WO2020107451A1

WO2020107451A1 - Control method for movable platform, movable platform and storage medium

Info

Publication number: WO2020107451A1
Application number: PCT/CN2018/118704
Authority: WO
Inventors: 戴明峻; 丁鹏; 周琦; 张伟鸿; 王钧玉
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-11-30
Filing date: 2018-11-30
Publication date: 2020-06-04
Also published as: CN111132870A

Abstract

A control method for a movable platform, the movable platform and a storage medium. The control method comprises: obtaining the current load power of the movable platform and the current state of power (SOP) of a battery (S101); comparing the current load power with the current SOP power (S102); and adjusting the load power according to the comparison result to ensure that the current load power is less than the current SOP power (S103). According to the control method for a movable platform, the movable platform and the storage medium, the movable platform can use the battery of high-energy density without safety risk, thereby improving the cruising ability of the movable platform.

Description

Control method of movable platform, movable platform and storage medium

Instructions

Technical field

The present invention generally relates to the field of control, and more particularly to a control method of a movable platform, a movable platform and a storage medium.

Background technique

At present, the batteries used by most drone manufacturers are characterized by low energy density (generally 180-200wh/kg) and high discharge rate (basically above 15C). The disadvantages caused by this are the short battery life and advantages. The battery has a strong discharge capacity and good maneuverability. At present, the UAV considers the demand for high power and prefers to use a high discharge rate battery.

However, at present, the drone industry pays more attention to battery life and safety indicators. If low discharge rate and high energy density batteries are used, there may be risks. This is because: 1. If the drone has high requirements on the battery output power, or even exceeds the SOP requirements, it will affect the service life of the battery, and in serious cases it may even cause the battery to burn directly; 2. Although the battery manufacturer has given the battery Discharge rate, but after composing the battery, the maximum power value can no longer be evaluated according to this rate, especially in the case of low battery, this maximum power value has obvious attenuation. At present, drones generally do not consider the dynamic power battery power boundary of the battery (SOP), which greatly affects the service life and safety of the battery, because the battery output power is likely to exceed the battery power battery power boundary (SOP) caused by the danger. . In addition, even if you use a battery with a low energy density and a high discharge rate, you may face the problem that the battery output power is likely to exceed the battery power battery power boundary (SOP), which not only affects the battery life but also has potential safety hazards.

Summary of the invention

The present invention has been proposed to solve at least one of the above problems. The invention provides a control method of a movable platform, a movable platform and a storage medium, which enable the movable platform to use a battery with high energy density without safety risks, thereby improving the life of the movable platform.

Specifically, the first aspect of the present invention provides a control method of a movable platform, which is powered by a battery, and the control method includes:

Obtain the current load power of the movable platform and the current power battery power SOP power of the battery;

Comparing the current load power with the current SOP power;

Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.

A second aspect of the present invention provides a movable platform, including:

A battery module, used to provide electrical energy for the battery power equipment;

One or more processors;

Memory, used to store one or more programs;

When the one or more programs are executed by the one or more processors, the one or more processors are caused to perform the following steps:

Comparing the current load power with the current SOP power;

A third aspect of the present invention provides a movable platform that is powered by a battery. The movable platform includes:

A power obtaining module, configured to obtain the current load power of the movable platform and the current SOP power of the battery;

A comparison module for comparing the current load power and the current SOP power;

The control module is configured to adjust the load power according to the comparison result of the comparison module to ensure that the current load power is less than the current SOP power.

A fourth aspect of the present invention provides a computer storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the steps of the control method according to the first aspect of the present invention are implemented.

The invention provides a control method of a movable platform, a movable platform and a storage medium, which collect the load power and the current power battery power boundary SOP power of the battery in real time, compare the size of the two, and then adjust the load according to the comparison result Power to ensure that the current load power is less than the current SOP power, so as to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy The density of the battery, thereby improving the life of the mobile platform. That is, the control method of the movable platform, the movable platform and the storage medium according to the present invention dynamically adjust the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) will not exceed the current power battery power boundary SOP power of the battery , And can meet the load power requirements of the mobile platform as much as possible.

BRIEF DESCRIPTION

1 is a schematic block diagram of an example electronic device for implementing a control method of a mobile platform and a mobile device according to an embodiment of the present invention;

2 is a schematic flowchart of a control method of a movable platform according to an embodiment of the present invention;

3 is a detailed flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the invention;

4 is a schematic block diagram of a movable device according to an embodiment of the present invention; and

5 is a schematic block diagram of a movable platform according to an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments of the present invention. It should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without paying creative effort should fall within the protection scope of the present invention.

In the following description, a large number of specific details are given in order to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

It should be understood that the present invention can be implemented in different forms and should not be interpreted as being limited to the embodiments presented herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for describing specific embodiments only and is not intended to be a limitation of the present invention. As used herein, the singular forms "a", "an", and "said/the" are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "composition" and/or "comprising", when used in this specification, determine the existence of the described features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components, and/or groups. As used herein, the term "and/or" includes any and all combinations of the listed items.

In order to thoroughly understand the present invention, detailed steps and detailed structures will be proposed in the following description, so as to explain the technical solution proposed by the present invention. The preferred embodiments of the present invention are described in detail below. However, in addition to these detailed descriptions, the present invention may have other embodiments.

First, an example electronic apparatus 100 for implementing a control method for a movable device and a movable device of an embodiment of the present invention is described with reference to FIG. 1.

As shown in FIG. 1, the electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106, an output device 108, and a battery module 110. These components are connected by a bus system 112 and/or other forms Organizations (not shown) are interconnected. It should be noted that the components and structure of the electronic device 100 shown in FIG. 1 are only exemplary, not limiting, and the electronic device may have other components and structures as needed.

The processor 102 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions. The number of the processor 102 may be one or more.

The storage device 104 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and/or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 102 may execute the program instructions to implement the client function (implemented by the processor) in the embodiments of the present invention described below. And/or other desired functions. Various application programs and various data may also be stored in the computer-readable storage medium, such as various data used and/or generated by the application programs.

The input device 106 may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.

The output device 108 may output various information (such as images or sounds) to the outside (such as users), and may include one or more of a display, a speaker, and the like.

The battery module 110 can provide energy to the electronic device 100. The battery module 110 includes a battery and various detection circuits and/or communication interfaces. The various detection circuits are used to detect the battery's output voltage, output current, current power, battery cycle count, cell temperature or ambient temperature and other parameters, and communicate through The interface sends it to the one or more processors 102. Exemplarily, the battery module 110 and the processor 102 communicate through a serial port.

Illustratively, an example electronic device for implementing a control method of a movable platform and a movable device according to an embodiment of the present invention may be implemented as an unmanned aerial vehicle, unmanned vehicle, unmanned boat, robot, electric scooter, balance Cars, model airplanes, etc.

2 is a schematic flowchart of a control method of a movable platform according to an embodiment of the present invention. As shown in FIG. 2, the control method of the movable platform according to the embodiment of the present invention includes:

Step S101: Obtain the current load power of the movable platform and the current power battery power SOP power of the battery.

Exemplarily, the current load power of the movable platform is obtained by obtaining the current output voltage U and current I of the battery, and obtaining the current load of the movable platform according to the current output voltage U and current I of the battery Power Pload, Pload=U*I.

Exemplarily, the current power battery power boundary SOP power of the battery of the movable platform is obtained by the following steps: obtaining at least one of the current remaining capacity of the battery, the number of cycles, the cell temperature, and the ambient temperature, and according to the current remaining At least one of the quantity of electricity, the number of cycles, the temperature of the battery cell and the ambient temperature obtains the current SOP power of the battery. The current SOP power of the battery is a functional relationship with one or more of the current remaining capacity of the battery, the number of cycles, the cell temperature and the ambient temperature. The functional relationship can be determined through theoretical calculation or experiment. The functional relationship can be A function formula can also be a mapping table. After obtaining the battery's current remaining capacity, number of cycles, cell temperature, and ambient temperature, you can use the function formula to calculate the battery's current SOP power or query the mapping table to obtain the battery's current SOP power. It should be understood that the SOP power of the battery is a dynamic value related to the above parameters, and it can also be understood that the mapping table can be obtained according to more or all of the above parameters after testing to obtain a more accurate SOP power and the above factors. Correspondence.

Step S102: Compare the current load power with the current SOP power. That is, the current load power and the current SOP power value obtained in step S101 are compared.

Step S103: Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.

Specifically, when the current load power is greater than the current SOP power, the load power is adjusted so that the current load power is less than the current SOP power, thereby ensuring battery safety. When the current load power is less than the current SOP power, the current load power can have a larger value, thereby meeting the power requirements of the mobile platform. That is, if the current load power is greater than the current SOP power, the power requirement of the load of the mobile platform is limited, so that the current load power is less than the current SOP power; if the current load power is less than the current The SOP power then allows the power requirement of the load of the movable platform to increase. In this way, the load power is dynamically adjusted according to the dynamic value of the SOP power, so that the current load power is less than the current SOP power, and with the permission of the current SOP power, the power requirements of the movable platform can be met as much as possible.

It should be understood that after adjusting the load power so that the current load power is less than the current SOP power, the load power can still exceed the current SOP power in an instant, that is, the load power is adjusted within a period of time Dynamic adjustment, the load power will exceed the current SOP power for a period of time, and then decrease to below the current SOP power.

Adjusting the load power or the power demand of the load can be achieved in various feasible ways, for example, selecting a load that operates with different power requirements, and if the current load power is greater than the current SOP power, selecting a load with a small power requirement to operate For example, for unmanned aerial vehicles, if the current load power is greater than the current SOP power, you can choose to run a fixed wing (small power demand), and stop using the rotating wing (large power demand), which can reduce the current load power. For another example, if the current load power is greater than the current SOP power, the maximum speed or current speed of the current mobile platform is limited, and the current load power is reduced by limiting the maximum speed or current speed of the current mobile platform so that the current load The load power is less than the current SOP power. As an example, if the current load power is greater than the current SOP power, the maximum speed setting of the movable platform is reduced. Specifically, if the current load power is greater than the current SOP power, the limit value of the maximum moving speed of the movable platform is reduced until the current load power is less than the current SOP power or the movable platform's The limit value of the maximum moving speed reaches the minimum setting value. By reducing the limit value of the maximum moving speed of the movable platform, the purpose of reducing the current speed of the movable platform can be achieved, thereby reducing the current load power.

Further, if, when adjusting the load power or the power demand of the load, the current load power is always greater than the current SOP power, the operation of the mobile platform is hard limited to ensure safety. As an example, if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the current duration of the load power remaining greater than the current SOP power is greater than a set time, the movable platform is restricted Running. If the limit value of the maximum moving speed of the movable platform reaches the minimum set value, and the current duration of the load power remains greater than the current SOP power is greater than the set time, it means that the current SOP power of the battery can no longer be met In order to ensure the safety of the current power requirements of the movable platform, the operation of the movable platform is restricted, for example, for an unmanned aerial vehicle, the unmanned aerial vehicle can be controlled to return to home, land, etc.

Further, if, when adjusting the load power or the power demand of the load, the current load power is less than the current SOP power after a period of time, then the power demand of the load of the movable platform should be allowed at this time Increase, that is, allow the load, which can ensure that the mobile platform can have a greater power demand. As an example, if the current load power is less than the current SOP power, and the limit value of the maximum movement speed of the movable platform is not the maximum set value, the limit of the maximum movement speed of the movable platform is increased value. This allows the movable platform to operate at a greater movement speed when needed. For example, the current limit value of the maximum moving speed of the movable platform is 20 m/s, and the limit value of the maximum moving speed is 30/s. If the current load power is less than the current SOP power, the current The limit value of the maximum moving speed is adjusted to 25m/s. In some embodiments, when determining the adjustment, it is necessary to meet a corresponding condition for a preset time, for example, 0.05 seconds, 0.1 seconds, 1 second, 5 seconds, etc., and then make corresponding adjustments. By setting the preset time, you can prevent the adjustment frequency from being too fast, and increase the burden on the system.

The control method of the mobile platform according to the embodiment of the present invention collects the load power and the current power battery power SOP power of the battery in real time, compares the size of the two, and then adjusts the load power according to the comparison result to ensure that the current load power is less than The current SOP power to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy density batteries, thereby improving the mobile platform Battery life. That is, the control method of the movable platform according to the present invention dynamically adjusts the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) does not exceed the current power battery power boundary SOP power of the battery, and can satisfy the possible Load power requirements of mobile platforms.

In the following, in conjunction with FIG. 3, a method for controlling a movable platform according to an embodiment of the present invention will be described in detail with an unmanned aerial vehicle as an example.

FIG. 3 is a detailed flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 3, the control method for an unmanned aerial vehicle according to this embodiment includes:

Step S201: Obtain the current load power of the UAV and the current power battery power SOP power of the battery.

Exemplarily, the UAV collects the output voltage U and output current I of the battery in real time, and calculates the real-time battery output power Pload. The battery output power Pload is composed of motor power, avionics system power, PTZ camera power, third-party customer load power, Pload = P (motor) + P (avionics) + P (PTZ camera) + P (third party load).

Exemplarily, a power supply line and a communication line are connected between the battery and the flight control of the UAV. The communication line uses, for example, a serial port. The battery sends the current SOP power value to the flight control of the UAV in real time. The current SOP power value is a function of the current remaining battery capacity, battery cycle count, cell temperature, and ambient temperature. The SOP function of the battery can be measured by testing, and the dynamic SOP power value can be given under different ambient temperatures and different remaining power by looking up the table.

Step S202: Determine whether the current load power is less than the current SOP power. If the current load power is less than the current SOP power, step S203 is entered, otherwise, step S204 is entered.

In step S203, the maximum attitude angle of the UAV is limited to the maximum value in the current mode.

Unmanned aerial vehicles have different maximum attitude angles in different modes, that is, the maximum speed allowed to run in different modes is different. As an example, if the UAV is in a sports mode (ie, S mode), the maximum attitude angle of the UAV is limited to the first maximum attitude angle, and the maximum flight speed is limited to the first maximum flight speed, maximum The ascent speed is limited to the first maximum ascent speed. Exemplarily, the first maximum attitude angle is 35 degrees, the first maximum flight speed is 23 m/s, and the first maximum ascent speed is 5 m/s.

Further, the maximum attitude angle of the UAV in the current mode is also related to the number of unmanned aerial vehicles mounted on the gimbal. As an example, if the UAV is mounted with a dual head, the maximum attitude angle of the UAV is limited to the second maximum attitude angle, the maximum flight speed is limited to the second maximum flight speed, and the maximum ascent speed is limited to the first 2. The maximum ascent rate. Exemplarily, the second maximum attitude angle is 25 degrees, the second maximum flight speed is 16 m/s, and the first maximum ascent speed is 3 m/s.

Further, the maximum attitude angle of the UAV in the current mode is also related to whether the UAV is mounted with other loads. The other load is a non-self-load of the UAV, for example, a third-party load of the user or other loads related to the SDK. If the UAV is loaded with a non-self load, the maximum attitude angle of the UAV is limited to the third maximum attitude angle, the maximum flight speed is limited to the third maximum flight speed, and the maximum ascent speed is limited to the third maximum Ascent speed. Exemplarily, the third maximum attitude angle is 25 degrees, the third maximum flight speed is 16 m/s, and the third maximum ascent speed is 3 m/s.

Further, when the UAV is mounted with a non-self load, the control method further includes: judging the power value of the UAV when it is hovering after mounting the non-self load and the magnitude of the current SOP power; if When the unmanned aerial vehicle is hovering after mounting a non-self load, the power value of the unmanned aerial vehicle is less than the set percentage of the current SOP power, for example, less than 60% of the current SOP power, the unmanned aerial vehicle is allowed to operate; Describe the operation of unmanned aerial vehicles, for example, unmanned aerial vehicles are not allowed to fly.

In step S204, the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum set value.

Specifically, if the current load power is greater than the current SOP power, the maximum attitude angle limit value of the UAV will be reduced from the maximum value in the current gear and mode until the current load power is less than the current The SOP power or the maximum attitude angle of the UAV reaches a minimum set value. The maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value, for example, 15 degrees.

In step S205, while reducing the maximum attitude angle of the UAV, it is also determined that the limit value of the maximum attitude angle of the UAV reaches the minimum set value and the current load power remains greater than the current SOP Whether the duration of the power is greater than the set time, if it is greater than step S20, the operation of the UAV is restricted, otherwise, steps S202 to S205 are continued.

Exemplarily, if the maximum attitude angle of the unmanned aerial vehicle is limited to 15 degrees, if Pload>SOP hold time is greater than the set time, for example, greater than 5 seconds, a safety function will be triggered to limit the operation of the unmanned aerial vehicle.

Further, in this embodiment, in the process of reducing the maximum attitude angle of the UAV, if the current load power becomes less than the current SOP power, and the maximum attitude angle of the UAV Is not the maximum setting value, then increase the maximum attitude angle of the UAV. This allows the UAV to achieve greater flight speed when needed. For example, the unmanned aerial vehicle reduces the maximum attitude angle when flying upwind, but when it becomes a two-fly flight, the current load power becomes smaller than the current SOP power. At this time, by increasing the maximum attitude angle of the unmanned aerial vehicle Allow unmanned aerial vehicles to fly at greater speeds allowed by SOP power.

In step S205, the operation of the UAV is restricted. For example, return the unmanned aerial vehicle, land, etc., and prompt the user on the APP side of the unmanned aerial vehicle that the battery is currently overloaded, and need to land and return immediately, and turn off the third-party load connected by the customer.

The control method for an unmanned aerial vehicle according to an embodiment of the present invention collects the load power and the current power battery power boundary SOP power of the battery in real time, compares the size of the two, and then adjusts the load power according to the comparison result to ensure the current load The power is less than the current SOP power, so as to ensure that the battery output power (that is, the load power) of the UAV will not exceed the current power battery power boundary SOP power of the battery, so that the UAV can use a high energy density battery, thereby improving the The life of the human aircraft. That is, the control method for an unmanned aerial vehicle according to this embodiment dynamically adjusts the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) does not exceed the current power battery power boundary SOP power of the battery, and can It may meet the load power requirements of unmanned aerial vehicles.

4 is a schematic block diagram of a mobile device according to an embodiment of the present invention.

As shown in FIG. 4, the mobile device 400 according to the present embodiment includes a battery module 410, a power acquisition module 420, a comparison module 430, and a control module 440.

Among them, the battery module 410 is used to provide energy to the movable device 400. The battery module 410 includes a battery, a detection module, a calculation module, and a communication module. The detection module is used to detect the output voltage, output current, current capacity, battery cycle number, battery cell temperature or ambient temperature of the battery; the calculation module is used to calculate the current load power of the battery power equipment according to the detection result of the detection module The current SOP power of the battery; the communication module is used to send the calculation result of the calculation module to the control module 440.

The power obtaining module 420 is used to obtain the current load power of the movable platform and the current SOP power of the battery. The power acquisition module 420 may be implemented by the processor 102 in the electronic device shown in FIG. 1 running program instructions stored in the storage device 104, and may execute steps S101 and S201 of the control method according to an embodiment of the present invention.

The comparison module 430 is used to compare the current load power and the current SOP power. The comparison module 430 may be implemented by the processor 102 in the electronic device shown in FIG. 1 executing program instructions stored in the storage device 104, and may execute steps S102 and S202 of the control method according to an embodiment of the present invention.

The control module 440 is used to adjust the load power according to the comparison result of the comparison module 430 to ensure that the current load power is less than the current SOP power. The control module 440 may be implemented by the processor 102 in the electronic device shown in FIG. 1 executing program instructions stored in the storage device 104, and may execute steps S103 and S203-S206 of the control method according to an embodiment of the present invention.

As shown in FIG. 5, the movable platform 500 according to this embodiment includes a load 510, a battery module 520, a storage device 530 and a processor 540.

The load 510 is various devices in the movable platform 500 that require energy. For example, for an unmanned aerial vehicle, the load 510 may be a motor, avionics, a gimbal camera, and a third-party load.

The battery module 520 is used to provide power to the load 510 and send the information of the battery module 520 to the processor 540. Illustratively, the battery module 520 includes a battery, a detection module, a calculation module, and a communication module. The detection module is used to detect the output voltage, output current, current capacity, battery cycle number, battery cell temperature or ambient temperature of the battery; the calculation module is used to calculate the current load power of the battery power equipment according to the detection result of the detection module The current SOP power of the battery; the communication module is used to send the calculation result of the calculation module to the processor 540.

The storage device 530 stores one or more program codes for implementing corresponding steps in the control method of the mobile platform according to the embodiment of the present invention.

The processor 540 is used to run the program code stored in the storage device 530 to execute the corresponding steps of the control method of the mobile platform according to the embodiment of the present invention, and to implement the mobile platform according to the embodiment of the present invention Power acquisition module 420, comparison module 430 and control module 440. There may be one or more processors 540.

Exemplarily, when the program code is executed by the processor 540, the following steps are performed:

Comparing the current load power with the current SOP power;

In an embodiment of the present invention, the one or more processors 540 further perform the following steps:

Obtain the current output voltage and current of the battery, and obtain the current load power of the movable platform according to the current output voltage and current of the battery.

Obtain at least one of the current remaining capacity of the battery, the number of cycles, the cell temperature, and the ambient temperature, and obtain the current SOP power of the battery according to at least one of the current remaining capacity of the battery, the number of cycles, the temperature of the cell, and the ambient temperature.

In an embodiment of the present invention, the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, limit the power requirement of the load of the movable platform, thereby Make the current load power less than the current SOP power; if the current load power is less than the current SOP power, allow the increase of the power requirement of the load of the movable platform.

In one embodiment of the present invention, the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, then reduce the maximum speed setting of the movable platform.

In one embodiment of the present invention, the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, then reduce the limit of the maximum moving speed of the movable platform Value until the current load power is less than the current SOP power or the limit value of the maximum moving speed of the movable platform reaches a minimum set value.

In an embodiment of the present invention, the one or more processors 540 further perform the following steps: if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the current load power remains greater than the current When the duration of the SOP power is greater than the set time, the operation of the movable platform is restricted.

In an embodiment of the present invention, the one or more processors 540 further perform the following steps: if the current load power is less than the current SOP power, and the limit value of the maximum moving speed of the movable platform is not The maximum setting value increases the limit value of the maximum moving speed of the movable platform.

If the current load power is less than the current SOP power, limit the maximum attitude angle of the UAV to the maximum value in the current mode;

If the current load power is greater than the current SOP power, then the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum setting Value.

In one embodiment of the present invention, the one or more processors 540 further perform the following steps: if the unmanned aerial vehicle is in a sports mode, limit the maximum attitude angle of the unmanned aerial vehicle to the first maximum attitude Angle, the maximum flight speed is limited to the first maximum flight speed, and the maximum ascent speed is limited to the first maximum ascent speed.

Determine whether the UAV is mounted with dual heads, if the UAV is mounted with dual heads, the maximum attitude angle of the UAV is limited to the second maximum attitude angle, and the maximum flight speed is limited to the second The maximum flight speed and the maximum ascent speed are limited to the second maximum ascent speed.

Determine whether the unmanned aerial vehicle is loaded with a non-self-load, if the unmanned aerial vehicle is loaded with a non-self-load, the maximum attitude angle of the unmanned aerial vehicle is limited to the third maximum attitude angle, and the maximum flight speed is limited to the third Three maximum flight speeds, the maximum ascent speed is limited to the third maximum ascent speed.

The first maximum attitude angle is greater than the second maximum attitude angle, and the second maximum attitude angle is greater than the third maximum attitude angle;

The first maximum flight speed is greater than the second maximum flight speed, and the second maximum flight speed is greater than the third maximum flight speed;

The first maximum ascent speed is greater than the second maximum ascent speed, and the second maximum ascent speed is greater than the third maximum ascent speed.

In an embodiment of the present invention, the one or more processors 540 further perform the following steps: if the limit value of the maximum attitude angle of the UAV reaches the minimum set value and the current load power remains greater than the current If the duration of the SOP power is greater than the set time, the operation of the UAV is restricted.

In an embodiment of the present invention, the one or more processors 540 further perform the following steps: if the current load power is less than the current SOP power, and the limit value of the maximum attitude angle of the UAV is not The maximum setting value increases the limit value of the maximum attitude angle of the UAV.

When the unmanned aerial vehicle is mounted with a non-self-load, the power value and the current SOP power of the unmanned aerial vehicle after being mounted with a non-self-load are determined; if the unmanned aerial vehicle is mounted with a non-self-load When the power value of the self-load after hovering is less than the set percentage of the current SOP power, the unmanned aerial vehicle is allowed to operate; otherwise, the unmanned aerial vehicle is restricted to operate.

In addition, according to an embodiment of the present invention, there is also provided a storage medium on which program instructions are stored. When the program instructions are executed by a computer or a processor, they are used to execute the embodiments of the present invention. The corresponding steps of the mobile platform/unmanned aerial vehicle control method, and are used to implement the corresponding modules in the mobile platform according to the embodiments of the present invention. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read only memory (ROM), an erasable programmable read only memory (EPROM), a portable compact disk read only memory (CD-ROM), USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

In one embodiment, the computer program instructions, when executed by a computer, can implement various functional modules of the movable device according to the embodiments of the present invention.

In one embodiment, the computer program instructions perform the following steps when being run by the computer: acquiring the current load power of the movable platform and the current power battery power boundary SOP power of the battery; comparing the current load power with the current The size of the SOP power; adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.

According to the control method of the movable platform, the movable platform and the storage medium provided by the present invention, the load power and the current power battery power boundary SOP power of the battery are collected in real time, and the size of the two is compared, and then the load power is adjusted according to the comparison result. Ensure that the current load power is less than the current SOP power, so as to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy density Battery, which improves the life of the mobile platform. That is, the control method of the movable platform, the movable platform and the storage medium according to the present invention dynamically adjust the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) will not exceed the current power battery power boundary SOP power of the battery , And can meet the load power requirements of the mobile platform as much as possible.

Although example embodiments have been described herein with reference to the drawings, it should be understood that the above example embodiments are merely exemplary, and are not intended to limit the scope of the present invention thereto. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

Those of ordinary skill in the art may realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application of the technical solution and design constraints. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a division of logical functions. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another device, or some features can be ignored, or not implemented.

The specification provided here explains a lot of specific details. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this description.

Similarly, it should be understood that in order to streamline the invention and help understand one or more of the various inventive aspects, in describing the exemplary embodiments of the invention, the various features of the invention are sometimes grouped together into a single embodiment, figure , Or in its description. However, the method of the present invention should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. Rather, as reflected in the corresponding claims, the invention lies in that the corresponding technical problems can be solved with less than all the features of a single disclosed embodiment. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, where each claim itself serves as a separate embodiment of the present invention.

Those skilled in the art can understand that, in addition to mutually exclusive features, any combination of all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and any method or device disclosed in this way can be used in any combination. Processes or units are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose.

In addition, those skilled in the art can understand that although some of the embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention And form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

The various component embodiments of the present invention may be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some modules according to embodiments of the present invention. The present invention can also be implemented as a device program (for example, a computer program and a computer program product) for performing a part or all of the method described herein. Such a program implementing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs between parentheses should not be constructed as limitations on the claims. The invention can be realized by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims enumerating several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third does not indicate any order. These words can be interpreted as names.

The above is only the specific embodiments of the present invention or the description of the specific embodiments, the scope of protection of the present invention is not limited to this, any person skilled in the art in the technical scope of the present invention, can easily Changes or replacements should be included in the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

A control method of a movable platform, which is powered by a battery, characterized in that the control method includes:

Obtain the current load power of the movable platform and the current power battery power SOP power of the battery;

Comparing the current load power with the current SOP power;

Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
The control method according to claim 1, further comprising:

Obtain the current output voltage and current of the battery, and obtain the current load power of the movable platform according to the current output voltage and current of the battery.
The control method according to claim 1, further comprising:

Obtain at least one of the current remaining capacity of the battery, the number of cycles, the cell temperature, and the ambient temperature, and obtain the current SOP power of the battery according to at least one of the current remaining capacity of the battery, the number of cycles, the temperature of the cell, and the ambient temperature.
The control method according to any one of claims 1 to 3, wherein if the current load power is greater than the current SOP power, the power requirement of the load of the movable platform is limited, so that the current The load power is less than the current SOP power;

Alternatively, if the current load power is less than the current SOP power, an increase in the power requirement of the load of the movable platform is allowed.
The control method according to claim 4, wherein if the current load power is greater than the current SOP power, the maximum speed setting value of the movable platform is reduced.
The control method according to claim 5, wherein if the current load power is greater than the current SOP power, the limit value of the maximum moving speed of the movable platform is reduced until the current load power is less than the current The limit value of the SOP power or the maximum moving speed of the movable platform reaches a minimum set value.
The control method according to claim 6, wherein if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the current duration of the load power remains greater than the current duration of the SOP power is greater than the setting At a fixed time, the operation of the movable platform is restricted.
The control method according to claim 4, wherein if the current load power is less than the current SOP power and the limit value of the maximum moving speed of the movable platform is not the maximum set value, then increase the Said the limit value of the maximum moving speed of the movable platform.
The control method according to claim 1, wherein the movable platform includes an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, and a robot.
The control method according to claim 9, wherein:

If the current load power is less than the current SOP power, limit the maximum attitude angle of the UAV to the maximum value in the current mode;

If the current load power is greater than the current SOP power, then the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum setting Value.
The control method according to claim 10, wherein if the UAV is in a sports mode, the maximum attitude angle of the UAV is limited to the first maximum attitude angle, and the maximum flight speed is limited to the first The maximum flight speed and the maximum ascent speed are limited to the first maximum ascent speed.
The control method according to claim 11, further comprising:

Determine whether the UAV is mounted with dual heads, if the UAV is mounted with dual heads, the maximum attitude angle of the UAV is limited to the second maximum attitude angle, and the maximum flight speed is limited to the second The maximum flight speed and the maximum ascent speed are limited to the second maximum ascent speed.
The control method according to claim 12, further comprising:

Determine whether the unmanned aerial vehicle is loaded with a non-self-load, if the unmanned aerial vehicle is loaded with a non-self-load, the maximum attitude angle of the unmanned aerial vehicle is limited to the third maximum attitude angle, and the maximum flight speed is limited to the third Three maximum flight speeds, the maximum ascent speed is limited to the third maximum ascent speed.
The control method according to claim 13, wherein:

The first maximum attitude angle is greater than the second maximum attitude angle, and the second maximum attitude angle is greater than the third maximum attitude angle;

The first maximum flight speed is greater than the second maximum flight speed, and the second maximum flight speed is greater than the third maximum flight speed;

The first maximum ascent speed is greater than the second maximum ascent speed, and the second maximum ascent speed is greater than the third maximum ascent speed.
The control method according to claim 10, wherein if the limit value of the maximum attitude angle of the UAV reaches a minimum set value and the current duration of the load power remains greater than the current duration of the SOP power is greater than the setting At a fixed time, the operation of the UAV is restricted.
The control method according to claim 10, characterized in that if the current load power is less than the current SOP power and the limit value of the maximum attitude angle of the UAV is not the maximum set value, increase the Describe the limit value of the maximum attitude angle of the UAV.
The control method according to claim 9, further comprising:

When the unmanned aerial vehicle is mounted with a non-self-load, the power value and the current SOP power of the unmanned aerial vehicle after being mounted with a non-self-load are determined; if the unmanned aerial vehicle is mounted with a non-self-load When the power value of the self-load after hovering is less than the set percentage of the current SOP power, the unmanned aerial vehicle is allowed to operate; otherwise, the unmanned aerial vehicle is restricted to operate.
A movable platform is characterized by including:

A battery module, used to provide electrical energy for the battery power equipment;

One or more processors;

Memory, used to store one or more programs;

When the one or more programs are executed by the one or more processors, the one or more processors are caused to perform the following steps:

Obtain the current load power of the movable platform and the current power battery power SOP power of the battery;

Comparing the current load power with the current SOP power;

Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
The mobile platform of claim 18, wherein the one or more processors further perform the following steps:

Obtain the current output voltage and current of the battery, and obtain the current load power of the movable platform according to the current output voltage and current of the battery.
The mobile platform of claim 18, wherein the one or more processors further perform the following steps:

Obtain at least one of the current remaining capacity of the battery, the number of cycles, the cell temperature, and the ambient temperature, and obtain the current SOP power of the battery according to at least one of the current remaining capacity of the battery, the number of cycles, the temperature of the cell, and the ambient temperature.
The mobile platform according to any one of claims 18 to 20, wherein the one or more processors further perform the following step: if the current load power is greater than the current SOP power, limit all The power requirement of the load of the movable platform, so that the current load power is less than the current SOP power; if the current load power is less than the current SOP power, the power requirement of the load of the movable platform is allowed Increase.
The mobile platform of claim 21, wherein the one or more processors further perform the following step: if the current load power is greater than the current SOP power, then reduce the mobile platform Maximum speed setting.
The mobile platform according to claim 22, wherein the one or more processors further perform the following step: if the current load power is greater than the current SOP power, then reduce the mobile platform The limit value of the maximum moving speed until the current load power is less than the current SOP power or the limit value of the maximum moving speed of the movable platform reaches a minimum set value.
The movable platform according to claim 23, wherein the one or more processors further perform the following step: if the limit value of the maximum movement speed of the movable platform reaches the minimum setting value and the current The duration that the load power remains greater than the current SOP power is greater than the set time limits the operation of the mobile platform.
The mobile platform of claim 21, wherein the one or more processors further perform the following step: if the current load power is less than the current SOP power, and the maximum size of the mobile platform If the limit value of the moving speed is not the maximum setting value, increase the limit value of the maximum moving speed of the movable platform.
The movable platform according to claim 18, wherein the movable platform includes an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, and a robot.
The mobile platform of claim 26, wherein the one or more processors further perform the following steps:

If the current load power is less than the current SOP power, limit the maximum attitude angle of the UAV to the maximum value in the current mode;

If the current load power is greater than the current SOP power, then the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum setting Value.
The mobile platform according to claim 27, wherein the one or more processors further perform the following steps: if the UAV is in a sport mode, then set the maximum attitude angle of the UAV It is limited to the first maximum attitude angle, the maximum flight speed is limited to the first maximum flight speed, and the maximum ascent speed is limited to the first maximum ascent speed.
The mobile platform of claim 28, wherein the one or more processors further perform the following steps:

Determine whether the UAV is mounted with dual heads, if the UAV is mounted with dual heads, the maximum attitude angle of the UAV is limited to the second maximum attitude angle, and the maximum flight speed is limited to the second The maximum flight speed and the maximum ascent speed are limited to the second maximum ascent speed.
The mobile platform of claim 29, wherein the one or more processors further perform the following steps:

Determine whether the unmanned aerial vehicle is loaded with a non-self-load, if the unmanned aerial vehicle is loaded with a non-self-load, the maximum attitude angle of the unmanned aerial vehicle is limited to the third maximum attitude angle, and the maximum flight speed is limited to the third Three maximum flight speeds, the maximum ascent speed is limited to the third maximum ascent speed.
The mobile platform of claim 30, wherein the one or more processors further perform the following steps:

The first maximum attitude angle is greater than the second maximum attitude angle, and the second maximum attitude angle is greater than the third maximum attitude angle;

The first maximum flight speed is greater than the second maximum flight speed, and the second maximum flight speed is greater than the third maximum flight speed;

The first maximum ascent speed is greater than the second maximum ascent speed, and the second maximum ascent speed is greater than the third maximum ascent speed.
The mobile platform according to claim 27, wherein the one or more processors further perform the following step: if the limit value of the maximum attitude angle of the UAV reaches the minimum set value and the current The duration that the load power remains greater than the current SOP power is greater than the set time limits the operation of the UAV.
The mobile platform of claim 27, wherein the one or more processors further perform the following steps: if the current load power is less than the current SOP power, and the maximum value of the UAV If the limit value of the attitude angle is not the maximum setting value, increase the limit value of the maximum attitude angle of the UAV.
The mobile platform of claim 26, wherein the one or more processors further perform the following steps:

When the unmanned aerial vehicle is mounted with a non-self-load, the power value and the current SOP power of the unmanned aerial vehicle after being mounted with a non-self-load are determined; if the unmanned aerial vehicle is mounted with a non-self-load When the power value of the self-load after hovering is less than the set percentage of the current SOP power, the unmanned aerial vehicle is allowed to operate; otherwise, the unmanned aerial vehicle is restricted to operate.
The movable platform according to claim 18, wherein the battery module comprises:

The detection module is used to detect the output voltage, output current, current capacity, battery cycle number, battery core temperature or ambient temperature of the battery;

A calculation module, configured to calculate the current load power of the battery power equipment and the current SOP power of the battery according to the detection result of the detection module;

The communication module is configured to send the calculation result of the calculation module to the one or more processors.
A movable platform, which is powered by a battery, is characterized in that the movable platform includes:

A power obtaining module, configured to obtain the current load power of the movable platform and the current SOP power of the battery;

A comparison module for comparing the current load power and the current SOP power;

The control module is configured to adjust the load power according to the comparison result of the comparison module to ensure that the current load power is less than the current SOP power.
A computer storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the steps of the method according to any one of claims 1 to 17 are implemented.