WO2020107451A1 - Control method for movable platform, movable platform and storage medium - Google Patents
Control method for movable platform, movable platform and storage medium Download PDFInfo
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- WO2020107451A1 WO2020107451A1 PCT/CN2018/118704 CN2018118704W WO2020107451A1 WO 2020107451 A1 WO2020107451 A1 WO 2020107451A1 CN 2018118704 W CN2018118704 W CN 2018118704W WO 2020107451 A1 WO2020107451 A1 WO 2020107451A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/13—Maintaining the SoC within a determined range
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/14—Preventing excessive discharging
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Definitions
- the present invention generally relates to the field of control, and more particularly to a control method of a movable platform, a movable platform and a storage medium.
- the batteries used by most drone manufacturers are characterized by low energy density (generally 180-200wh/kg) and high discharge rate (basically above 15C).
- the disadvantages caused by this are the short battery life and advantages.
- the battery has a strong discharge capacity and good maneuverability.
- the UAV considers the demand for high power and prefers to use a high discharge rate battery.
- the present invention has been proposed to solve at least one of the above problems.
- the invention provides a control method of a movable platform, a movable platform and a storage medium, which enable the movable platform to use a battery with high energy density without safety risks, thereby improving the life of the movable platform.
- the first aspect of the present invention provides a control method of a movable platform, which is powered by a battery, and the control method includes:
- a second aspect of the present invention provides a movable platform, including:
- a battery module used to provide electrical energy for the battery power equipment
- One or more processors are One or more processors;
- Memory used to store one or more programs
- the one or more processors When the one or more programs are executed by the one or more processors, the one or more processors are caused to perform the following steps:
- a third aspect of the present invention provides a movable platform that is powered by a battery.
- the movable platform includes:
- a power obtaining module configured to obtain the current load power of the movable platform and the current SOP power of the battery
- a comparison module for comparing the current load power and the current SOP power
- the control module is configured to adjust the load power according to the comparison result of the comparison module to ensure that the current load power is less than the current SOP power.
- a fourth aspect of the present invention provides a computer storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the steps of the control method according to the first aspect of the present invention are implemented.
- the invention provides a control method of a movable platform, a movable platform and a storage medium, which collect the load power and the current power battery power boundary SOP power of the battery in real time, compare the size of the two, and then adjust the load according to the comparison result Power to ensure that the current load power is less than the current SOP power, so as to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy The density of the battery, thereby improving the life of the mobile platform.
- control method of the movable platform, the movable platform and the storage medium according to the present invention dynamically adjust the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) will not exceed the current power battery power boundary SOP power of the battery , And can meet the load power requirements of the mobile platform as much as possible.
- FIG. 1 is a schematic block diagram of an example electronic device for implementing a control method of a mobile platform and a mobile device according to an embodiment of the present invention
- FIG. 2 is a schematic flowchart of a control method of a movable platform according to an embodiment of the present invention
- FIG. 3 is a detailed flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the invention.
- FIG. 4 is a schematic block diagram of a movable device according to an embodiment of the present invention.
- FIG. 5 is a schematic block diagram of a movable platform according to an embodiment of the present invention.
- FIG. 1 An example electronic apparatus 100 for implementing a control method for a movable device and a movable device of an embodiment of the present invention is described with reference to FIG. 1.
- the electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106, an output device 108, and a battery module 110. These components are connected by a bus system 112 and/or other forms Organizations (not shown) are interconnected. It should be noted that the components and structure of the electronic device 100 shown in FIG. 1 are only exemplary, not limiting, and the electronic device may have other components and structures as needed.
- the processor 102 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.
- the number of the processor 102 may be one or more.
- the storage device 104 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory.
- the volatile memory may include, for example, random access memory (RAM) and/or cache memory.
- the non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, and the like.
- One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 102 may execute the program instructions to implement the client function (implemented by the processor) in the embodiments of the present invention described below. And/or other desired functions.
- Various application programs and various data may also be stored in the computer-readable storage medium, such as various data used and/or generated by the application programs.
- the input device 106 may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.
- the output device 108 may output various information (such as images or sounds) to the outside (such as users), and may include one or more of a display, a speaker, and the like.
- the battery module 110 can provide energy to the electronic device 100.
- the battery module 110 includes a battery and various detection circuits and/or communication interfaces.
- the various detection circuits are used to detect the battery's output voltage, output current, current power, battery cycle count, cell temperature or ambient temperature and other parameters, and communicate through The interface sends it to the one or more processors 102.
- the battery module 110 and the processor 102 communicate through a serial port.
- an example electronic device for implementing a control method of a movable platform and a movable device may be implemented as an unmanned aerial vehicle, unmanned vehicle, unmanned boat, robot, electric scooter, balance Cars, model airplanes, etc.
- FIG. 2 is a schematic flowchart of a control method of a movable platform according to an embodiment of the present invention. As shown in FIG. 2, the control method of the movable platform according to the embodiment of the present invention includes:
- Step S101 Obtain the current load power of the movable platform and the current power battery power SOP power of the battery.
- the current power battery power boundary SOP power of the battery of the movable platform is obtained by the following steps: obtaining at least one of the current remaining capacity of the battery, the number of cycles, the cell temperature, and the ambient temperature, and according to the current remaining At least one of the quantity of electricity, the number of cycles, the temperature of the battery cell and the ambient temperature obtains the current SOP power of the battery.
- the current SOP power of the battery is a functional relationship with one or more of the current remaining capacity of the battery, the number of cycles, the cell temperature and the ambient temperature.
- the functional relationship can be determined through theoretical calculation or experiment.
- the functional relationship can be A function formula can also be a mapping table.
- the function formula After obtaining the battery's current remaining capacity, number of cycles, cell temperature, and ambient temperature, you can use the function formula to calculate the battery's current SOP power or query the mapping table to obtain the battery's current SOP power.
- the SOP power of the battery is a dynamic value related to the above parameters, and it can also be understood that the mapping table can be obtained according to more or all of the above parameters after testing to obtain a more accurate SOP power and the above factors. Correspondence.
- Step S102 Compare the current load power with the current SOP power. That is, the current load power and the current SOP power value obtained in step S101 are compared.
- Step S103 Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
- the load power is adjusted so that the current load power is less than the current SOP power, thereby ensuring battery safety.
- the current load power can have a larger value, thereby meeting the power requirements of the mobile platform. That is, if the current load power is greater than the current SOP power, the power requirement of the load of the mobile platform is limited, so that the current load power is less than the current SOP power; if the current load power is less than the current The SOP power then allows the power requirement of the load of the movable platform to increase.
- the load power is dynamically adjusted according to the dynamic value of the SOP power, so that the current load power is less than the current SOP power, and with the permission of the current SOP power, the power requirements of the movable platform can be met as much as possible.
- the load power can still exceed the current SOP power in an instant, that is, the load power is adjusted within a period of time Dynamic adjustment, the load power will exceed the current SOP power for a period of time, and then decrease to below the current SOP power.
- Adjusting the load power or the power demand of the load can be achieved in various feasible ways, for example, selecting a load that operates with different power requirements, and if the current load power is greater than the current SOP power, selecting a load with a small power requirement to operate
- the current load power is greater than the current SOP power
- the current load power is greater than the current SOP power
- the maximum speed or current speed of the current mobile platform is limited, and the current load power is reduced by limiting the maximum speed or current speed of the current mobile platform so that the current load The load power is less than the current SOP power.
- the maximum speed setting of the movable platform is reduced. Specifically, if the current load power is greater than the current SOP power, the limit value of the maximum moving speed of the movable platform is reduced until the current load power is less than the current SOP power or the movable platform's The limit value of the maximum moving speed reaches the minimum setting value.
- the operation of the mobile platform is hard limited to ensure safety.
- the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the current duration of the load power remaining greater than the current SOP power is greater than a set time, the movable platform is restricted Running.
- the operation of the movable platform is restricted, for example, for an unmanned aerial vehicle, the unmanned aerial vehicle can be controlled to return to home, land, etc.
- the power demand of the load of the movable platform should be allowed at this time Increase, that is, allow the load, which can ensure that the mobile platform can have a greater power demand.
- the limit value of the maximum movement speed of the movable platform is not the maximum set value, the limit of the maximum movement speed of the movable platform is increased value. This allows the movable platform to operate at a greater movement speed when needed.
- the current limit value of the maximum moving speed of the movable platform is 20 m/s, and the limit value of the maximum moving speed is 30/s. If the current load power is less than the current SOP power, the current The limit value of the maximum moving speed is adjusted to 25m/s.
- it is necessary to meet a corresponding condition for a preset time for example, 0.05 seconds, 0.1 seconds, 1 second, 5 seconds, etc., and then make corresponding adjustments. By setting the preset time, you can prevent the adjustment frequency from being too fast, and increase the burden on the system.
- the control method of the mobile platform collects the load power and the current power battery power SOP power of the battery in real time, compares the size of the two, and then adjusts the load power according to the comparison result to ensure that the current load power is less than The current SOP power to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy density batteries, thereby improving the mobile platform Battery life.
- control method of the movable platform according to the present invention dynamically adjusts the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) does not exceed the current power battery power boundary SOP power of the battery, and can satisfy the possible Load power requirements of mobile platforms.
- FIG. 3 is a detailed flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 3, the control method for an unmanned aerial vehicle according to this embodiment includes:
- Step S201 Obtain the current load power of the UAV and the current power battery power SOP power of the battery.
- the UAV collects the output voltage U and output current I of the battery in real time, and calculates the real-time battery output power Pload.
- a power supply line and a communication line are connected between the battery and the flight control of the UAV.
- the communication line uses, for example, a serial port.
- the battery sends the current SOP power value to the flight control of the UAV in real time.
- the current SOP power value is a function of the current remaining battery capacity, battery cycle count, cell temperature, and ambient temperature.
- the SOP function of the battery can be measured by testing, and the dynamic SOP power value can be given under different ambient temperatures and different remaining power by looking up the table.
- Step S202 Determine whether the current load power is less than the current SOP power. If the current load power is less than the current SOP power, step S203 is entered, otherwise, step S204 is entered.
- step S203 the maximum attitude angle of the UAV is limited to the maximum value in the current mode.
- Unmanned aerial vehicles have different maximum attitude angles in different modes, that is, the maximum speed allowed to run in different modes is different.
- the maximum attitude angle of the UAV is limited to the first maximum attitude angle
- the maximum flight speed is limited to the first maximum flight speed
- maximum The ascent speed is limited to the first maximum ascent speed.
- the first maximum attitude angle is 35 degrees
- the first maximum flight speed is 23 m/s
- the first maximum ascent speed is 5 m/s.
- the maximum attitude angle of the UAV in the current mode is also related to the number of unmanned aerial vehicles mounted on the gimbal. As an example, if the UAV is mounted with a dual head, the maximum attitude angle of the UAV is limited to the second maximum attitude angle, the maximum flight speed is limited to the second maximum flight speed, and the maximum ascent speed is limited to the first 2. The maximum ascent rate. Exemplarily, the second maximum attitude angle is 25 degrees, the second maximum flight speed is 16 m/s, and the first maximum ascent speed is 3 m/s.
- the maximum attitude angle of the UAV in the current mode is also related to whether the UAV is mounted with other loads.
- the other load is a non-self-load of the UAV, for example, a third-party load of the user or other loads related to the SDK. If the UAV is loaded with a non-self load, the maximum attitude angle of the UAV is limited to the third maximum attitude angle, the maximum flight speed is limited to the third maximum flight speed, and the maximum ascent speed is limited to the third maximum Ascent speed.
- the third maximum attitude angle is 25 degrees
- the third maximum flight speed is 16 m/s
- the third maximum ascent speed is 3 m/s.
- the control method further includes: judging the power value of the UAV when it is hovering after mounting the non-self load and the magnitude of the current SOP power; if When the unmanned aerial vehicle is hovering after mounting a non-self load, the power value of the unmanned aerial vehicle is less than the set percentage of the current SOP power, for example, less than 60% of the current SOP power, the unmanned aerial vehicle is allowed to operate; Describe the operation of unmanned aerial vehicles, for example, unmanned aerial vehicles are not allowed to fly.
- step S204 the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum set value.
- the maximum attitude angle limit value of the UAV will be reduced from the maximum value in the current gear and mode until the current load power is less than the current
- the SOP power or the maximum attitude angle of the UAV reaches a minimum set value.
- the maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value, for example, 15 degrees.
- step S205 while reducing the maximum attitude angle of the UAV, it is also determined that the limit value of the maximum attitude angle of the UAV reaches the minimum set value and the current load power remains greater than the current SOP Whether the duration of the power is greater than the set time, if it is greater than step S20, the operation of the UAV is restricted, otherwise, steps S202 to S205 are continued.
- the unmanned aerial vehicle reduces the maximum attitude angle when flying upwind, but when it becomes a two-fly flight, the current load power becomes smaller than the current SOP power. At this time, by increasing the maximum attitude angle of the unmanned aerial vehicle Allow unmanned aerial vehicles to fly at greater speeds allowed by SOP power.
- step S205 the operation of the UAV is restricted. For example, return the unmanned aerial vehicle, land, etc., and prompt the user on the APP side of the unmanned aerial vehicle that the battery is currently overloaded, and need to land and return immediately, and turn off the third-party load connected by the customer.
- the control method for an unmanned aerial vehicle collects the load power and the current power battery power boundary SOP power of the battery in real time, compares the size of the two, and then adjusts the load power according to the comparison result to ensure the current load
- the power is less than the current SOP power, so as to ensure that the battery output power (that is, the load power) of the UAV will not exceed the current power battery power boundary SOP power of the battery, so that the UAV can use a high energy density battery, thereby improving the The life of the human aircraft.
- control method for an unmanned aerial vehicle dynamically adjusts the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) does not exceed the current power battery power boundary SOP power of the battery, and can It may meet the load power requirements of unmanned aerial vehicles.
- FIG. 4 is a schematic block diagram of a mobile device according to an embodiment of the present invention.
- the mobile device 400 includes a battery module 410, a power acquisition module 420, a comparison module 430, and a control module 440.
- the battery module 410 is used to provide energy to the movable device 400.
- the battery module 410 includes a battery, a detection module, a calculation module, and a communication module.
- the detection module is used to detect the output voltage, output current, current capacity, battery cycle number, battery cell temperature or ambient temperature of the battery;
- the calculation module is used to calculate the current load power of the battery power equipment according to the detection result of the detection module
- the communication module is used to send the calculation result of the calculation module to the control module 440.
- the power obtaining module 420 is used to obtain the current load power of the movable platform and the current SOP power of the battery.
- the power acquisition module 420 may be implemented by the processor 102 in the electronic device shown in FIG. 1 running program instructions stored in the storage device 104, and may execute steps S101 and S201 of the control method according to an embodiment of the present invention.
- the comparison module 430 is used to compare the current load power and the current SOP power.
- the comparison module 430 may be implemented by the processor 102 in the electronic device shown in FIG. 1 executing program instructions stored in the storage device 104, and may execute steps S102 and S202 of the control method according to an embodiment of the present invention.
- the control module 440 is used to adjust the load power according to the comparison result of the comparison module 430 to ensure that the current load power is less than the current SOP power.
- the control module 440 may be implemented by the processor 102 in the electronic device shown in FIG. 1 executing program instructions stored in the storage device 104, and may execute steps S103 and S203-S206 of the control method according to an embodiment of the present invention.
- FIG. 5 is a schematic block diagram of a movable platform according to an embodiment of the present invention.
- the movable platform 500 includes a load 510, a battery module 520, a storage device 530 and a processor 540.
- the load 510 is various devices in the movable platform 500 that require energy.
- the load 510 may be a motor, avionics, a gimbal camera, and a third-party load.
- the battery module 520 is used to provide power to the load 510 and send the information of the battery module 520 to the processor 540.
- the battery module 520 includes a battery, a detection module, a calculation module, and a communication module.
- the detection module is used to detect the output voltage, output current, current capacity, battery cycle number, battery cell temperature or ambient temperature of the battery;
- the calculation module is used to calculate the current load power of the battery power equipment according to the detection result of the detection module The current SOP power of the battery;
- the communication module is used to send the calculation result of the calculation module to the processor 540.
- the storage device 530 stores one or more program codes for implementing corresponding steps in the control method of the mobile platform according to the embodiment of the present invention.
- the processor 540 is used to run the program code stored in the storage device 530 to execute the corresponding steps of the control method of the mobile platform according to the embodiment of the present invention, and to implement the mobile platform according to the embodiment of the present invention Power acquisition module 420, comparison module 430 and control module 440. There may be one or more processors 540.
- the one or more processors 540 further perform the following steps:
- the one or more processors 540 further perform the following steps:
- the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, limit the power requirement of the load of the movable platform, thereby Make the current load power less than the current SOP power; if the current load power is less than the current SOP power, allow the increase of the power requirement of the load of the movable platform.
- the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, then reduce the maximum speed setting of the movable platform.
- the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, then reduce the limit of the maximum moving speed of the movable platform Value until the current load power is less than the current SOP power or the limit value of the maximum moving speed of the movable platform reaches a minimum set value.
- the one or more processors 540 further perform the following steps: if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the current load power remains greater than the current When the duration of the SOP power is greater than the set time, the operation of the movable platform is restricted.
- the one or more processors 540 further perform the following steps: if the current load power is less than the current SOP power, and the limit value of the maximum moving speed of the movable platform is not The maximum setting value increases the limit value of the maximum moving speed of the movable platform.
- the one or more processors 540 further perform the following steps:
- the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum setting Value.
- the one or more processors 540 further perform the following steps: if the unmanned aerial vehicle is in a sports mode, limit the maximum attitude angle of the unmanned aerial vehicle to the first maximum attitude Angle, the maximum flight speed is limited to the first maximum flight speed, and the maximum ascent speed is limited to the first maximum ascent speed.
- the one or more processors 540 further perform the following steps:
- the one or more processors 540 further perform the following steps:
- the maximum attitude angle of the unmanned aerial vehicle is limited to the third maximum attitude angle
- the maximum flight speed is limited to the third Three maximum flight speeds
- the maximum ascent speed is limited to the third maximum ascent speed.
- the one or more processors 540 further perform the following steps:
- the first maximum attitude angle is greater than the second maximum attitude angle, and the second maximum attitude angle is greater than the third maximum attitude angle;
- the first maximum flight speed is greater than the second maximum flight speed, and the second maximum flight speed is greater than the third maximum flight speed;
- the first maximum ascent speed is greater than the second maximum ascent speed, and the second maximum ascent speed is greater than the third maximum ascent speed.
- the one or more processors 540 further perform the following steps: if the limit value of the maximum attitude angle of the UAV reaches the minimum set value and the current load power remains greater than the current If the duration of the SOP power is greater than the set time, the operation of the UAV is restricted.
- the one or more processors 540 further perform the following steps: if the current load power is less than the current SOP power, and the limit value of the maximum attitude angle of the UAV is not The maximum setting value increases the limit value of the maximum attitude angle of the UAV.
- the one or more processors 540 further perform the following steps:
- the power value and the current SOP power of the unmanned aerial vehicle after being mounted with a non-self-load are determined; if the unmanned aerial vehicle is mounted with a non-self-load
- the power value of the self-load after hovering is less than the set percentage of the current SOP power, the unmanned aerial vehicle is allowed to operate; otherwise, the unmanned aerial vehicle is restricted to operate.
- a storage medium on which program instructions are stored.
- program instructions When the program instructions are executed by a computer or a processor, they are used to execute the embodiments of the present invention.
- the corresponding steps of the mobile platform/unmanned aerial vehicle control method and are used to implement the corresponding modules in the mobile platform according to the embodiments of the present invention.
- the storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read only memory (ROM), an erasable programmable read only memory (EPROM), a portable compact disk read only memory (CD-ROM), USB memory, or any combination of the above storage media.
- the computer-readable storage medium may be any combination of one or more computer-readable storage media.
- the computer program instructions when executed by a computer, can implement various functional modules of the movable device according to the embodiments of the present invention.
- the computer program instructions perform the following steps when being run by the computer: acquiring the current load power of the movable platform and the current power battery power boundary SOP power of the battery; comparing the current load power with the current The size of the SOP power; adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
- the load power and the current power battery power boundary SOP power of the battery are collected in real time, and the size of the two is compared, and then the load power is adjusted according to the comparison result. Ensure that the current load power is less than the current SOP power, so as to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy density Battery, which improves the life of the mobile platform.
- control method of the movable platform, the movable platform and the storage medium according to the present invention dynamically adjust the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) will not exceed the current power battery power boundary SOP power of the battery , And can meet the load power requirements of the mobile platform as much as possible.
- the disclosed device and method may be implemented in other ways.
- the device embodiments described above are only schematic.
- the division of the units is only a division of logical functions.
- there may be another division manner for example, multiple units or components may be combined or Can be integrated into another device, or some features can be ignored, or not implemented.
- the various component embodiments of the present invention may be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof.
- a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some modules according to embodiments of the present invention.
- DSP digital signal processor
- the present invention can also be implemented as a device program (for example, a computer program and a computer program product) for performing a part or all of the method described herein.
- Such a program implementing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals.
- Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.
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Abstract
A control method for a movable platform, the movable platform and a storage medium. The control method comprises: obtaining the current load power of the movable platform and the current state of power (SOP) of a battery (S101); comparing the current load power with the current SOP power (S102); and adjusting the load power according to the comparison result to ensure that the current load power is less than the current SOP power (S103). According to the control method for a movable platform, the movable platform and the storage medium, the movable platform can use the battery of high-energy density without safety risk, thereby improving the cruising ability of the movable platform.
Description
说明书Instructions
本发明总地涉及控制领域,更具体地涉及一种可移动平台的控制方法、可移动平台及存储介质。The present invention generally relates to the field of control, and more particularly to a control method of a movable platform, a movable platform and a storage medium.
目前大多数无人机厂商所使用的电池特点是能量密度低(一般为180-200wh/kg),放电倍率高(基本都是15C以上),由此带来的缺点的是续航时间短,优点是电池放电能力强,机动性好,目前无人机考虑大功率的需求更倾向于使用高放电倍率电池。At present, the batteries used by most drone manufacturers are characterized by low energy density (generally 180-200wh/kg) and high discharge rate (basically above 15C). The disadvantages caused by this are the short battery life and advantages. The battery has a strong discharge capacity and good maneuverability. At present, the UAV considers the demand for high power and prefers to use a high discharge rate battery.
然而,目前无人机行业比较关注续航和安全指标,如果用低放电倍率高能量密度电池可能存在风险。这是因为:一、如果无人机对电池输出功率要求高,甚至超过SOP要求,将影响电池的使用寿命,严重情况下甚至导致电池直接烧毁;二、电芯厂商虽然给出了电芯的放电倍率,但是组成电池后不能再按照这个倍率来评估最大功率值,尤其当低电量情况,这个最大功率值是有很明显的衰减,目前无人机一般并不考虑电池的动态动力电池功率边界(SOP),这很影响电池的使用寿命和安全性,因为因电池输出功率很可能超过电池动力电池功率边界(SOP)而导致的危险。。此外,即使使用低能量密度高放电倍率的电池,也可能面临电池输出功率很可能超过电池动力电池功率边界(SOP)的问题,不仅影响电池使用寿命还存在安全隐患。However, at present, the drone industry pays more attention to battery life and safety indicators. If low discharge rate and high energy density batteries are used, there may be risks. This is because: 1. If the drone has high requirements on the battery output power, or even exceeds the SOP requirements, it will affect the service life of the battery, and in serious cases it may even cause the battery to burn directly; 2. Although the battery manufacturer has given the battery Discharge rate, but after composing the battery, the maximum power value can no longer be evaluated according to this rate, especially in the case of low battery, this maximum power value has obvious attenuation. At present, drones generally do not consider the dynamic power battery power boundary of the battery (SOP), which greatly affects the service life and safety of the battery, because the battery output power is likely to exceed the battery power battery power boundary (SOP) caused by the danger. . In addition, even if you use a battery with a low energy density and a high discharge rate, you may face the problem that the battery output power is likely to exceed the battery power battery power boundary (SOP), which not only affects the battery life but also has potential safety hazards.
发明内容Summary of the invention
为了解决上述问题中的至少一个而提出了本发明。本发明提供一种可移动平台的控制方法、可移动平台及存储介质,其使得可移动平台可以使用高能量密度的电池并且不存在安全风险,从而提高可移动平台的续航。The present invention has been proposed to solve at least one of the above problems. The invention provides a control method of a movable platform, a movable platform and a storage medium, which enable the movable platform to use a battery with high energy density without safety risks, thereby improving the life of the movable platform.
具体地,本发明第一方面提供一种可移动平台的控制方法,所述可移动平台通过电池供电,该控制方法包括:Specifically, the first aspect of the present invention provides a control method of a movable platform, which is powered by a battery, and the control method includes:
获取所述可移动平台的当前负载功率和电池当前的动力电池功率边界SOP功率;Obtain the current load power of the movable platform and the current power battery power SOP power of the battery;
比较当前所述负载功率和当前所述SOP功率的大小;Comparing the current load power with the current SOP power;
根据比较结果调整所述负载功率,以确保当前所述负载功率小于当前所述SOP功率。Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
本发明第二方面提供一种可移动平台,包括:A second aspect of the present invention provides a movable platform, including:
电池模块,用于为所述电池动力设备提供电能;A battery module, used to provide electrical energy for the battery power equipment;
一个或多个处理器;One or more processors;
存储器,用于存储一个或多个程序;Memory, used to store one or more programs;
当所述一个或多个程序被所述一个或多个处理器执行时,使得所述一个或多个处理器执行下述步骤:When the one or more programs are executed by the one or more processors, the one or more processors are caused to perform the following steps:
获取所述可移动平台的当前负载功率和电池当前的动力电池功率边界SOP功率;Obtain the current load power of the movable platform and the current power battery power SOP power of the battery;
比较当前所述负载功率和当前所述SOP功率的大小;Comparing the current load power with the current SOP power;
根据比较结果调整所述负载功率,以确保当前所述负载功率小于当前所述SOP功率。Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
本发明第三方面提供一种可移动平台,所述可移动平台通过电池供电,该可移动平台包括:A third aspect of the present invention provides a movable platform that is powered by a battery. The movable platform includes:
功率获取模块,用于获取所述可移动平台的当前负载功率和电池当前的SOP功率;A power obtaining module, configured to obtain the current load power of the movable platform and the current SOP power of the battery;
比较模块,用于比较当前所述负载功率和当前所述SOP功率的大小;A comparison module for comparing the current load power and the current SOP power;
控制模块,用于根据所述比较模块的比较结果调整所述负载功率,以确保当前所述负载功率小于当前所述SOP功率。The control module is configured to adjust the load power according to the comparison result of the comparison module to ensure that the current load power is less than the current SOP power.
本发明第四方面提供一种计算机存储介质,其上存储有计算机程序,其特征在于,所述程序被处理器执行时实现根据本发明第一方面所述控制方法的步骤。A fourth aspect of the present invention provides a computer storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the steps of the control method according to the first aspect of the present invention are implemented.
本发明提供了一种可移动平台的控制方法、可移动平台及存储介质,其通过实时采集负载功率和电池当前的动力电池功率边界SOP功率,并比 较二者的大小,然后根据比较结果调整负载功率来确保当前所述负载功率小于当前所述SOP功率,从而确保可移动平台的电池输出功率(即负载功率)不会超过电池当前的动力电池功率边界SOP功率,使得可移动平台可以使用高能量密度的电池,从而提高可移动平台的续航。即根据本发明的可移动平台的控制方法、可移动平台及存储介质根据电池的动态SOP功率动态调整负载功率,使得电池输出功率(即负载功率)不会超过电池当前的动力电池功率边界SOP功率,并且可以尽可能满足可移动平台的负载功率需求。The invention provides a control method of a movable platform, a movable platform and a storage medium, which collect the load power and the current power battery power boundary SOP power of the battery in real time, compare the size of the two, and then adjust the load according to the comparison result Power to ensure that the current load power is less than the current SOP power, so as to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy The density of the battery, thereby improving the life of the mobile platform. That is, the control method of the movable platform, the movable platform and the storage medium according to the present invention dynamically adjust the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) will not exceed the current power battery power boundary SOP power of the battery , And can meet the load power requirements of the mobile platform as much as possible.
图1是用于实现根据本发明实施例的可移动平台的控制方法和可移动装置的示例电子设备的示意性框图;1 is a schematic block diagram of an example electronic device for implementing a control method of a mobile platform and a mobile device according to an embodiment of the present invention;
图2是根据本发明一实施例的可移动平台的控制方法的示意性流程图;2 is a schematic flowchart of a control method of a movable platform according to an embodiment of the present invention;
图3是根据本发明一实施例的用于无人飞行器的控制方法的示详细流程图;3 is a detailed flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the invention;
图4是根据本发明一实施例的可移动装置的示意性框图;以及4 is a schematic block diagram of a movable device according to an embodiment of the present invention; and
图5是根据本发明一实施例的可移动平台的示意性框图。5 is a schematic block diagram of a movable platform according to an embodiment of the present invention.
为了使得本发明的目的、技术方案和优点更为明显,下面将参照附图详细描述根据本发明的示例实施例。显然,所描述的实施例仅仅是本发明的一部分实施例,而不是本发明的全部实施例,应理解,本发明不受这里描述的示例实施例的限制。基于本发明中描述的本发明实施例,本领域技术人员在没有付出创造性劳动的情况下所得到的所有其它实施例都应落入本发明的保护范围之内。In order to make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments of the present invention. It should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without paying creative effort should fall within the protection scope of the present invention.
在下文的描述中,给出了大量具体的细节以便提供对本发明更为彻底的理解。然而,对于本领域技术人员而言显而易见的是,本发明可以无需一个或多个这些细节而得以实施。在其他的例子中,为了避免与本发明发生混淆,对于本领域公知的一些技术特征未进行描述。In the following description, a large number of specific details are given in order to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.
应当理解的是,本发明能够以不同形式实施,而不应当解释为局限于这里提出的实施例。相反地,提供这些实施例将使公开彻底和完全,并且将本发明的范围完全地传递给本领域技术人员。It should be understood that the present invention can be implemented in different forms and should not be interpreted as being limited to the embodiments presented herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
在此使用的术语的目的仅在于描述具体实施例并且不作为本发明的限制。在此使用时,单数形式的“一”、“一个”和“所述/该”也意图包括复数形式,除非上下文清楚指出另外的方式。还应明白术语“组成”和/或“包括”,当在该说明书中使用时,确定所述特征、整数、步骤、操作、元件和/或部件的存在,但不排除一个或更多其它的特征、整数、步骤、操作、元件、部件和/或组的存在或添加。在此使用时,术语“和/或”包括相关所列项目的任何及所有组合。The terminology used herein is for describing specific embodiments only and is not intended to be a limitation of the present invention. As used herein, the singular forms "a", "an", and "said/the" are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "composition" and/or "comprising", when used in this specification, determine the existence of the described features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components, and/or groups. As used herein, the term "and/or" includes any and all combinations of the listed items.
为了彻底理解本发明,将在下列的描述中提出详细的步骤以及详细的结构,以便阐释本发明提出的技术方案。本发明的较佳实施例详细描述如下,然而除了这些详细描述外,本发明还可以具有其他实施方式。In order to thoroughly understand the present invention, detailed steps and detailed structures will be proposed in the following description, so as to explain the technical solution proposed by the present invention. The preferred embodiments of the present invention are described in detail below. However, in addition to these detailed descriptions, the present invention may have other embodiments.
首先,参照图1来描述用于实现本发明实施例的用于可移动装置的控制方法和可移动装置的示例电子设备100。First, an example electronic apparatus 100 for implementing a control method for a movable device and a movable device of an embodiment of the present invention is described with reference to FIG. 1.
如图1所示,电子设备100包括一个或多个处理器102、一个或多个存储装置104、输入装置106、输出装置108以及电池模块110这些组件通过总线***112和/或其它形式的连接机构(未示出)互连。应当注意,图1所示的电子设备100的组件和结构只是示例性的,而非限制性的,根据需要,所述电子设备也可以具有其他组件和结构。As shown in FIG. 1, the electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106, an output device 108, and a battery module 110. These components are connected by a bus system 112 and/or other forms Organizations (not shown) are interconnected. It should be noted that the components and structure of the electronic device 100 shown in FIG. 1 are only exemplary, not limiting, and the electronic device may have other components and structures as needed.
所述处理器102可以是中央处理单元(CPU)或者具有数据处理能力和/或指令执行能力的其它形式的处理单元,并且可以控制所述电子设备100中的其它组件以执行期望的功能。所述处理器102的数量可以为一个或多个。The processor 102 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions. The number of the processor 102 may be one or more.
所述存储装置104可以包括一个或多个计算机程序产品,所述计算机程序产品可以包括各种形式的计算机可读存储介质,例如易失性存储器和/或非易失性存储器。所述易失性存储器例如可以包括随机存取存储器(RAM)和/或高速缓冲存储器(cache)等。所述非易失性存储器例如可以包括只读存储器(ROM)、硬盘、闪存等。在所述计算机可读存储介质上可以存储一个或多个计算机程序指令,处理器102可以运行所述程序指令,以实现下文所述的本发明实施例中(由处理器实现)的客户端功能以及/或者其它期望的功能。 在所述计算机可读存储介质中还可以存储各种应用程序和各种数据,例如所述应用程序使用和/或产生的各种数据等。The storage device 104 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and/or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 102 may execute the program instructions to implement the client function (implemented by the processor) in the embodiments of the present invention described below. And/or other desired functions. Various application programs and various data may also be stored in the computer-readable storage medium, such as various data used and/or generated by the application programs.
所述输入装置106可以是用户用来输入指令的装置,并且可以包括键盘、鼠标、麦克风和触摸屏等中的一个或多个。The input device 106 may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.
所述输出装置108可以向外部(例如用户)输出各种信息(例如图像或声音),并且可以包括显示器、扬声器等中的一个或多个。The output device 108 may output various information (such as images or sounds) to the outside (such as users), and may include one or more of a display, a speaker, and the like.
所述电池模块110可以为电子设备100提供能量。电池模块110包括电池和各种检测电路和/或通信接口,各种检测电路用于检测电池的输出电压、输出电流、当前电量、电池循环次数、电芯温度或环境温度等参数,并通过通信接口将其发送至所述一个或多个处理器102示例性地,电池模块110和处理器102之间通过串口进行通信。The battery module 110 can provide energy to the electronic device 100. The battery module 110 includes a battery and various detection circuits and/or communication interfaces. The various detection circuits are used to detect the battery's output voltage, output current, current power, battery cycle count, cell temperature or ambient temperature and other parameters, and communicate through The interface sends it to the one or more processors 102. Exemplarily, the battery module 110 and the processor 102 communicate through a serial port.
示例性地,用于实现根据本发明实施例的可移动平台的控制方法和可移动装置的示例电子设备可以被实现为无人飞行器、无人车、无人船、机器人、电动滑板车、平衡车、航模等。Illustratively, an example electronic device for implementing a control method of a movable platform and a movable device according to an embodiment of the present invention may be implemented as an unmanned aerial vehicle, unmanned vehicle, unmanned boat, robot, electric scooter, balance Cars, model airplanes, etc.
图2是根据本发明一实施例的可移动平台的控制方法的示意性流程图。如图2所示,根据本发明实施例的可移动平台的控制方法包括:2 is a schematic flowchart of a control method of a movable platform according to an embodiment of the present invention. As shown in FIG. 2, the control method of the movable platform according to the embodiment of the present invention includes:
步骤S101,获取所述可移动平台的当前负载功率和电池当前的动力电池功率边界SOP功率。Step S101: Obtain the current load power of the movable platform and the current power battery power SOP power of the battery.
示例性地,可移动平台的当前负载功率通过下述步骤获得:获取电池当前的输出电压U和电流I,并根据电池当前的所述输出电压U和电流I获得所述可移动平台的当前负载功率Pload,Pload=U*I。Exemplarily, the current load power of the movable platform is obtained by obtaining the current output voltage U and current I of the battery, and obtaining the current load of the movable platform according to the current output voltage U and current I of the battery Power Pload, Pload=U*I.
示例性地,可移动平台的电池当前的动力电池功率边界SOP功率通过下述步骤获得:获取电池的当前剩余电量、循环次数、电芯温度以及环境温度中的至少一个,并根据电池的当前剩余电量、循环次数、电芯温度以及环境温度中的至少一个,获得电池当前的SOP功率。电池当前的SOP功率为与电池的当前剩余电量、循环次数、电芯温度以及环境温度中的一个或多个具有对应的函数关系,该函数关系可以通过理论计算或试验确定,该函数关系可以为一个函数公式,也可为一个映射表。当获得电池的当前剩余电量、循环次数、电芯温度以及环境温度等参数后,可以通过该函数公式计算电池当前的SOP功率或者通过查询该映射表获得电池当前的SOP 功率。应当理解,电池的SOP功率是一个与上述参数相关的动态值,也可以理解,可以根据上述参数中的多个或者全部经过测试得到映射表,得到更为准确的SOP功率与上述因素之间的对应关系。Exemplarily, the current power battery power boundary SOP power of the battery of the movable platform is obtained by the following steps: obtaining at least one of the current remaining capacity of the battery, the number of cycles, the cell temperature, and the ambient temperature, and according to the current remaining At least one of the quantity of electricity, the number of cycles, the temperature of the battery cell and the ambient temperature obtains the current SOP power of the battery. The current SOP power of the battery is a functional relationship with one or more of the current remaining capacity of the battery, the number of cycles, the cell temperature and the ambient temperature. The functional relationship can be determined through theoretical calculation or experiment. The functional relationship can be A function formula can also be a mapping table. After obtaining the battery's current remaining capacity, number of cycles, cell temperature, and ambient temperature, you can use the function formula to calculate the battery's current SOP power or query the mapping table to obtain the battery's current SOP power. It should be understood that the SOP power of the battery is a dynamic value related to the above parameters, and it can also be understood that the mapping table can be obtained according to more or all of the above parameters after testing to obtain a more accurate SOP power and the above factors. Correspondence.
步骤S102,比较当前所述负载功率和当前所述SOP功率的大小。即比较步骤S101中获得当前所述负载功率和当前所述SOP功率的值。Step S102: Compare the current load power with the current SOP power. That is, the current load power and the current SOP power value obtained in step S101 are compared.
步骤S103,根据比较结果调整所述负载功率,以确保当前所述负载功率小于当前所述SOP功率。Step S103: Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
具体地,当前所述负载功率大于当前所述SOP功率时,则调整所述负载功率,使得当前所述负载功率小于当前所述SOP功率,从而确保电池安全。而当前所述负载功率小于当前所述SOP功率时,则可以使得当前负载功率能够具有更大的值,从而满足可移动平台的动力需求。即,如果当前所述负载功率大于当前所述SOP功率,则限制所述可移动平台的负载的功率需求,从而使当前所述负载功率小于当前所述SOP功率;如果当前所述负载功率小于当前所述SOP功率,则允许所述可移动平台的负载的功率需求的增大。这样根据SOP功率的动态值通过动态调整负载功率,使得当前所述负载功率小于当前所述SOP功率,并且在当前所述SOP功率的允许下,尽可能满足可移动平台的动力需求。Specifically, when the current load power is greater than the current SOP power, the load power is adjusted so that the current load power is less than the current SOP power, thereby ensuring battery safety. When the current load power is less than the current SOP power, the current load power can have a larger value, thereby meeting the power requirements of the mobile platform. That is, if the current load power is greater than the current SOP power, the power requirement of the load of the mobile platform is limited, so that the current load power is less than the current SOP power; if the current load power is less than the current The SOP power then allows the power requirement of the load of the movable platform to increase. In this way, the load power is dynamically adjusted according to the dynamic value of the SOP power, so that the current load power is less than the current SOP power, and with the permission of the current SOP power, the power requirements of the movable platform can be met as much as possible.
应当理解,在调整所述负载功率使当前所述负载功率小于当前所述SOP功率后,所述负载功率在瞬时还是可以超过当前所述SOP功率的,即调整所述负载功率是在一段时间内动态调整,在一段时间内所述负载功率还会超过当前所述SOP功率,然后再降低到当前所述SOP功率以下。It should be understood that after adjusting the load power so that the current load power is less than the current SOP power, the load power can still exceed the current SOP power in an instant, that is, the load power is adjusted within a period of time Dynamic adjustment, the load power will exceed the current SOP power for a period of time, and then decrease to below the current SOP power.
调整所述负载功率或者负载的功率需求可以通过各种可行的方式实现,例如选择运行不同功率需求的负载,当如果当前所述负载功率大于当前所述SOP功率,则选择功率需求小的负载运行,例如对于无人飞行器,如果当前所述负载功率大于当前所述SOP功率可以选择运行固定机翼(功率需求小),而停止使用旋转机翼(功率需求大),这样便可以降低当前的负载功率。又例如,如果当前所述负载功率大于当前所述SOP功率,则限制当前可移动平台的最大速度或当前速度,通过限制当前可移动平台的最大速度或当前速度来降低当前负载功率,使得当前所述负载功率小于当前所述SOP功率。作为一示例,如果当前所述负载功率大于当前所述SOP 功率,则降低所述可移动平台的最大速度设定值。具体地,如果当前所述负载功率大于当前所述SOP功率,则减小所述可移动平台的最大移动速度的限制值直到当前所述负载功率小于当前所述SOP功率或者所述可移动平台的最大移动速度的限制值达到最小设定值。通过减小可移动平台的最大移动速度的限制值可以实现减小可移动平台的当前速度的目的,从而减小当前负载功率。Adjusting the load power or the power demand of the load can be achieved in various feasible ways, for example, selecting a load that operates with different power requirements, and if the current load power is greater than the current SOP power, selecting a load with a small power requirement to operate For example, for unmanned aerial vehicles, if the current load power is greater than the current SOP power, you can choose to run a fixed wing (small power demand), and stop using the rotating wing (large power demand), which can reduce the current load power. For another example, if the current load power is greater than the current SOP power, the maximum speed or current speed of the current mobile platform is limited, and the current load power is reduced by limiting the maximum speed or current speed of the current mobile platform so that the current load The load power is less than the current SOP power. As an example, if the current load power is greater than the current SOP power, the maximum speed setting of the movable platform is reduced. Specifically, if the current load power is greater than the current SOP power, the limit value of the maximum moving speed of the movable platform is reduced until the current load power is less than the current SOP power or the movable platform's The limit value of the maximum moving speed reaches the minimum setting value. By reducing the limit value of the maximum moving speed of the movable platform, the purpose of reducing the current speed of the movable platform can be achieved, thereby reducing the current load power.
进一步地,如果在调整所述负载功率或者负载的功率需求时,当前所述负载功率始终大于当前所述SOP功率,则硬限制可移动平台的运行,以保证安全。作为一示例,如果所述可移动平台的最大移动速度的限制值达到最小设定值且当前所述负载功率保持大于当前所述SOP功率的持续时间大于设定时间,则限制所述可移动平台的运行。如果所述可移动平台的最大移动速度的限制值达到最小设定值,且当前所述负载功率保持大于当前所述SOP功率的持续时间大于设定时间,则表示电池的当前SOP功率已经不能满足可移动平台的当前功率需求,为了保证安全限制所述可移动平台的运行,例如对于无人飞行器而言,可以控制无人飞行器返航、降落等。Further, if, when adjusting the load power or the power demand of the load, the current load power is always greater than the current SOP power, the operation of the mobile platform is hard limited to ensure safety. As an example, if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the current duration of the load power remaining greater than the current SOP power is greater than a set time, the movable platform is restricted Running. If the limit value of the maximum moving speed of the movable platform reaches the minimum set value, and the current duration of the load power remains greater than the current SOP power is greater than the set time, it means that the current SOP power of the battery can no longer be met In order to ensure the safety of the current power requirements of the movable platform, the operation of the movable platform is restricted, for example, for an unmanned aerial vehicle, the unmanned aerial vehicle can be controlled to return to home, land, etc.
进一步地,如果在调整所述负载功率或者负载的功率需求时,经过一段时间后当前所述负载功率又小于当前所述SOP功率,则此时应当允许所述可移动平台的负载的功率需求的增大,即允许负载,这样可以保证可移动平台在有更大功率需求时可以。作为一示例,如果当前所述负载功率小于当前所述SOP功率,且所述可移动平台的最大移动速度的限制值不是最大设定值,则增大所述可移动平台的最大移动速度的限制值。这样允许所述可移动平台的在需要时运行在更大的移动速度下。例如,当前所述可移动平台的最大移动速度的限制值为20m/s,而最大移动速度的限制值为30/s,如果当前所述负载功率小于当前所述SOP功率,则可以将当前的最大移动速度的限制值调整为25m/s。在一些实施例中,判断调整时,需要在满足对应的条件一预设时间,例如,0.05秒、0.1秒、1秒、5秒等,然后再进行相应的调整。通过设置预设时间,可以防止调整的频率过快,加重***的负担。Further, if, when adjusting the load power or the power demand of the load, the current load power is less than the current SOP power after a period of time, then the power demand of the load of the movable platform should be allowed at this time Increase, that is, allow the load, which can ensure that the mobile platform can have a greater power demand. As an example, if the current load power is less than the current SOP power, and the limit value of the maximum movement speed of the movable platform is not the maximum set value, the limit of the maximum movement speed of the movable platform is increased value. This allows the movable platform to operate at a greater movement speed when needed. For example, the current limit value of the maximum moving speed of the movable platform is 20 m/s, and the limit value of the maximum moving speed is 30/s. If the current load power is less than the current SOP power, the current The limit value of the maximum moving speed is adjusted to 25m/s. In some embodiments, when determining the adjustment, it is necessary to meet a corresponding condition for a preset time, for example, 0.05 seconds, 0.1 seconds, 1 second, 5 seconds, etc., and then make corresponding adjustments. By setting the preset time, you can prevent the adjustment frequency from being too fast, and increase the burden on the system.
根据本发明实施例的可移动平台的控制方法通过实时采集负载功率和 电池当前的动力电池功率边界SOP功率,并比较二者的大小,然后根据比较结果调整负载功率来确保当前所述负载功率小于当前所述SOP功率,从而确保可移动平台的电池输出功率(即负载功率)不会超过电池当前的动力电池功率边界SOP功率,使得可移动平台可以使用高能量密度的电池,从而提高可移动平台的续航。即根据本发明的可移动平台的控制方法根据电池的动态SOP功率动态调整负载功率,使得电池输出功率(即负载功率)不会超过电池当前的动力电池功率边界SOP功率,并且可以尽可能满足可移动平台的负载功率需求。The control method of the mobile platform according to the embodiment of the present invention collects the load power and the current power battery power SOP power of the battery in real time, compares the size of the two, and then adjusts the load power according to the comparison result to ensure that the current load power is less than The current SOP power to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy density batteries, thereby improving the mobile platform Battery life. That is, the control method of the movable platform according to the present invention dynamically adjusts the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) does not exceed the current power battery power boundary SOP power of the battery, and can satisfy the possible Load power requirements of mobile platforms.
下面结合图3,以无人飞行器为例对根据本发明实施例的可移动平台的控制方法进行详细描述。In the following, in conjunction with FIG. 3, a method for controlling a movable platform according to an embodiment of the present invention will be described in detail with an unmanned aerial vehicle as an example.
图3是根据本发明一实施例的用于无人飞行器的控制方法的示详细流程图。如图3所示,根据本实施例的用于无人飞行器的控制方法包括:FIG. 3 is a detailed flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 3, the control method for an unmanned aerial vehicle according to this embodiment includes:
步骤S201,获取无人飞行器的当前负载功率和电池当前的动力电池功率边界SOP功率。Step S201: Obtain the current load power of the UAV and the current power battery power SOP power of the battery.
示例性地,无人飞行器实时采集电池的输出电压U和输出电流I,计算实时的电池输出功率Pload。电池输出功率Pload是由电机功率,航电***功率,云台相机功率,第三方客户负载功率组成,Pload=P(电机)+P(航电)+P(云台相机)+P(第三方负载)。Exemplarily, the UAV collects the output voltage U and output current I of the battery in real time, and calculates the real-time battery output power Pload. The battery output power Pload is composed of motor power, avionics system power, PTZ camera power, third-party customer load power, Pload = P (motor) + P (avionics) + P (PTZ camera) + P (third party load).
示例性地,电池和无人飞行器的飞控之间有供电线和通信线连接,通信线例如采用串口,电池实时的把当前的SOP功率值发送给无人飞行器的飞控。当前SOP功率值是当前电池剩余电量、电池循环次数、电芯温度,环境温度的一个函数。可以通过测试把电池的SOP函数测出来,通过查表的方法,在不同环境温度下,不同剩余电量下给出动态SOP功率值。Exemplarily, a power supply line and a communication line are connected between the battery and the flight control of the UAV. The communication line uses, for example, a serial port. The battery sends the current SOP power value to the flight control of the UAV in real time. The current SOP power value is a function of the current remaining battery capacity, battery cycle count, cell temperature, and ambient temperature. The SOP function of the battery can be measured by testing, and the dynamic SOP power value can be given under different ambient temperatures and different remaining power by looking up the table.
步骤S202,判断当前所述负载功率是否小于当前所述SOP功率。如果当前所述负载功率小于当前所述SOP功率,则进入步骤S203,反之则进入步骤S204。Step S202: Determine whether the current load power is less than the current SOP power. If the current load power is less than the current SOP power, step S203 is entered, otherwise, step S204 is entered.
在步骤S203中,将所述无人飞行器的最大姿态角限制为当前模式下的最大值。In step S203, the maximum attitude angle of the UAV is limited to the maximum value in the current mode.
无人飞行器在不同的模式下具有不同的最大姿态角,也即在不同的模式下允许运行的最大速度不同。作为示例,如果所述无人飞行器处于运动 模式(即S档模式),则将所述无人飞行器的最大姿态角限制为第一最大姿态角,最大飞行速度限制为第一最大飞行速度,最大上升速度限制为第一最大上升速度。示例性地,所述第一最大姿态角为35度,第一最大飞行速度为23m/s,第一最大上升速度为5m/s。Unmanned aerial vehicles have different maximum attitude angles in different modes, that is, the maximum speed allowed to run in different modes is different. As an example, if the UAV is in a sports mode (ie, S mode), the maximum attitude angle of the UAV is limited to the first maximum attitude angle, and the maximum flight speed is limited to the first maximum flight speed, maximum The ascent speed is limited to the first maximum ascent speed. Exemplarily, the first maximum attitude angle is 35 degrees, the first maximum flight speed is 23 m/s, and the first maximum ascent speed is 5 m/s.
进一步地,无人飞行器在当前模式的最大姿态角还与无人飞行器挂载云台的数量有关。作为示例,果所述无人飞行器挂载双云台则将所述无人飞行器的最大姿态角限制为第二最大姿态角,最大飞行速度限制为第二最大飞行速度,最大上升速度限制为第二最大上升速度。示例性地,所述第二最大姿态角为25度,第二最大飞行速度为16m/s,第一最大上升速度为3m/s。Further, the maximum attitude angle of the UAV in the current mode is also related to the number of unmanned aerial vehicles mounted on the gimbal. As an example, if the UAV is mounted with a dual head, the maximum attitude angle of the UAV is limited to the second maximum attitude angle, the maximum flight speed is limited to the second maximum flight speed, and the maximum ascent speed is limited to the first 2. The maximum ascent rate. Exemplarily, the second maximum attitude angle is 25 degrees, the second maximum flight speed is 16 m/s, and the first maximum ascent speed is 3 m/s.
进一步地,无人飞行器在当前模式的最大姿态角还与无人飞行器是否挂载其它负载有关。所述其它负载为无人飞行器的非自身负载,例如用户的第三方负载或SDK相关的其它负载。如果所述无人飞行器挂载非自身负载,则将所述无人飞行器的最大姿态角限制为第三最大姿态角,最大飞行速度限制为第三最大飞行速度,最大上升速度限制为第三最大上升速度。示例性地,所述第三最大姿态角为25度,第三最大飞行速度为16m/s,第三最大上升速度为3m/s。Further, the maximum attitude angle of the UAV in the current mode is also related to whether the UAV is mounted with other loads. The other load is a non-self-load of the UAV, for example, a third-party load of the user or other loads related to the SDK. If the UAV is loaded with a non-self load, the maximum attitude angle of the UAV is limited to the third maximum attitude angle, the maximum flight speed is limited to the third maximum flight speed, and the maximum ascent speed is limited to the third maximum Ascent speed. Exemplarily, the third maximum attitude angle is 25 degrees, the third maximum flight speed is 16 m/s, and the third maximum ascent speed is 3 m/s.
进一步地,在所述无人飞行器挂载非自身负载时,该控制方法还包括:判断所述无人飞行器在挂载非自身负载后处于悬停时的功率值与当前SOP功率的大小;如果所述无人飞行器在挂载非自身负载后处于悬停时的功率值小于当前SOP功率的设定百分比,例如小于当前SOP功率的60%,则允许所述无人飞行器运行;反之则限制所述无人飞行器运行,例如不允许无人飞行器飞行。Further, when the UAV is mounted with a non-self load, the control method further includes: judging the power value of the UAV when it is hovering after mounting the non-self load and the magnitude of the current SOP power; if When the unmanned aerial vehicle is hovering after mounting a non-self load, the power value of the unmanned aerial vehicle is less than the set percentage of the current SOP power, for example, less than 60% of the current SOP power, the unmanned aerial vehicle is allowed to operate; Describe the operation of unmanned aerial vehicles, for example, unmanned aerial vehicles are not allowed to fly.
在步骤S204中,减小所述无人飞行器的最大姿态角直到当前所述负载功率小于当前所述SOP功率或者所述无人飞行器的最大姿态角达到最小设定值。In step S204, the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum set value.
具体地,如果当前所述负载功率大于当前所述SOP功率,则将无人飞行器的最大姿态角限制值的从当前档位和模式下的最大值一直减小,直到当前所述负载功率小于当前所述SOP功率或者所述无人飞行器的最大姿态角达到最小设定值。所述无人飞行器的最大姿态角达到最小设定值例如 为15度。Specifically, if the current load power is greater than the current SOP power, the maximum attitude angle limit value of the UAV will be reduced from the maximum value in the current gear and mode until the current load power is less than the current The SOP power or the maximum attitude angle of the UAV reaches a minimum set value. The maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value, for example, 15 degrees.
在步骤S205中,在减小所述无人飞行器的最大姿态角的同时,还判断述无人飞行器的最大姿态角的限制值达到最小设定值且当前所述负载功率保持大于当前所述SOP功率的持续时间是否大于设定时间,如果大于则步骤S20,限制所述无人飞行器的运行,反之则继续执行步骤S202至S205。In step S205, while reducing the maximum attitude angle of the UAV, it is also determined that the limit value of the maximum attitude angle of the UAV reaches the minimum set value and the current load power remains greater than the current SOP Whether the duration of the power is greater than the set time, if it is greater than step S20, the operation of the UAV is restricted, otherwise, steps S202 to S205 are continued.
示例性地,如果无人飞行器的最大姿态角限制为15度情况下,如果Pload>SOP保持时间大于设定时间,例如大于5秒,则会触发安全功能,限制所述无人飞行器的运行。Exemplarily, if the maximum attitude angle of the unmanned aerial vehicle is limited to 15 degrees, if Pload>SOP hold time is greater than the set time, for example, greater than 5 seconds, a safety function will be triggered to limit the operation of the unmanned aerial vehicle.
进一步地,在本实施例中,在减小所述无人飞行器的最大姿态角的过程中,如果当前所述负载功率变为小于当前所述SOP功率,且所述无人飞行器的最大姿态角的限制值不是最大设定值,则增大所述无人飞行器的最大姿态角的限制值。这样可以使得无人飞行器在需要时可以实现更大的飞行速度。例如无人飞行器在逆风飞行时减小了最大姿态角,而变为双飞飞行后,当前所述负载功率变小,小于了当前所述SOP功率,此时通过增大无人飞行器的最大姿态角允许无人飞行器可以飞行在SOP功率允许更大的速度下。Further, in this embodiment, in the process of reducing the maximum attitude angle of the UAV, if the current load power becomes less than the current SOP power, and the maximum attitude angle of the UAV Is not the maximum setting value, then increase the maximum attitude angle of the UAV. This allows the UAV to achieve greater flight speed when needed. For example, the unmanned aerial vehicle reduces the maximum attitude angle when flying upwind, but when it becomes a two-fly flight, the current load power becomes smaller than the current SOP power. At this time, by increasing the maximum attitude angle of the unmanned aerial vehicle Allow unmanned aerial vehicles to fly at greater speeds allowed by SOP power.
在步骤S205中,限制所述无人飞行器的运行。例如使无人飞行器返航,降落等,并在与无人飞行器的APP端提示用户当前处于电池超负荷工作状态,需要立即降落和返航,并关闭客户自己接的第三方负载。In step S205, the operation of the UAV is restricted. For example, return the unmanned aerial vehicle, land, etc., and prompt the user on the APP side of the unmanned aerial vehicle that the battery is currently overloaded, and need to land and return immediately, and turn off the third-party load connected by the customer.
根据本发明实施例的用于无人飞行器的控制方法通过实时采集负载功率和电池当前的动力电池功率边界SOP功率,并比较二者的大小,然后根据比较结果调整负载功率来确保当前所述负载功率小于当前所述SOP功率,从而确保无人飞行器的电池输出功率(即负载功率)不会超过电池当前的动力电池功率边界SOP功率,使得无人飞行器可以使用高能量密度的电池,从而提高无人飞行器的续航。即根据本实施例的用于无人飞行器的控制方法根据电池的动态SOP功率动态调整负载功率,使得电池输出功率(即负载功率)不会超过电池当前的动力电池功率边界SOP功率,并且可以尽可能满足无人飞行器的负载功率需求。The control method for an unmanned aerial vehicle according to an embodiment of the present invention collects the load power and the current power battery power boundary SOP power of the battery in real time, compares the size of the two, and then adjusts the load power according to the comparison result to ensure the current load The power is less than the current SOP power, so as to ensure that the battery output power (that is, the load power) of the UAV will not exceed the current power battery power boundary SOP power of the battery, so that the UAV can use a high energy density battery, thereby improving the The life of the human aircraft. That is, the control method for an unmanned aerial vehicle according to this embodiment dynamically adjusts the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) does not exceed the current power battery power boundary SOP power of the battery, and can It may meet the load power requirements of unmanned aerial vehicles.
图4是根据本发明一实施例的可移动装置的示意性框图。4 is a schematic block diagram of a mobile device according to an embodiment of the present invention.
如图4所示,根据本实施例的可移动装置400包括电池模块410、功 率获取模块420、比较模块430和控制模块440。As shown in FIG. 4, the mobile device 400 according to the present embodiment includes a battery module 410, a power acquisition module 420, a comparison module 430, and a control module 440.
其中,电池模块410用于为可移动装置400提供能量。电池模块410包括电池、检测模块、计算模块和通信模块。检测模块用于检测电池的输出电压、输出电流、当前电量、电池循环次数、电芯温度或环境温度;计算模块用于根据所述检测模块的检测结果计算所述电池动力设备的当前负载功率和电池当前的SOP功率;通信模块用于将所述计算模块的计算结果发送至所述控制模块440。Among them, the battery module 410 is used to provide energy to the movable device 400. The battery module 410 includes a battery, a detection module, a calculation module, and a communication module. The detection module is used to detect the output voltage, output current, current capacity, battery cycle number, battery cell temperature or ambient temperature of the battery; the calculation module is used to calculate the current load power of the battery power equipment according to the detection result of the detection module The current SOP power of the battery; the communication module is used to send the calculation result of the calculation module to the control module 440.
功率获取模块420用于获取所述可移动平台的当前负载功率和电池当前的SOP功率。功率获取模块420可以由图1所示的电子设备中的处理器102运行存储装置104中存储的程序指令来实现,并且可以执行根据本发明实施例的控制方法的步骤S101和S201。The power obtaining module 420 is used to obtain the current load power of the movable platform and the current SOP power of the battery. The power acquisition module 420 may be implemented by the processor 102 in the electronic device shown in FIG. 1 running program instructions stored in the storage device 104, and may execute steps S101 and S201 of the control method according to an embodiment of the present invention.
比较模块430用于比较当前所述负载功率和当前所述SOP功率的大小。比较模块430可以由图1所示的电子设备中的处理器102运行存储装置104中存储的程序指令来实现,并且可以执行根据本发明实施例的控制方法的步骤S102和S202。The comparison module 430 is used to compare the current load power and the current SOP power. The comparison module 430 may be implemented by the processor 102 in the electronic device shown in FIG. 1 executing program instructions stored in the storage device 104, and may execute steps S102 and S202 of the control method according to an embodiment of the present invention.
控制模块440用于根据所述比较模块430的比较结果调整所述负载功率,以确保当前所述负载功率小于当前所述SOP功率。控制模块440可以由图1所示的电子设备中的处理器102运行存储装置104中存储的程序指令来实现,并且可以执行根据本发明实施例的控制方法的步骤S103以及S203-S206。The control module 440 is used to adjust the load power according to the comparison result of the comparison module 430 to ensure that the current load power is less than the current SOP power. The control module 440 may be implemented by the processor 102 in the electronic device shown in FIG. 1 executing program instructions stored in the storage device 104, and may execute steps S103 and S203-S206 of the control method according to an embodiment of the present invention.
图5是根据本发明一实施例的可移动平台的示意性框图。5 is a schematic block diagram of a movable platform according to an embodiment of the present invention.
如图5所示,根据本实施例的可移动平台500包括负载510、电池模块520、存储装置530和处理器540。As shown in FIG. 5, the movable platform 500 according to this embodiment includes a load 510, a battery module 520, a storage device 530 and a processor 540.
负载510为可移动平台500中各种需要能量的装置。例如,对于无人飞行器而言,负载510可以为电机、航电、云台相机以及第三方负载。The load 510 is various devices in the movable platform 500 that require energy. For example, for an unmanned aerial vehicle, the load 510 may be a motor, avionics, a gimbal camera, and a third-party load.
电池模块520用于为负载510提供电能,并将电池模块520的信息发送至处理器540。示例性地,电池模块520包括电池、检测模块、计算模块和通信模块。检测模块用于检测电池的输出电压、输出电流、当前电量、电池循环次数、电芯温度或环境温度;计算模块用于根据所述检测模块的检测结果计算所述电池动力设备的当前负载功率和电池当前的SOP功率; 通信模块用于将所述计算模块的计算结果发送至处理器540。The battery module 520 is used to provide power to the load 510 and send the information of the battery module 520 to the processor 540. Illustratively, the battery module 520 includes a battery, a detection module, a calculation module, and a communication module. The detection module is used to detect the output voltage, output current, current capacity, battery cycle number, battery cell temperature or ambient temperature of the battery; the calculation module is used to calculate the current load power of the battery power equipment according to the detection result of the detection module The current SOP power of the battery; the communication module is used to send the calculation result of the calculation module to the processor 540.
所述存储装置530存储一个或多个用于实现根据本发明实施例的可移动平台的控制方法中的相应步骤的程序代码。The storage device 530 stores one or more program codes for implementing corresponding steps in the control method of the mobile platform according to the embodiment of the present invention.
所述处理器540用于运行所述存储装置530中存储的程序代码,以执行根据本发明实施例的可移动平台的控制方法的相应步骤,并且用于实现根据本发明实施例的可移动平台的功率获取模块420、比较模块430和控制模块440。处理器540可以为一个或多个。The processor 540 is used to run the program code stored in the storage device 530 to execute the corresponding steps of the control method of the mobile platform according to the embodiment of the present invention, and to implement the mobile platform according to the embodiment of the present invention Power acquisition module 420, comparison module 430 and control module 440. There may be one or more processors 540.
示例性地,在所述程序代码被所述处理器540运行时执行以下步骤:Exemplarily, when the program code is executed by the processor 540, the following steps are performed:
获取所述可移动平台的当前负载功率和电池当前的动力电池功率边界SOP功率;Obtain the current load power of the movable platform and the current power battery power SOP power of the battery;
比较当前所述负载功率和当前所述SOP功率的大小;Comparing the current load power with the current SOP power;
根据比较结果调整所述负载功率,以确保当前所述负载功率小于当前所述SOP功率。Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:In an embodiment of the present invention, the one or more processors 540 further perform the following steps:
获取电池当前的输出电压和电流,并根据电池当前的所述输出电压和电流获得所述可移动平台的当前负载功率。Obtain the current output voltage and current of the battery, and obtain the current load power of the movable platform according to the current output voltage and current of the battery.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:In an embodiment of the present invention, the one or more processors 540 further perform the following steps:
获取电池的当前剩余电量、循环次数、电芯温度以及环境温度中的至少一个,并根据电池的当前剩余电量、循环次数、电芯温度以及环境温度中的至少一个,获得电池当前的SOP功率。Obtain at least one of the current remaining capacity of the battery, the number of cycles, the cell temperature, and the ambient temperature, and obtain the current SOP power of the battery according to at least one of the current remaining capacity of the battery, the number of cycles, the temperature of the cell, and the ambient temperature.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:如果当前所述负载功率大于当前所述SOP功率,则限制所述可移动平台的负载的功率需求,从而使当前所述负载功率小于当前所述SOP功率;如果当前所述负载功率小于当前所述SOP功率,则允许所述可移动平台的负载的功率需求的增大。In an embodiment of the present invention, the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, limit the power requirement of the load of the movable platform, thereby Make the current load power less than the current SOP power; if the current load power is less than the current SOP power, allow the increase of the power requirement of the load of the movable platform.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:如果当前所述负载功率大于当前所述SOP功率,则降低所述可移动平台的最大速度设定值。In one embodiment of the present invention, the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, then reduce the maximum speed setting of the movable platform.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:如果当前所述负载功率大于当前所述SOP功率,则减小所述可移动平台的 最大移动速度的限制值直到当前所述负载功率小于当前所述SOP功率或者所述可移动平台的最大移动速度的限制值达到最小设定值。In one embodiment of the present invention, the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, then reduce the limit of the maximum moving speed of the movable platform Value until the current load power is less than the current SOP power or the limit value of the maximum moving speed of the movable platform reaches a minimum set value.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:如果所述可移动平台的最大移动速度的限制值达到最小设定值且当前所述负载功率保持大于当前所述SOP功率的持续时间大于设定时间,则限制所述可移动平台的运行。In an embodiment of the present invention, the one or more processors 540 further perform the following steps: if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the current load power remains greater than the current When the duration of the SOP power is greater than the set time, the operation of the movable platform is restricted.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:如果当前所述负载功率小于当前所述SOP功率,且所述可移动平台的最大移动速度的限制值不是最大设定值,则增大所述可移动平台的最大移动速度的限制值。In an embodiment of the present invention, the one or more processors 540 further perform the following steps: if the current load power is less than the current SOP power, and the limit value of the maximum moving speed of the movable platform is not The maximum setting value increases the limit value of the maximum moving speed of the movable platform.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:In an embodiment of the present invention, the one or more processors 540 further perform the following steps:
如果当前所述负载功率小于当前所述SOP功率,则将所述无人飞行器的最大姿态角限制为当前模式下的最大值;If the current load power is less than the current SOP power, limit the maximum attitude angle of the UAV to the maximum value in the current mode;
如果当前所述负载功率大于当前所述SOP功率,则减小所述无人飞行器的最大姿态角直到当前所述负载功率小于当前所述SOP功率或者所述无人飞行器的最大姿态角达到最小设定值。If the current load power is greater than the current SOP power, then the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum setting Value.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:如果所述无人飞行器处于运动模式,则将所述无人飞行器的最大姿态角限制为第一最大姿态角,最大飞行速度限制为第一最大飞行速度,最大上升速度限制为第一最大上升速度。In one embodiment of the present invention, the one or more processors 540 further perform the following steps: if the unmanned aerial vehicle is in a sports mode, limit the maximum attitude angle of the unmanned aerial vehicle to the first maximum attitude Angle, the maximum flight speed is limited to the first maximum flight speed, and the maximum ascent speed is limited to the first maximum ascent speed.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:In an embodiment of the present invention, the one or more processors 540 further perform the following steps:
判断所述无人飞行器是否挂载双云台,如果所述无人飞行器挂载双云台则将所述无人飞行器的最大姿态角限制为第二最大姿态角,最大飞行速度限制为第二最大飞行速度,最大上升速度限制为第二最大上升速度。Determine whether the UAV is mounted with dual heads, if the UAV is mounted with dual heads, the maximum attitude angle of the UAV is limited to the second maximum attitude angle, and the maximum flight speed is limited to the second The maximum flight speed and the maximum ascent speed are limited to the second maximum ascent speed.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:In an embodiment of the present invention, the one or more processors 540 further perform the following steps:
判断所述无人飞行器是否挂载非自身负载,如果所述无人飞行器挂载非自身负载,则将所述无人飞行器的最大姿态角限制为第三最大姿态角,最大飞行速度限制为第三最大飞行速度,最大上升速度限制为第三最大上升速度。Determine whether the unmanned aerial vehicle is loaded with a non-self-load, if the unmanned aerial vehicle is loaded with a non-self-load, the maximum attitude angle of the unmanned aerial vehicle is limited to the third maximum attitude angle, and the maximum flight speed is limited to the third Three maximum flight speeds, the maximum ascent speed is limited to the third maximum ascent speed.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:In an embodiment of the present invention, the one or more processors 540 further perform the following steps:
所述第一最大姿态角大于所述第二最大姿态角,所述第二最大姿态角大于所述第三最大姿态角;The first maximum attitude angle is greater than the second maximum attitude angle, and the second maximum attitude angle is greater than the third maximum attitude angle;
所述第一最大飞行速度大于所述第二最大飞行速度,所述第二最大飞行速度大于所述第三最大飞行速度;The first maximum flight speed is greater than the second maximum flight speed, and the second maximum flight speed is greater than the third maximum flight speed;
所述第一最大上升速度大于所述第二最大上升速度,所述第二最大上升速度大于所述第三最大上升速度。The first maximum ascent speed is greater than the second maximum ascent speed, and the second maximum ascent speed is greater than the third maximum ascent speed.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:如果所述无人飞行器的最大姿态角的限制值达到最小设定值且当前所述负载功率保持大于当前所述SOP功率的持续时间大于设定时间,则限制所述无人飞行器的运行。In an embodiment of the present invention, the one or more processors 540 further perform the following steps: if the limit value of the maximum attitude angle of the UAV reaches the minimum set value and the current load power remains greater than the current If the duration of the SOP power is greater than the set time, the operation of the UAV is restricted.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:如果当前所述负载功率小于当前所述SOP功率,且所述无人飞行器的最大姿态角的限制值不是最大设定值,则增大所述无人飞行器的最大姿态角的限制值。In an embodiment of the present invention, the one or more processors 540 further perform the following steps: if the current load power is less than the current SOP power, and the limit value of the maximum attitude angle of the UAV is not The maximum setting value increases the limit value of the maximum attitude angle of the UAV.
在本发明一个实施例中,所述一个或多个处理器540还执行下述步骤:In an embodiment of the present invention, the one or more processors 540 further perform the following steps:
在所述无人飞行器挂载非自身负载时,判断所述无人飞行器在挂载非自身负载后处于悬停时的功率值与当前SOP功率的大小;如果所述无人飞行器在挂载非自身负载后处于悬停时的功率值小于当前SOP功率的设定百分比,则允许所述无人飞行器运行;反之则限制所述无人飞行器运行。When the unmanned aerial vehicle is mounted with a non-self-load, the power value and the current SOP power of the unmanned aerial vehicle after being mounted with a non-self-load are determined; if the unmanned aerial vehicle is mounted with a non-self-load When the power value of the self-load after hovering is less than the set percentage of the current SOP power, the unmanned aerial vehicle is allowed to operate; otherwise, the unmanned aerial vehicle is restricted to operate.
此外,根据本发明实施例,还提供了一种存储介质,在所述存储介质上存储了程序指令,在所述程序指令被计算机或处理器运行时用于执行本发明实施例的用于可移动平台/无人飞行器的控制方法的相应步骤,并且用于实现根据本发明实施例的可移动平台中的相应模块。所述存储介质例如可以包括智能电话的存储卡、平板电脑的存储部件、个人计算机的硬盘、只读存储器(ROM)、可擦除可编程只读存储器(EPROM)、便携式紧致盘只读存储器(CD-ROM)、USB存储器、或者上述存储介质的任意组合。所述计算机可读存储介质可以是一个或多个计算机可读存储介质的任意组合。In addition, according to an embodiment of the present invention, there is also provided a storage medium on which program instructions are stored. When the program instructions are executed by a computer or a processor, they are used to execute the embodiments of the present invention. The corresponding steps of the mobile platform/unmanned aerial vehicle control method, and are used to implement the corresponding modules in the mobile platform according to the embodiments of the present invention. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read only memory (ROM), an erasable programmable read only memory (EPROM), a portable compact disk read only memory (CD-ROM), USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.
在一个实施例中,所述计算机程序指令在被计算机运行时可以实现根据本发明实施例的可移动装置的各个功能模。In one embodiment, the computer program instructions, when executed by a computer, can implement various functional modules of the movable device according to the embodiments of the present invention.
在一个实施例中,所述计算机程序指令在被计算机运行时执行以下步 骤:获取所述可移动平台的当前负载功率和电池当前的动力电池功率边界SOP功率;比较当前所述负载功率和当前所述SOP功率的大小;根据比较结果调整所述负载功率,以确保当前所述负载功率小于当前所述SOP功率。In one embodiment, the computer program instructions perform the following steps when being run by the computer: acquiring the current load power of the movable platform and the current power battery power boundary SOP power of the battery; comparing the current load power with the current The size of the SOP power; adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
根据本发明提供的可移动平台的控制方法、可移动平台及存储介质,通过实时采集负载功率和电池当前的动力电池功率边界SOP功率,并比较二者的大小,然后根据比较结果调整负载功率来确保当前所述负载功率小于当前所述SOP功率,从而确保可移动平台的电池输出功率(即负载功率)不会超过电池当前的动力电池功率边界SOP功率,使得可移动平台可以使用高能量密度的电池,从而提高可移动平台的续航。即根据本发明的可移动平台的控制方法、可移动平台及存储介质根据电池的动态SOP功率动态调整负载功率,使得电池输出功率(即负载功率)不会超过电池当前的动力电池功率边界SOP功率,并且可以尽可能满足可移动平台的负载功率需求。According to the control method of the movable platform, the movable platform and the storage medium provided by the present invention, the load power and the current power battery power boundary SOP power of the battery are collected in real time, and the size of the two is compared, and then the load power is adjusted according to the comparison result. Ensure that the current load power is less than the current SOP power, so as to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy density Battery, which improves the life of the mobile platform. That is, the control method of the movable platform, the movable platform and the storage medium according to the present invention dynamically adjust the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) will not exceed the current power battery power boundary SOP power of the battery , And can meet the load power requirements of the mobile platform as much as possible.
尽管这里已经参考附图描述了示例实施例,应理解上述示例实施例仅仅是示例性的,并且不意图将本发明的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改,而不偏离本发明的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本发明的范围之内。Although example embodiments have been described herein with reference to the drawings, it should be understood that the above example embodiments are merely exemplary, and are not intended to limit the scope of the present invention thereto. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.
本领域普通技术人员可以意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本发明的范围。Those of ordinary skill in the art may realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application of the technical solution and design constraints. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.
在本申请所提供的几个实施例中,应该理解到,所揭露的设备和方法,可以通过其它的方式实现。例如,以上所描述的设备实施例仅仅是示意性的,例如,所述单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个设备,或一些特征可以忽略,或不执行。In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a division of logical functions. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another device, or some features can be ignored, or not implemented.
在此处所提供的说明书中,说明了大量具体细节。然而,能够理解, 本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中,并未详细示出公知的方法、结构和技术,以便不模糊对本说明书的理解。The specification provided here explains a lot of specific details. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this description.
类似地,应当理解,为了精简本发明并帮助理解各个发明方面中的一个或多个,在对本发明的示例性实施例的描述中,本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而,并不应将该本发明的方法解释成反映如下意图:即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说,如相应的权利要求书所反映的那样,其发明点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此,遵循具体实施方式的权利要求书由此明确地并入该具体实施方式,其中每个权利要求本身都作为本发明的单独实施例。Similarly, it should be understood that in order to streamline the invention and help understand one or more of the various inventive aspects, in describing the exemplary embodiments of the invention, the various features of the invention are sometimes grouped together into a single embodiment, figure , Or in its description. However, the method of the present invention should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. Rather, as reflected in the corresponding claims, the invention lies in that the corresponding technical problems can be solved with less than all the features of a single disclosed embodiment. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, where each claim itself serves as a separate embodiment of the present invention.
本领域的技术人员可以理解,除了特征之间相互排斥之外,可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述,本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的替代特征来代替。Those skilled in the art can understand that, in addition to mutually exclusive features, any combination of all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and any method or device disclosed in this way can be used in any combination. Processes or units are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose.
此外,本领域的技术人员能够理解,尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征,但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如,在权利要求书中,所要求保护的实施例的任意之一都可以以任意的组合方式来使用。In addition, those skilled in the art can understand that although some of the embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention And form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.
本发明的各个部件实施例可以以硬件实现,或者以在一个或者多个处理器上运行的软件模块实现,或者以它们的组合实现。本领域的技术人员应当理解,可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的一些模块的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如,计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上,或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到,或者在载体信号上提供,或者以任何其他形式提供。The various component embodiments of the present invention may be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some modules according to embodiments of the present invention. The present invention can also be implemented as a device program (for example, a computer program and a computer program product) for performing a part or all of the method described herein. Such a program implementing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限 制,并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中,不应将位于括号之间的任何参考符号构造成对权利要求的限制。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中,这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。It should be noted that the above-mentioned embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs between parentheses should not be constructed as limitations on the claims. The invention can be realized by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims enumerating several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third does not indicate any order. These words can be interpreted as names.
以上所述,仅为本发明的具体实施方式或对具体实施方式的说明,本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到变化或替换,都应涵盖在本发明的保护范围之内。本发明的保护范围应以权利要求的保护范围为准。The above is only the specific embodiments of the present invention or the description of the specific embodiments, the scope of protection of the present invention is not limited to this, any person skilled in the art in the technical scope of the present invention, can easily Changes or replacements should be included in the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (37)
- 一种可移动平台的控制方法,所述可移动平台通过电池供电,其特征在于,该控制方法包括:A control method of a movable platform, which is powered by a battery, characterized in that the control method includes:获取所述可移动平台的当前负载功率和电池当前的动力电池功率边界SOP功率;Obtain the current load power of the movable platform and the current power battery power SOP power of the battery;比较当前所述负载功率和当前所述SOP功率的大小;Comparing the current load power with the current SOP power;根据比较结果调整所述负载功率,以确保当前所述负载功率小于当前所述SOP功率。Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
- 根据权利要求1所述的控制方法,其特征在于,还包括:The control method according to claim 1, further comprising:获取电池当前的输出电压和电流,并根据电池当前的所述输出电压和电流获得所述可移动平台的当前负载功率。Obtain the current output voltage and current of the battery, and obtain the current load power of the movable platform according to the current output voltage and current of the battery.
- 根据权利要求1所述的控制方法,其特征在于,还包括:The control method according to claim 1, further comprising:获取电池的当前剩余电量、循环次数、电芯温度以及环境温度中的至少一个,并根据电池的当前剩余电量、循环次数、电芯温度以及环境温度中的至少一个,获得电池当前的SOP功率。Obtain at least one of the current remaining capacity of the battery, the number of cycles, the cell temperature, and the ambient temperature, and obtain the current SOP power of the battery according to at least one of the current remaining capacity of the battery, the number of cycles, the temperature of the cell, and the ambient temperature.
- 根据权利要求1-3任意一项所述的控制方法,其特征在于,如果当前所述负载功率大于当前所述SOP功率,则限制所述可移动平台的负载的功率需求,从而使当前所述负载功率小于当前所述SOP功率;The control method according to any one of claims 1 to 3, wherein if the current load power is greater than the current SOP power, the power requirement of the load of the movable platform is limited, so that the current The load power is less than the current SOP power;或者,如果当前所述负载功率小于当前所述SOP功率,则允许所述可移动平台的负载的功率需求的增大。Alternatively, if the current load power is less than the current SOP power, an increase in the power requirement of the load of the movable platform is allowed.
- 根据权利要求4所述的控制方法,其特征在于,如果当前所述负载功率大于当前所述SOP功率,则降低所述可移动平台的最大速度设定值。The control method according to claim 4, wherein if the current load power is greater than the current SOP power, the maximum speed setting value of the movable platform is reduced.
- 根据权利要求5所述的控制方法,其特征在于,如果当前所述负载功率大于当前所述SOP功率,则减小所述可移动平台的最大移动速度的限制值直到当前所述负载功率小于当前所述SOP功率或者所述可移动平台的最大移动速度的限制值达到最小设定值。The control method according to claim 5, wherein if the current load power is greater than the current SOP power, the limit value of the maximum moving speed of the movable platform is reduced until the current load power is less than the current The limit value of the SOP power or the maximum moving speed of the movable platform reaches a minimum set value.
- 根据权利要求6所述的控制方法,其特征在于,如果所述可移动平台的最大移动速度的限制值达到最小设定值且当前所述负载功率保持大于 当前所述SOP功率的持续时间大于设定时间,则限制所述可移动平台的运行。The control method according to claim 6, wherein if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the current duration of the load power remains greater than the current duration of the SOP power is greater than the setting At a fixed time, the operation of the movable platform is restricted.
- 根据权利要求4所述的控制方法,其特征在于,如果当前所述负载功率小于当前所述SOP功率,且所述可移动平台的最大移动速度的限制值不是最大设定值,则增大所述可移动平台的最大移动速度的限制值。The control method according to claim 4, wherein if the current load power is less than the current SOP power and the limit value of the maximum moving speed of the movable platform is not the maximum set value, then increase the Said the limit value of the maximum moving speed of the movable platform.
- 根据权利要求1所述的控制方法,其特征在于,所述可移动平台包括无人飞行器、无人车、无人船、机器人。The control method according to claim 1, wherein the movable platform includes an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, and a robot.
- 根据权利要求9所述的控制方法,其特征在于,The control method according to claim 9, wherein:如果当前所述负载功率小于当前所述SOP功率,则将所述无人飞行器的最大姿态角限制为当前模式下的最大值;If the current load power is less than the current SOP power, limit the maximum attitude angle of the UAV to the maximum value in the current mode;如果当前所述负载功率大于当前所述SOP功率,则减小所述无人飞行器的最大姿态角直到当前所述负载功率小于当前所述SOP功率或者所述无人飞行器的最大姿态角达到最小设定值。If the current load power is greater than the current SOP power, then the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum setting Value.
- 根据权利要求10所述的控制方法,其特征在于,如果所述无人飞行器处于运动模式,则将所述无人飞行器的最大姿态角限制为第一最大姿态角,最大飞行速度限制为第一最大飞行速度,最大上升速度限制为第一最大上升速度。The control method according to claim 10, wherein if the UAV is in a sports mode, the maximum attitude angle of the UAV is limited to the first maximum attitude angle, and the maximum flight speed is limited to the first The maximum flight speed and the maximum ascent speed are limited to the first maximum ascent speed.
- 根据权利要求11所述的控制方法,其特征在于,还包括:The control method according to claim 11, further comprising:判断所述无人飞行器是否挂载双云台,如果所述无人飞行器挂载双云台则将所述无人飞行器的最大姿态角限制为第二最大姿态角,最大飞行速度限制为第二最大飞行速度,最大上升速度限制为第二最大上升速度。Determine whether the UAV is mounted with dual heads, if the UAV is mounted with dual heads, the maximum attitude angle of the UAV is limited to the second maximum attitude angle, and the maximum flight speed is limited to the second The maximum flight speed and the maximum ascent speed are limited to the second maximum ascent speed.
- 根据权利要求12所述的控制方法,其特征在于,还包括:The control method according to claim 12, further comprising:判断所述无人飞行器是否挂载非自身负载,如果所述无人飞行器挂载非自身负载,则将所述无人飞行器的最大姿态角限制为第三最大姿态角,最大飞行速度限制为第三最大飞行速度,最大上升速度限制为第三最大上升速度。Determine whether the unmanned aerial vehicle is loaded with a non-self-load, if the unmanned aerial vehicle is loaded with a non-self-load, the maximum attitude angle of the unmanned aerial vehicle is limited to the third maximum attitude angle, and the maximum flight speed is limited to the third Three maximum flight speeds, the maximum ascent speed is limited to the third maximum ascent speed.
- 根据权利要求13所述的控制方法,其特征在于,The control method according to claim 13, wherein:所述第一最大姿态角大于所述第二最大姿态角,所述第二最大姿态角大于所述第三最大姿态角;The first maximum attitude angle is greater than the second maximum attitude angle, and the second maximum attitude angle is greater than the third maximum attitude angle;所述第一最大飞行速度大于所述第二最大飞行速度,所述第二最大飞 行速度大于所述第三最大飞行速度;The first maximum flight speed is greater than the second maximum flight speed, and the second maximum flight speed is greater than the third maximum flight speed;所述第一最大上升速度大于所述第二最大上升速度,所述第二最大上升速度大于所述第三最大上升速度。The first maximum ascent speed is greater than the second maximum ascent speed, and the second maximum ascent speed is greater than the third maximum ascent speed.
- 根据权利要求10所述的控制方法,其特征在于,如果所述无人飞行器的最大姿态角的限制值达到最小设定值且当前所述负载功率保持大于当前所述SOP功率的持续时间大于设定时间,则限制所述无人飞行器的运行。The control method according to claim 10, wherein if the limit value of the maximum attitude angle of the UAV reaches a minimum set value and the current duration of the load power remains greater than the current duration of the SOP power is greater than the setting At a fixed time, the operation of the UAV is restricted.
- 根据权利要求10所述的控制方法,其特征在于,如果当前所述负载功率小于当前所述SOP功率,且所述无人飞行器的最大姿态角的限制值不是最大设定值,则增大所述无人飞行器的最大姿态角的限制值。The control method according to claim 10, characterized in that if the current load power is less than the current SOP power and the limit value of the maximum attitude angle of the UAV is not the maximum set value, increase the Describe the limit value of the maximum attitude angle of the UAV.
- 根据权利要求9所述的控制方法,其特征在于,还包括:The control method according to claim 9, further comprising:在所述无人飞行器挂载非自身负载时,判断所述无人飞行器在挂载非自身负载后处于悬停时的功率值与当前SOP功率的大小;如果所述无人飞行器在挂载非自身负载后处于悬停时的功率值小于当前SOP功率的设定百分比,则允许所述无人飞行器运行;反之则限制所述无人飞行器运行。When the unmanned aerial vehicle is mounted with a non-self-load, the power value and the current SOP power of the unmanned aerial vehicle after being mounted with a non-self-load are determined; if the unmanned aerial vehicle is mounted with a non-self-load When the power value of the self-load after hovering is less than the set percentage of the current SOP power, the unmanned aerial vehicle is allowed to operate; otherwise, the unmanned aerial vehicle is restricted to operate.
- 一种可移动平台,其特征在于,包括:A movable platform is characterized by including:电池模块,用于为所述电池动力设备提供电能;A battery module, used to provide electrical energy for the battery power equipment;一个或多个处理器;One or more processors;存储器,用于存储一个或多个程序;Memory, used to store one or more programs;当所述一个或多个程序被所述一个或多个处理器执行时,使得所述一个或多个处理器执行下述步骤:When the one or more programs are executed by the one or more processors, the one or more processors are caused to perform the following steps:获取所述可移动平台的当前负载功率和电池当前的动力电池功率边界SOP功率;Obtain the current load power of the movable platform and the current power battery power SOP power of the battery;比较当前所述负载功率和当前所述SOP功率的大小;Comparing the current load power with the current SOP power;根据比较结果调整所述负载功率,以确保当前所述负载功率小于当前所述SOP功率。Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
- 根据权利要求18所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:The mobile platform of claim 18, wherein the one or more processors further perform the following steps:获取电池当前的输出电压和电流,并根据电池当前的所述输出电压和电流获得所述可移动平台的当前负载功率。Obtain the current output voltage and current of the battery, and obtain the current load power of the movable platform according to the current output voltage and current of the battery.
- 根据权利要求18所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:The mobile platform of claim 18, wherein the one or more processors further perform the following steps:获取电池的当前剩余电量、循环次数、电芯温度以及环境温度中的至少一个,并根据电池的当前剩余电量、循环次数、电芯温度以及环境温度中的至少一个,获得电池当前的SOP功率。Obtain at least one of the current remaining capacity of the battery, the number of cycles, the cell temperature, and the ambient temperature, and obtain the current SOP power of the battery according to at least one of the current remaining capacity of the battery, the number of cycles, the temperature of the cell, and the ambient temperature.
- 根据权利要求18-20任意一项所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:如果当前所述负载功率大于当前所述SOP功率,则限制所述可移动平台的负载的功率需求,从而使当前所述负载功率小于当前所述SOP功率;如果当前所述负载功率小于当前所述SOP功率,则允许所述可移动平台的负载的功率需求的增大。The mobile platform according to any one of claims 18 to 20, wherein the one or more processors further perform the following step: if the current load power is greater than the current SOP power, limit all The power requirement of the load of the movable platform, so that the current load power is less than the current SOP power; if the current load power is less than the current SOP power, the power requirement of the load of the movable platform is allowed Increase.
- 根据权利要求21所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:如果当前所述负载功率大于当前所述SOP功率,则降低所述可移动平台的最大速度设定值。The mobile platform of claim 21, wherein the one or more processors further perform the following step: if the current load power is greater than the current SOP power, then reduce the mobile platform Maximum speed setting.
- 根据权利要求22述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:如果当前所述负载功率大于当前所述SOP功率,则减小所述可移动平台的最大移动速度的限制值直到当前所述负载功率小于当前所述SOP功率或者所述可移动平台的最大移动速度的限制值达到最小设定值。The mobile platform according to claim 22, wherein the one or more processors further perform the following step: if the current load power is greater than the current SOP power, then reduce the mobile platform The limit value of the maximum moving speed until the current load power is less than the current SOP power or the limit value of the maximum moving speed of the movable platform reaches a minimum set value.
- 根据权利要求23所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:如果所述可移动平台的最大移动速度的限制值达到最小设定值且当前所述负载功率保持大于当前所述SOP功率的持续时间大于设定时间,则限制所述可移动平台的运行。The movable platform according to claim 23, wherein the one or more processors further perform the following step: if the limit value of the maximum movement speed of the movable platform reaches the minimum setting value and the current The duration that the load power remains greater than the current SOP power is greater than the set time limits the operation of the mobile platform.
- 根据权利要求21所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:如果当前所述负载功率小于当前所述SOP功率,且所述可移动平台的最大移动速度的限制值不是最大设定值,则增大所述可移动平台的最大移动速度的限制值。The mobile platform of claim 21, wherein the one or more processors further perform the following step: if the current load power is less than the current SOP power, and the maximum size of the mobile platform If the limit value of the moving speed is not the maximum setting value, increase the limit value of the maximum moving speed of the movable platform.
- 根据权利要求18所述的可移动平台,其特征在于,所述可移动平台包括无人飞行器、无人车、无人船、机器人。The movable platform according to claim 18, wherein the movable platform includes an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, and a robot.
- 根据权利要求26所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:The mobile platform of claim 26, wherein the one or more processors further perform the following steps:如果当前所述负载功率小于当前所述SOP功率,则将所述无人飞行器的最大姿态角限制为当前模式下的最大值;If the current load power is less than the current SOP power, limit the maximum attitude angle of the UAV to the maximum value in the current mode;如果当前所述负载功率大于当前所述SOP功率,则减小所述无人飞行器的最大姿态角直到当前所述负载功率小于当前所述SOP功率或者所述无人飞行器的最大姿态角达到最小设定值。If the current load power is greater than the current SOP power, then the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum setting Value.
- 根据权利要求27所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:如果所述无人飞行器处于运动模式,则将所述无人飞行器的最大姿态角限制为第一最大姿态角,最大飞行速度限制为第一最大飞行速度,最大上升速度限制为第一最大上升速度。The mobile platform according to claim 27, wherein the one or more processors further perform the following steps: if the UAV is in a sport mode, then set the maximum attitude angle of the UAV It is limited to the first maximum attitude angle, the maximum flight speed is limited to the first maximum flight speed, and the maximum ascent speed is limited to the first maximum ascent speed.
- 根据权利要求28所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:The mobile platform of claim 28, wherein the one or more processors further perform the following steps:判断所述无人飞行器是否挂载双云台,如果所述无人飞行器挂载双云台则将所述无人飞行器的最大姿态角限制为第二最大姿态角,最大飞行速度限制为第二最大飞行速度,最大上升速度限制为第二最大上升速度。Determine whether the UAV is mounted with dual heads, if the UAV is mounted with dual heads, the maximum attitude angle of the UAV is limited to the second maximum attitude angle, and the maximum flight speed is limited to the second The maximum flight speed and the maximum ascent speed are limited to the second maximum ascent speed.
- 根据权利要求29所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:The mobile platform of claim 29, wherein the one or more processors further perform the following steps:判断所述无人飞行器是否挂载非自身负载,如果所述无人飞行器挂载非自身负载,则将所述无人飞行器的最大姿态角限制为第三最大姿态角,最大飞行速度限制为第三最大飞行速度,最大上升速度限制为第三最大上升速度。Determine whether the unmanned aerial vehicle is loaded with a non-self-load, if the unmanned aerial vehicle is loaded with a non-self-load, the maximum attitude angle of the unmanned aerial vehicle is limited to the third maximum attitude angle, and the maximum flight speed is limited to the third Three maximum flight speeds, the maximum ascent speed is limited to the third maximum ascent speed.
- 根据权利要求30所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:The mobile platform of claim 30, wherein the one or more processors further perform the following steps:所述第一最大姿态角大于所述第二最大姿态角,所述第二最大姿态角大于所述第三最大姿态角;The first maximum attitude angle is greater than the second maximum attitude angle, and the second maximum attitude angle is greater than the third maximum attitude angle;所述第一最大飞行速度大于所述第二最大飞行速度,所述第二最大飞行速度大于所述第三最大飞行速度;The first maximum flight speed is greater than the second maximum flight speed, and the second maximum flight speed is greater than the third maximum flight speed;所述第一最大上升速度大于所述第二最大上升速度,所述第二最大上升速度大于所述第三最大上升速度。The first maximum ascent speed is greater than the second maximum ascent speed, and the second maximum ascent speed is greater than the third maximum ascent speed.
- 根据权利要求27所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:如果所述无人飞行器的最大姿态角的限制值达 到最小设定值且当前所述负载功率保持大于当前所述SOP功率的持续时间大于设定时间,则限制所述无人飞行器的运行。The mobile platform according to claim 27, wherein the one or more processors further perform the following step: if the limit value of the maximum attitude angle of the UAV reaches the minimum set value and the current The duration that the load power remains greater than the current SOP power is greater than the set time limits the operation of the UAV.
- 根据权利要求27所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:如果当前所述负载功率小于当前所述SOP功率,且所述无人飞行器的最大姿态角的限制值不是最大设定值,则增大所述无人飞行器的最大姿态角的限制值。The mobile platform of claim 27, wherein the one or more processors further perform the following steps: if the current load power is less than the current SOP power, and the maximum value of the UAV If the limit value of the attitude angle is not the maximum setting value, increase the limit value of the maximum attitude angle of the UAV.
- 根据权利要求26所述的可移动平台,其特征在于,所述一个或多个处理器还执行下述步骤:The mobile platform of claim 26, wherein the one or more processors further perform the following steps:在所述无人飞行器挂载非自身负载时,判断所述无人飞行器在挂载非自身负载后处于悬停时的功率值与当前SOP功率的大小;如果所述无人飞行器在挂载非自身负载后处于悬停时的功率值小于当前SOP功率的设定百分比,则允许所述无人飞行器运行;反之则限制所述无人飞行器运行。When the unmanned aerial vehicle is mounted with a non-self-load, the power value and the current SOP power of the unmanned aerial vehicle after being mounted with a non-self-load are determined; if the unmanned aerial vehicle is mounted with a non-self-load When the power value of the self-load after hovering is less than the set percentage of the current SOP power, the unmanned aerial vehicle is allowed to operate; otherwise, the unmanned aerial vehicle is restricted to operate.
- 根据权利要求18所述的可移动平台,其特征在于,所述电池模块包括:The movable platform according to claim 18, wherein the battery module comprises:检测模块,用于检测电池的输出电压、输出电流、当前电量、电池循环次数、电芯温度或环境温度;The detection module is used to detect the output voltage, output current, current capacity, battery cycle number, battery core temperature or ambient temperature of the battery;计算模块,用于根据所述检测模块的检测结果计算所述电池动力设备的当前负载功率和电池当前的SOP功率;A calculation module, configured to calculate the current load power of the battery power equipment and the current SOP power of the battery according to the detection result of the detection module;通信模块,用于将所述计算模块的计算结果发送至所述一个或多个处理器。The communication module is configured to send the calculation result of the calculation module to the one or more processors.
- 一种可移动平台,所述可移动平台通过电池供电,其特征在于,该可移动平台包括:A movable platform, which is powered by a battery, is characterized in that the movable platform includes:功率获取模块,用于获取所述可移动平台的当前负载功率和电池当前的SOP功率;A power obtaining module, configured to obtain the current load power of the movable platform and the current SOP power of the battery;比较模块,用于比较当前所述负载功率和当前所述SOP功率的大小;A comparison module for comparing the current load power and the current SOP power;控制模块,用于根据所述比较模块的比较结果调整所述负载功率,以确保当前所述负载功率小于当前所述SOP功率。The control module is configured to adjust the load power according to the comparison result of the comparison module to ensure that the current load power is less than the current SOP power.
- 一种计算机存储介质,其上存储有计算机程序,其特征在于,所述程序被处理器执行时实现权利要求1至17中任一项所述方法的步骤。A computer storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the steps of the method according to any one of claims 1 to 17 are implemented.
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