WO2021217459A1 - Procédé de commande de plateforme mobile, plateforme mobile, terminal de commande et système - Google Patents

Procédé de commande de plateforme mobile, plateforme mobile, terminal de commande et système Download PDF

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Publication number
WO2021217459A1
WO2021217459A1 PCT/CN2020/087607 CN2020087607W WO2021217459A1 WO 2021217459 A1 WO2021217459 A1 WO 2021217459A1 CN 2020087607 W CN2020087607 W CN 2020087607W WO 2021217459 A1 WO2021217459 A1 WO 2021217459A1
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WIPO (PCT)
Prior art keywords
movable platform
control
control parameter
current
sop value
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PCT/CN2020/087607
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English (en)
Chinese (zh)
Inventor
耿畅
李晔
黄筱莺
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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/CN2020/087607 priority Critical patent/WO2021217459A1/fr
Priority to CN202080031952.3A priority patent/CN114126968A/zh
Publication of WO2021217459A1 publication Critical patent/WO2021217459A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for

Definitions

  • the present invention relates to the field of control, in particular to a control method of a movable platform, a movable platform, a control terminal and a system.
  • smart batteries are the energy source for their movement.
  • the batteries provide energy to motors and other devices to realize the normal movement of the mobile platform.
  • the battery SOP is the battery power state, which refers to the maximum power that the current battery can provide in a period of time (such as 15 seconds). After the power exceeds the battery SOP, it will start to pull down the battery cell voltage, which may cause inaccuracies in the fuel gauge (such as the power jump to 0%, jump to 100%), the battery is damaged and cannot be recovered, or even the drone is interrupted in the air Electricity, leading to serious consequences such as bombing.
  • a jump of the fuel gauge to 0% will appear after the voltage is lower than 3V for 1 second, and a jump to 100% will occur within an uncertain time after the cell voltage is lower than 3V, and a jump to 100% may cause Power off.
  • the mobile platform is usually restricted after the actual power exceeds the battery SOP, but this method does not respond quickly enough and the restriction is too late. Only when the battery SOP is exceeded, the restriction is triggered, which has a certain hysteresis. Once the battery SOP is exceeded, there is the possibility of battery abnormality at any time, and it is difficult to cope with sudden changes. For example, when the drone suddenly starts a large-scale maneuver and violent flight, its actual power will rise suddenly, and the limit will lag behind. risks of.
  • the response may not be accurate enough, the restriction is too early, and the battery performance may not be fully utilized, sacrificing the user experience.
  • an embodiment of the present invention provides a method for controlling a movable platform, the method is applied to a movable platform, the movable platform includes a battery, and the method includes:
  • the movable platform is controlled.
  • an embodiment of the present invention provides a method for controlling a movable platform, the method is applied to a control terminal, and the method includes:
  • a control instruction is generated; wherein the control instruction includes a second control parameter;
  • the movable platform is used to determine whether the second control parameter is greater than the first control parameter, and when the second control parameter is greater than the first control parameter, the first control parameter is used to control the The mobile platform performs control, and when the second control parameter is less than or equal to the first control parameter, the second control parameter is used to control the movable platform;
  • the first control parameter determines the current battery SOP value for the mobile platform, and determines the control parameter corresponding to the current battery SOP value according to the obtained corresponding relationship between the battery SOP value and the control parameter of the mobile platform.
  • an embodiment of the present invention provides a movable platform, the movable platform includes a battery, a computer-readable storage medium, and a processor; the processor is configured to perform the following operations:
  • the movable platform is controlled.
  • an embodiment of the present invention provides a control terminal.
  • the control terminal includes a computer-readable storage medium and a processor; the processor is configured to perform the following operations:
  • a control instruction is generated; wherein the control instruction includes a second control parameter;
  • the movable platform is used to determine whether the second control parameter is greater than the first control parameter, and when the second control parameter is greater than the first control parameter, the first control parameter is used to control the The mobile platform performs control, and when the second control parameter is less than or equal to the first control parameter, the second control parameter is used to control the movable platform;
  • the first control parameter determines the current battery SOP value for the mobile platform, and determines the control parameter corresponding to the current battery SOP value according to the obtained battery SOP value and the corresponding relationship between the mobile platform control parameter.
  • an embodiment of the present invention provides an interactive system.
  • the interactive system includes the above-mentioned movable platform and the above-mentioned control terminal.
  • an embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the method for controlling a movable platform as described above is implemented A step of.
  • the current battery SOP value is determined by obtaining the corresponding relationship between the battery SOP value and the movable platform control parameter, and the current battery SOP value is determined according to the corresponding relationship between the battery SOP value and the movable platform control parameter
  • the corresponding first control parameter, and then according to the first control parameter, the movable platform is controlled, which realizes the real-time control of the movement of the movable platform according to the relationship between the battery SOP value and the control parameter, and improves the safety of the movable platform.
  • FIG. 1 is a flowchart of steps of a method for controlling a movable platform according to an embodiment of the present invention
  • Fig. 2a is a schematic diagram of time and power according to an embodiment of the present invention.
  • Figure 2b is another schematic diagram of time and power provided by an embodiment of the present invention.
  • FIG. 3 is a flowchart of steps of another method for controlling a movable platform according to an embodiment of the present invention
  • Fig. 4 is a step flow chart of another method for controlling a movable platform according to an embodiment of the present invention.
  • FIG. 5 is a flow chart of the steps of another method for controlling a movable platform according to an embodiment of the present invention.
  • Fig. 6 is a flow chart of another method for controlling a movable platform according to an embodiment of the present invention.
  • the mobile platform may include a battery, which may include any one of a drone, an unmanned vehicle, and a mobile robot.
  • the drone may be a rotary-wing aircraft, a fixed-wing aircraft, etc., which is not limited by the present invention. .
  • Step 101 Obtain the corresponding relationship between the SOP value of the battery power state and the control parameter of the movable platform;
  • Battery SOP State of Power
  • the control parameters can include any one or more of the following:
  • Attitude control parameters speed control parameters, acceleration control parameters, angular velocity control parameters.
  • the corresponding relationship between the battery SOP value and the control parameter can be determined by analyzing the historical data.
  • the control parameter can be the maximum control parameter restricted under the battery SOP value, that is, the control parameter is performed on the mobile platform.
  • the control must be limited to the range of the control parameter corresponding to the battery SOP value, otherwise the actual power (the actual power is the power actually consumed by the movable platform during the movement, such as the flying power of the drone) exceeds the battery SOP value risks of.
  • the information can be imported into the movable platform, and then the information can be used to control the movable platform, that is, the movable platform can be controlled in real time according to the corresponding relationship between the calibrated battery SOP value and the control parameter in advance , Limit the actual power of the movable platform as early as possible to reduce the risk of the actual power exceeding the battery SOP value.
  • attitude parameters such as attitude angle
  • the method described in the embodiment of the present invention It can also be applied to other movable platforms, which is not limited in the embodiment of the present invention, and the detailed description is given below:
  • Flight under different conditions can include at least one of the following:
  • attitude angles 10° (the maximum limit attitude angle of the current model), 15°, 20°, 25°, 30°, 35° (the current model supports the maximum flight attitude angle).
  • the relationship between the flight power and the attitude angle can be established according to the situation of different attitude angles, and the preliminary limit parameters, namely the corresponding relationship between the flight power and the attitude angle can be obtained. .
  • a piecewise linear model between flight power and attitude angle can be established to characterize the correspondence between flight power and attitude angle.
  • SOP_LIST battery The corresponding relationship between SOP value list
  • ANG_LIST attitude angle list
  • ANG_LIST [10°, 15°, 20°, 25°, 30°, 35°]
  • the attitude angle can be determined in ANG_LIST as a value between 10°-15°, where w Represents watts, a unit of power.
  • the effect of the preliminary limit parameters on the flight power limit can be verified, and then the preliminary limit parameters obtained in step (2) can be carried out according to the limit effect. Optimization adjustment.
  • step (2) since in the beginning of establishing the preliminary limit parameters in step (2), two cases of flight power in steady state and flight power in sudden changes can be considered, so when verifying the preliminary limit parameters, it is possible to distinguish Steady state and sudden change, flying under actual working conditions, such as normal action in steady state and violent flight in sudden change, load-bearing flight in steady state and unloaded flight in sudden change, etc.
  • Step 102 Determine the current battery SOP value, and determine the first control parameter corresponding to the current battery SOP value according to the corresponding relationship between the battery SOP value and the control parameter of the movable platform;
  • the current battery SOP value can be determined, and the first control parameter corresponding to the current battery SOP value can be determined from the obtained correspondence relationship.
  • the control parameter can be the attitude angle of the drone. Since the corresponding relationship between the attitude angle of the drone and the battery SOP value is preset, after determining the current battery SOP value, the current battery can be determined The attitude angle corresponding to the SOP value is the maximum attitude angle.
  • different battery SOP values can be determined according to the battery support time.
  • SOP1 represents the maximum power of continuous operation in the current 3s
  • SOP2 represents the maximum power of continuous operation in the current 15s.
  • SOP1 The value of will be significantly greater than SOP2
  • different SOP values can be selected according to the characteristics of different flight modes, which can protect the battery while making full use of the battery's performance.
  • Step 103 Control the movable platform according to the first control parameter.
  • the first control parameter can be used to control the movable platform.
  • the control parameters of the movable platform are limited in advance to ensure that the actual power is low.
  • the battery SOP value Based on the battery SOP value, it realizes real-time control of the movement of the movable platform according to the relationship between the battery SOP value and the control parameters, which improves the safety of the movable platform, which can avoid the risk caused by restricting only after exceeding the battery SOP value.
  • It reduces the time and probability of the mobile platform exceeding the battery SOP value improves the real-time performance of the mobile platform restriction, and ensures the response to sudden changes, and can avoid setting a lower threshold than the battery SOP to limit the failure. It can make full use of the performance of the battery, reduce the restriction on the movable platform, and improve the accuracy of the restriction on the movable platform.
  • step 103 may further include the following steps:
  • a first prompt message is generated and sent to the control terminal.
  • control terminal may include one or more of a remote control, a smart phone, a tablet computer, a laptop computer, and a wearable device.
  • the first prompt message is used to prompt the movable platform to perform control according to the first control parameter, that is, to prompt the user that the maximum control parameter of the movable platform is the first control parameter.
  • the first control parameter can be used to generate a first prompt message.
  • the first prompt message can include the first control parameter.
  • the first control parameter can be a 30° attitude angle
  • the first prompt message can be "current The restricted posture angle is 30°”
  • the first prompt message can be sent to the control terminal, so as to prompt the user for the currently most restricted control parameter.
  • feedback control the method of restricting only after the actual power exceeds the battery SOP value
  • the corresponding relationship between the battery SOP value and the attitude angle is passed, and the actual power does not exceed the battery SOP value.
  • feedforward control the method of restricting only after the actual power exceeds the battery SOP value.
  • Figure 2a is a schematic diagram of the actual power change with time when only "feedback” control is adopted
  • Figure 2b is a schematic diagram of the actual power change with time after adding the "feedforward" control
  • the abscissa t is time
  • the ordinate p is the actual power.
  • the actual power for example, the flight power of a drone
  • the flight attitude is limited, such as PI (Proportional Integral, proportional Integral) to limit, so that the actual power drops below the currently supported maximum power.
  • PI Proportional Integral, proportional Integral
  • the "feedback" control method is limited only after the actual power exceeds the battery SOP, and there is hysteresis, the actual power can be limited as early as possible by using the "feedforward" control method.
  • the current maximum power that can be supported is 400w.
  • the curve 21 in Figure 2b characterizes the way of adding "feedforward” control. The actual power starts to decrease when it does not reach 400w, and as The curve 22 in Figure 2b characterizes that only "feedback" control is used, and its actual power begins to decrease after more than 400w. That is, the "feedback" control method limits the actual power in advance and reduces the actual power beyond the current maximum power that can be supported. The probability.
  • the current maximum power that can be supported is 200w.
  • the curve 23 in Figure 2b characterizes the method of adding "feedforward" control
  • the curve 24 in Figure 2b characterizes the increase only using "feedback”.
  • the amplitude of the actual power of curve 23 exceeding 200w is smaller than the amplitude of the actual power of curve 24 exceeding 200w, that is, the "feedback" control method can reduce the actual power to less than the current supportable maximum power faster.
  • the probability of adopting the method of adding "feedforward" control is less than the probability of adopting only "feedback” control.
  • the probability of adopting the method of adding "feedforward" control is less than the probability of adopting only "feedback” control.
  • the time required to increase the "feedforward" control method is less than the time method that only uses the “feedback” control method.
  • the current battery SOP value is determined by obtaining the corresponding relationship between the battery SOP value and the movable platform control parameter, and the current battery SOP value is determined according to the corresponding relationship between the battery SOP value and the movable platform control parameter Corresponding to the first control parameter, and then according to the first control parameter, the movable platform is controlled, which realizes the real-time control of the movement of the movable platform according to the relationship between the battery SOP value and the control parameter.
  • the risk caused by the restriction after the SOP value reduces the probability that the mobile platform exceeds the battery SOP value, improves the real-time performance of the restriction on the mobile platform, and avoids setting a lower threshold than the battery SOP for restriction, resulting in insufficient Utilizing the performance of the battery, the restriction on the movable platform is reduced, and the accuracy of the restriction on the movable platform is improved.
  • FIG. 3 there is shown a step flow chart of another method for controlling a movable platform provided by an embodiment of the present invention. This method can be applied to a movable platform.
  • start marked in FIG. 3 "And “end” do not constitute a limitation to the embodiment of the present invention, even if other steps than the embodiment of the present invention are added between “start” and “end”, it also belongs to the protection scope of the present invention.
  • Step 301 Obtain the corresponding relationship between the SOP value of the battery power state and the control parameter of the movable platform;
  • step 301 refer to the implementation manner of the aforementioned step 101, which will not be repeated here.
  • Step 302 Determine the current battery SOP value, and determine the first control parameter corresponding to the current battery SOP value according to the corresponding relationship between the battery SOP value and the control parameter of the movable platform;
  • step 302 refer to the implementation of the aforementioned step 102, which will not be repeated here.
  • Step 303 Receive a control instruction sent by the control terminal; where the control instruction includes a second control parameter;
  • the user When controlling the movable platform, the user can manipulate the control terminal. In response to the user's operation, the control terminal can generate a control instruction and send it to the movable platform.
  • control instruction may include the second control parameter, that is, the control parameter achieved by the movable platform to be controlled.
  • the second control parameter that is, the control parameter achieved by the movable platform to be controlled.
  • the current attitude angle of the drone is 20°, if the attitude angle is to be adjusted to 30°, the attitude angle is 30°. ° is the second control parameter.
  • step 302 does not limit the sequence of step 302 and step 303.
  • Step 304 Determine whether the second control parameter is greater than the first control parameter
  • the second control parameter After the second control parameter is obtained, it can be judged whether the second control parameter is greater than the first control parameter, that is, before the control operation is not effective, it is judged whether the second control parameter of the control operation is greater than the first control parameter corresponding to the current battery SOP value.
  • One control parameter is the maximum control parameter.
  • Step 305 When the second control parameter is greater than the first control parameter, use the first control parameter to control the movable platform;
  • the control operation is at risk, and the control operation can be restricted.
  • the first control parameter is used to control the movable platform, and the control parameter of the movable platform can be changed. It is limited to the maximum control parameter range allowed by the current battery SOP value to avoid the risk caused by the actual power exceeding the current battery SOP.
  • Step 306 When the second control parameter is less than or equal to the first control parameter, use the second control parameter to control the movable platform.
  • the second control parameter When it is determined that the second control parameter is less than or equal to the first control parameter, there is no risk in the control operation, and the second control parameter can be directly used to control the movable platform.
  • the drone Take the drone as an example. Assuming that the current actual power (flight power) of the drone is 110w, the current battery SOP value is 120w, and the attitude angle is 20°. The user requests a control operation on the drone. The purpose is to adjust the attitude angle to 30° (that is, the second control parameter).
  • the control operation is allowed, and the attitude angle of the drone is adjusted to 30°, and after the attitude angle is adjusted to 30° ,
  • the actual power is increased to 130w, because the actual power of 130w exceeds the current SOP value of 120w, the UAV starts to be restricted.
  • the attitude angle corresponding to the battery SOP value 120w is 25° (that is, the first control parameter).
  • the control operation is not allowed, and the control operation is restricted to ensure that the actual power does not exceed the current battery SOP value.
  • the current battery SOP value is determined by obtaining the corresponding relationship between the battery SOP value and the movable platform control parameter, and the current battery SOP value corresponding to the current battery SOP value is determined according to the corresponding relationship between the battery SOP value and the movable platform control parameter
  • the first control parameter receives a control instruction sent by the control terminal.
  • the control instruction includes a second control parameter. It is judged whether the second control parameter is greater than the first control parameter. When the second control parameter is greater than the first control parameter, the first control parameter is used.
  • the movable platform is controlled.
  • the second control parameter is used to control the movable platform, which realizes the control request based on the relationship between the pre-calibrated battery SOP value and the control parameter Responding to reduce the probability that the actual power exceeds the battery SOP value.
  • FIG. 4 there is shown a step flow chart of another method for controlling a movable platform provided by an embodiment of the present invention. This method can be applied to a movable platform.
  • start marked in FIG. 4 "And “end” do not constitute a limitation to the embodiment of the present invention, even if other steps than the embodiment of the present invention are added between “start” and “end”, it also belongs to the protection scope of the present invention.
  • Step 401 Obtain the corresponding relationship between the SOP value of the battery power state and the control parameter of the movable platform;
  • step 401 refer to the implementation manner of the foregoing step 101, which will not be repeated here.
  • Step 402 Determine the current battery SOP value
  • Step 403 Determine a first mobile power for the movable platform
  • the battery SOP value is mainly affected by battery temperature and SOC (Sate of Charge), and it has a greater impact on the battery SOP value when the battery is at a low temperature. After power on, the battery temperature will increase. During the process, the battery SOP value will also increase with the increase of battery temperature.
  • the first mobile power for the movable platform can be determined, that is, the movable platform is allowed to move Power, such as the take-off power of a drone.
  • step 403 may include the following sub-steps:
  • Acquire current environment data use the current environment data to determine the first mobile power for the movable platform.
  • the current environment data may include any one or more of the following:
  • Environmental temperature data movable platform temperature data, load data, movable platform attitude data, wind speed data, altitude data.
  • the first mobile power in different environments is different. For example, if the UAV has a different load and its allowable take-off power is different, then the current environment data for the mobile platform can be obtained, and then the current environment data can be used. Environmental data to determine the first mobile power for the mobile platform.
  • Step 404 Determine whether the current battery SOP value is greater than or equal to the first mobile power
  • the movable platform moves, such as before the drone takes off, it can be judged whether the current battery SOP value is greater than or equal to the first movement power to determine whether the mobile platform is allowed to move.
  • Step 405 Set the movable platform to a movable state when the current battery SOP value is greater than or equal to the first mobile power
  • the mobile platform can be set to a mobile state, that is, the mobile platform is allowed to move.
  • the protection strategy can be changed to the admission judgment, that is, the battery SOP value When it is below the threshold, although it is allowed to take off, it is not allowed to enter some specific flight modes.
  • step 405 may further include the following steps:
  • a second prompt message can be generated, such as "Allow UAV to take off", and can be sent to the control terminal for display, prompting the user that the movable platform is in a movable state.
  • Step 406 When the current battery SOP value is less than the first mobile power, set the movable platform to an immovable state;
  • the movable platform may be set not to be a movable state, that is, the movable platform is not allowed to move.
  • step 406 may further include the following steps:
  • a third prompt message can be generated, such as "drone not allowed to take off", and can be sent to the control terminal for display, prompting the user that the movable platform is in an immovable state.
  • Step 407 When the movable platform is in a movable state, determine the first control parameter corresponding to the current battery SOP value according to the corresponding relationship between the battery SOP value and the movable platform control parameter;
  • step 407 refer to the implementation manner of the foregoing step 102, which will not be repeated here.
  • Step 408 Control the movable platform according to the first control parameter.
  • step 408 refer to the implementation manner of the aforementioned step 103, which will not be repeated here.
  • the fourth prompt information may be used to prompt that the current battery SOP value of the movable platform is less than the preset battery SOP value.
  • the corresponding control parameters will be correspondingly small, that is, the restrictions on the movable platform are greater. If the movable platform is in an extreme environment at this time, the restrictions on the movable platform are greater. , There may be a greater risk, such as the drone will be blown away and cannot be rescued in an environment where the drone is dealing with strong winds, you can set a preset battery SOP value, which can be greater than the allowable mobile platform to move For example, the first moving power of the drone is greater than the take-off power of the drone.
  • the current battery SOP value is less than the preset battery SOP value.
  • the current battery SOP value is greater than or equal to the preset battery SOP value, there is no need to prompt, and the current battery SOP value is less than the preset battery SOP value.
  • a fourth prompt message can be generated, such as "The current battery SOP value is low, if there are harsh conditions such as strong winds in the surrounding environment, it may cause the drone to be unable to be rescued", and sent to the control terminal to check Control the terminal to display.
  • the current battery SOP value is determined by obtaining the corresponding relationship between the battery SOP value and the movable platform control parameter, the first mobile power for the movable platform is determined, and it is determined whether the current battery SOP value is greater than or equal to the first Mobile power, when the current battery SOP value is greater than or equal to the first mobile power, the mobile platform is set to the mobile state, and when the current battery SOP value is less than the first mobile power, the mobile platform is set to the non-mobile state.
  • the first control parameter corresponding to the current battery SOP value is determined, and the mobile platform is controlled according to the first control parameter, so that the battery SOP value is used to determine whether the mobile platform is allowed to perform Move, improve the safety of the movable platform.
  • FIG. 5 there is shown a flow chart of another method for controlling a movable platform according to an embodiment of the present invention, and the method can be applied to a movable platform.
  • Step 501 Obtain the corresponding relationship between the battery power state SOP value and the control parameter of the movable platform;
  • step 501 refer to the implementation manner of the foregoing step 101, which will not be repeated here.
  • Step 502 Determine the current battery SOP value, and determine the first control parameter corresponding to the current battery SOP value according to the corresponding relationship between the battery SOP value and the control parameter of the movable platform;
  • step 502 refer to the implementation manner of the foregoing step 102, which will not be repeated here.
  • Step 503 Obtain current mobile power
  • the current movement power of the movable platform that is, the actual power
  • the actual power can be obtained, such as the flight power of the UAV in actual flight.
  • Step 504 Determine whether the current mobile power is greater than the current battery SOP value
  • feedback control is used to pre-calibrate the corresponding relationship between the battery SOP value and the attitude angle, and when the actual power does not exceed the battery SOP value
  • feedforward control is used to pre-calibrate the corresponding relationship between the battery SOP value and the attitude angle, and when the actual power does not exceed the battery SOP value
  • Step 505 When the current mobile power is less than or equal to the current battery SOP value, control the movable platform according to the first control parameter.
  • the mobile platform can be controlled according to the first control parameter, that is, "feedforward" control is applied when the current mobile power is less than or equal to the current battery SOP value.
  • the "feedback" control can be applied when the current mobile power is greater than the current battery SOP value.
  • the current flight power exceeds 80% of the current battery SOP value (for example), that is, the current flight power minus the current battery SOP value is used to obtain the current flight power exceeding the current battery
  • the difference of the SOP value is then multiplied by 80%, and then divided by 80% of the maximum battery power to obtain the proportional value.
  • dt The unit time of integration, such as 0.02s.
  • K i 0.1, because when e(t) is less than 0, U(t) is still limited to 0, that is, there is no restriction measure.
  • K p and K i are meaningless.
  • U(t) The output limit value, the range is limited between the range of [0,1], the limit value used to control the attitude angle of the UAV is the limit value U(t) is in [0,1] ] Is mapped to a value between the current attitude angle and the limit value of 10°.
  • the current mobile power can be limited below the current battery SOP value, such as limiting the current mobile power not to exceed 80% of the current battery SOP value.
  • the current mobile scene can be determined, and combined with the current mobile scene, the second mobile power corresponding to the current battery SOP value can be determined.
  • some scenes limit the current mobile power to not exceed 70% of the current battery SOP value.
  • the second mobile power is 70% of the current battery SOP value.
  • the current mobile power is restricted to not exceed 60% of the current battery SOP value.
  • the second mobile power is 60% of the current battery SOP value, and the second mobile can be used. Power, control the movable platform, and realize the hierarchical restriction on the movable platform according to the actual scene.
  • the preset conditions can include:
  • the fuel gauge jumps to zero and the current voltage is lower than the preset voltage.
  • the preset conditions are not met, no follow-up operations are required. If the preset conditions are met, the current battery status information can be further obtained, and the mobile platform can be predicted to be able to move, such as how long the drone can still fly. Use the current battery status information to determine the flag information.
  • the movable platform can be controlled according to the flag information. For example, after the current flight power of the drone is greater than the battery SOP value for a period of time, the battery level will be 0% and the current battery cell voltage will be lower than In the case of a safety threshold of 3V, at this time, the user will be forced to land with an invalid push stick, and the drone will be controlled to land according to the flag information.
  • the current battery SOP value is determined by obtaining the corresponding relationship between the battery SOP value and the movable platform control parameter, and the current battery SOP value corresponding to the current battery SOP value is determined according to the corresponding relationship between the battery SOP value and the movable platform control parameter
  • the first control parameter is to obtain the current mobile power, and determine whether the current mobile power is greater than the current battery SOP value.
  • the mobile platform is controlled according to the first control parameter to realize the
  • the actual power is limited in advance, which reduces the probability that the actual power exceeds the battery SOP value.
  • the actual power is greater than the battery SOP value, the actual power is greatly limited, so that the actual power can be reduced as soon as possible. Below the battery SOP value.
  • feedback control the method of restricting the battery after the actual power exceeds the SOP value of the battery.
  • the corresponding relationship between the battery SOP value and the attitude angle is calibrated in advance, and the actual power does not exceed the battery SOP.
  • feedforward control the method of using the corresponding relationship to limit the actual power in advance.
  • the current environmental data can be collected, such as environmental conditions such as load, attitude angle, wind resistance, and altitude, and then the recommended take-off power can be given based on the current environmental data.
  • the drone When the drone is allowed to take off, respond to user operations to control the drone to take off, and when the drone is in flight, determine the current battery SOP according to the corresponding relationship between the imported battery SOP value and the attitude angle The value corresponds to the first attitude angle (that is, the first control parameter), and the first attitude angle is the most restricted attitude angle.
  • the second attitude angle is the attitude angle that the user expects the UAV to use when flying.
  • the actual flight power of the drone (that is, the current moving power) can be obtained. ) To determine whether the flight power is greater than the current battery SOP value.
  • the "feedforward" control method is adopted, that is, the drone is controlled according to the first attitude angle, and the attitude angle of the drone can be adjusted to the first attitude angle .
  • the "feedback" control method is adopted to greatly limit the flight power of the drone. For example, when the flight power is greater than or equal to 80% of the current battery SOP value, the limit starts. That is, gradually limit the flight power to 80% of the current battery SOP value. In the process of limitation, it can also consider different flight scenarios (ie, the current mobile scene), and then perform hierarchical control (ie, use the second mobile power, Can be controlled by a movable platform).
  • the drone when the fuel gauge jumps to zero and the voltage is lower than the threshold (that is, when the preset conditions are met), the drone can be controlled to land, and it can also launch the flag to land according to the battery itself (that is, the current battery status information) , Thereby avoiding damage to the drone when the fuel gauge jumps to 100%.
  • the "feedback” control method is adopted to constrain the flight power exceeding the battery SOP value; on the other hand, the “feedforward” control method is adopted to use the attitude angle and flight angle of the flight.
  • the power relationship limits the sudden change of flight power and battery SOP value in advance.
  • the "feedforward" control is the main method, and the flight attitude is restricted based on the current battery SOP value in real time.
  • the "feedforward" and “feedback” are integrated, Constrain the flight attitude.
  • FIG. 6 there is shown a flow chart of another method for controlling a movable platform provided by an embodiment of the present invention, and the method can be applied to control a terminal.
  • Step 601 In response to a user operation, generate a control instruction; wherein the control instruction includes a second control parameter;
  • Step 602 Send the control instruction to the movable platform.
  • the movable platform is used to determine whether the second control parameter is greater than the first control parameter, and when the second control parameter is greater than the first control parameter, the first control parameter is used to control the The mobile platform performs control, and when the second control parameter is less than or equal to the first control parameter, the second control parameter is used to control the movable platform.
  • the first control parameter determines the current battery SOP value for the mobile platform, and determines the control parameter corresponding to the current battery SOP value according to the obtained corresponding relationship between the battery SOP value and the control parameter of the mobile platform.
  • a first prompt message is received and displayed; wherein, the first prompt message is used to prompt the movable platform to perform control according to the first control parameter.
  • the second prompt message is used to prompt the movable platform to be in a movable state; receive a third prompt message and display it; wherein, the third prompt message is used It is prompted that the movable platform is in a non-movable state.
  • the fourth prompt message is received and displayed; wherein the fourth prompt message is used to prompt that the current battery SOP value of the movable platform is less than the preset battery SOP value.
  • the control instruction by generating a control instruction in response to a user operation, the control instruction includes a second control parameter, and the control instruction is sent to the movable platform.
  • the movable platform determines whether the second control parameter is greater than the first control parameter. When the second control parameter is greater than the first control parameter, the first control parameter is used to control the movable platform. When the second control parameter is less than or equal to the first control parameter, the second control parameter is used to control the movable platform.
  • One control parameter determines the current battery SOP value for the mobile platform, and determines the control parameter corresponding to the current battery SOP value according to the corresponding relationship between the acquired battery SOP value and the control parameter of the mobile platform, and realizes the calibration and control of the battery SOP value in advance
  • the relationship between parameters, real-time control of the mobile platform not only avoids the risk of limiting only after the battery SOP value is exceeded, reduces the probability of the mobile platform exceeding the battery SOP value, and improves the real-time performance of restricting the mobile platform. It also avoids setting a threshold lower than the battery SOP to restrict the battery performance, which reduces the restriction on the movable platform, and improves the accuracy of the restriction on the movable platform.
  • An embodiment of the present invention also provides a movable platform, which may include a battery, a computer-readable storage medium, and a processor.
  • the processor is used to perform the following operations:
  • the movable platform is controlled.
  • the controlling the movable platform according to the first control parameter includes:
  • the second control parameter is used to control the movable platform.
  • controlling the movable platform according to the first control parameter further includes:
  • a first prompt message is generated and sent to the control terminal; wherein, the first prompt message is used to prompt the movable platform to perform control according to the first control parameter.
  • the processor before controlling the movable platform according to the first control parameter, the processor is further configured to perform the following operations:
  • the movable platform is set to an immovable state.
  • the determining the first mobile power for the movable platform includes:
  • the current environment data includes any one or more of the following:
  • Environmental temperature data movable platform temperature data, load data, movable platform attitude data, wind speed data, altitude data.
  • setting the movable platform to a movable state further includes:
  • the setting the movable platform to an immovable state when the current battery SOP value is less than the first mobile power further includes:
  • the processor is further configured to perform the following operations:
  • a fourth prompt message is generated and sent to the control terminal; wherein the fourth prompt message is used to prompt the current battery SOP value of the movable platform Less than the preset battery SOP value.
  • the processor before controlling the movable platform according to the first control parameter, the processor is further configured to perform the following operations:
  • the processor is further configured to perform the following operations:
  • the second mobile power is used to control the movable platform.
  • the processor is further configured to perform the following operations:
  • the movable platform is controlled.
  • the preset condition includes:
  • the fuel gauge jumps to zero and the current voltage is lower than the preset voltage.
  • control parameter includes any one or more of the following:
  • Attitude control parameters speed control parameters, acceleration control parameters, angular velocity control parameters.
  • the movable platform includes any one of an unmanned aerial vehicle, an unmanned vehicle, and a movable robot.
  • the processor is configured to perform the following operations: obtain the corresponding relationship between the battery SOP value and the control parameter of the mobile platform, and determine the current battery SOP value , And determine the first control parameter corresponding to the current battery SOP value according to the corresponding relationship between the battery SOP value and the control parameter of the movable platform. According to the first control parameter, the movable platform is controlled, and the battery SOP value and control parameter are realized.
  • Real-time control of the movement of the movable platform improves the safety of the movable platform, which can avoid the risk caused by limiting the battery SOP value only after exceeding the battery SOP value, and reduce the time and probability of the movable platform exceeding the battery SOP value. Improved the real-time performance of restrictions on the mobile platform, and ensured the response to sudden changes, and can avoid setting a lower threshold than the battery SOP to limit the performance of the battery and sacrificing the user's hand feeling, reducing the impact
  • the restriction of the movable platform improves the accuracy of the restriction on the movable platform.
  • An embodiment of the present invention provides a control terminal, where the control terminal includes a computer-readable storage medium and a processor.
  • the processor is used to perform the following operations:
  • a control instruction is generated; wherein the control instruction includes a second control parameter;
  • the movable platform is used to determine whether the second control parameter is greater than the first control parameter, and when the second control parameter is greater than the first control parameter, the first control parameter is used to control the The mobile platform performs control, and when the second control parameter is less than or equal to the first control parameter, the second control parameter is used to control the movable platform;
  • the first control parameter determines the current battery SOP value for the mobile platform, and determines the control parameter corresponding to the current battery SOP value according to the obtained corresponding relationship between the battery SOP value and the control parameter of the mobile platform.
  • the processor is further configured to perform the following operations:
  • a first prompt message is received and displayed; wherein, the first prompt message is used to prompt the movable platform to control according to the first control parameter.
  • the processor is further configured to perform the following operations:
  • the second prompt message is used to prompt that the movable platform is in a movable state
  • the third prompt message is used to prompt that the movable platform is in an immovable state.
  • it further includes:
  • the fourth prompt message is received and displayed; wherein the fourth prompt message is used to prompt that the current battery SOP value of the movable platform is less than the preset battery SOP value.
  • the processor is configured to perform the following operations: in response to a user operation, a control instruction is generated, the control instruction includes a second control parameter, and the control instruction is sent to A movable platform; wherein the movable platform is used to determine whether the second control parameter is greater than the first control parameter, and when the second control parameter is greater than the first control parameter, the first control parameter is used to control the movable platform, and When the second control parameter is less than or equal to the first control parameter, the second control parameter is used to control the movable platform; the first control parameter is the movable platform to determine the current battery SOP value, and according to the acquired battery SOP value and the movable platform Correspondence of control parameters, determine the control parameters corresponding to the current battery SOP value, realize the real-time control of the movable platform according to the relationship between the battery SOP value and the control parameter, which avoids the risk caused by restricting only after the battery SOP
  • An embodiment of the present invention also provides an interactive system.
  • the interactive system may include the above-mentioned movable platform and the above-mentioned control terminal.
  • the movable platform and the control terminal may be wirelessly connected, and the control terminal may send a control signal to the movable platform.
  • the control terminal may send a control signal to the movable platform.
  • An embodiment of the present invention also provides an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor.
  • the computer program is executed by the processor to implement the control method of the above movable platform. A step of.
  • An embodiment of the present invention also provides a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium.
  • the computer program is executed by a processor, the steps of the control method of the above movable platform are realized.
  • the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the embodiments of the present invention can be provided as a method, an apparatus, or a computer program product. Therefore, the embodiments of the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing terminal equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the instruction device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing terminal equipment, so that a series of operation steps are executed on the computer or other programmable terminal equipment to produce computer-implemented processing, so that the computer or other programmable terminal equipment
  • the instructions executed above provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

Procédé de commande de plateforme mobile, plateforme mobile, terminal de commande et système. La plateforme mobile comprend une batterie. Le procédé comprend les étapes consistant à : obtenir une relation correspondante d'une valeur d'état de puissance (SOP) de batterie et d'un paramètre de commande d'une plateforme mobile (101) ; déterminer une valeur de SOP de batterie actuelle, et déterminer, en fonction de la relation correspondante de la valeur de SOP de batterie et du paramètre de commande de la plateforme mobile, un premier paramètre de commande correspondant à la valeur de SOP de batterie actuelle (102) ; et commander la plateforme mobile en fonction du premier paramètre de commande (103). Selon le procédé, le mouvement de la plateforme mobile peut être commandé en temps réel en fonction de la relation entre la valeur de SOP de batterie et le paramètre de commande, améliorant la sécurité de la plateforme mobile.
PCT/CN2020/087607 2020-04-28 2020-04-28 Procédé de commande de plateforme mobile, plateforme mobile, terminal de commande et système WO2021217459A1 (fr)

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PCT/CN2020/087607 WO2021217459A1 (fr) 2020-04-28 2020-04-28 Procédé de commande de plateforme mobile, plateforme mobile, terminal de commande et système
CN202080031952.3A CN114126968A (zh) 2020-04-28 2020-04-28 可移动平台的控制方法、可移动平台、控制终端及系统

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EP3285130A2 (fr) * 2016-08-20 2018-02-21 The Hi-Tech Robotic Systemz Ltd Véhicule aérien sans pilote amarré
CN108860622A (zh) * 2018-04-28 2018-11-23 深圳市道通智能航空技术有限公司 无人机控制方法、装置及计算机可读存储介质
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CN110740936A (zh) * 2018-07-30 2020-01-31 深圳市大疆创新科技有限公司 过流保护方法、无人机、移动平台及存储介质

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CN105398578A (zh) * 2015-11-12 2016-03-16 中国人民解放军国防科学技术大学 一种基于纵向航迹的太阳能飞行器安全控制方法
EP3285130A2 (fr) * 2016-08-20 2018-02-21 The Hi-Tech Robotic Systemz Ltd Véhicule aérien sans pilote amarré
CN108860622A (zh) * 2018-04-28 2018-11-23 深圳市道通智能航空技术有限公司 无人机控制方法、装置及计算机可读存储介质
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