 and at least one battery cell 71 as described above. The at least one battery core 71 is electrically connected to the chip 60. The battery 70 may be a smart battery, that is, the chip 60 is an integrated circuit (IC) protection board or a microcontroller unit (MCU) with a certain logic control capability. The battery can provide power for various devices, such as aircraft. The at least one battery cell 71 is connected to the chip 60. The chip 60 is used to estimate the remaining flight time of the aircraft, and the remaining flight time can directly reflect how long the aircraft can fly for the convenience of the user. According to the remaining time, the flight capability of the aircraft can be better judged and the return time of the aircraft can be determined, thereby improving the user experience and enhancing the flight safety of the aircraft.

Example 5:

FIG. 8 is a schematic diagram of an aircraft according to an embodiment of the present invention. The aircraft 80 includes a fuselage, an arm connected to the fuselage, a power device provided on the arm, and the battery 70 as described above provided on the fuselage. The power unit includes a motor provided on the arm and a propeller connected to an output shaft of the motor. The battery 70 is used to provide power, for example, to provide power for an aircraft's flight control system, power unit, launch recovery system, and the like. The battery 70 can estimate the remaining flight time of the aircraft 80, and the remaining flight time can directly reflect how long the aircraft 80 can fly, so that the user can better judge the flight capability of the aircraft and determine based on the remaining time. The return time of the aircraft, thereby improving the user experience and enhancing the safety of the aircraft flight. The aircraft 80 includes, but is not limited to, an unmanned aerial vehicle, an unmanned ship, and the like.

It should be noted that the device embodiments described above are only schematic, and the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical Modules can be located in one place or distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the objective of the solution of this embodiment.

Through the description of the above embodiments, a person of ordinary skill in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course, also by hardware. Those of ordinary skill in the art can understand that all or part of the processes in the method of the embodiment can be completed by computer program instructions related hardware. The program can be stored in a computer-readable storage medium, and the program is being executed. In this case, the process of the embodiment of each method may be included. The storage medium may be a read-only memory (Read-Only Memory, ROM) or a random access memory (Random, Access Memory, RAM).

Finally, it should be noted that the above embodiments are only used to describe the technical solution of the present invention, but not limited thereto. Under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined. The steps can be implemented in any order and there are many other variations of the different aspects of the invention as described above, for the sake of brevity they are not provided in the details; although the invention has been described in detail with reference to the foregoing embodiments, it is common in the art The skilled person should understand that they can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the implementation of the present invention. Examples of technical solutions.

Claims

A method for estimating a remaining flight time of an aircraft, the aircraft including a battery, wherein the method includes:

Determine the optimal current corresponding to each time point in the preset time period, wherein the end time point of the preset time period is the current time point, and the optimal current is the sampling current of each time point according to the preset current condition Corresponds to the current obtained after processing;

Calculating an average current in the preset time period according to an optimal current corresponding to each time point in the preset time period;

Obtaining the remaining capacity of the battery;

The remaining flight time of the aircraft is obtained according to the remaining capacity of the battery and the average current.
The method according to claim 1, wherein the determining an optimal current corresponding to each time point within a preset time period comprises:

Determining whether the sampling current at each time point within the preset time period is within a preset current range;

When the sampling current at each time point in the preset time period is within the preset current range, determining the sampling current at each time point in the preset time period as the optimal current;

When a sampling current exceeding the preset current range exists in the sampling current at each time point in the preset time period, filtering processing is performed on the sampling current exceeding the preset current range to determine the optimal current.
The method according to claim 2, characterized in that when there is a sampling current exceeding the preset current range in the sampling current at each time point in the preset time period, Filtering the sampled current to determine the optimal current includes:

When a sampling current smaller than the lower limit of the preset current range exists in the sampling current at each time point in the preset time period, filtering the sampling current smaller than the lower limit of the preset current range, The optimal current at the time point corresponding to the sampling current that is smaller than the lower limit value of the preset current range is the lower limit value of the preset current range.
The method according to claim 2, characterized in that when there is a sampling current exceeding the preset current range in the sampling current at each time point in the preset time period, Filtering the sampled current to determine the optimal current includes:

When the sampling current at each time point in the preset time period is greater than the upper limit value of the preset current range, filtering processing is performed on the sampling current that is greater than the upper limit value of the preset current range, so that the The optimal current at the time point corresponding to the sampling current of the upper limit value of the preset current range is the upper limit value of the preset current range.
The method according to any one of claims 2-4, wherein a lower limit value of the preset current range is determined by a preset hovering current of the aircraft, and / or the preset current range The upper limit value is determined by the preset average current fluctuation range of the aircraft during flight.
A device for estimating the remaining flight time of an aircraft, said aircraft comprising a battery, characterized in that said device comprises:

The optimal current determining module is configured to determine an optimal current corresponding to each time point in a preset time period, wherein an end time point of the preset time period is a current time point, and the optimal current is a value of each time point. Sampling current is obtained after corresponding processing according to preset current conditions;

An average current determining module, configured to calculate an average current in the preset time period according to an optimal current corresponding to each time point in the preset time period;

A remaining capacity acquisition module, configured to obtain a remaining capacity of the battery;

The remaining flight time determination module is configured to obtain the remaining flight time of the aircraft according to the remaining capacity of the battery and the average current.
The apparatus according to claim 6, wherein the optimal current determining module is specifically configured to:

Determining whether the sampling current at each time point within the preset time period is within a preset current range;

When the sampling current at each time point in the preset time period is within the preset current range, determining the sampling current at each time point in the preset time period as the optimal current;

When a sampling current exceeding the preset current range exists in the sampling current at each time point in the preset time period, filtering processing is performed on the sampling current exceeding the preset current range to determine the optimal current.
The device according to claim 7, wherein the optimal current determining module, when a sampling current exceeding the preset current range exists in the sampling current at each time point in the preset time period, Filtering the sampling current in the preset current range to determine the optimal current includes:

When a sampling current smaller than the lower limit of the preset current range exists in the sampling current at each time point in the preset time period, filtering the sampling current smaller than the lower limit of the preset current range, The optimal current at the time point corresponding to the sampling current that is smaller than the lower limit value of the preset current range is the lower limit value of the preset current range.
The device according to claim 7, wherein the optimal current determining module, when a sampling current exceeding the preset current range exists in the sampling current at each time point in the preset time period, Filtering the sampling current in the preset current range to determine the optimal current includes:

When the sampling current at each time point in the preset time period is greater than the upper limit value of the preset current range, filtering processing is performed on the sampling current that is greater than the upper limit value of the preset current range, so that the The optimal current at the time point corresponding to the sampling current of the upper limit value of the preset current range is the upper limit value of the preset current range.
The device according to any one of claims 7 to 9, wherein a lower limit value of the preset current range is determined by a preset hovering current of the aircraft, and / or the preset current range The upper limit value is determined by the preset average current fluctuation range of the aircraft during flight.
A chip is characterized in that it includes:

At least one processor; and

A memory connected in communication with the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the method according to any one of claims 1-5. method.
A battery includes a case and an electric cell provided in the case, wherein the battery further comprises a chip according to claim 11, and the chip is electrically connected to the electric cell.
An aircraft includes a fuselage, an arm connected to the fuselage, and a power device provided on the arm, wherein the aircraft further comprises a battery according to claim 12, wherein the battery device To the fuselage and used to provide power to the aircraft.