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WO2021081740A1 - Procédé de retour et procédé et appareil de détermination de consommation d'énergie de retour - Google Patents

Procédé de retour et procédé et appareil de détermination de consommation d'énergie de retour Download PDF

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Publication number
WO2021081740A1
WO2021081740A1 PCT/CN2019/113933 CN2019113933W WO2021081740A1 WO 2021081740 A1 WO2021081740 A1 WO 2021081740A1 CN 2019113933 W CN2019113933 W CN 2019113933W WO 2021081740 A1 WO2021081740 A1 WO 2021081740A1
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WIPO (PCT)
Prior art keywords
wind speed
speed information
information
airspeed
return
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Ceased
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PCT/CN2019/113933
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English (en)
Chinese (zh)
Inventor
张子豪
商志猛
彭昭亮
耿畅
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2019/113933 priority Critical patent/WO2021081740A1/fr
Priority to CN201980038800.3A priority patent/CN112334781A/zh
Publication of WO2021081740A1 publication Critical patent/WO2021081740A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R22/00—Arrangements for measuring time integral of electric power or current, e.g. electricity meters
    • G01R22/06—Arrangements for measuring time integral of electric power or current, e.g. electricity meters by electronic methods
    • 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
    • B64D43/00—Arrangements or adaptations of instruments
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G06F30/27—Design optimisation, verification or simulation using machine learning, e.g. artificial intelligence, neural networks, support vector machines [SVM] or training a model

Definitions

  • This application relates to the field of intelligent return home technology, and specifically, to a method for returning home, a method and device for determining power consumption for returning home.
  • the drone needs to estimate the power consumption of the return home during the flight, so as to trigger the drone to return to the home automatically at an appropriate time, to avoid insufficient power and the ability to automatically return to the target point, causing the drone to lose or fail to land.
  • it is usually based on constant ground speed and flight power to estimate the power consumption for returning home.
  • this application proposes a method for returning home, a method and device for determining the power consumption for returning home.
  • a method for returning home including:
  • a method for determining power consumption for returning home includes:
  • the power consumption for returning home is determined according to the wind speed information and the ground speed information.
  • an apparatus characterized in that the apparatus includes a processor, a memory, and a computer program stored on the memory, and the processor implements the following steps when the processor executes the computer program:
  • the wind speed information when returning home can be estimated through historical wind speed information, and the electricity consumption for returning home can be determined based on the estimated wind speed information and ground speed information when returning home. , And determine whether to perform the return operation according to the remaining power at the current moment and the estimated return power consumption.
  • the historical wind speed is used to estimate the wind speed when returning home, and used to estimate the power consumption for returning home, so that the estimated power consumption for returning home is more accurate.
  • Fig. 1 is a schematic diagram of a return path of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Fig. 2 is a flowchart of a method for returning home according to an embodiment of the present invention.
  • Figure 3 is a schematic diagram of solving the return ground speed according to the return wind speed and the return air speed according to an embodiment of the present invention.
  • Fig. 4 is a schematic diagram of a method for calculating the return wind speed according to an embodiment of the present invention.
  • Fig. 5 is a schematic diagram of a method for calculating return air speed and flight power according to an embodiment of the present invention.
  • Fig. 6 is a schematic diagram of a method for calculating the return ground speed and the return time provided by an embodiment of the present invention.
  • Fig. 7 is a flowchart of a method for determining power consumption for returning home according to an embodiment of the present invention.
  • Fig. 8 is a schematic diagram of the logical structure of a device provided by an embodiment of the present invention.
  • the ground speed of each stage of the flight is known and constant, so that the time required for the drone to return to the origin from the current position according to the predetermined return trajectory can be calculated, and then according to the set flight power consumption of the drone, it can be calculated The power C1 required for the drone to return home.
  • the return power calculation method in the related technology can effectively make the drone return to the origin in most scenarios of headwind return by increasing the reserved power C0.
  • the wind speed exceeds a certain threshold limited by the maximum flight airspeed of the drone, the ground speed of the return home will be reduced, and the power required for the return of the drone will be significantly increased.
  • the estimated power C1 plus the reserved power C0 are used. The solution often prevents the drone from returning to the origin.
  • the return method provided in this application takes wind speed information into account when estimating the power consumption for the return home.
  • the wind speed information during the return journey is estimated and based on the estimated return wind speed information and the aircraft.
  • the return route calculates the power consumption for the return home, which makes the estimation of the power consumption for the return home more accurate.
  • the return method provided in this application is applicable to various aircraft such as unmanned aerial vehicles and airplanes.
  • the following uses drones as an example to explain the return method provided in this application, but the return method provided in this application is not limited to drones.
  • S202 Estimate the wind speed information of landing from the current position to the target position according to the acquired historical wind speed information
  • S204 Determine ground speed information for landing from the current position to the target position
  • S206 Determine the power consumption for returning home according to the wind speed information and the ground speed information
  • S208 Determine whether to perform a return operation based on the power consumption of the return home and the current remaining power.
  • the airspeed information, wind speed information, and ground speed information mentioned in this application can be vectors containing modulus length and direction.
  • ground speed air speed + wind speed, that is, ground speed will be equal to the vector sum of air speed and wind speed, and the three of ground speed, air speed and wind speed satisfy a triangular relationship.
  • ground speed air speed + wind speed, that is, ground speed will be equal to the vector sum of air speed and wind speed, and the three of ground speed, air speed and wind speed satisfy a triangular relationship.
  • the air speed of the drone will also be adjusted accordingly according to the wind speed, so that the final The ground speed is constant at the ground speed set by the user.
  • the power consumption of the UAV's return home is mainly affected by two factors: the return flight power P and the return time T.
  • the power of the return flight is only related to the airspeed of the UAV during the return process, and the power consumption P of the UAV during stable flight is a fixed value.
  • the return time is related to the ground speed of the UAV's return process, the distance between the current position and the target position, and the return trajectory. Taking the return trajectory shown in Figure 1 as an example, it can be assumed that the flight power in the ascent and descent section is similar to the flight power in the cruise section. Of course, it can also be distinguished in practical applications.
  • the return power consumption can be calculated in the following way:
  • the above return route is just an example.
  • the drone When the remaining power Cr of the drone is lower than the return power C, the drone will usually prompt the user to automatically return to home immediately.
  • the change of wind speed in the environment may cause the ground speed and airspeed of the drone to change, which will affect the time and power of the drone to return to the flight, thus affecting the return to flight.
  • Power Therefore, when calculating the power consumption for returning home in this application, you can first estimate the wind speed information for returning from the current position to the target location based on historical wind speed information, and then determine the return home based on the estimated wind speed information and ground speed information when returning home Electricity, and according to the current remaining electric power of the drone and the power consumption to return to home to determine whether to perform the return operation.
  • the historical wind speed information is used to estimate the wind speed information when returning home, and then the wind speed information is used to estimate the electricity consumption of the return home, which can make the estimation result more accurate.
  • the UAV can estimate the power consumption of the current return home in real time during the flight. Of course, it can also be estimated at regular intervals, for example, every 1 minute, and then with The current remaining power is compared to determine whether it is necessary to perform a return operation.
  • the execution of the above-mentioned return-to-home method is triggered.
  • the aforementioned preset event may be set according to aircraft parameters and/or preset instructions.
  • the preset event can be any of the following events. It is detected that the wind speed change is greater than the preset air volume threshold, an operation instruction for instructing the execution of a new task is received, the battery temperature is detected to be greater than the preset threshold, the flight angle is greater than the preset threshold, and the battery The output power is greater than a preset threshold, and so on. The occurrence of these events consumes a lot of power.
  • the steps of the above return-to-home method are triggered, which can determine whether the return-to-home operation needs to be performed in time, and avoid the failure of the aircraft to return to home.
  • historical wind speed information may be obtained, and then the wind speed information at the time of returning home can be estimated based on the acquired historical wind speed information.
  • the drone can also obtain wind speed information for a period of time from the interconnected weather information, and then estimate the return home based on the wind speed information obtained from the Internet for a period of time in the future. Wind speed information.
  • estimating the wind speed information from the current position to the target position based on the acquired historical wind speed information includes estimating the wind speed information from the current position to the target position based on the acquired historical wind speed information and a pre-trained wind speed prediction model , Or estimate the wind speed information from the current position to the target position based on the historical wind speed information in the specified time period.
  • a wind speed prediction model can be pre-trained, and then based on the acquired historical wind speed information and the pre-trained wind speed prediction model to predict future wind speed information.
  • a deep learning model can be used to predict wind speed information at a future time. For example, a large amount of historical wind speed information can be obtained, and then wind speed data within 30 minutes before a certain time can be taken as the input of the model, and 10 minutes after that time The average value of the internal wind speed is used as the output to train the deep learning model, so that the correlation between the wind speed in the past 30 minutes and the average wind speed in the future 10 minutes at a certain time can be obtained, and a wind speed prediction model can be obtained.
  • the drone When the drone needs to predict the average wind speed in the next 10 minutes at the current moment, it can obtain the historical wind speed information 30 minutes before the current moment, and input it into the pre-trained wind speed prediction model to predict the average wind speed information in the next 10 minutes.
  • the average wind speed information in the next 10 minutes can be used as the return wind speed to calculate the return power consumption.
  • the above is just a simple example to explain the scheme. In actual construction of the wind speed prediction model, more factors can be considered, and more data can be used to train the model to obtain a more accurate wind speed prediction model.
  • the wind speed information for returning from the current position to the target position can also be estimated based on the historical wind speed information for a specified time period.
  • the designated time period is a time period that can be selected to more accurately estimate the wind speed information of the future return process, and then the wind speed information of this time period is used to estimate the return wind speed.
  • estimating the wind speed information based on the historical wind speed information in the specified time period includes: determining the historical wind speed average value or the historical wind speed maximum value based on the historical wind speed information in the specified time period; and then based on the historical wind speed information.
  • the average wind speed or the maximum historical wind speed determines the wind speed information. For example, the average wind speed within a specified time period can be taken as the wind speed information when returning home.
  • the specified time period is a time period obtained by moving a specified period of time along the time axis from the current moment in the direction of the previous moment. You can use the current moment as the starting point, move the previous moment along the time axis for a specified period of time to obtain a time period, and then calculate the return wind speed based on the wind speed information in the time period, for example, take the average or maximum value of the time period as the return Wind speed. Generally speaking, wind speed changes are relatively stable, so the wind speed information in the past short period of time at the current moment can be obtained to estimate the wind speed at the time of return.
  • the return wind speed information obtained in this way will be closer to the real situation, for example, you can take The wind speed in the past 5 minutes, or the wind speed in the past 10 minutes, and then estimate the wind speed information when returning home based on the wind speed in the time period.
  • the variance of the historical wind speed in the specified time period is less than a preset threshold. For example, in order to obtain a relatively stable wind speed information to estimate the return wind speed information, you can first determine whether the variance of the wind speed information within a specified time period is less than a preset threshold.
  • the wind speed is considered to be relatively stable. For example, you can take the wind speed information in the past 5 minutes from the current moment and calculate the variance. If it is less than the preset threshold, the specified time period is 5 minutes past the current moment. Of course, if the calculated variance is greater than the preset threshold, Increase the duration, for example, take the wind speed information of the past 6 minutes, and then calculate the variance value until the variance is less than the preset value to determine the specified time period.
  • the duration of the specified time period can also be limited, when the total duration is increased to a certain amount. Value, no longer increases.
  • a sliding window with a length of the first preset duration may also be slid from the current moment along the time axis in the direction of the previous moment according to the step of the second preset duration. , And then obtain the historical wind speed information of each time period falling into the sliding window, calculate the variance of the historical wind speed of each time period in the sliding window in the order of falling into the sliding window, and select the first A time period in which the sliding window is sliding and the variance is less than a preset threshold is regarded as the designated time period.
  • the first 5 min is taken as the specified time period, and then the wind speed information in this time period is used to estimate the return wind speed.
  • the variance of the wind speed for the first 5 minutes is greater than the preset threshold, then take the 5 minutes wind speed information in the next sliding window and calculate the variance value until the variance is less than the preset threshold.
  • the specified time period is the time period closest to the current moment and the wind speed variance value is less than the preset threshold. Then determine the average wind speed or the maximum wind speed of the wind speed within the specified time period as the wind speed when returning home.
  • the UAV can continuously obtain the latest wind speed information during the flight.
  • the time corresponding to the obtained wind speed information is greater than 5 minutes
  • the average value and variance of the wind speed in the past 5 minutes can be calculated, and then the past can be judged.
  • the variance of the wind speed within 5 minutes is less than the preset threshold, if it is, the average wind speed within the past 5 minutes is considered to be a valid value, which can be used as the wind speed for returning. If it is greater than, the average wind speed in the past 5 minutes is considered to be an invalid value, and the effective value calculated last time is obtained as the return wind speed.
  • the wind speed information at each time in history can be determined by sensors, or it can be determined according to the force state of the aircraft.
  • the historical wind speed information can be stored in a buffer queue module.
  • a FIFO queue can be used for buffering.
  • the wind speed information of the buffer queue module is updated, so that only the wind speed information of the past 5 minutes is retained. , Delete the value over 5 minutes, which can save memory.
  • the ground speed information of the drone landing from the current position to the target position can be determined.
  • the ground speed information may be ground speed information preset by the user. For example, the user may preset the drone to return to the target position at a certain speed.
  • the ground speed information may also be determined based on the estimated wind speed information.
  • the first airspeed information may be determined according to the wind speed information and the preset ground speed, and the judgment Whether the first airspeed information satisfies a preset airspeed condition, the preset airspeed condition is set according to the maximum airspeed of the drone, and if it is satisfied, the ground speed is determined according to the preset ground speed. ⁇ Speed information.
  • the drone can return to the ground according to the preset ground speed information.
  • the drone can adjust the air speed to keep the ground speed at the preset value.
  • the first airspeed information may be determined based on the estimated return wind speed information and the preset ground speed.
  • the first airspeed information is the airspeed that needs to be reached when flying at the estimated ground speed. . Then determine whether the first airspeed information satisfies the preset airspeed condition.
  • the preset airspeed condition can be the maximum flight airspeed of the UAV, of course, it can also be the maximum power, or the maximum throttle amount and other parameters. Numerical value. If the first airspeed information satisfies the preset maximum airspeed condition, the preset ground speed is used as the ground speed information when the drone returns to home. Of course, in some embodiments, if the first airspeed information does not meet the preset maximum airspeed condition, the return ground speed information can be determined again based on the wind speed information and the maximum flight airspeed.
  • the ground speed information can be determined according to the triangular relationship between wind speed, air speed, and ground speed.
  • Va represents airspeed
  • Vg represents ground speed
  • Vw represents wind speed.
  • the circle in Figure 3 represents the modulus length of the maximum flight airspeed.
  • the left picture shows that the return air speed modulus is greater than the maximum airspeed, and the right picture shows the return ground speed is reversed based on the maximum airspeed.
  • the direction of the ground speed when returning home can be determined according to the returning trajectory, and the maximum flight airspeed modulus length, the wind speed modulus length and direction when returning home are also known. Therefore, the angle between the ground speed and the wind speed can be determined according to the direction of the ground speed and the direction of the wind speed when returning home, and then the law of cosines can be used to find the modulus length of the returning ground speed. It can be solved by the following formula:
  • Vg is the ground speed when returning home
  • Vw is the wind speed when returning home
  • Va is the air speed when returning home
  • ⁇ is the angle between ground speed and wind speed.
  • the above equation can be regarded as a one-dimensional quadratic equation.
  • This situation is the main scenario, indicating that the triangle relationship we need is found in the unit circle, and we take a positive value as the ground speed modulus length for returning home.
  • the power consumption of the drone returning home from the current position to the target position can be determined according to the wind speed information and ground speed information.
  • the flight time from the current position to the target location can be determined based on the ground speed information, and then the flight power can be determined based on the wind speed information and the ground speed information, and the return power consumption can be determined based on the flight time and the flight power.
  • the flight power of the UAV in the process of returning home is related to the flight airspeed.
  • it specifically includes: determining the second airspeed information according to the wind speed information and the ground speed information, based on the coordinate system corresponding to the preset power meter The coordinate system of the second airspeed information is converted, and the power meter is used to record the correspondence between the flight airspeed and power, and the second airspeed information after the conversion of the coordinate system and the power meter determine the corresponding relationship.
  • the flight power when determining the flight power according to the wind speed information and the ground speed information, it specifically includes: determining the second airspeed information according to the wind speed information and the ground speed information, based on the coordinate system corresponding to the preset power meter The coordinate system of the second airspeed information is converted, and the power meter is used to record the correspondence between the flight airspeed and power, and the second airspeed information after the conversion of the coordinate system and the power meter determine the corresponding relationship.
  • the flight power when determining the flight power according to the wind speed information and the ground speed information
  • the second airspeed information can be determined by the wind speed information and ground speed information when returning home.
  • the second airspeed information is the actual airspeed information during the return process, and then the flight power of the UAV during the return process can be determined based on the second airspeed information. .
  • the power meter can be set in advance. After the second airspeed information is determined by the wind speed information and ground speed information, since the second airspeed information is the airspeed in the geodetic coordinate system, the second airspeed information can be measured first.
  • Coordinate system conversion convert to the same coordinate system as the power meter, that is, the airspeed information in the body coordinate system, and get the converted second airspeed information, and then look up and interpolate the table from the preset power meter to get the converted The flight power corresponding to the second airspeed information.
  • the return-to-home operation After determining the estimated return-to-home power consumption of the drone at the current moment, it can be determined whether to perform the return-to-home operation based on the remaining power at the current moment and the estimated return-to-home power consumption. For example, if the difference between the current remaining power and the estimated return-to-home power consumption is less than the preset power, the return-to-home operation is performed. For safety reasons, in order to avoid the situation where the UAV cannot return to the origin as much as possible, usually a certain amount of reserved power C0 is added to the estimated return power consumption C1 to ensure that there is enough The power for the drone to return to the target position, therefore, this reserved power C0 can be used as the preset power. When the current remaining power of the drone and the estimated return power consumption are less than or equal to the reserved power, the return is executed operating.
  • This application uses historical wind speed information to estimate the wind speed information during the return process when estimating the UAV’s current return home power consumption, and then dynamically determines the ground speed information and the flight power based on the wind speed information and the maximum airspeed information, so that The flight time and flight power are closer to the values in the actual scenario, and the estimated return power consumption is also more accurate, which can avoid the power when the drone cannot return to the target position due to insufficient power during the return process, or the power when the drone returns to the target position prematurely There is a lot of remaining and the problem of sacrificing effective working time.
  • the return path shown in FIG. 1 is taken as an example, and it is assumed that the flight power in the ascent and descent stage is similar to the flight power in the cruise stage for explanation.
  • the following schemes may be adopted to optimize the calculation of the return power P and the return time T to estimate the power consumption of the return home. The detailed calculation steps are as follows:
  • the ambient wind speed when returning home is one of the main factors that affect the power consumption of the UAV returning home.
  • the wind speed information when returning home it is necessary to know the wind speed information when returning home.
  • the historical wind speed information during the flight can be used to estimate the wind speed information during the return journey.
  • the historical wind speed information during the flight can be calculated by the precise atmospheric computer on the drone or the force state of the drone. In order to facilitate calculation, this embodiment only considers the influence of wind on the northeast horizontal plane under the northeast coordinate system.
  • the sliding average value of the wind speed information of the past 5 minutes may be used as the return wind speed.
  • 5 minutes is the set value, which can be modified according to the actual scene.
  • the drone After the drone takes off, it acquires wind speed information at a fixed frequency and caches the acquired wind speed information.
  • the wind speed information cache queue is updated, and only the wind speed information of the past 5 minutes is retained.
  • the value exceeding 5 minutes is deleted, and the mean value and variance of the wind speed in the past 5 minutes are calculated.
  • the variance is less than a certain threshold, the wind speed can be considered to be relatively stable. This value can be used as the return wind speed to participate in the estimation of the return power. Refer to Figure 4 for the calculation of the return wind speed.
  • the preset return ground speed of the cruise section is In the case of, the estimated return wind speed is recorded as Under this wind speed, the airspeed of the drone when the drone returns at the preset ground speed can be calculated as:
  • the flying airspeed of the UAV Since the flying airspeed of the UAV has a maximum limit, it is recorded as When the airspeed of the drone is less than the maximum airspeed, As the airspeed when returning to home, when the wind speed is high, the modulus of the returning air speed of the UAV will be greater than the maximum flight airspeed of the UAV:
  • the UAV will return at the maximum flight airspeed, so the maximum flight airspeed is used as the return airspeed at this time.
  • the flight power of the UAV is only related to the airspeed vector under the aircraft system, through calibration experiments, the power meter of the UAV flying in different directions and at different speeds under the body coordinate system in an ideal environment can be obtained.
  • the coordinate system After determining the return air speed when the UAV returns to home, since the return air speed is the airspeed in the geodetic coordinate system, the coordinate system can be converted first to the airspeed in the airframe coordinate system. Then, the power of the UAV when flying at the return air speed can be obtained by looking up the table and interpolation.
  • the calculation process of the return speed and return power of the UAV is shown in Figure 5.
  • the drone when the return air speed At this time, under the influence of wind, the drone will not be able to return at the predetermined return speed. At this time, the return time of the drone will definitely be affected, resulting in inaccurate power estimation. Therefore, the return ground speed during the return process can be obtained according to the triangular relationship among the airspeed, ground speed, and wind speed (S603).
  • the return time is determined according to the return ground speed and the distance from the current position to the target position (S604).
  • the direction of the ground speed when returning home can be determined according to the returning trajectory, and the maximum flight airspeed modulus length, the wind speed modulus length and direction when returning home are also known. Therefore, the angle ⁇ between the ground speed and the wind speed can be determined according to the direction of the ground speed and the direction of the wind speed when returning home, and then the law of cosines can be used to find the modulus length of the returning ground speed. It can be solved by the following relation:
  • the above equation can be regarded as a one-dimensional quadratic equation.
  • This situation is the main scenario, indicating that the triangle relationship we need is found in the unit circle, and we take a positive value as the ground speed modulus length for returning home.
  • the drone will not be able to return in this environment, and the operator must be informed that the drone may not be able to return.
  • the estimation accuracy of the power consumption for the return flight is improved, which can significantly reduce the probability that the drone will be lost due to the upwind environment unable to return to the take-off point, and at the same time ensure that no one is as much as possible.
  • the operational flight time of the aircraft improves the safety of the UAV flying in a windy environment.
  • This application also provides a method for determining the power consumption for returning home.
  • the method is shown in FIG. 7 and includes the following steps:
  • S702 Estimate the wind speed information of landing from the current position to the target position according to the acquired historical wind speed information
  • S706. Determine the power consumption for returning home according to the wind speed information and the ground speed information.
  • the determining the ground speed information for landing from the current position to the target position includes:
  • the ground speed information for landing from the current position to the target position is determined according to the wind speed information.
  • the determining the ground speed information for landing from the current position to the target position according to the wind speed information includes:
  • the ground speed information is determined according to the preset ground speed.
  • the ground speed information is determined according to the maximum airspeed and the wind speed information.
  • estimating the wind speed information from the current position to the target position according to the acquired historical wind speed information includes:
  • the wind speed information for landing from the current position to the target position is estimated.
  • the specified time period is a time period obtained by moving a specified period of time along the time axis along the time axis from the current moment.
  • the variance of the historical wind speed in the specified time period is less than a preset threshold.
  • the specified time period is obtained through the following steps:
  • a time period that first falls into the sliding window and the variance is less than a preset threshold is selected as the designated time period.
  • estimating the wind speed information based on historical wind speed information in a specified time period includes:
  • the wind speed information is determined based on the historical wind speed average value or the historical wind speed maximum value.
  • determining the power consumption for returning home according to the wind speed information and the ground speed information includes:
  • the return-to-home power amount is determined based on the flight time and flight power.
  • determining the flight power according to the wind speed information and the ground speed information includes:
  • the flight power is determined according to the second airspeed information after the coordinate system is converted and the power meter.
  • the present application also provides a device.
  • the device 80 includes a processor 82, a memory 84, and a computer program stored on the memory. The following steps:
  • the processor when used to determine the ground speed information for landing from the current position to the target position, it specifically includes:
  • the ground speed information for landing from the current position to the target position is determined according to the wind speed information.
  • the processor when the processor is configured to determine the ground speed information for landing from the current position to the target position according to the wind speed information, it specifically includes:
  • the ground speed information is determined according to the preset ground speed.
  • the ground speed information is determined according to the maximum airspeed and the wind speed information.
  • the processor when the processor is configured to estimate the wind speed information for landing from the current position to the target position according to the acquired historical wind speed information, it specifically includes:
  • the wind speed information for landing from the current position to the target position is estimated.
  • the specified time period is a time period obtained by moving a specified period of time along the time axis along the time axis from the current moment.
  • the variance of the historical wind speed in the specified time period is less than a preset threshold.
  • the specified time period is obtained through the following steps:
  • a time period that first falls into the sliding window and the variance is less than a preset threshold is selected as the designated time period.
  • the processor when the processor estimates the wind speed information based on the historical wind speed information in a specified time period, it specifically includes:
  • the wind speed information is determined based on the historical wind speed average value or the historical wind speed maximum value.
  • the processor when configured to determine the power consumption for returning home according to the wind speed information and the ground speed information, it specifically includes:
  • the return-to-home power amount is determined based on the flight time and flight power.
  • the processor when configured to determine the flight power according to the wind speed information and the ground speed information, it specifically includes:
  • the flight power is determined according to the second airspeed information after the coordinate system is converted and the power meter.
  • the device may be applied to an unmanned aerial vehicle.
  • the specific details can refer to the description in the return method, which will not be repeated here.
  • An embodiment of the present application also provides an unmanned aerial vehicle, which includes any one of the above-mentioned return-to-home devices.
  • the relevant part can refer to the part of the description of the method embodiment.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units.
  • Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.

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Abstract

L'invention concerne un procédé de retour qui consiste à : estimer, en fonction d'informations de vitesse de vent historiques obtenues, des informations de vitesse de vent pendant l'atterrissage d'une position actuelle vers une position cible ; déterminer des informations de vitesse sol pendant l'atterrissage de la position actuelle vers la position cible ; déterminer la consommation d'énergie de retour en fonction des informations de vitesse de vent et des informations de vitesse sol ; et déterminer, en fonction de la consommation d'énergie de retour et d'une capacité de batterie restante actuelle, s'il faut effectuer une opération de retour. L'invention concerne également un procédé et un appareil pour déterminer la consommation d'énergie de retour. Selon la présente invention, des informations de vitesse du vent pendant le retour sont prévues au moyen d'une vitesse de vent historique, puis appliquées à l'estimation de la consommation d'énergie de retour, de telle sorte que la consommation d'énergie de retour estimée est plus précise.
PCT/CN2019/113933 2019-10-29 2019-10-29 Procédé de retour et procédé et appareil de détermination de consommation d'énergie de retour Ceased WO2021081740A1 (fr)

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CN201980038800.3A CN112334781A (zh) 2019-10-29 2019-10-29 返航方法、返航用电量确定方法及装置

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CN115683213A (zh) * 2022-10-14 2023-02-03 扬州市职业大学(扬州开放大学) 一种基于物联网的无人机飞行降落定位评估系统
CN119998751A (zh) * 2023-06-16 2025-05-13 深圳市闪至科技有限公司 飞行器的控制方法、可移动平台的控制方法及装置
CN116812196B (zh) * 2023-06-27 2026-01-02 亿航智能设备有限公司 无人驾驶航空器电量智慧分析方法、系统和可读存储介质
CN116625379B (zh) * 2023-07-25 2023-10-24 深圳深海创新技术有限公司 无人机及其返航电量调整方法、装置、飞行控制器
CN119002517B (zh) * 2024-10-23 2025-01-28 中国空气动力研究与发展中心计算空气动力研究所 一种编队距离控制方法
CN120704401A (zh) * 2025-08-25 2025-09-26 杭州迅蚁网络科技有限公司 一种通过风估计提高无人机航程精度的方法

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