WO2021217355A1 - 无人机的控制方法、系统和无人机 - Google Patents

无人机的控制方法、系统和无人机 Download PDF

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Publication number
WO2021217355A1
WO2021217355A1 PCT/CN2020/087283 CN2020087283W WO2021217355A1 WO 2021217355 A1 WO2021217355 A1 WO 2021217355A1 CN 2020087283 W CN2020087283 W CN 2020087283W WO 2021217355 A1 WO2021217355 A1 WO 2021217355A1
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WIPO (PCT)
Prior art keywords
battery
drone
current
discharge
voltage
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Application number
PCT/CN2020/087283
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English (en)
French (fr)
Inventor
宋家庆
陈马跃
胡文贵
吕纯
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/087283 priority Critical patent/WO2021217355A1/zh
Publication of WO2021217355A1 publication Critical patent/WO2021217355A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the embodiments of the present application relate to the technical field of drones, and in particular, to a control method and system of drones, and drones.
  • the UAV is powered by a battery, and the electrical energy output by the battery is used as the power supply and power source for the UAV's flight control.
  • the remaining power of the drone’s battery is obtained.
  • the remaining power of the drone’s battery is less than the preset remaining power, the drone is controlled to land. In this case, there is still no battery.
  • the man-machine had not landed safely, it crashed due to exhaustion of power.
  • the embodiments of the present application provide a control method and system of an unmanned aerial vehicle, and an unmanned aerial vehicle, which are used to avoid a crash due to battery exhaustion.
  • an embodiment of the present application provides a method for controlling a drone, including:
  • the drone If it is determined that the drone needs to land according to the target electrical parameters and the current electrical parameters of the battery, the drone is controlled to land.
  • an embodiment of the present application provides a control system for an unmanned aerial vehicle, including:
  • At least one processor configured to determine the target electrical parameters of the battery required for landing the drone according to the flight status of the drone;
  • the drone If it is determined that the drone needs to land according to the target electrical parameters and the current electrical parameters of the battery, the drone is controlled to land.
  • an embodiment of the present application provides an unmanned aerial vehicle, including a battery and the control system of the unmanned aerial vehicle described in the embodiment of the present application in the first aspect.
  • an embodiment of the present application provides a computer-readable storage medium with a computer program stored on the readable storage medium; when the computer program is executed, the UAV as described in the first aspect is implemented Control Method.
  • an embodiment of the present application provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor can read the A computer program, and the at least one processor executes the computer program to implement the drone control method described in the embodiment of the present application in the first aspect.
  • the drone control method, system and drone determine the target electrical parameters of the battery required for the drone to land by determining the target electrical parameters of the battery required for the drone to land according to the current flight status of the drone.
  • the electrical parameters and the current electrical parameters of the battery determine whether the drone needs to land; when it is determined that the drone needs to land based on the target electrical parameters and the current electrical parameters of the battery, the drone is controlled to land so that the current electrical parameters of the battery can be used without
  • the man-machine landed safely under the current flight conditions to avoid the drone crash and the loss of personnel and property. It can also avoid the phenomenon that in the prior art comparing the current electrical parameters of the battery with a fixed threshold to control the drone after landing, the battery can still support the drone flight.
  • This embodiment can also improve the drone’s endurance. Time length, improve user experience.
  • Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application
  • Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the application
  • FIG. 3 is a flowchart of a control method of a drone provided by an embodiment of the application
  • FIG. 4 is a flowchart of a control method of a drone provided by another embodiment of the application.
  • FIG. 5 is a flowchart of a method for calculating battery power provided by an embodiment of the application.
  • FIG. 6 is a schematic diagram of a battery power calculation method provided by an embodiment of the application.
  • FIG. 7 is a schematic diagram of the calculation structure of the total available capacity of the battery provided by an embodiment of the application.
  • FIG. 8 is a schematic diagram of the correspondence between the open circuit voltage and the discharge capacity and the correspondence between the discharge voltage and the discharge capacity provided by an embodiment of the application;
  • FIG. 9 is a schematic structural diagram of a control system for an unmanned aerial vehicle provided by an embodiment of the application.
  • FIG. 10 is a schematic structural diagram of a drone provided by an embodiment of the application.
  • the UAV is powered by a battery, and the electrical energy output by the battery is used as the power supply and power source for the UAV's flight control.
  • the remaining power of the drone’s battery is obtained.
  • the remaining power of the drone’s battery is less than the preset remaining power, the drone is controlled to land. In this case, there is still no battery.
  • the man-machine had not landed safely, it crashed due to exhaustion of power.
  • the embodiments of the present application provide a control method and system of an unmanned aerial vehicle, and an unmanned aerial vehicle.
  • the electrical parameters of the battery required for the current landing of the drone are determined according to the current flight status of the drone. If the drone is controlled to land according to the electrical parameters of the battery required for the drone to land in the current flight condition. Taking the electric parameter as the remaining power as an example, when the required remaining power of the battery is not less than the current remaining power of the battery, the drone is controlled to land.
  • the UAV can be a small or large UAV.
  • the drone may be a rotorcraft, for example, a multi-rotor drone that is propelled through the air by a plurality of propulsion devices.
  • the embodiments of the present application are not limited to this, and the drone It can also be other types of drones.
  • Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application.
  • a rotary wing drone is taken as an example for description.
  • the unmanned aerial system 100 may include a drone 110, a display device 130, and a control terminal 140.
  • the UAV 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame.
  • the drone 110 can wirelessly communicate with the control terminal 140 and the display device 130.
  • the drone 110 further includes a battery (not shown in the figure), and the battery provides electrical energy for the power system 150.
  • the UAV 110 may be an agricultural UAV or an industrial application UAV, and there is a need for cyclic operation.
  • the battery also has the need for cyclic operation.
  • the frame may include a fuselage and a tripod (also called a landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame.
  • the tripod is connected with the fuselage and used for supporting the UAV 110 when it is landed.
  • the power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152.
  • the motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to realize one or more degrees of freedom of movement.
  • the drone 110 may rotate about one or more rotation axes.
  • the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch).
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brushed motor.
  • the flight control system 160 may include a flight controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be the Global Positioning System (GPS).
  • the flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed instructions, and can also control the drone 110 by responding to one or more remote control signals from the control terminal 140.
  • the pan/tilt 120 is used to carry a load, and the load is, for example, a camera 123.
  • the flight controller 161 can control the movement of the pan/tilt 120 through the motor 122.
  • the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122.
  • the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110.
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the pan/tilt may be located on the top of the drone or on the bottom of the drone.
  • the photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller.
  • the imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge-coupled Device
  • the display device 130 is located on the ground end of the unmanned aerial vehicle 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110.
  • the image photographed by the photographing device 123 may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.
  • the control terminal 140 is located on the ground end of the unmanned aerial vehicle 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.
  • Fig. 2 is a schematic diagram of an application scenario provided by an embodiment of the application.
  • Fig. 2 shows a drone 201 and a control terminal 202 of the drone.
  • the control terminal 202 of the drone 201 may be one or more of a remote control, a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, bracelet).
  • the control terminal 202 is the remote controller 2021 and the terminal device 2022 as an example for schematic description.
  • the terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited thereto.
  • FIG. 3 is a flowchart of a control method of a drone provided by an embodiment of the application.
  • the method of this embodiment can be applied to a control system of a drone.
  • the control system of the drone can be set on the drone; or, part of the control system of the drone is set on the drone, and the other part is set on the control terminal of the drone.
  • This embodiment takes the application of drones as an example.
  • the method of this embodiment includes:
  • S301 Determine the target electrical parameters of the battery required for the drone to land according to the flight status of the drone.
  • S302 Determine whether the drone needs to land according to the target electrical parameters and the current electrical parameters of the battery;
  • the target electrical parameters of the battery required for the current landing of the drone are determined. Since the flight status of the drone will change during the flight of the drone, The obtained target electrical parameter of the battery required for the landing of the drone will not always be a fixed value, but may be a dynamically changing value. In addition, this embodiment also obtains the current electrical parameters of the battery. Since the battery power needs to be consumed during the flight of the drone, the current electrical parameters of the battery will not always be a fixed value, but may be a dynamically changing value. Then determine whether the drone needs to land according to the determined target electrical parameters of the battery and the current electrical parameters of the battery. If it is determined that the drone needs to land according to the target electrical parameters and the current electrical parameters of the battery, control the drone The plane landed.
  • the target electrical parameters of the battery required for the drone to land are determined according to the current flight status of the drone.
  • the drone is controlled Landing, so that the current battery parameters can be used for the drone to land safely under the current flight conditions, to avoid the drone from crashing, and to avoid the loss of personnel and property. It can also avoid the phenomenon that in the prior art comparing the current electrical parameters of the battery with a fixed threshold to control the drone after landing, the battery can still support the drone flight.
  • This embodiment can also improve the drone’s endurance. Duration, improve discharge efficiency, and improve user experience.
  • an implementation manner of determining whether the drone needs to land according to the target electric parameter and the current electric parameter of the battery in S302 is: according to whether the current electric parameter of the battery is less than or equal to The target electrical parameters determine whether the drone needs to land. If the current electrical parameter of the battery is less than or equal to the target electrical parameter, it is determined that the drone needs to land. In this embodiment, after determining the target electrical parameter of the battery, it is determined whether the current electrical parameter of the battery is less than or equal to the target electrical parameter of the battery.
  • the current electrical parameter of the battery is less than or equal to the target electrical parameter of the battery, it indicates that if the drone continues Flying will make it impossible for the battery to be used for the drone to land, so it is determined that the drone needs to land at the moment to avoid sudden crashes of the drone and increase the drone’s endurance. If the current electrical parameters of the battery are greater than the target electrical parameters of the battery, it means that the battery can continue to fly the drone, and the drone does not need to land temporarily.
  • an implementation manner of determining whether the drone needs to land according to the target electric parameter and the current electric parameter of the battery in S302 is: according to whether the current electric parameter of the battery is less than or equal to The sum of the target electrical parameter and the first offset value determines whether the drone needs to land. If the current electrical parameter of the battery is less than or equal to the sum of the target electrical parameter and the first offset value, it is determined that the drone needs to land.
  • the first offset value can reduce the influence of errors in the process of determining the target electrical parameters, and improve the accuracy of determining when the drone needs to land.
  • the first offset value can be a positive value or a negative value.
  • an implementation manner of determining whether the drone needs to land according to the target electric parameter and the current electric parameter of the battery in S302 is: according to the current electric parameter of the battery and the second electric parameter. Whether the sum of the offset values is less than or equal to the target electrical parameter determines whether the drone needs to land. If the sum of the current electrical parameter of the battery and the second bias value is less than or equal to the target electrical parameter, it is determined that the drone needs to land.
  • the second offset value can reduce the influence of errors in the process of determining the current electrical parameters, and improve the accuracy of determining when the drone needs to land.
  • the second offset value can be a positive value or a negative value.
  • the drone needs to land as an example.
  • One way to determine that the drone needs to land is : If the current electrical parameter of the battery is less than or equal to the duration of the target electrical parameter and greater than or equal to the corresponding preset time period, it is determined that the drone needs to land.
  • the timer is timed. If it is determined halfway that the current electrical parameter of the battery is greater than the target electrical parameter, the timer is cleared. Parameter, then re-timing.
  • the electrical parameters include any one or more of discharge energy, remaining power, and discharge voltage. If the target electrical parameter is the discharge energy, the corresponding current electrical parameter is the current discharge energy. If the target power parameter is the remaining power, the corresponding current power parameter is the current remaining power. If the target electrical parameter is the discharge voltage, the corresponding current electrical parameter is the current discharge voltage. Discharge energy, remaining power, and discharge voltage are parameters that indicate whether the battery can support the flight of the UAV. Through these electrical parameters, the timing of whether the UAV needs to land can be accurately determined.
  • the electrical parameters are different, and the foregoing corresponding preset durations may be the same or different.
  • the current remaining power of the battery is less than or equal to the target remaining power and the duration is greater than or equal to the first preset time, then it is determined that the drone needs to land.
  • the current discharge voltage of the battery is less than or equal to the target discharge voltage and the duration is greater than or equal to the second preset time period, it is determined that the drone needs to land.
  • the drone needs to land.
  • the duration is greater than or equal to the first preset duration
  • the current discharge voltage of the battery is less than or equal to the target discharge voltage and the duration is greater than or equal to the second preset duration
  • the flight status of the drone includes the flying height of the drone.
  • the landing of the UAV mainly moves in the height direction, so the flying height of the UAV is different, and the target electrical parameters of the battery required for the UAV to land from the current flying height are different.
  • a possible implementation of S301 is: determining the target electrical parameters of the battery required for the drone to land according to the flying height of the drone and the landing speed of the drone.
  • the target electrical parameters of the battery required for the landing of the UAV are not only related to the flying height of the UAV, but also related to the landing speed of the UAV.
  • the landing speed of the UAV also determines the status of the landing process of the UAV. For example, the greater the landing speed of the UAV, the less time the UAV needs to land, and the less the landing speed of the UAV will be. The longer it takes for the aircraft to land. Therefore, the target electrical parameters required for the landing of the UAV can be accurately reflected by the flying height.
  • the landing speed of the drone may be preset.
  • a possible realization of the above-mentioned determination of the target electrical parameters is to determine the landing time of the UAV according to the flight altitude of the UAV and the landing speed of the UAV; for example, the landing time of the UAV is equal to the flight height and The ratio of the landing speed.
  • the discharge energy of the battery required for the landing of the UAV is determined; for example, the discharge energy is equal to the product of the working power and the landing time.
  • the target electrical parameters are determined.
  • the working power of the drone is, for example, the landing power of the drone. This embodiment can accurately obtain the energy consumed during the landing of the drone, thereby obtaining more accurate target electrical parameters.
  • a possible implementation method for determining the target electrical parameters is: according to the discharge energy of the battery required for the drone to land and the current discharge voltage of the battery, Determine the discharge capacity of the battery required for the drone to land; for example, the discharge capacity is equal to the ratio of the discharge energy to the current discharge voltage of the battery. Then, the target electrical parameters are determined according to the discharge capacity of the battery required for the drone to land. In this embodiment, the discharge energy required to be consumed during the landing of the drone can be converted into the discharge capacity of the battery, so as to obtain more accurate target electrical parameters.
  • the current discharge voltage of the battery is the lowest discharge voltage among the current discharge voltages of each cell in the battery.
  • the target electrical parameter is the target remaining power
  • the current electrical parameter is the current remaining power.
  • One way to determine the target electrical parameters according to the discharge capacity of the battery required for the drone to land is to determine the target remaining power according to the discharge capacity of the battery required for the drone to land and the total capacity of the battery; for example, the target The remaining power is equal to the ratio of the discharge capacity of the battery required for the drone to land and the total capacity of the battery.
  • the remaining power is used to represent the electrical parameters, so as to avoid insufficient remaining power of the battery to cause the drone to crash.
  • the target electrical parameter is the target discharge voltage
  • the current electrical parameter is the current discharge voltage.
  • One way to determine the target electrical parameters according to the discharge capacity of the battery required for landing by the drone is: according to the discharge capacity of the battery required for the landing of the drone and the relationship between the discharge capacity of the battery and the open circuit voltage, Determine the open circuit voltage corresponding to the discharge capacity of the battery required for the drone to land; then determine the target discharge voltage according to the determined open circuit voltage.
  • the discharge voltage is used to represent the electrical parameters, so as to avoid the undervoltage of the battery, which may cause the drone to crash and damage the battery.
  • one possible implementation manner of determining the target discharge voltage according to the determined open circuit voltage is: obtaining the current voltage drop of the battery, which is related to the internal resistance of the battery and the current current; and then according to the open circuit voltage and the current current. Voltage drop, determine the target discharge voltage.
  • the battery is also equivalent to a resistor, and the battery also has internal resistance. The internal resistance will produce a voltage drop. Therefore, the current voltage drop of the battery is obtained according to the current current of the battery and the internal resistance of the battery. For example, the current voltage drop of the battery is equal to The product of the battery's current current and the battery's internal resistance.
  • the discharge voltage of the battery is not equal to the open circuit voltage of the battery, the difference between the discharge voltage and the open circuit voltage can be considered equal to the voltage drop of the battery. Therefore, after obtaining the current voltage drop of the battery, the open circuit voltage of the battery is The difference of the current voltage drop is determined as the target discharge voltage. In this embodiment, the error caused by the voltage drop of the battery is eliminated, and the obtained target discharge voltage can better characterize whether the current discharge voltage of the battery is suitable for the drone to continue flying.
  • the target electrical parameter is the target discharge energy
  • the current electrical parameter is the current discharge energy.
  • One way to determine the target electrical parameters according to the discharge energy of the battery required for the drone to land is to determine the discharge energy of the battery required for the drone to land as the target discharge of the battery required for the drone to land. energy.
  • the discharge energy is used to represent the electrical parameters, so as to avoid insufficient discharge energy of the battery to cause the drone to crash.
  • the drone needs to land if the current remaining power of the battery is less than or equal to the aforementioned target remaining power, and the current discharge voltage of the battery is less than or equal to the aforementioned target discharge voltage, it is determined that the drone needs to land.
  • the drone needs to land.
  • the drone needs to land if the current discharge energy of the battery is less than or equal to the aforementioned target discharge energy, and the current discharge voltage of the battery is less than or equal to the aforementioned target discharge voltage, it is determined that the drone needs to land.
  • the drone if the current remaining power of the battery is less than or equal to the target remaining power, the current discharge energy of the battery is less than or equal to the target discharge energy, and the current discharge voltage of the battery is less than or equal to the target discharge voltage, it is determined that the drone needs landing.
  • the drone can also be controlled to land according to the current discharge voltage of the battery and the preset discharge voltage of the battery.
  • the drone can be determined that the drone needs to land based on the target electrical parameters and the current electrical parameters of the battery, and then the drone is controlled to land, or it can be based on the current discharge voltage of the battery and the battery’s current electrical parameters.
  • the preset discharge voltage controls the landing of the drone.
  • the drone does not need to land according to the target electrical parameters and the current electrical parameters of the battery.
  • one way to control the landing of the drone is: if the current discharge voltage of the battery is less than or equal to the preset discharge voltage of the battery If the duration is greater than or equal to the third preset duration, the drone is controlled to land.
  • the timer will be timed. It is determined that the current discharge voltage of the battery is less than or equal to the preset discharge voltage of the battery, and then the timing is restarted. And judge whether the time length obtained by the timing is greater than or equal to the third preset time length, and if so, control the drone to land. Therefore, this embodiment prevents the drone from crashing and battery damage due to insufficient battery voltage.
  • the foregoing preset discharge voltage is related to the discharge cut-off voltage of the battery.
  • the discharge cut-off voltage of the battery is predetermined and is related to the battery. After the battery is determined, the discharge cut-off voltage of the battery is also determined accordingly. Different batteries may have different discharge cut-off voltages.
  • the preset discharge voltage is equal to the discharge cut-off voltage of the battery. If the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, it means that the battery is about to run out and the drone needs to be controlled immediately to land.
  • the foregoing preset discharge voltage is determined according to the preset remaining power of the battery and the relationship between the remaining power of the battery and the open circuit voltage.
  • the preset remaining power is, for example, 0% or 1%. If the current discharge voltage of the battery is less than or equal to the open circuit voltage corresponding to the preset remaining power, it means that the remaining power of the battery is low, and the drone is controlled to land.
  • a prompt message is sent to the control terminal of the drone.
  • the prompt information is used to indicate that the drone needs to be controlled to land, so as to remind the user that the drone needs to land. , It can also prompt the user the reason for the landing of the drone, avoid the phenomenon that the drone is landing without the user's perception, and improve the user experience.
  • the drone starts to control the drone to land after sending a prompt message to the control terminal of the drone without receiving feedback from the control terminal.
  • the drone After the drone sends a prompt message to the control terminal of the drone, it needs to get feedback from the control terminal before controlling the drone to land. Specifically, after the control terminal receives the prompt information of the drone, it outputs the prompt information (such as displaying the prompt information, or playing the prompt information by voice, or controlling the remote control to vibrate, etc.) so that the user can learn about the drone It needs to land, and then the user inputs a landing confirmation instruction to the control terminal, and the control terminal sends a landing instruction to the drone according to the landing confirmation instruction. Correspondingly, the drone receives the landing instruction sent by the control terminal, and then controls the drone to land according to the landing instruction. The landing of the drone in this embodiment is controlled by the user, so as to prevent the landing of the drone from interrupting the user's current work task, so as to improve the user experience.
  • the prompt information such as displaying the prompt information, or playing the prompt information by voice, or controlling the remote control to vibrate, etc.
  • Fig. 4 is a flowchart of a control method of a drone provided by another embodiment of the application.
  • the flying height of the drone is acquired in real time, and the The reached flying height and the pre-set landing speed and landing power of the drone are used to obtain the discharge energy required for the landing of the drone.
  • the required discharge energy is converted into the remaining power required for the landing of the drone (referred to as follows: Is the target remaining power), and, according to the required discharge energy, the internal resistance of the drone’s battery and the current current, it is converted into the discharge voltage required for the drone to land (hereinafter referred to as the target discharge voltage, which can also be called protection Voltage).
  • the current remaining power of the drone’s battery can be obtained in real time to determine whether the current remaining power of the battery is less than or equal to the above-mentioned target remaining power. Since the target remaining power is related to the flying height of the drone, the target remaining power is dynamic Changes are not fixed, and in the prior art, it is determined whether the current remaining power is less than or equal to a fixed remaining power threshold. If the current remaining power is less than or equal to the aforementioned target remaining power, it is further determined whether the duration of the current remaining power less than or equal to the aforementioned target remaining power is greater than or equal to the first preset duration.
  • the current discharge voltage of the battery of the drone can be obtained in real time (this is a dynamic voltage, which will change during the discharge of the battery), and it is determined whether the current discharge voltage of the battery is less than or equal to the target discharge voltage mentioned above.
  • the discharge voltage is related to the flying height of the drone. Therefore, the target discharge voltage changes dynamically and is not fixed.
  • the drone is controlled to land, Finish. Otherwise, perform the above steps again according to the flying height of the drone.
  • the current discharge voltage of the battery of the drone after obtaining the current discharge voltage of the battery of the drone in real time, it is determined whether the current discharge voltage of the battery is less than or equal to the above-mentioned preset discharge voltage (which may be referred to as the limit protection voltage). If the current discharge voltage is less than or equal to the aforementioned preset discharge voltage, it is further determined whether the duration of the current discharge voltage is less than or equal to the aforementioned preset discharge voltage is greater than or equal to the third preset duration, and if so, the drone is controlled to land, Finish. Otherwise, perform the above steps again according to the current discharge voltage of the battery.
  • the above-mentioned preset discharge voltage which may be referred to as the limit protection voltage
  • first preset duration, second preset duration, and third preset duration may be the same preset duration, or may be different.
  • the trigger timing of the application for triggering the landing of the drone (that is, protecting the drone) is more accurate; and to ensure that the drone can work more safely, reliably, and continuously; it also ensures that the use of the drone is more efficient. High, longer battery life.
  • the current remaining power of the battery in the foregoing embodiments can be obtained by calculation in the following embodiments.
  • FIG. 5 is a flowchart of a method for calculating battery power provided by an embodiment of the application. As shown in FIG. 5, the battery includes a plurality of battery cells. The method of this embodiment may include:
  • the remaining power of each cell is obtained according to the current discharge voltage of each cell. For example: there is a mapping relationship between the discharge voltage and the remaining power. Therefore, according to the mapping relationship between the discharge voltage and the remaining power and the current discharge voltage of the battery cell, the remaining power corresponding to the current discharge voltage can be determined and determined as the power The remaining power of the core.
  • S503 Obtain the current total available capacity of the battery according to the current available capacity of each battery cell in the multiple battery cells and the remaining power of each battery cell.
  • the current time available total battery power is obtained. capacity.
  • the remaining capacity of the battery at the current time is obtained according to the total available capacity of the battery at the current time.
  • the first aspect is the available capacity of each cell in the battery, which can also be called the maximum chemical capacity of the cell.
  • the second aspect is the charging temperature and internal resistance. If the battery is a consumer battery, it is usually charged by constant current charging (CC) + constant voltage charging (CV). The current at the end of the charge is small, and the temperature and internal resistance affect the total available capacity. Can be ignored.
  • the third aspect is the degree of battery imbalance, which can be expressed by the remaining power of the battery cell. Therefore, according to the current remaining power of the battery cell and the current available capacity of the battery cell, an accurate current total available capacity of the battery can be obtained.
  • the battery power calculation method provided in this embodiment obtains the current discharge voltage of each battery cell in the plurality of battery cells under different preset conditions. According to the current discharge voltage of each cell, the remaining power of each cell is obtained. According to the current available capacity of each battery cell in the plurality of battery cells and the remaining power of each battery cell, the current available total capacity of the battery is obtained. According to the total available capacity of the battery at the current moment, the remaining power of the battery at the current moment is obtained. Since the available capacity of each battery cell at the current time and the remaining power of each battery cell in the multiple batteries can accurately obtain the total available capacity of the battery at the current time, the current time can be obtained according to the accurate available capacity at the current time The remaining power is more accurate.
  • a possible implementation manner of the foregoing S503 may include: S5031 and S5032.
  • S5031 according to the available capacity of each battery cell at the current moment and the remaining power of each battery cell, obtain the first amount of electricity required for each battery cell to be charged to the fully charged state and the discharge of each battery cell to the fully discharged state The second power.
  • the fully charged state of the battery cell i indicates a state in which the battery cell i cannot continue to be charged, or a state in which the battery cell i is not continuously charged due to limitations of the actual environment or preset conditions.
  • the discharge of the cell i to the fully discharged state indicates the state where the cell i can no longer continue to discharge, or the state where the continuous discharge of the cell i is stopped due to limitations of the actual environment or preset conditions.
  • this embodiment is not limited to 3 electric cores.
  • the available capacity of cell 1 Q max [1]
  • the remaining power of cell 1 SOC[1]
  • the first required amount for cell 1 to be charged to the fully charged state is obtained.
  • a possible implementation of S5032 is: determining the minimum first power (min(TTC)) according to the first power of each cell in the plurality of cells; Determine the minimum second power (min(RC)) for the second power of each cell in the plurality of cells; obtain the minimum second power (min(RC)) of the battery according to the minimum first power and the minimum second power State the total available capacity at the moment.
  • TTC[1] of cell 1 TTC[2] of cell 2, and TTC[3] of cell 3 determine the TTC[1], TTC[2], and TTC[3]
  • the minimum value of is the minimum first power, for example, TTC[1].
  • RC[1] of cell 1 RC[2] of cell 2, and RC[3] of cell 3 determine the minimum value of RC[1], RC[2], and RC[3] to be the smallest
  • the second power is, for example, RC[3].
  • the total available capacity (Q bat ) of the battery at the current moment is obtained.
  • the sum of the minimum first power and the minimum second power may be used as the total available capacity of the battery at the current moment.
  • Q bat TTC[1]+RC[3].
  • a possible implementation of obtaining the total available capacity (Q max [i]) of each cell at the current moment is: obtaining the first remaining power and the second remaining power of each cell, where The first remaining power is the remaining power of each cell at the first moment and the second remaining power is the remaining power of each cell at the second moment. And acquiring the power charge and discharge information of each cell in the time period from the first time to the second time. Then, according to the power charge and discharge information of each cell, the first remaining power and the second remaining power, the current available capacity of each cell is obtained.
  • the remaining power of cell i at the first moment is called the first remaining power (SOC1[i])
  • the remaining power of cell i at the second moment is called the second Remaining power (SOC2[i]).
  • the battery charge and discharge information (Q passed [i]) of the battery cell i from the first moment to the second moment can also be obtained.
  • Q passed [i] the current available capacity of cell i (Q max [i]) is obtained.
  • an implementation manner of obtaining the first remaining power of cell i is: taking the open circuit voltage of cell i at the first moment as the first open circuit voltage (OCV1[i]); according to the preset open circuit voltage And the corresponding relationship between the remaining power, obtaining the remaining power corresponding to the first open-circuit voltage (OCV1[i]), and using the remaining power corresponding to the first open-circuit voltage (OCV1[i]) as the first Remaining power (SOC1[i]).
  • the above-mentioned corresponding relationship may be stored in a display look-up table (Look-Up-Table, LUT).
  • One way to obtain the second remaining power of cell i is to use the open circuit voltage of cell i at the second moment as the second open circuit voltage (OCV2[i]); according to the preset open circuit voltage and the remaining power To obtain the remaining power corresponding to the second open circuit voltage (OCV2[i]), and use the remaining power corresponding to the second open circuit voltage (OCV2[i]) as the second remaining power (SOC2 [i]).
  • the open circuit voltage of the battery cell can be obtained, for example, by the discharge voltage of the battery cell.
  • an implementation manner of obtaining the first remaining power of the cell i is: taking the discharge voltage of the cell i at the first moment as the first discharge voltage (V1[i]); according to the preset discharge voltage And the corresponding relationship between the remaining power, obtain the remaining power corresponding to the first discharge voltage (V1[i]), and use the remaining power corresponding to the first discharge voltage (V1[i]) as the first Remaining power (SOC1[i]).
  • Obtaining the second remaining power of the battery cell i is similar to acquiring the first remaining power of the battery i, and will not be repeated here.
  • the charging voltage may be used to obtain the remaining power (for example, the above-mentioned first remaining power and the second remaining power).
  • the remaining power for example, the above-mentioned first remaining power and the second remaining power.
  • Q max acquired update module Q max [i] may be output to the Q bat updating module.
  • a possible implementation manner of the foregoing S504 is: obtaining the remaining power of the battery at the current moment according to the minimum second power and the total available capacity of the battery at the current moment.
  • the remaining power at the current moment of the battery is obtained (SOC).
  • SOC the remaining power
  • the current remaining power of the battery can be determined by the current total available capacity of the battery and the minimum power discharged to the fully discharged state among all the cells, the current remaining power of the battery obtained is closer to the actual remaining power of the battery.
  • a possible implementation of S504 above is to obtain the current remaining power of the battery according to the ampere-hour integration method, where the total available capacity of the battery is the total available capacity of the battery at the current time (Q bat ).
  • the obtained remaining power of the battery at the current time is:
  • the aforementioned SOC init is the remaining power of the battery at time 0, I represents the discharge current, and t represents the time.
  • the obtained remaining power of the battery at the next time is:
  • SOC j+1 is the remaining power of the battery at time j+1
  • SOC j is the remaining power of the battery at time j
  • ⁇ CC j,j+1 represents the integral of current and time in the time period from time j to time j+1
  • Q is the total available capacity of the battery.
  • the Q corresponding to the SOC at each moment is calculated to be the same value.
  • the remaining capacity of the battery at time j+h is obtained from the total available capacity at time j+h, for example: It can be obtained according to the total available capacity of the battery at j+h time and the amount of power discharged by the battery cell at the time j+h is discharged to the fully discharged state.
  • the battery If at time j+h, the total available capacity of the battery at time j+h is not obtained through the above-mentioned similar method, and the total available capacity at time j+h of the battery is not obtained according to the remaining power of the battery at time j+h, then the battery’s The remaining power at j+h is obtained according to the ampere-hour integration method and the remaining power at j+h-1.
  • the remaining power of the battery at the next time is obtained, wherein the initial remaining power at the next time is the remaining power of the battery at the current time.
  • the obtained remaining power of the battery at the next time is:
  • SOC j+1 is the remaining power of the battery at time j+1
  • SOC j is the remaining power of the battery at time j
  • ⁇ CC j,j+1 represents the integral of current and time in the time period from time j to time j+1
  • Q bat, j is the total available capacity of the battery at time j.
  • the SOC correction module outputs the SOC and Q bat to the SOC update module.
  • ⁇ CC j, j+1 is obtained, for example, by the ⁇ CC module in FIG. 6 and output to the SOC update module.
  • the remaining capacity of the battery at time j+h is obtained from the total available capacity at time j+h, for example: It can be obtained according to the total available capacity of the battery at j+h time and the amount of power discharged by the battery cell at the time j+h is discharged to the fully discharged state.
  • the battery If at time j+h, the total available capacity of the battery at time j+h is not obtained through the above-mentioned similar method, and the total available capacity at time j+h of the battery is not obtained according to the remaining power of the battery at time j+h, then the battery’s
  • the remaining power at time j+h is obtained according to the ampere-hour integration method, the remaining power at time j+h-1 and the total available capacity at time j.
  • the actual total available capacity of the battery may be obtained according to the current remaining power of the battery.
  • the following describes an implementation scheme for obtaining the actual total available capacity of the battery according to the remaining power of the battery at the current moment.
  • a possible implementation of obtaining the actual total available capacity of the battery is: according to the remaining power of the battery at the current moment, the previous The remaining power at the moment, the power charge and discharge information of the battery in the time period from the previous moment to the current moment, to obtain the actual total available capacity of the battery. For example: obtain the remaining power difference between the remaining power of the battery at the current time and the remaining power of the battery at the previous time, and then according to the charge and discharge information of the battery in the time period from the previous time to the current time, and The difference in the remaining power is used to obtain the actual total available capacity of the battery.
  • the actual available total capacity of the battery is, for example, the ratio of the charge and discharge information of the battery to the difference between the remaining power in the time period from the last moment to the current moment.
  • the remaining power of the battery at the current time is SOC j
  • the remaining power of the battery at the previous time is SOC j-1 .
  • the charge and discharge information of the battery in the time period from the last time to the current time may be based on the discharge current of the battery in the time period from the last time to the current time and the duration of the time period Of points earned. for example:
  • another possible implementation manner for obtaining the actual total available capacity of the battery according to the remaining power of the battery at the current moment is: according to the open circuit voltage of the battery and the remaining battery capacity
  • the mapping relationship between the power levels, the current time open circuit voltage of the battery is determined by the current time remaining power of the battery; the current time open circuit voltage of the battery is determined according to the current time discharge voltage of the battery and the current time open circuit voltage is determined in the battery
  • the current time voltage of the resistance according to the corresponding relationship between the open circuit voltage of the battery and the discharge capacity of the battery, the current time voltage of the internal resistance of the battery is used to determine the difference between the discharge voltage of the battery and the discharge capacity of the battery Correspondence relationship; according to the corresponding relationship between the discharge voltage of the battery and the discharge capacity of the battery, it is determined that the discharge capacity of the battery corresponding to the discharge cut-off voltage of the battery is the actual available total capacity.
  • the actual total available capacity obtained accordingly is closer to the actual total available capacity of the battery.
  • the discharge capacity corresponding to each open circuit voltage is the discharge capacity corresponding to the discharge voltage of the battery obtained by subtracting the current time voltage of the internal resistance of the battery from each open circuit voltage, that is, the discharge capacity corresponding to OC j V is equal to The discharge capacity corresponding to V j.
  • the corresponding relationship between the open circuit voltage of the battery and the discharge capacity of the battery can be represented by a dashed curve, and the corresponding relationship between the discharge voltage of the battery and the discharge capacity of the battery thus determined can be represented by It is represented by a solid line.
  • the battery internal resistance corresponding to the remaining capacity of the battery The voltage will also change with charging and discharging. In other words, the voltage of the internal resistance of the battery will always remain at the same value during the charging and discharging process.
  • the discharge capacity corresponding to the open circuit voltage is the total usable capacity of the battery.
  • the actual total available capacity of the battery is not equal to the discharge capacity corresponding to the open circuit voltage. Therefore, after obtaining the correspondence between the discharge voltage of the battery and the discharge capacity of the battery, according to the correspondence between the discharge voltage of the battery and the discharge capacity of the battery, determine the discharge of the battery corresponding to the discharge cut-off voltage (V T ) of the battery capacity (i.e., the solid curve in FIG. 8 as ordinate corresponding to a value equal to V T of abscissa), and determines the actual discharge capacity of the battery is equal to the total available capacity of the battery.
  • V T discharge cut-off voltage
  • the above solution can be referred to, for example, the FCC correction in the voltage correction module shown in FIG. 6, where the SOC correction module outputs the current remaining power of the battery to the voltage correction module.
  • the discharge cut-off voltage of the battery can also be dynamically adjusted according to the current discharge power of the battery or the current discharge current of the battery.
  • the discharge cut-off voltage of the battery is adjusted. Alternatively, it is determined whether the current discharge current of the battery is greater than the preset current, and whether the current discharge voltage of the battery is greater than the discharge cut-off voltage of the battery. If the current discharge current of the battery is less than or equal to the preset current and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, the discharge cut-off voltage of the battery is adjusted. Adjusting the discharge cut-off voltage of the battery can, for example, increase the discharge cut-off voltage of the battery or lower the discharge cut-off voltage of the battery.
  • the current discharge power of the battery is less than the preset electric power, or the current discharge current of the battery is less than the preset current
  • the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, it means sudden A pulse is generated, which causes the current discharge voltage of the battery to suddenly decrease, and the discharge cut-off voltage of the battery needs to be lowered in time. Therefore, the battery discharge capacity can be prevented from being reduced without damaging the battery.
  • the actual total available capacity of the battery may be updated according to the adjusted discharge cut-off voltage of the battery. For example: according to the corresponding relationship between the current discharge voltage of the battery and the discharge capacity of the battery, determine the discharge capacity of the battery corresponding to the adjusted discharge cut-off voltage of the battery, and determine that the discharge capacity of the battery is equal to the updated battery The actual total available capacity.
  • the current remaining power of the battery is updated to the preset power.
  • the current time discharge current of the battery is less than or equal to the preset current and the current time discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, then the current time remaining power of the battery is updated to the preset remaining power.
  • the power level for example, the current remaining power level of the battery is updated from 10% to 0%.
  • the current discharge power of the battery is less than or equal to the preset power and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, or if the current discharge power of the battery is less than or equal to If the power is preset and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, the current time open circuit voltage of the battery is also obtained according to the current remaining power of the battery; according to the current current time of the battery The corresponding relationship between the open circuit voltage at the time and the discharge capacity of the battery is obtained, and the total available capacity corresponding to the open circuit voltage at the current time is obtained; the actual total available capacity of the battery is updated to the total available capacity corresponding to the open circuit voltage at the current time.
  • the current discharge power of the battery is less than or equal to the preset power and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, or if the current discharge power of the battery is less than
  • the current remaining power of the battery calculated by the fuel gauge in the above manner is, for example, 10%, but in fact the battery’s The remaining power at the current moment may be 0%, and the 10% difference is caused by the false high of the remaining power of the battery.
  • the remaining power of the battery at the current moment may actually be 0%, the available power of the battery has been discharged, and it can be considered that the total power that has been discharged is equal to the actual total available capacity of the battery.
  • the total power discharged so far can be obtained from the discharge capacity corresponding to the open circuit voltage of the battery at the current moment. Since the current remaining power of the battery calculated by the fuel gauge is 10%, the current remaining power of the battery can be obtained according to the current remaining power of the battery 10% and the mapping relationship between the remaining power of the battery and the open circuit voltage of the battery
  • the discharge power of the battery is adjusted.
  • the drone when the current discharge power of the battery is greater than the preset power and the current discharge voltage of the battery is less than the discharge cut-off voltage of the battery, or the current discharge current of the battery is greater than the preset power
  • the drone may fly violently, which will make the current discharge power of the battery larger and the current discharge current larger .
  • the discharge power of the battery can be lowered.
  • the discharge cut-off voltage of the battery does not need to be adjusted, and the practical usable total capacity of the battery does not need to be updated.
  • the current discharging power of the battery or the current discharging current of the battery is obtained, which can then be used in the above judgment process. Because the current available capacity of the battery and the previous available capacity of the battery can reflect the change trend of the available capacity of the battery, which can reflect the change trend of the discharge power or discharge current of the battery, and then the current discharge power or discharge power of the battery can be determined. The current discharge current of the battery.
  • the actual total available capacity of the battery may also be output. If the actual total available capacity of the battery is obtained, the actual total available capacity of the battery is output. If the actual total available capacity of the battery is updated, the updated actual total available capacity of the battery is output. For example, the actual total available capacity of the battery may be sent to an external device powered by a battery, and the actual total available capacity of the battery may be displayed by the external device through a display device.
  • the current remaining capacity of the battery may also be updated according to the actual total available capacity of the battery.
  • the current remaining power of the battery can be updated based on the actual total available capacity of the battery through a smooth filtering method.
  • the actual available total capacity of the battery can be used as the total available capacity of the battery in the above-mentioned ampere-hour integral formula to update the remaining power of the battery at the current moment.
  • the current remaining power of the battery may also be output.
  • the current remaining power of the battery may be sent to an external device powered by a battery, and the external device may display the current remaining power of the battery through a display device, such as the related description of the SOC display module in FIG. 6.
  • An embodiment of the present application also provides a computer storage medium, the computer storage medium stores program instructions, and the program execution may include part or all of the control calculation method of the drone in any of the above-mentioned corresponding embodiments. step.
  • FIG. 9 is a schematic structural diagram of a control system for a drone provided by an embodiment of the application.
  • the control system 900 for a drone in this embodiment may include: at least one processor 901 (with one The processor is shown as an example).
  • At least one processor 901 configured to determine the target electrical parameter of the battery required for landing the drone according to the flight status of the drone; and determine the target electrical parameter according to the target electrical parameter and the current electrical parameter of the battery Whether the drone needs to land; if it is determined that the drone needs to land according to the target electrical parameters and the current electrical parameters of the battery, then the drone is controlled to land.
  • the flight status of the drone includes the flight height of the drone.
  • the at least one processor 901 is specifically configured to: determine the target electrical parameters of the battery required for the drone to land according to the flying height of the drone and the landing speed of the drone .
  • the at least one processor 901 is specifically configured to: determine the landing time of the UAV according to the flight height and the landing speed; and according to the landing time and the work of the UAV Power, determining the discharge energy of the battery required for landing of the drone; and determining the target electrical parameter according to the discharge energy of the battery required for landing of the drone.
  • the target electrical parameter includes target discharge energy.
  • the at least one processor 901 is specifically configured to determine the discharge energy of the battery required for the drone to land as the target discharge energy.
  • the at least one processor 901 is specifically configured to: determine the amount required for the drone to land according to the discharge energy of the battery required for landing of the drone and the current discharge voltage of the battery The discharge capacity of the battery;
  • the target electrical parameter is determined according to the discharge capacity of the battery required for the landing of the drone.
  • the target power parameter includes a target remaining power.
  • the at least one processor 901 is specifically configured to determine the target remaining power according to the discharge capacity of the battery required for landing of the drone and the total capacity of the battery.
  • the target electrical parameter includes a target discharge voltage.
  • the at least one processor 901 is specifically configured to: determine the landing location of the drone according to the discharge capacity of the battery required for the landing of the drone and the relationship between the discharge capacity of the battery and the open circuit voltage. The open circuit voltage corresponding to the required discharge capacity of the battery; the target discharge voltage is determined according to the determined open circuit voltage.
  • the at least one processor 901 is specifically configured to: obtain a current voltage drop of the battery, where the current voltage drop is related to the internal resistance and the current current of the battery;
  • the target discharge voltage is determined according to the open circuit voltage and the current voltage drop.
  • the at least one processor 901 is specifically configured to: if the current electrical parameter of the battery is less than or equal to the target electrical parameter, determine that the drone needs to land.
  • the at least one processor 901 is specifically configured to: if the current electrical parameter of the battery is less than or equal to the duration of the target electrical parameter and greater than or equal to a corresponding preset time period, determine that the drone needs to landing.
  • the electrical parameter includes any one or more of discharge energy, remaining power, and discharge voltage.
  • the at least one processor 901 is further configured to control the drone to land according to the current discharge voltage of the battery and the preset discharge voltage of the battery.
  • the at least one processor 901 is specifically configured to: if the current discharge voltage of the battery is less than or equal to the preset discharge voltage of the battery, control the drone to land.
  • the preset discharge voltage is related to the discharge cut-off voltage of the battery; or, the preset discharge voltage is based on the preset remaining power of the battery and the remaining power of the battery and The relationship between the open circuit voltage is determined.
  • the current discharge voltage of the battery is the lowest discharge voltage among the current discharge voltages of each cell in the battery.
  • control system 900 of the unmanned aerial vehicle in this embodiment further includes a communication device 902.
  • the communication device 902 is configured to send prompt information to the control terminal of the drone, where the prompt information is used to indicate that the drone needs to be controlled to land.
  • the communication device 902 is further configured to receive a landing instruction sent by the control terminal after sending prompt information to the control terminal of the drone.
  • the at least one processor 901 is specifically configured to: control the drone to land according to the landing instruction.
  • control system 900 of the drone of this embodiment may further include a memory (not shown in the figure) for storing program codes.
  • the at least one processor 901 calls the program code to implement the above solutions.
  • control system of the unmanned aerial vehicle in this embodiment can be used to implement the technical solutions in the foregoing method embodiments of the present application, and the implementation principles and technical effects are similar, and will not be repeated here.
  • FIG. 10 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application.
  • the unmanned aerial vehicle 1000 of this embodiment may include a battery 1001 and a control system 1002 of the unmanned aerial vehicle.
  • control system 1002 of the unmanned aerial vehicle may adopt the structure shown in FIG. 9 to implement the technical solutions in the foregoing method embodiments of the present application.
  • the implementation principles and technical effects are similar and will not be repeated here.
  • the battery involved in the embodiment shown in FIG. 9 is the battery 1001 shown in FIG. 10.
  • the battery 1001 and the control system 1002 of the drone can be arranged in the fuselage of the drone 1000.
  • the battery 1001 can be arranged in the battery compartment of the fuselage.
  • a person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware.
  • the foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

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Abstract

一种无人机（110）的控制方法、系统和无人机（110），该方法包括：根据无人机（110）的飞行状况，确定无人机（110）降落所需的电池的目标电参数(S301)；根据目标电参数和电池的当前电参数确定无人机（110）是否需降落(S302)；若根据目标电参数和电池的当前电参数确定无人机（110）需降落，则控制无人机（110）降落(S303)。使得电池的当前电参数可以供无人机（110）在当前飞行状况下安全降落，避免无人机（110）坠机，避免人员和财物的损失。也可以避免将电池的当前电参数与固定的阈值进行比较来控制无人机（110）降落后，电池仍还能够支持无人机飞行的现象，还能提高无人机的续航时长，提高用户体验。

Description

无人机的控制方法、系统和无人机 技术领域
本申请实施例涉及无人机技术领域，尤其涉及一种无人机的控制方法、系统和无人机。
背景技术
随着无人机进入的行业越多(比如农业，电力以及很多特殊场景应用)，无人机的使用也越频繁，无人机的结构越来越复杂，并且不断集成新开发的功能。由于新功能的增加，各行业对于无人机的电源的质量和电源管理的要求也随之提高。其中，无人机采用电池供电，电池输出的电能作为无人机的飞控供电和动力来源。在无人机的飞行过程中，获取无人机的电池的剩余电量，当无人机的电池的剩余电量小于预先设定的剩余电量时，控制无人机降落，这种情况下仍然存在无人机还未安全降落时，由于电量耗尽而坠机。
发明内容
本申请实施例提供一种无人机的控制方法、系统和无人机，用于避免电池耗尽而坠机。
第一方面，本申请实施例提供一种无人机的控制方法，包括：
根据无人机的飞行状况，确定所述无人机降落所需的电池的目标电参数；
根据所述目标电参数和所述电池的当前电参数确定所述无人机是否需降落；
若根据所述目标电参数和所述电池的当前电参数确定所述无人机需降落，则控制所述无人机降落。
第二方面，本申请实施例提供一种无人机的控制系统，包括：
至少一个处理器，用于根据无人机的飞行状况，确定所述无人机降落所需的电池的目标电参数；
根据所述目标电参数和所述电池的当前电参数确定所述无人机是否需降落；
若根据所述目标电参数和所述电池的当前电参数确定所述无人机需降落，则控制所述无人机降落。
第三方面，本申请实施例提供一种无人机，包括电池和如第一方面本申请实施例所述的无人机的控制系统。
第四方面，本申请实施例提供一种计算机可读存储介质，所述可读存储介质上存储有计算机程序；所述计算机程序在被执行时，实现如第一方面所述的无人机的控制方法。
第五方面，本申请实施例提供一种程序产品，所述程序产品包括计算机程序，所述计算机程序存储在可读存储介质中，至少一个处理器可以从所述可读存储介质读取所述计算机程序，所述至少一个处理器执行所述计算机程序以实施如第一方面本申请实施例所述的无人机的控制方法。
综上所述，本申请实施例提供的无人机的控制方法、系统和无人机，通过根据无人机当下的飞行状态来确定无人机降落所需的电池的目标电参数，根据目标电参数和电池的当前电参数确定无人机是否需降落；当根据目标电参数和电池的当前电参数确定无人机需降落，则控制无人机降落，使得电池的当前电参数可以供无人机在当前飞行状况下安全降落，避免无人机坠机，避免人员和财物的损失。也可以避免现有技术中将电池的当前电参数与固定的阈值进行比较来控制无人机降落后，电池仍还能够支持无人机飞行的现象，本实施例还能提高无人机的续航时长，提高用户体验。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本申请的实施例的无人飞行系统的示意性架构图；
图2为本申请实施例提供的应用场景示意图；
图3为本申请一实施例提供的无人机的控制方法的流程图；
图4为本申请另一实施例提供的无人机的控制方法的流程图；
图5为本申请一实施例提供的电池电量计算方法的流程图；
图6为本申请一实施例提供的电池电量计算方法的示意图；
图7为本申请一实施例提供的电池的可用总容量的计算结构示意图；
图8为本申请一实施例提供的开路电压与放电容量的对应关系以及放电电压与放电容量的对应关系的示意图；
图9为本申请一实施例提供的无人机的控制系统的结构示意图；
图10为本申请一实施例提供的无人机的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
随着无人机进入的行业越多(比如农业，电力以及很多特殊场景应用)，无人机的使用也越频繁，无人机的结构越来越复杂，并且不断集成新开发的功能。由于新功能的增加，各行业对于无人机的电源的质量和电源管理的要求也随之提高。其中，无人机采用电池供电，电池输出的电能作为无人机的飞控供电和动力来源。在无人机的飞行过程中，获取无人机的电池的剩余电量，当无人机的电池的剩余电量小于预先设定的剩余电量时，控制无人机降落，这种情况下仍然存在无人机还未安全降落时，由于电量耗尽而坠机。
基于此，本申请的实施例提供了无人机的控制方法、系统和无人机。在无人机的飞行过程中，根据无人机的当前飞行状况来确定无人机当前降落所需的电池的电参数。如果根据无人机在当前飞行状况下降落所需的电池的电参数，控制无人机降落。以电参数为剩余电量为例，在所需的电池的剩余电量不小于电池的当前剩余电量时，控制无人机降落。
其中，无人机可以是小型或大型的无人机。在某些实施例中，无人机可以是旋翼无人机(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼无人机，本申请的实施例并不限于此，无人机也可以是其它类型的无人机。
图1是根据本申请的实施例的无人飞行系统的示意性架构图。本实施例以旋翼无人机为例进行说明。
无人飞行系统100可以包括无人机110、显示设备130和控制终端140。其中，无人机110可以包括动力系统150、飞行控制系统160、机架和承载在机架上的云台120。无人机110可以与控制终端140和显示设备130进行无线通信。其中，无人机110还包括电池(图中未示出)，电池为动力系统150提供电能。无人机110可以是农业无人机或行业应用无人机，有循环作业的需求。相应的，电池也有循环作业的需求。
机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接，用于在无人机110着陆时起支撑作用。
动力系统150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152，其中电机152连接在电子调速器151与螺旋桨153之间，电机152和螺旋桨153设置在无人机110的机臂上；电子调速器151用于接收飞行控制系统160产生的驱动信号，并根据驱动信号提供驱动电流给电机152，以控制电机152的转速。电机152用于驱动螺旋桨旋转，从而为无人机110的飞行提供动力，该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中，无人机110可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴(Roll)、偏航轴(Yaw)和俯仰轴(pitch)。应理解，电机152可以是直流电机，也可以交流电机。另外，电机152可以是无刷电机，也可以是有刷电机。
飞行控制系统160可以包括飞行控制器161和传感系统162。传感系统162用于测量无人机的姿态信息，即无人机110在空间的位置信息和状态信息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感系统162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit，IMU)、视觉传感器、全球导航卫星系统和气压计等传感器中的至少一种。例如，全球导航卫星系统可以是全球定位系统(Global Positioning System，GPS)。飞行控制器161用于控制无人机110的飞行，例如，可以根据传感系统162测量的姿态信息控制无人机110的飞行。应理解，飞行控制器161可以按照预先编好的程序指令对无人机110进行控制，也可以通过响应来自控制终端140的一个或多个遥控信号对无人机110 进行控制。
云台120用于携带负载，负载例如是拍摄装置123。飞行控制器161可以通过电机122控制云台120的运动。可选的，作为另一实施例，云台120还可以包括控制器，用于通过控制电机122来控制云台120的运动。应理解，云台120可以独立于无人机110，也可以为无人机110的一部分。应理解，电机122可以是直流电机，也可以是交流电机。另外，电机122可以是无刷电机，也可以是有刷电机。还应理解，云台可以位于无人机的顶部，也可以位于无人机的底部。
拍摄装置123例如可以是照相机或摄像机等用于捕获图像的设备，拍摄装置123可以与飞行控制器通信，并在飞行控制器的控制下进行拍摄。本实施例的拍摄装置123至少包括感光元件，该感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)传感器或电荷耦合元件(Charge-coupled Device，CCD)传感器。
显示设备130位于无人飞行系统100的地面端，可以通过无线方式与无人机110进行通信，并且可以用于显示无人机110的姿态信息。另外，还可以在显示设备130上显示拍摄装置123拍摄的图像。应理解，显示设备130可以是独立的设备，也可以集成在控制终端140中。
控制终端140位于无人飞行系统100的地面端，可以通过无线方式与无人机110进行通信，用于对无人机110进行远程操纵。
应理解，上述对于无人飞行系统各组成部分的命名仅是出于标识的目的，并不应理解为对本申请的实施例的限制。
图2为本申请实施例提供的应用场景示意图，如图2所示，图2中示出了无人机201、无人机的控制终端202。无人机201的控制终端202可以是遥控器、智能手机、台式电脑、膝上型电脑、穿戴式设备(手表、手环)中的一种或多种。本申请实施例以控制终端202为摇控器2021和终端设备2022为例来进行示意性说明。该终端设备2022例如是智能手机、可穿戴设备、平板电脑等，但本申请实施例并限于此。
下面采用具体的实施例对本申请的方案进行描述。
图3为本申请一实施例提供的无人机的控制方法的流程图，本实施例的方法可以应用于无人机的控制系统中。该无人机的控制系统可以设置在无人 机；或者，无人机的控制系统的一部分设置在无人机上，另一部分设置在无人机的控制终端上。本实施例以应用于无人机为例，如图3所示，本实施例的方法包括：
S301、根据无人机的飞行状况，确定无人机降落所需的电池的目标电参数。
S302、根据目标电参数和电池的当前电参数确定无人机是否需降落；
S303、若根据目标电参数和电池的当前电参数确定无人机需降落，则控制无人机降落。
本实施例中，根据无人机的飞行状况，确定无人机当前降落所需的电池的目标电参数，由于在无人机的飞行过程中，无人机的飞行状况会发生变化，由此得到的无人机降落所需的电池的目标电参数不会一直是固定的值，可能是动态变化的值。另外，本实施例还获取电池的当前电参数，由于在无人机的飞行过程中，需要消耗电池的电能，电池的当前电参数不会一直是固定的值，可能是动态变化的值。然后根据确定的所需的电池的目标电参数和电池的当前电参数，确定无人机是否需要降落，如果根据该目标电参数和电池的当前电参数确定无人机需降落，则控制无人机降落。
本实施例通过根据无人机当下的飞行状态来确定无人机降落所需的电池的目标电参数，当根据目标电参数和电池的当前电参数确定无人机需降落，则控制无人机降落，使得电池的当前电参数可以供无人机在当前飞行状况下安全降落，避免无人机坠机，避免人员和财物的损失。也可以避免现有技术中将电池的当前电参数与固定的阈值进行比较来控制无人机降落后，电池仍还能够支持无人机飞行的现象，本实施例还能提高无人机的续航时长，提高放电效率，提高用户体验。
在一些实施例中，上述S302中根据所述目标电参数和所述电池的当前电参数确定所述无人机是否需降落的一种实现方式为：根据所述电池的当前电参数是否小于等于所述目标电参数，确定无人机是否需降落。若所述电池的当前电参数小于等于所述目标电参数，则确定所述无人机需降落。本实施例中，在确定电池的目标电参数之后，判断该电池的当前电参数是否小于等于电池的目标电参数，如果电池的当前电参数小于等于电池的目标电参数，说明如果无人机继续飞行，将会使得电池无法供无人机降落，则确定当下无人 机需降落，以避免无人机突然坠机，提高无人机的续航时长。如果电池的当前电参数大于电池的目标电参数，说明电池还可以继续供无人机飞行，无人机暂时无需必须降落。
在一些实施例中，上述S302中根据所述目标电参数和所述电池的当前电参数确定所述无人机是否需降落的一种实现方式为：根据所述电池的当前电参数是否小于等于所述目标电参数与第一偏置值的和值，确定无人机是否需降落。若所述电池的当前电参数小于等于所述目标电参数与第一偏置值的和值，则确定所述无人机需降落。通过第一偏置值可以减少确定目标电参数过程中存在的误差影响，提高确定无人机需降落的时机的准确性。第一偏置值可以为正值，也可以是负值。
在一些实施例中，上述S302中根据所述目标电参数和所述电池的当前电参数确定所述无人机是否需降落的一种实现方式为：据所述电池的当前电参数与第二偏置值的和值是否小于等于所述目标电参数，确定无人机是否需降落。若所述电池的当前电参数与第二偏置值的和值小于等于所述目标电参数，则确定所述无人机需降落。通过第二偏置值可以减少确定当前电参数过程中存在的误差影响，提高确定无人机需降落的时机的准确性。第二偏置值可以为正值，也可以是负值。
在上述各实施例的基础上，以若所述电池的当前电参数小于等于所述目标电参数，则确定所述无人机需降落为例，确定无人机需降落的一种实现方式为：若所述电池的当前电参数小于等于所述目标电参数的持续时长大于等于相应的预设时长，则确定所述无人机需降落。本实施例中，如果电池的当前电参数小于等于目标电参数，则计时，如果中途确定电池的当前电参数大于目标电参数，则计时清零，当再次确定电池的当前电参数小于等于目标电参数，则重新计时。并判断计时得到的时长是否大于等于预设时长，若是，则确定电池的当前电参数小于等于目标电参数的持续时长准确，否则继续判断电池的当前电参数是否小于等于所述目标电参数并计时。
通过对上述持续时长的约束可以避免因为可能存在的一个或几个目标电参数或当前电参数的不够准确，而造成误确定无人机需降落，影响用户的使用体验。
在一些实施例中，电参数包括放电能量、剩余电量、放电电压中的任一 项或多项。如果目标电参数为放电能量，相应的当前电参数为当前放电能量。如果目标电参数为剩余电量，相应的当前电参数为当前剩余电量。如果目标电参数为放电电压，相应的当前电参数为当前放电电压。放电能量、剩余电量、放电电压是表示电池是否能支持无人机飞行的参数，通过这些电参数，能准确判定无人机是否需降落的时机。
可选的，在上述一实施例中，电参数不同，上述对应的预设时长可以相同，也可以不同。比如若所述电池的当前剩余电量小于等于目标剩余电量的持续时长大于等于第一预设时长，则确定所述无人机需降落。比如若所述电池的当前放电电压小于等于目标放电电压的持续时长大于等于第二预设时长，则确定所述无人机需降落。比如若所述电池的当前剩余电量小于等于目标剩余电量的持续时长大于等于第一预设时长，且若所述电池的当前放电电压小于等于目标放电电压的持续时长大于等于第二预设时长，则确定所述无人机需降落。通过对上述持续时长的约束可以避免因为可能存在的一个或几个目标剩余电量或当前剩余电量的不够准确，而造成误确定无人机需降落，影响用户的使用体验。
在上述各实施例的基础上，上述无人机的飞行状况包括无人机的飞行高度。无人机降落主要是在高度方向上运动，因此无人机的飞行高度不同，无人机从当前飞行高度降落所需的电池的目标电参数不同。
在一些实施例中，上述S301的一种可能的实现方式为：根据无人机的飞行高度以及无人机的降落速度，确定无人机降落所需的电池的目标电参数。本实施例中，无人机降落所需的电池的目标电参数不仅与无人机的飞行高度有关，还与无人机的降落速度有关。无人机的降落速度也决定了无人机的降落过程的状况，比如无人机的降落速度越大，无人机降落所需的时长越少，无人机的降落速度越少，无人机降落所需的时长越长。因此，通过飞行高度可准确反映出无人机降落所需的目标电参数。可选的，该无人机的降落速度可以是预先设置的。
其中，上述确定目标电参数的一种可能的实现方式为：根据无人机的飞行高度和无人机的降落速度，确定无人机的降落时长；比如无人机的降落时长等于飞行高度与降落速度的比值。再根据确定的降落时长以及无人机的工作功率，确定无人机降落所需的电池的放电能量；比如放电能量等于工作功 率与降落时长的乘积。然后根据无人机降落所需的电池的放电能量，确定目标电参数。该无人机的工作功率比如是无人机的降落功率。本实施例可以准确得到无人机降落过程中所需消耗的能量，从而得到更加准确的目标电参数。
在一些实施例，根据无人机降落所需的电池的放电能量，确定目标电参数的一种可能的实现方式为：根据无人机降落所需的电池的放电能量以及电池的当前放电电压，确定为无人机降落所需的电池的放电容量；比如放电容量等于放电能量与电池的当前放电电压的比值。然后根据无人机降落所需的电池的放电容量，确定目标电参数。本实施例可以将无人机降落过程中所需消耗的放电能量换算为电池的放电容量，以便得到更加准确的目标电参数。
可选的，所述电池的当前放电电压为所述电池中各个电芯的当前放电电压中的最低放电电压。
下面以目标电参数中的不同电参数为例进行说明。
在一些实施例中，如果电参数为剩余电量，则目标电参数为目标剩余电量，当前电参数为当前剩余电量。上述根据无人机降落所需的电池的放电容量，确定目标电参数的一种实现方式为：根据无人机降落所需的电池的放电容量和电池的总容量，确定目标剩余电量；比如目标剩余电量等于无人机降落所需的电池的放电容量与电池的总容量的比值。可选的，如果电池的当前剩余电量小于等于电池的目标剩余电量，则确定无人机需降落。因此，本实施例通过剩余电量来表示电参数，以避免电池的剩余电量不足而造成无人机坠机。
在一些实施例中，如果电参数为放电电压，则目标电参数为目标放电电压，当前电参数为当前放电电压。上述根据无人机降落所需的电池的放电容量，确定目标电参数的一种实现方式为：根据无人机降落所需的电池的放电容量以及电池的放电容量与开路电压之间的关系，确定与无人机降落所需的电池的放电容量对应的开路电压；然后根据确定的开路电压，确定目标放电电压。可选的，如果电池的当前放电电压小于等于电池的目标放电电压，则确定无人机需降落。因此，本实施例通过放电电压来表示电参数，以避免电池欠压而造成无人机坠机、电池损坏。
可选的，上述根据确定的开路电压，确定目标放电电压的一种可能的实现方式为：获取电池的当前压降，当前压降与电池的内阻和当前电流有关； 然后根据开路电压和当前压降，确定目标放电电压。本实施例中，电池也相当于一个电阻，电池也具有内阻，内阻会产生压降，所以根据电池的当前电流和电池的内阻获得电池的当前压降，比如电池的当前压降等于电池的当前电流与电池的内阻的乘积。又由于电池的放电电压与电池的开路电压并不相等，放电电压与开路电压之间的差值可以认为等于电池的压降，所以在获得电池的当前压降之后，将电池的开路电压与电池的当前压降的差值确定为目标放电电压。本实施例中，消除了电池的压降造成的误差，获得的目标放电电压更加能表征电池的当前放电电压是否适合无人机继续飞行。
在一些实施例中，如果电参数为放电能量，则目标电参数为目标放电能量，当前电参数为当前放电能量。上述根据无人机降落所需的电池的放电能量，确定目标电参数的一种实现方式为：将无人机降落所需的电池的放电能量确定为无人机降落所需的电池的目标放电能量。可选的，如果电池的当前放电能量小于等于电池的目标放电能量，则确定无人机需降落。因此，本实施例通过放电能量来表示电参数，以避免电池的放电能量不足而造成无人机坠机。
在一些实施例中，如果电池的当前剩余电量小于等于上述目标剩余电量，并且电池的当前放电电压小于等于上述目标放电电压，则确定无人机需降落。
在一些实施例中，如果电池的当前剩余电量小于等于上述目标剩余电量，并且电池的当前放电能量小于等于上述目标放电能量，则确定无人机需降落。
在一些实施例中，如果电池的当前放电能量小于等于上述目标放电能量，并且电池的当前放电电压小于等于上述目标放电电压，则确定无人机需降落。
在一些实施例中，如果电池的当前剩余电量小于等于上述目标剩余电量，电池的当前放电能量小于等于上述目标放电能量，并且电池的当前放电电压小于等于上述目标放电电压，则确定无人机需降落。
因此，通过采用多种条件来约束用于判定无人机需降落，以避免误确定无人机需降落的现象。
在上述各实施例的基础上，还可以根据电池的当前放电电压和电池的预先设定的放电电压，控制所述无人机降落。
本实施例中，既可以根据所述目标电参数和所述电池的当前电参数确定所述无人机需降落，则控制所述无人机降落，也可以根据电池的当前放电电 压和电池的预先设定的放电电压，控制所述无人机降落。
比如根据所述目标电参数和所述电池的当前电参数确定所述无人机无需降落。但还可以根据电池的当前放电电压和电池的预先设定的放电电压，控制所述无人机降落。可选的，可以判断电池的当前放电电压是否小于等于电池的预先设定的放电电压，如果电池的当前放电电压小于等于电池的预先设定的放电电压，说明电池不足以支持无人机继续飞行，则确定无人机需降落，然后控制无人机降落。如果电池的当前放电电压大于电池的预先设定的放电电压，则根据上述的目标电参数和电池的当前电参数确定无人机需降落，然后控制无人机降落。
可选的，如果电池的当前放电电压小于等于电池的预先设定的放电电压，控制无人机降落的一种实现方式为：若电池的当前放电电压小于等于电池的预先设定的放电电压的持续时长大于等于第三预设时长，则控制无人机降落。本实施例中，如果电池的当前放电电压小于等于电池的预先设定的放电电压，则计时，如果中途确定电池的当前放电电压大于电池的预先设定的放电电压，则计时清零，当再次确定电池的当前放电电压小于等于电池的预先设定的放电电压，则重新计时。并判断计时得到的时长是否大于等于第三预设时长，若是，则控制无人机降落。因此，本实施例避免电池的电压不足而造成无人机坠机、电池损坏。
可选的，上述预先设定的放电电压与电池的放电截止电压有关。电池的放电截止电压是预先确定的，其与电池有关，电池确定后，该电池的放电截止电压也相应确定。不同的电池，其放电截止电压可能不同。比如预先设定的放电电压等于电池的放电截止电压。如果电池的当前放电电压小于等于电池的放电截止电压，说明电池的电量即将耗尽，需马上控制无人机降落。
可选的，上述预先设定的放电电压是根据电池的预设剩余电量以及电池的剩余电量与开路电压之间的关系确定的。该预设剩余电量例如为0％或者1％等，如果电池的当前放电电压小于等于该预设剩余电量对应的开路电压时，说明电池的剩余电量已经很少，则控制无人机降落。
在上述各实施例的基础上，在确定无人机需降落后，向无人机的控制终端发送提示信息，该提示信息用于指示需控制无人机降落，以提示用户无人机需降落，还可以提示用户无人机降落的原因，避免无人机降落而用户无感 知的现象，提高用户体验。
可选的，无人机在向无人机的控制终端发送提示信息后，开始控制无人机降落，无需得到控制终端的反馈。或者，
无人机向无人机的控制终端发送提示信息后，需得到控制终端的反馈，才控制无人机降落。具体地，控制终端在接收到无人机的提示信息后，输出提示信息(比如显示该提示信息，或者，语音播放该提示信息，或者，控制摇控器震动等)，以便用户获知无人机需降落，然后用户向控制终端输入降落确认指令，控制终端根据降落确认指令，向无人机发送降落指令。相应地，无人机接收到控制终端发送的降落指令，然后根据该降落指令，控制无人机降落。本实施例的无人机降落受控于用户的控制，避免无人机降落而打断用户的当前工作任务，以提高用户体验。
图4为本申请另一实施例提供的无人机的控制方法的流程图，如图4所示，本实施例中，无人机开始飞行后，实时获取无人机的飞行高度，将获取到的飞行高度与预先设定的无人机的降落速度以及降落功率，获得无人机降落所需的放电能量，将所需的放电能量换算为无人机降落所需的剩余电量(如下称为目标剩余电量)，以及，根据所需的放电能量以及无人机的电池的内阻和当前电流换算为无人机降落所需的放电电压(如下称为目标放电电压，也可称为保护电压)。
本实施例中，可以实时获取无人机的电池的当前剩余电量，判断电池的当前剩余电量是否小于等于上述目标剩余电量，由于目标剩余电量与无人机的飞行高度有关，因此目标剩余电量动态变化，并不是固定不变的，而现有技术中是判断当前剩余电量是否小于等于固定的剩余电量阈值。如果当前剩余电量小于等于上述目标剩余电量，还进一步判断当前剩余电量小于等于上述目标剩余电量的持续时长是否大于等于第一预设时长。
本实施例中，可以实时获取无人机的电池的当前放电电压(此为动态电压，在电池的放电过程中会发生变化)，判断电池的当前放电电压是否小于等于上述目标放电电压，由于目标放电电压与无人机的飞行高度有关，因此目标放电电压动态变化，并不是固定不变的，而现有技术中是判断当前放电电压是否小于等于固定的放电电压阈值。如果当前放电电压小于等于上述目标放电电压，还进一步判断当前放电电压小于等于上述目标放电电压的持续 时长是否大于等于第二预设时长。
如果当前剩余电量小于等于上述目标剩余电量的持续时长大于等于第一预设时长，以及，当前放电电压小于等于上述目标放电电压的持续时长大于等于第二预设时长，则控制无人机降落，结束。否则重新根据无人机的飞行高度执行上述步骤。
本实施例中，在实时获取无人机的电池的当前放电电压之后，判断电池的当前放电电压是否小于等于上述预先设定的放电电压(可以称为极限保护电压)。如果当前放电电压小于等于上述预先设定的放电电压，还进一步判断当前放电电压小于等于上述预先设定的放电电压的持续时长是否大于等于第三预设时长，若是，则控制无人机降落，结束。否则重新根据电池的当前放电电压执行上述步骤。
需要说明的是，上述第一预设时长、第二预设时长、第三预设时长可以为同一预设时长，也可以不相同。
因此，通过上述方案，本申请触发无人机降落(即保护无人机)的触发时机更准确；以及确保无人机可以更安全、可靠、连续的工作；还确保无人机的使用效率更高，续航时间更长。
其中，上述各实施例中电池的当前剩余电量可以通过下述各实施例计算获得。
图5为本申请一实施例提供的电池电量计算方法的流程图，如图5所示，电池包括多个电芯，本实施例的方法可以包括：
S501、在不同预设条件下，获取关于多个电芯中的每个电芯的当前时刻放电电压。
本实施例中，可以判断当前时刻是否满足至少一种预设条件的任一种，如果满足至少一种预设条件中的任一种，则获取关于电池的多个电芯中每个电芯的当前时刻放电电压。如果不满足所述至少一种预设条件，则不获取关于电池的多个电芯中每个电芯的当前时刻放电电压。
S502、根据每个电芯的当前时刻放电电压，获取每个电芯的剩余电量。
本实施例中，在获取到每个电芯的当前时刻放电电压后，根据每个电芯的当前时刻放电电压，获取该每个电芯的剩余电量。例如：放电电压与剩余电量存在映射关系，因此，根据放电电压与剩余电量的映射关系以及电芯的 当前时刻放电电压，可以确定该当前时刻放电电压对应的剩余电量，并将其确定为该电芯的剩余电量。
S503、根据多个电芯中每个电芯的当前时刻可用容量和每个电芯的剩余电量，获取电池的当前时刻可用总容量。
在一实施例中，在获得每个电芯的剩余电量后，根据电池的多个电芯中每个电芯的当前时刻可用容量和每个电芯的剩余电量，获得电池的当前时刻可用总容量。
S504、根据电池的所述当前时刻可用总容量，获取电池的当前时刻剩余电量。
在一实施例中，在获得电池的当前时刻可用总容量后，根据该电池的当前时刻可用总容量，获取电池的当前时刻剩余电量。
这是由于电池的当前时刻可用总容量主要受三方面影响，第一方面是电池中每个电芯的可用容量，也可称为电芯最大化学容量。第二方面是充电温度、内阻，如果电池是消费类型电池，通常采用恒流充电(CC)+恒压充电(CV)方式充电，充电末端电流小，温度、内阻对可用总容量的影响可忽略不计。第三方面是电池不均衡程度，可通过电芯的剩余电量来表示。因此，通过电芯的当前时刻剩余电量和电芯的当前时刻可用容量，可以得到准确的电池的当前时刻可用总容量。
本实施例提供的电池电量计算方法，通过在不同预设条件下，获取关于多个电芯中的每个电芯的当前时刻放电电压。根据每个电芯的当前时刻放电电压，获取每个电芯的剩余电量。根据所述多个电芯中每个电芯的当前时刻可用容量和每个电芯的剩余电量，获取所述电池的当前时刻可用总容量。根据所述电池的所述当前时刻可用总容量，获取所述电池的当前时刻剩余电量。由于通过多个电芯中每个电芯的当前时刻可用容量和每个电芯的剩余电量，可准确获取所述电池的当前时刻可用总容量，从而根据准确的当前时刻可用容量获取的当前时刻剩余电量更加准确。
下面对上述S503的具体实现过程进行描述。例如，参见如图6所示的Q bat更新模块的相关描述。
在一些实施例中，上述S503的一种可能的实现方式可以包括：S5031和S5032。
S5031、根据每个电芯的当前时刻可用容量和每个电芯的剩余电量，获取每个电芯充电至满充状态所需的第一电量以及每个电芯放电至满放状态所放的第二电量。
S5032、根据所述多个电芯中每个电芯的所述第一电量和每个电芯的所述第二电量，获取所述电池的所述当前时刻可用总容量。
在一实施例中，电芯i为电池中多个电芯的任一电芯，可以根据电芯i的当前时刻可用容量(Q max[i])和电芯i的剩余电量(SOC[i])，获取电芯i充电至满充状态所需的电量，该电量称为第一电量(ToTopCap[i]，简称为TTC[i])，比如TTC[i]＝Q max[i]*(100％-SOC[i])，剩余电量为百分数。在此实施方式中，进一步获取电芯i放电至满放状态所放的电量，该电量称为第二电量(RemCap[i]，简称为RC[i])，比如RC[i]＝Q max[i]*SOC[i]。电芯i充电至满充状态表示电芯i无法再继续充电的状态，或者由于实际环境或者预设条件的限制，停止对电芯i继续充电的状态。电芯i放电至满放状态表示电芯i无法再继续放电的状态，或者由于实际环境或者预设条件的限制，停止对电芯i继续放电的状态。在获得每个电芯的第一电量和第二电量后，根据电池中每个电芯的第一电量和第二电量，获取电池的当前时刻可用总容量。
以电池包括3个电芯为例，本实施例并不限于3个电芯。如图7所示，根据电芯1的当前时刻可用容量(Q max[1])和电芯1的剩余电量(SOC[1])，获取电芯1充电至满充状态所需的第一电量(TTC[1])以及电芯1放电至满放状态所放的第二电量(RC[1])。根据电芯2的当前时刻可用容量(Q max[2])和电芯2的剩余电量(SOC[2])，获取电芯2充电至满充状态所需的第一电量(TTC[2])以及电芯2放电至满放状态所放的第二电量(RC[2])。根据电芯3的当前时刻可用容量(Q max[3])和电芯3的剩余电量(SOC[3])，获取电芯3充电至满充状态所需的第一电量(TTC[3])以及电芯3放电至满放状态所放的第二电量(RC[3])。
然后根据电芯1的TTC[1]、RC[1]，电芯2的TTC[2]、RC[2]，电芯3的TTC[3]、RC[3]，获得电池的当前时刻可用总容量(Q bat)。
在一些实施例中，上述S5032的一种可能的实现方式为：根据所述多个电芯中每个电芯的所述第一电量，确定最小第一电量(min(TTC))；根据所述多个电芯中每个电芯的所述第二电量，确定最小第二电量(min(RC))；根 据所述最小第一电量和所述最小第二电量，获取所述电池的所述当前时刻可用总容量。
以图7为例，根据电芯1的TTC[1]、电芯2的TTC[2]、电芯3的TTC[3]，确定TTC[1]、TTC[2]、TTC[3]中的最小值为最小第一电量，例如为TTC[1]。以及根据电芯1的RC[1]、电芯2的RC[2]、电芯3的RC[3]，确定RC[1]、RC[2]、RC[3]中的最小值为最小第二电量，例如为RC[3]。然后根据TTC[1]和RC[3]，获得电池的当前时刻可用总容量(Q bat)。
可选的，可以将所述最小第一电量和所述最小第二电量的和值作为所述电池的所述当前时刻可用总容量。例如：Q bat＝TTC[1]+RC[3]。
下面对如何获得每个电芯的当前时刻可用容量(Q max[i])进行描述。例如可能参见如图6所示的Q max更新模块的相关描述。
在一些实施例中，获取每个电芯的当前时刻可用总容量(Q max[i])的一种可能的实现方式为：获取每个电芯的第一剩余电量和第二剩余电量，其中，所述第一剩余电量为每个电芯在第一时刻的剩余电量以及所述第二剩余电量为每个电芯在第二时刻的剩余电量。以及获取所述第一时刻到所述第二时刻的时间段内每个电芯的电量充放信息。然后根据每个电芯的电量充放信息、所述第一剩余电量和所述第二剩余电量，获得每个电芯的当前时刻可用容量。
以任一电芯i为例，获取电芯i在第一时刻的剩余电量，称为第一剩余电量(SOC1[i])，以及电芯i在第二时刻的剩余电量，称为第二剩余电量(SOC2[i])。还可以获取电芯i在第一时刻到第二时刻的时间段的电量充放信息(Q passed[i])。再根据Q passed[i]、SOC1[i]、SOC2[i]，获得电芯i的当前时刻可用容量(Q max[i])。
可选的，根据每个电芯的电量充放信息、所述第一剩余电量和所述第二剩余电量，获得每个电芯的当前时刻可用容量的一种可能的实现方式为：获取每个电芯的所述第一剩余电量与所述第二剩余电量的剩余电量差值；然后将所述每个电芯的所述电量充放信息与所述剩余电量差值的比值，确定为所述每个电芯的当前时刻可用容量。例如：获取SOC2[i]-SOC1[i]，然后获取Q max[i]＝Q passed[i]/(SOC2[i]-SOC1[i])。其中，Q passed[i]与SOC2[i]-SOC1[i]同号，例如同为正号，或者，同为负号。
可选的，上述获取电芯i的第一剩余电量的一种实现方式为：将电芯i在第一时刻的开路电压作为第一开路电压(OCV1[i])；根据预设的开路电压 与剩余电量之间的对应关系，获取第一开路电压(OCV1[i])所对应的剩余电量，并将所述第一开路电压(OCV1[i])所对应的剩余电量作为所述第一剩余电量(SOC1[i])。可选的，上述对应关系可以存储在显示查找表(Look-Up-Table，LUT)中。
上述获取电芯i的第二剩余电量的一种实现方式为：将电芯i在第二时刻的开路电压作为第二开路电压(OCV2[i])；根据预设的开路电压与剩余电量之间的对应关系，获取第二开路电压(OCV2[i])所对应的剩余电量，并将所述第二开路电压(OCV2[i])所对应的剩余电量作为所述第二剩余电量(SOC2[i])。
可选的，电芯的开路电压例如可以通过电芯的放电电压来获得。
可选的，上述获取电芯i的第一剩余电量的一种实现方式为：将电芯i在第一时刻的放电电压作为第一放电电压(V1[i])；根据预设的放电电压与剩余电量之间的对应关系，获取第一放电电压(V1[i])所对应的剩余电量，并将所述第一放电电压(V1[i])所对应的剩余电量作为所述第一剩余电量(SOC1[i])。获取电芯i的第二剩余电量与获取电芯i的第一剩余电量类似，此处不再赘述。
可选的，可以利用充电电压来得到剩余电量(例如上述的第一剩余电量和第二剩余电量)，为求简洁，不再赘述。
例如如图6所示，Q max更新模块获得的Q max[i]可以输出给Q bat更新模块。
下面对上述S504的具体实现过程进行描述。
在一些实施例中，例如如图6中的SOC校正模块的相关描述，其中，Q max更新模块获得的Q bat和min(RC)输出给SOC校正模块。上述S504的一种可能的实现方式为：根据所述最小第二电量和所述电池的所述当前时刻可用总容量，获取所述电池的当前时刻剩余电量。
本实施例中，在获得电池的当前时刻可用总容量后，根据该电池的当前时刻可用总容量(Q bat)和前述的最小第二电量(min(RC))，获得电池的当前时刻剩余电量(SOC)。例如：可以获取所述最小第二电量(min(RC))和所述电池的所述当前时刻可用总容量(Q bat)的比值为所述电池的当前时刻剩余电量(SOC)，即SOC＝min(RC)/Q bat。
由于电池的当前时刻剩余电量可由电池的当前时刻可用总容量和所有电 芯中当前放电至满放状态所放的最小电量确定，所以获得的电池的当前时刻剩余电量更加贴近电池的实际剩余电量。
在一些实施例中，上述S504的一种可能的实现方式为：根据安时积分法获取电池的当前时刻剩余电量，其中，关于电池的可用总容量为所述电池的当前时刻可用总容量(Q bat)。
本实施例中，根据安时积分法，获取的电池的当前时刻(即时刻j)剩余电量为：
Figure PCTCN2020087283-appb-000001
上述的SOC init为时刻0时的电池的剩余电量，I表示放电电流，t表示时间。
在一些实施例中，在执行上述步骤S504之后，还可以执行如下所述方案：
根据安时积分法获取所述电池的下一时刻剩余电量，其中，关于下一时刻的初始剩余电量为所述电池的所述当前时刻剩余电量。
本实施例中，根据安时积分法，获取的电池的下一时刻(即时刻j+1)剩余电量为：
SOC j+1＝SOC j+ΔCC j,j+1/Q，
Figure PCTCN2020087283-appb-000002
其中，SOC j+1为电池的时刻j+1剩余电量，SOC j为电池的时刻j剩余电量，ΔCC j,j+1表示时刻j到时刻j+1的时间段内电流与时间的积分，Q为电池的可用总容量。在一个实施例中，计算每个时刻的SOC对应的Q为同一值。
可选的，如果在j+h时刻，通过上述类似方式获取到电池的j+h时刻可用总容量，则电池的j+h时刻剩余电量由电池的j+h时刻可用总容量获得，例如：根据电池的j+h时刻可用总容量与电池的j+h时刻电芯放电至满放状态所放的电量来得到。如果在j+h时刻，未通过上述类似方式获取到电池的j+h时刻可用总容量，也未根据电池的j+h时刻剩余电量获取到电池的j+h时刻可用总容量，则电池的j+h时刻剩余电量根据安时积分法和j+h-1时刻剩余电量得到。
在一些实施例中，在执行上述S504之后，还可以执行如下所述方案：
根据安时积分法，获取所述电池的下一时刻剩余电量，其中，关于下一时刻的初始剩余电量为所述电池的所述当前时刻剩余电量。
本实施例中，根据安时积分法，获取的电池的下一时刻(即时刻j+1)剩余电量为：
SOC j+1＝SOC j+ΔCC j,j+1/Q bat，j，
Figure PCTCN2020087283-appb-000003
其中，SOC j+1为电池的时刻j+1剩余电量，SOC j为电池的时刻j剩余电量，ΔCC j,j+1表示时刻j到时刻j+1的时间段内电流与时间的积分，Q bat，j为电池的时刻j可用总容量。
例如如图6中的SOC更新模块的相关描述，其中，SOC校正模块将SOC和Q bat输出给SOC更新模块。其中，ΔCC j,j+1例如由图6中ΔCC模块获得，并输出给SOC更新模块。
可选的，如果在j+h时刻，通过上述类似方式获取到电池的j+h时刻可用总容量，则电池的j+h时刻剩余电量由电池的j+h时刻可用总容量获得，例如：根据电池的j+h时刻可用总容量与电池的j+h时刻电芯放电至满放状态所放的电量来得到。如果在j+h时刻，未通过上述类似方式获取到电池的j+h时刻可用总容量，也未根据电池的j+h时刻剩余电量获取到电池的j+h时刻可用总容量，则电池的j+h时刻剩余电量根据安时积分法和j+h-1时刻剩余电量和j时刻可用总容量得到。
因此，通过上述方案，得到的电池的剩余电量更加准确。
可选的，在通过上述任一实施例获得电池的当前时刻剩余电量后，还可以根据所述电池的所述当前时刻剩余电量，获取所述电池的实际可用总容量。
下面对根据电池的当前时刻剩余电量，获取所述电池的实际可用总容量的实现方案进行描述。
在一些实施例中，根据所述电池的当前时刻剩余电量，获取所述电池的实际可用总容量的一种可能的实现方式为：根据所述电池的当前时刻剩余电量、所述电池的上一时刻剩余电量、从上一时刻到当前时刻的时间段内所述电池的电量充放信息，获取所述电池的实际可用总容量。例如：获取根据所述电池的当前时刻剩余电量与所述电池的上一时刻剩余电量的剩余电量差值，然后根据从上一时刻到当前时刻的时间段内所述电池的电量充放信息以及所述剩余电量差值，获得所述电池的实际可用总容量。该电池的实际可用总容量例如为从上一时刻到当前时刻的时间段内所述电池的电量充放信息与所述剩余电量差值的比值。
以当前时刻为j时刻为例，电池的当前时刻剩余电量为SOC j，电池的上一时刻剩余电量为SOC j-1，从上一时刻到当前时刻的时间段内所述电池的电量充放信息为Q j-1，j，因此，电池的实际可用总容量为FCC，其中，FCC＝Q j-1，j/SOC j-SOC j-1。
可选的，从上一时刻到当前时刻的时间段内所述电池的电量充放信息可以根据所述上一时刻到当前时刻的时间段内所述电池的放电电流与所述时间段的时长的积分获得。比如：
Figure PCTCN2020087283-appb-000004
在一些实施例中，根据所述电池的当前时刻剩余电量，获取所述电池的实际可用总容量的另一种可能的实现方式为：根据所述电池的所述开路电压和所述电池的剩余电量之间的映射关系，由所述电池的所述当前时刻剩余电量确定所述电池的当前时刻开路电压；根据所述电池的当前时刻放电电压和所述当前时刻开路电压，确定所述电池内阻的当前时刻电压；根据所述电池的开路电压与所述电池的放电容量的对应关系，利用所述电池内阻的当前时刻电压，确定所述电池的放电电压与所述电池的放电容量的对应关关系；根据所述电池的放电电压与所述电池的放电容量的对应关系，确定所述电池的放电截止电压对应的电池的放电容量为所述实际可用总容量。据此获得的实际可用总容量更加接近电池实际的可用总容量。
本实施例中，电池的开路电压与剩余电量之间存在映射关系，电池的当前时刻剩余电量(SOC j)已经得到。因此，根据SOC j根据电池的开路电压与剩余电量之间存在映射关系，可以确定SOC j所对应的开路电压，并将该开路电压确定为电池的当前时刻开路电压(OC jV)。
电池的当前时刻放电电压(V j)可以得到，其中如何得到电池的当前时刻放电电压可以参见相关技术中的描述，此处不再赘述。由于电池也相当于一个电阻，电阻也具有内阻，内阻会产生压降，所以电池的当前时刻放电电压(V j)与电池的当前时刻开路电压(OC jV)不相等，这个差值可以认为等于这个压降，即为电池内阻的当前时刻电压(ΔV＝I*Res，I为电池的放电电压，Res为电池内阻)，即ΔV＝OCV j-V j。
针对这同一电池内阻的当前时刻电压，也会存在电池的不同放电压与电池的放电容量的对应关系，又由于ΔV＝OCV-V，而且电池的开路电压与所述电池的放电容量存在对应关系，每个开路电压所对应的放电容量即为每个开路电压减去电池内阻的当前时刻电压得到的电池的放电电压所对应的放电容量，也就是，OC jV所对应的放电容量等于V j所对应的放电容量。从而确定所述电池的放电电压与所述电池的放电容量的对应关关系。
如图8所示，所述电池的开路电压与所述电池的放电容量的对应关系可以由虚曲线来表示，由此确定的电池的放电电压与所述电池的放电容量的对 应关关系可以由实线来表示。需要说明的是，由于本实施例的电池的可用总容及时更新，相应地，电池的剩余电量是根据电池的可用总容量及时更新，相应地，电池的剩余电量所对应的所述电池内阻的电压也会随充放电的情况而改变。也就是说，所述电池内阻的电压在充放电过程中也会始终保持为同一值。在实际应用中，由此获得该电池在放电过程中电池的放电电压与所述电池的放电容量的对应关关系(实线)与电池的开路电压与所述电池的放电容量的对应关系(虚线)并不是平移同一ΔV。
又由于，在理想状态下，当电池的开路电压等于电池的放电截止电压时，该开路电压对应的放电容量即为电池的可用总容量。但是由于各方面因素的影响，电池的实际可用总容量并不等于该开路电压对应的放电容量。所以在获得电池的放电电压与电池的放电容量的对应关系后，根据所述电池的放电电压与所述电池的放电容量的对应关系，确定电池的放电截止电压(V T)对应的电池的放电容量(即图8所示实曲线中当纵坐标等于V T时对应的横坐标的值)，并确定该电池的放电容量等于电池的实际可用总容量。
如上方案例如可以参见图6所示的电压修正模块中的FCC修正，其中，SOC校正模块将获得电池的当前时刻剩余电量输出给电压修正模块。
在一些实施例中，还可以根据电池的当前时刻放电功率或电池的当前时刻放电电流动态调整电池的放电截止电压。
判断电池的当前时刻放电功率是否大于预设功率，电池的当前时刻放电电压是否大于电池的放电截止电压。如果电池的当前时刻放电功率小于等于预设功率并且电池的当前时刻放电电压小于等于电池的放电截止电压，则调整电池的放电截止电压。或者，判断电池的当前时刻放电电流是否大于预设电流，电池的当前时刻放电电压是否大于电池的放电截止电压。如果电池的当前时刻放电电流小于等于预设电流并且电池的当前时刻放电电压小于等于电池的放电截止电压，则调整电池的放电截止电压。调整电池的放电截止电压例如可以调高电池的放电截止电压，也可以调低电池的放电截止电压。
在一些例子中，在电池的当前时刻放电功率小于预设电功率，或者，电池的当前时刻放电电流小于预设电流的情况下，如果电池的当前时刻放电电压小于等于电池的放电截止电压，表示突然产生了一个脉冲，使得电池的当前时刻放电电压突然降低，需要及时调低电池的放电截止电压。因此，可以 在不损坏电池的情况下，避免电池放电容量减少。
可选的，在调整电池的放电截止电后，还可以根据调整后的电池的放电截止电压，更新电池的实际可用总容量。例如：根据所述电池的当前时刻放电电压与所述电池的放电容量的对应关系，确定调整后的电池的放电截止电压对应的电池的放电容量，并确定该电池的放电容量等于更新后的电池的实际可用总容量。
可选的，如果所述电池的当前时刻放电功率小于等于预设功率且所述电池的当前时刻放电电压小于等于所述电池的放电截止电压，则将所述电池的当前时刻剩余电量更新为预设剩余电量。或者，如果所述电池的当前时刻放电电流小于等于预设电流且所述电池的当前时刻放电电压小于等于所述电池的放电截止电压，则将所述电池的当前时刻剩余电量更新为预设剩余电量，例如将电池的当前时刻剩余电量由10％更新为0％。这是由于，在电池的功率小于预设电功率，或者，电池的当前时刻放电电流小于预设电流的情况下，如果电池的当前时刻放电电压小于等于电池的放电截止电压，说明电池的剩余电量非常非常低，几乎没有剩余电量，所以可以直接将电池的当前时刻剩余电量更新为0％。
可选的，如果所述电池的当前时刻放电功率小于等于预设功率且所述电池的当前时刻放电电压小于等于所述电池的放电截止电压，或者，如果所述电池的当前时刻放电功率小于等于预设功率且所述电池的当前时刻放电电压小于等于所述电池的放电截止电压，则还根据所述电池的当前时刻剩余电量，获取所述电池的当前时刻开路电压；根据所述电池的当前时刻开路电压与所述电池的放电容量的对应关系，获取所述当前时刻开路电压对应的可用总容量；将所述电池的实际可用总容量更新为所述当前时刻开路电压对应的可用总容量。
本实施例中，如果所述电池的当前时刻放电功率小于等于预设功率且所述电池的当前时刻放电电压小于等于所述电池的放电截止电压，或者，如果所述电池的当前时刻放电功率小于等于预设功率且所述电池的当前时刻放电电压小于等于所述电池的放电截止电压的情况下，通过上述方式电量计计算得到的电池的当前时刻剩余电量例如为10％，但实际上电池的当前时刻剩余电量可能是0％，这10％的差值是由于电池的剩余电量虚高造成的。由于实际 上电池的当前时刻剩余电量可能是0％，所以电池的可用电量已放完，可以认为目前已放的总电量等于电池的实际可用总容量。目前已放的总电量可以由电池的当前时刻开路电压对应的放电容量来获得。由于电量计计算得到的电池的当前时刻剩余电量为10％，所以根据电池的当前时刻剩余电量10％以及电池的剩余电量与电池的开路电压之间的映射关系，可以获得电池的当前时刻剩余电量10％所对应的开路电压，该开路电压即为电池的当前时刻开路电压(OCV SOC＝10％)。然后根据电池的开路电压与电池的放电容量的对应关系，获得电池的当前时刻开路电压(OCV SOC＝10％)所对应的放电容量，将该放电容量作为电池的实际可用总容量。
可选的，如果所述电池的当前时刻放电功率大于预设功率且所述电池的当前时刻放电电压小于所述电池的放电截止电压，或者，所述电池的当前时刻放电电流大于预设电流且所述电池的当前时刻放电电压小于所述电池的放电截止电压，则调整所述电池的放电功率。以无人机为例，当所述电池的当前时刻放电功率大于预设功率且所述电池的当前时刻放电电压小于所述电池的放电截止电压，或者，所述电池的当前时刻放电电流大于预设电流且所述电池的当前时刻放电电压小于所述电池的放电截止电压时，无人机可能存在暴力飞行的情况，这会使得电池的当前时刻放电功率较大，当前时刻放电电流也较大。为了使无人机缓和飞行，因此可以调低电池的放电功率。可选的，在这种情况下，电池的放电截止电压无需调整，电池的实用可用总容量也无需更新。
可选的，在获得电池的当前时刻可用容量后，根据电池的当前时刻可用容，获得电池的当前时刻放电功率或电池的当前时刻放电电流，然后可以用于上述判断过程。由于电池的当前时刻可用容量以及电池的之前的可用容量，可以反映出电池的可用容量变化趋势，从而可以反映出电池的放电功率或放电电流的变化趋势，进而可以确定电池的当前时刻放电功率或电池的当前时刻放电电流。
在一些实施例中，在上述获得或更新电池的实际可用总容量的基础上，还可以输出电池的实际可用总容量，如果获得了电池的实际可用总容量，则输出电池的实际可用总容量，如果更新了电池的实际可用总容量，则输出更新后的电池的实际可用总容量。例如可以向电池供电的外部装置发送所述电 池的实际可用总容量，由外部装置通过显示装置显示该电池的实际可用总容量。
在一些实施例中，在上述获得或更新电池的实际可用总容量的基础上，还可以根据电池的实际可用总容量，更新电池的当前时刻剩余电量。例如可以通过平滑滤波方式，基于电池的实际可用总容量来更新电池的当前时刻剩余电量。例如可以通过将电池的实际可用总容量作为上述各安时积分公式中的电池的可用总容量，来更新电池的当前时刻剩余电量。此过程例如可以参见图6中的RSOC更新模块的相关描述，其中，SOC更新模块获得的SOC输出给RSOC更新模块，电压修正模块获得FCC输出给RSOC更新模块。
在一些实施例中，在通过上述任一实施例获得电池的当前时刻剩余电量后，还可以输出电池的当前时刻剩余电量。例如可以向电池供电的外部装置发送所述电池的当前时刻剩余电量，由外部装置通过显示装置显示该电池的当前时刻剩余电量，例如如图6中的SOC显示模块的相关描述。
需要说明的是，需要说明的是，上述任一实施例可以单独实施，也可以是上述各实施例中至少两个任意结合来实施，对此不做限定。
本申请实施例中还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括上述任一对应实施例中的无人机的控制计算方法的部分或全部步骤。
图9为本申请一实施例提供的无人机的控制系统的结构示意图，如图9所示，本实施例的无人机的控制系统900可以包括：至少一个处理器901(图中以一个处理器为例示出)。
至少一个处理器901，用于根据无人机的飞行状况，确定所述无人机降落所需的电池的目标电参数；以及根据所述目标电参数和所述电池的当前电参数确定所述无人机是否需降落；若根据所述目标电参数和所述电池的当前电参数确定所述无人机需降落，则控制所述无人机降落。
可选的，所述无人机的飞行状况包括所述无人机的飞行高度。
可选的，所述至少一个处理器901，具体用于：根据所述无人机的飞行高度以及所述无人机的降落速度，确定所述无人机降落所需的电池的目标电参数。
可选的，所述至少一个处理器901，具体用于：根据所述飞行高度和所 述降落速度，确定所述无人机的降落时长；根据所述降落时长以及所述无人机的工作功率，确定所述无人机降落所需的电池的放电能量；根据所述无人机降落所需的电池的放电能量，确定所述目标电参数。
可选的，所述目标电参数包括目标放电能量。所述至少一个处理器901，具体用于：将所述无人机降落所需的电池的放电能量确定为所述目标放电能量。
可选的，所述至少一个处理器901，具体用于：根据所述无人机降落所需的电池的放电能量以及所述电池的当前放电电压，确定为所述无人机降落所需的电池的放电容量；
根据所述无人机降落所需的电池的放电容量，确定所述目标电参数。
可选的，若所述目标电参数包括目标剩余电量。所述至少一个处理器901，具体用于：根据所述无人机降落所需的电池的放电容量和所述电池的总容量，确定所述目标剩余电量。
可选的，所述目标电参数包括目标放电电压。所述至少一个处理器901，具体用于：根据所述无人机降落所需的电池的放电容量以及所述电池的放电容量与开路电压之间的关系，确定与所述无人机降落所需的电池的放电容量对应的开路电压；根据确定的所述开路电压，确定所述目标放电电压。
可选的，所述至少一个处理器901，具体用于：获取所述电池的当前压降，所述当前压降与所述电池的内阻和当前电流有关；
根据所述开路电压和所述当前压降，确定所述目标放电电压。
可选的，所述至少一个处理器901，具体用于：若所述电池的当前电参数小于等于所述目标电参数，则确定所述无人机需降落。
可选的，所述至少一个处理器901，具体用于：若所述电池的当前电参数小于等于所述目标电参数的持续时长大于等于相应的预设时长，则确定所述无人机需降落。
可选的，所述电参数包括放电能量、剩余电量、放电电压中的任一项或多项。
可选的，所述至少一个处理器901，还用于根据所述电池的当前放电电压和所述电池的预先设定的放电电压，控制所述无人机降落。
可选的，所述至少一个处理器901，具体用于：若所述电池的当前放电 电压小于等于所述电池的预先设定的放电电压，控制所述无人机降落。
可选的，所述预先设定的放电电压与所述电池的放电截止电压有关；或者，所述预先设定的放电电压是根据所述电池的预设剩余电量以及所述电池的剩余电量与开路电压之间的关系确定的。
可选的，所述电池的当前放电电压为所述电池中各个电芯的当前放电电压中的最低放电电压。
可选的，本实施例的无人机的控制系统900还包括：通信装置902。
通信装置902，用于向所述无人机的控制终端发送提示信息，所述提示信息用于指示需控制所述无人机降落。
可选的，所述通信装置902，还用于在向所述无人机的控制终端发送提示信息之后，接收所述控制终端发送的降落指令。
所述至少一个处理器901，具体用于：根据所述降落指令，控制所述无人机降落。
可选的，本实施例的无人机的控制系统900还可以包括存储器(图中未示出)，用于储程序代码。所述至少一个处理器901，调用所述程序代码以实现上述各方案。
本实施例的无人机的控制系统，可以用于执行本申请上述各方法实施例中的技术方案，其实现原理和技术效果类似，此处不再赘述。
图10为本申请一实施例提供的无人机的结构示意图，如图10所示，本实施例的无人机1000可以包括：电池1001和无人机的控制系统1002。
其中，无人机的控制系统1002可以采用如图9所示的结构，用于执行本申请上述各方法实施例中的技术方案，其实现原理和技术效果类似，此处不再赘述。图9所示实施例中涉及的电池即为图10所示的电池1001。
其中，电池1001和无人机的控制系统1002可以设置在无人机1000的机身内。其中，电池1001可以设置在机身的电池仓内。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码 的介质。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (38)

  1. 一种无人机的控制方法，其特征在于，包括：
    根据无人机的飞行状况，确定所述无人机降落所需的电池的目标电参数；
    根据所述目标电参数和所述电池的当前电参数确定所述无人机是否需降落；
    若根据所述目标电参数和所述电池的当前电参数确定所述无人机需降落，则控制所述无人机降落。
  2. 根据权利要求1所述的方法，其特征在于，所述无人机的飞行状况包括所述无人机的飞行高度。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述无人机的飞行状况，确定所述无人机降落所需的电池的目标电参数，包：
    根据所述无人机的飞行高度以及所述无人机的降落速度，确定所述无人机降落所需的电池的目标电参数。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述无人机的飞行高度以及所述无人机的降落速度，确定所述无人机降落所需的电池的目标电参数，包括：
    根据所述飞行高度和所述降落速度，确定所述无人机的降落时长；
    根据所述降落时长以及所述无人机的工作功率，确定所述无人机降落所需的电池的放电能量；
    根据所述无人机降落所需的电池的放电能量，确定所述目标电参数。
  5. 根据权利要求4所述的方法，其特征在于，所述目标电参数包括目标放电能量；
    所述根据所述无人机降落所需的电池的放电能量，确定所述目标电参数，包括：
    将所述无人机降落所需的电池的放电能量确定为所述目标放电能量。
  6. 根据权利要求4所述的方法，其特征在于，所述根据所述无人机降落所需的电池的放电能量，确定所述目标电参数，包括：
    根据所述无人机降落所需的电池的放电能量以及所述电池的当前放电电压，确定为所述无人机降落所需的电池的放电容量；
    根据所述无人机降落所需的电池的放电容量，确定所述目标电参数。
  7. 根据权利要求6所述的方法，其特征在于，若所述目标电参数包括目标剩余电量；
    根据所述无人机降落所需的电池的放电容量，确定所述目标电参数，包括：
    根据所述无人机降落所需的电池的放电容量和所述电池的总容量，确定所述目标剩余电量。
  8. 根据权利要求6所述的方法，其特征在于，所述目标电参数包括目标放电电压；
    根据所述无人机降落所需的电池的放电容量，确定所述目标电参数，包括：
    根据所述无人机降落所需的电池的放电容量以及所述电池的放电容量与开路电压之间的关系，确定与所述无人机降落所需的电池的放电容量对应的开路电压；
    根据确定的所述开路电压，确定所述目标放电电压。
  9. 根据权利要求8所述的方法，其特征在于，所述根据确定的所述开路电压，确定所述目标放电电压，包括：
    获取所述电池的当前压降，所述当前压降与所述电池的内阻和当前电流有关；
    根据所述开路电压和所述当前压降，确定所述目标放电电压。
  10. 根据权利要求1-9任一项所述的方法，其特征在于，所述根据所述目标电参数与所述电池的当前电参数，确定所述无人机需降落，包括：
    若所述电池的当前电参数小于等于所述目标电参数，则确定所述无人机需降落。
  11. 根据权利要求10所述的方法，其特征在于，若所述电池的当前电参数小于等于所述目标电参数，确定所述无人机需降落，包括：
    若所述电池的当前电参数小于等于所述目标电参数的持续时长大于等于相应的预设时长，则确定所述无人机需降落。
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述电参数包括放电能量、剩余电量、放电电压中的任一项或多项。
  13. 根据权利要求1-12任一项所述的方法，其特征在于，还包括：
    根据所述电池的当前放电电压和所述电池的预先设定的放电电压，控制所述无人机降落。
  14. 根据权利要求13所述的方法，其特征在于，所述根据所述电池的当前放电电压和所述电池的放电截止电压，控制所述无人机降落，包括：
    若所述电池的当前放电电压小于等于所述电池的预先设定的放电电压，控制所述无人机降落。
  15. 根据权利要求14所述的方法，其特征在于，所述预先设定的放电电压与所述电池的放电截止电压有关；或者，
    所述预先设定的放电电压是根据所述电池的预设剩余电量以及所述电池的剩余电量与开路电压之间的关系确定的。
  16. 根据权利要求1-15任一项所述的方法，其特征在于，所述电池的当前放电电压为所述电池中各个电芯的当前放电电压中的最低放电电压。
  17. 根据权利要求1-16任一项所述的方法，其特征在于，还包括：
    向所述无人机的控制终端发送提示信息，所述提示信息用于指示需控制所述无人机降落。
  18. 根据权利要求17所述的方法，其特征在于，向所述无人机的控制终端发送提示信息之后，还包括：
    接收所述控制终端发送的降落指令；
    所述控制所述无人机降落，包括：根据所述降落指令，控制所述无人机降落。
  19. 一种无人机的控制系统，其特征在于，包括：
    至少一个处理器，用于根据无人机的飞行状况，确定所述无人机降落所需的电池的目标电参数；
    根据所述目标电参数和所述电池的当前电参数确定所述无人机是否需降落；
    若根据所述目标电参数和所述电池的当前电参数确定所述无人机需降落，则控制所述无人机降落。
  20. 根据权利要求19所述的系统，其特征在于，所述无人机的飞行状况包括所述无人机的飞行高度。
  21. 根据权利要求20所述的系统，其特征在于，所述至少一个处理器， 具体用于：
    根据所述无人机的飞行高度以及所述无人机的降落速度，确定所述无人机降落所需的电池的目标电参数。
  22. 根据权利要求21所述的系统，其特征在于，所述至少一个处理器，具体用于：
    根据所述飞行高度和所述降落速度，确定所述无人机的降落时长；
    根据所述降落时长以及所述无人机的工作功率，确定所述无人机降落所需的电池的放电能量；
    根据所述无人机降落所需的电池的放电能量，确定所述目标电参数。
  23. 根据权利要求22所述的系统，其特征在于，所述目标电参数包括目标放电能量；
    所述至少一个处理器，具体用于：
    将所述无人机降落所需的电池的放电能量确定为所述目标放电能量。
  24. 根据权利要求22所述的系统，其特征在于，所述至少一个处理器，具体用于：
    根据所述无人机降落所需的电池的放电能量以及所述电池的当前放电电压，确定为所述无人机降落所需的电池的放电容量；
    根据所述无人机降落所需的电池的放电容量，确定所述目标电参数。
  25. 根据权利要求24所述的系统，其特征在于，若所述目标电参数包括目标剩余电量；
    所述至少一个处理器，具体用于：
    根据所述无人机降落所需的电池的放电容量和所述电池的总容量，确定所述目标剩余电量。
  26. 根据权利要求24所述的系统，其特征在于，所述目标电参数包括目标放电电压；
    所述至少一个处理器，具体用于：
    根据所述无人机降落所需的电池的放电容量以及所述电池的放电容量与开路电压之间的关系，确定与所述无人机降落所需的电池的放电容量对应的开路电压；
    根据确定的所述开路电压，确定所述目标放电电压。
  27. 根据权利要求26所述的系统，其特征在于，所述至少一个处理器，具体用于：
    获取所述电池的当前压降，所述当前压降与所述电池的内阻和当前电流有关；
    根据所述开路电压和所述当前压降，确定所述目标放电电压。
  28. 根据权利要求19-27任一项所述的系统，其特征在于，所述至少一个处理器，具体用于：若所述电池的当前电参数小于等于所述目标电参数，则确定所述无人机需降落。
  29. 根据权利要求28所述的系统，其特征在于，所述至少一个处理器，具体用于：
    若所述电池的当前电参数小于等于所述目标电参数的持续时长大于等于相应的预设时长，则确定所述无人机需降落。
  30. 根据权利要求19-29任一项所述的系统，其特征在于，所述电参数包括放电能量、剩余电量、放电电压中的任一项或多项。
  31. 根据权利要求19-30任一项所述的系统，其特征在于，所述至少一个处理器，还用于根据所述电池的当前放电电压和所述电池的预先设定的放电电压，控制所述无人机降落。
  32. 根据权利要求31所述的系统，其特征在于，所述至少一个处理器，具体用于：
    若所述电池的当前放电电压小于等于所述电池的预先设定的放电电压，控制所述无人机降落。
  33. 根据权利要求32所述的系统，其特征在于，所述预先设定的放电电压与所述电池的放电截止电压有关；或者，
    所述预先设定的放电电压是根据所述电池的预设剩余电量以及所述电池的剩余电量与开路电压之间的关系确定的。
  34. 根据权利要求19-33任一项所述的系统，其特征在于，所述电池的当前放电电压为所述电池中各个电芯的当前放电电压中的最低放电电压。
  35. 根据权利要求19-34任一项所述的系统，其特征在于，还包括：
    通信装置，用于向所述无人机的控制终端发送提示信息，所述提示信息用于指示需控制所述无人机降落。
  36. 根据权利要求35所述的系统，其特征在于，所述通信装置，还用于在向所述无人机的控制终端发送提示信息之后，接收所述控制终端发送的降落指令；
    所述至少一个处理器，具体用于：根据所述降落指令，控制所述无人机降落。
  37. 一种无人机，其特征在于，包括电池和如权利要求19-36任一项所述的无人机的控制系统。
  38. 一种计算机可读存储介质，其特征在于，所述可读存储介质上存储有计算机程序；所述计算机程序在被执行时，实现如权利要求1-18任一项所述的无人机的控制方法。
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