Engine power control method, device and engine

Abstract

The present application is applicable to the field of equipment control technology, and provides an engine power control method, device and engine, including: in response to a movement instruction of a movable device equipped with an engine, determining the device type of the movable device; according to the device type, determining a power conversion function for converting the engine power corresponding to the movement instruction; importing the target acceleration corresponding to the movement instruction into the power conversion function corresponding to the device type, and calculating the target power corresponding to the engine; controlling the engine to run at the target power, so that the movable device runs at the target acceleration. The above method can select the power conversion function corresponding to the device type, so that the obtained target power matches the device type installed, thereby improving the accuracy of power control, and then improving the accuracy of equipment control.

Description

Technical Field

[0001] The present application belongs to the technical field of equipment control, and in particular, relates to a method and device for controlling engine power, and an engine. Background Art

[0002] Engines, as the most important power module of today's equipment, are used in many fields, such as providing power for drones, cars and other equipment. In the process of controlling the operation of the engine, the engine can be controlled to run at a specified power to provide the power required for the speed requirement of the equipment according to the different speed requirements of the equipment. Therefore, how to accurately control the power of the engine has become the main factor affecting equipment control.

[0003] The existing engine power control technology generally establishes a corresponding relationship between power and speed, and controls the engine to operate at a power corresponding to the speed according to the moving speed required by the user. Since the engine can be configured in different devices, but different devices require different engine powers for the same moving speed, if the same corresponding relationship is used to control the engine operation, it is easy to cause the actual moving speed to be inconsistent with the user's required speed, thereby greatly reducing the accuracy of engine control, and then reducing the accuracy of equipment operation control. Summary of the invention

[0004] The embodiments of the present application provide a method, device and engine for controlling engine power, which can solve the problem of existing engine control technology. Different devices require different engine powers for the same moving speed. If the same corresponding relationship is used to control the engine operation, it is easy to cause the actual moving speed to be inconsistent with the user's required speed, thereby greatly reducing the accuracy of engine control and then reducing the accuracy of device operation control.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling engine power, the method comprising:

[0006] In response to a movement instruction of a movable device equipped with an engine, determining a device type of the movable device;

[0007] Determining a power conversion function for converting the engine power corresponding to the movement instruction according to the device type; the power conversion function includes at least one calibration characteristic parameter; the calibration characteristic parameter is determined based on the device type;

[0008] Importing the target acceleration corresponding to the movement instruction into the power conversion function corresponding to the device type, and calculating the target power corresponding to the engine;

[0009] The engine is controlled to operate at the target power so that the movable device operates at the target acceleration.

[0010] In a possible implementation manner of the first aspect, determining, according to the device type, a power conversion function for converting the engine power corresponding to the movement instruction includes:

[0011] If the device type is a car type, determining first load characteristic data of the mobile device during driving; the first load characteristic data includes a first load value and a load distribution diagram;

[0012] Acquiring, through an environmental sensor configured on the mobile device, first environmental information corresponding to the moment when the movement instruction is received; the first environmental information includes: road type and weather type;

[0013] Determining a current calibrated friction coefficient of the mobile device according to the initial friction coefficient corresponding to the road surface type and the friction influence factor corresponding to the weather type;

[0014] Determining an initial friction resistance corresponding to each tire on the mobile device according to the first load value and the calibrated friction coefficient;

[0015] Based on the weather type and the current speed of the movable device, performing load-bearing calibration on the load-bearing distribution diagram to obtain a calibrated gravity distribution;

[0016] Performing a resistance calibration on the initial friction resistance corresponding to each tire by using the calibration gravity distribution to obtain a calibrated friction resistance;

[0017] According to the calibrated friction resistance, the slope value of the current position of the movable device, the vehicle weight of the movable device and the current air resistance of the movable device, the initial power function corresponding to the engine is calibrated to obtain the power conversion function; the power conversion function is specifically:

[0018]

[0019] Among them, P tagt is the target power; f sd is the calibrated friction resistance; θ is the slope value; G is the vehicle weight; C D is the air resistance; v is the speed value of the movable device; A is the windward area of ​​the movable device; ρ is the current air density.

[0020] In a possible implementation manner of the first aspect, the performing load-bearing calibration on the load distribution map based on the weather type and the current speed of the mobile device to obtain a calibrated gravity distribution includes:

[0021] constructing a wind speed vector according to a first wind force level and a wind direction corresponding to the weather type, and constructing a movement vector corresponding to the movable device according to the current speed and the moving direction of the movable device;

[0022] Determining a resistance vector corresponding to the movable device according to the wind speed vector and the movement vector;

[0023] Determining a total device weight of the movable device based on the device weight of the movable device and the first load value;

[0024] Determining a center of gravity position corresponding to the movable device according to the total device weight and the load distribution diagram;

[0025] determining a resistance surface of the movable device according to the wind speed vector and the movement vector;

[0026] Calculating the resistance moment between the center of gravity position and the resistance surface;

[0027] The load floating factor is calculated according to the resistance vector, the resistance torque and the total device weight; the load floating factor is:

[0028]

[0029] Wherein, WeightFloat is the weight floating factor; is the modulus of the resistance vector; WeightTotal is the total device weight; Dist is the resistance torque; α is the preset angle coefficient;

[0030] The load distribution diagram is subjected to load-bearing calibration using the load floating factor to obtain the calibrated gravity distribution.

[0031] In a possible implementation manner of the first aspect,

[0032] The step of calibrating the initial power function corresponding to the engine according to the calibrated friction resistance, the slope value of the current position of the movable device, the vehicle weight of the movable device, and the current air resistance of the movable device to obtain the power conversion function includes:

[0033] If the current motion mode of the mobile device is the autonomous driving mode, the initial power function corresponding to the engine is calibrated according to the calibrated friction resistance, the slope value of the current position of the mobile device, the vehicle weight of the mobile device and the current air resistance of the mobile device to obtain the power conversion function;

[0034] If the current motion mode of the mobile device is a following driving mode, obtaining a real-time following distance between the mobile device and the following vehicle;

[0035] Obtaining a speed deviation corresponding to the mobile device according to the real-time following distance and a preset following distance range;

[0036] According to the calibrated friction resistance, the slope value of the current position of the movable device, the vehicle weight of the movable device, the current air resistance of the movable device and the speed deviation, the initial power function corresponding to the engine is calibrated to obtain the power conversion function.

[0037] In a possible implementation manner of the first aspect, determining, according to the device type, a power conversion function for converting the engine power corresponding to the movement instruction includes:

[0038] If the device type is a drone type, determining the second load characteristic data of the drone's takeoff; the second load characteristic data includes a second load value and a load size;

[0039] Acquiring second environmental information at the take-off time through an environmental sensor configured on the drone; the second environmental information includes: a second wind force level and air composition data;

[0040] Determining a load ratio corresponding to the drone according to the rated load of the drone and the second load value;

[0041] Obtaining a resistance factor corresponding to the engine through the particle density and water vapor density in the air composition data;

[0042] Based on the load ratio and the resistance factor, the reference power curve of the UAV is calibrated to obtain the calibrated power curve; the calibrated power curve is:

[0043]

[0044] Among them, Power adj (x) is the calibration power curve; Power base(x) is the reference power curve; WeightRA is the weight ratio; Resist is the resistance factor; β and γ are the preset speed resistance coefficients; V1 is the preset first speed threshold; V2 is the preset second speed threshold; x is the current speed of the drone;

[0045] Based on the load size and the second wind force level, generating a current resistance function of the drone;

[0046] The power conversion function is generated based on the resistance function and the calibrated power curve.

[0047] In a possible implementation manner of the first aspect, generating the power conversion function according to the resistance function and the calibration power curve includes:

[0048] If the movement type of the movable device is a single movement type, generating the power conversion function according to the resistance function and the calibration power curve;

[0049] If the movement type of the movable device is a cooperative movement type, obtaining motion characteristic parameters between the movable device and the second cooperatively operated UAV; the motion characteristic parameters include relative speed and relative distance;

[0050] constructing a collaborative calibration function corresponding to the mobile device according to the relative speed and the relative distance;

[0051] The power conversion function is generated based on the resistance function, the calibration power curve and the cooperative calibration function.

[0052] In a possible implementation manner of the first aspect, after controlling the engine to operate at the target power so that the mobile device operates at the target acceleration, the method further includes:

[0053] Acquire the real-time speed of the mobile device within a preset monitoring time, and determine the actual acceleration of the mobile device based on a plurality of the real-time speeds;

[0054] If the actual acceleration does not match the target acceleration within the monitoring time, abnormal warning information of the engine is generated to perform abnormal processing on the engine.

[0055] In a second aspect, an embodiment of the present application provides a device for controlling engine power, the device comprising:

[0056] a movement instruction receiving unit, configured to determine a device type of the movable device in response to a movement instruction of the movable device equipped with an engine;

[0057] A power conversion function determination unit, used to determine, according to the device type, a power conversion function for converting the engine power corresponding to the movement instruction; the power conversion function includes at least one calibration characteristic parameter; the calibration characteristic parameter is determined based on the device type;

[0058] A target power calculation unit, used for importing the target acceleration corresponding to the movement instruction into the power conversion function corresponding to the device type, and calculating the target power corresponding to the engine;

[0059] The command response unit is used to control the engine to operate at the target power so that the movable device operates at the target acceleration.

[0060] In a third aspect, an embodiment of the present application provides an engine, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any one of the first aspects above when executing the computer program.

[0061] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the first aspects above is implemented.

[0062] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a drone, enables the drone to execute any of the methods described in the first aspect above.

[0063] Compared with the prior art, the embodiment of the present application has the following beneficial effects: in view of the fact that the engine can be installed on different mobile devices, and the engine can still automatically perform adaptive adjustment on the power conversion function after leaving the factory, when receiving a moving instruction for the mobile device on which the engine is installed, the device type of the installed mobile device can be determined first, and the corresponding power conversion function can be selected according to the device type, and the target acceleration indicated by the moving instruction is introduced into the above power conversion function, the target power of the engine is calculated, and the engine is controlled to run at the target power, so that the mobile device can run at the target acceleration, achieving the purpose of adaptive adjustment of the engine power. Compared with the existing engine control technology, the engine in the embodiment of the present application can be configured with the corresponding power conversion algorithm for different device types when leaving the factory, so that the mobile device can directly install the engine in the corresponding device without adjusting the power of the engine, reducing the difficulty of engine power correction; and the corresponding power conversion function can be selected according to the device type, so that the obtained target power matches the type of device installed, improving the accuracy of power control, and then improving the accuracy of equipment control. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0065] Figure 1 This is a schematic diagram of an application scenario of an engine provided by an embodiment of the present application;

[0066] Figure 2 It is a schematic diagram of an implementation method of an engine power control method provided in an embodiment of the present application;

[0067] Figure 3 is a schematic diagram of automobile control provided by an embodiment of the present application;

[0068] Figure 4 It is a specific implementation flow chart of S202 in a method for controlling engine power provided in the second embodiment of the present application;

[0069] Figure 5 is a schematic diagram of a load distribution diagram provided in an embodiment of the present application;

[0070] Figure 6 is a schematic diagram of a resistance torque provided by an embodiment of the present application;

[0071] Figure 7 This is a specific implementation flow chart of an engine power control method in S202 provided in the third embodiment of the present application;

[0072] Figure 8 is a specific implementation flow chart of an engine power control method provided in the fourth embodiment of the present application after S204;

[0073] Fig. 9 is a schematic diagram of the structure of the engine power control device provided in an embodiment of the present application;

[0074] Fig.10 It is a schematic diagram of the structure of the engine provided in the embodiment of the present application. DETAILED DESCRIPTION

[0075] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0076] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0077] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0078] The engine power control method provided in the embodiment of the present application can be applied to a mobile device equipped with an engine. For example, Figure 1 FIG. 1 is a schematic diagram showing an application scenario of an engine provided by an embodiment of the present application. Figure 1 As described above, the engine 11 can be applied to a drone 12 to provide power for the flying parts of the drone; the engine 11 can also be applied to a car 13 to provide power for the tires of the car to control the movement of the car; the engine 11 can also be applied to a ship 14 to provide power for the oars of the ship to control the navigation of the ship.

[0079] See also Figure 2 , Figure 2 A schematic diagram of an implementation of an engine power control method provided in an embodiment of the present application is shown. The engine power control method is applied to the above-mentioned engine 11. The execution subject of the embodiment of the present application can be the above-mentioned engine 11. In some implementations, if a processor is configured on the mobile device, the processor can send movement instructions to the engine to control the engine operation. Then, the engine power control method can also be applied to the processor of the mobile device. The specific settings can be made according to actual conditions and are not limited here. For the convenience of description, the subsequent execution subject is explained by taking the engine as an example. Specifically, the method includes the following steps:

[0080] In S201 , in response to a movement instruction of a movable device equipped with an engine, a device type of the movable device is determined.

[0081] In response to a movement instruction issued by a user to the drone, an initial power vector corresponding to the movement instruction is determined.

[0082] In this embodiment, the above-mentioned movable device can be any movable device and equipment powered by an engine, such as the above-mentioned drone, car, and ship, etc. The user can operate the above-mentioned movable device. When operating, the user can generate a corresponding movement instruction through the central control device and send the movement instruction to the engine to control the engine to provide power for the movable device.

[0083] Take the example of a user operating a car. The car may be equipped with a steering wheel and an accelerator pedal. By controlling the opening of the accelerator pedal, the car can be controlled to run at a specified speed; the steering wheel can be used to control the driving direction of the car. For example, Figure 3 A schematic diagram of a vehicle control system according to an embodiment of the present application is shown. Figure 3 As shown, the car 30 may be equipped with an engine 31, a steering wheel 32 and an accelerator pedal 33. The engine may be connected to the accelerator pedal 33, which may convert the user's stepping depth into a corresponding acceleration, generate a movement instruction carrying the acceleration, and send the movement instruction to the engine 31. After receiving the movement instruction, the engine 31 may perform the relevant operations of S201 to determine the target power required to achieve the target acceleration.

[0084] In some implementations, the car may be automatically controlled, for example, when the automatic driving mode is turned on, in which case the above movement instructions may be determined according to the automatic driving decision, for example, the automatic driving decision may determine the corresponding movement instructions according to the current road conditions (such as traffic density, congestion level ahead, and weather conditions, etc.) and / or the vehicle distance to the vehicle ahead. Similarly, the above movement instructions may also include the target acceleration and movement direction corresponding to the current engine. The specific method of generating movement instructions in the automatic driving mode may be generated according to the actual situation and is not limited here.

[0085] In this embodiment, after receiving the above movement instruction, the engine can extract the movement direction and target acceleration carried in the movement instruction, wherein the target acceleration is used to subsequently determine the target power of the engine.

[0086] In this embodiment, the engine can determine the device type of the mobile device on which it is installed, wherein the device type can be a car type, a drone type, a ship type, and other types, etc. The engine can be configured with a corresponding type identifier, and when the user installs the engine to the mobile device, the bit value of the type identifier can be set according to the device type of the mobile device, and then the engine can determine the device type of the mobile device on which it is installed by reading the bit value of the type identifier.

[0087] In some possible implementations, the type identifier includes two fields, a first field for recording the device type of the mobile device, and a second field for recording the specific device model under the device type. In order to improve the accuracy of the subsequent selection of the power conversion function, the engine can allocate at least two fields for storing the type identifier, determine the device type through the first field, and then determine the corresponding device model under the device type through the second field, which can improve the accuracy of identifying the mobile device, and then customize the corresponding power conversion function for different devices, thereby improving the accuracy of the subsequent target power determination.

[0088] In S202, according to the device type, a power conversion function for converting the engine power corresponding to the movement instruction is determined; the power conversion function includes at least one calibration characteristic parameter; the calibration characteristic parameter is determined based on the device type.

[0089] In this embodiment, the engine may store its corresponding initial power function, which is the corresponding relationship between acceleration and power without considering factors such as the installed mobile device and the operating environment. Since the engine power is affected by multiple factors, in order to improve the accuracy of the conversion between acceleration and power, the engine may add multiple calibration characteristic parameters to the above initial power function. According to the device type of the mobile device, the number of calibration characteristic parameters configured in the initial power function and the setting values ​​corresponding to each calibration characteristic parameter may be adjusted, so that a power conversion function matching the device type of the mobile device can be constructed.

[0090] In some possible implementations, the calibration characteristic parameters may specifically be the component parameters of the transmission components connected to the engine and the device weight of the movable device. For example, if the device type of the movable device is a car type, the number of the transmission components may be 4, i.e., 4 tires. The average weight of the car is used as the device weight, and then the two calibration characteristic parameters may be substituted into the initial power model, so that the power conversion model corresponding to the car type can be obtained; for another example, if the device type of the movable device is a drone type, the number of the transmission components may be 2, i.e., an aircraft configured on two wings. The average weight of the drone is used as the device weight, and a corresponding power conversion model of the drone type can be generated.

[0091] In some possible implementations, different device types may correspond to at least one calibration characteristic parameter associated with the device type. Exemplarily, the calibration characteristic parameter corresponding to the above-mentioned car type includes the friction between the car and the ground. Since the car contacts the ground during movement, the friction between the car and the ground needs to be offset in the process of its engine providing power to the car. Therefore, the above-mentioned calibration characteristic parameter may include ground friction. The above-mentioned initial power function is adjusted by ground friction, component parameters of transmission components and device weight to obtain a power conversion function. Exemplarily, the calibration characteristic parameter corresponding to the above-mentioned drone type includes air resistance. Since the air resistance has a great influence on the speed and direction of the drone during movement, it is necessary to offset the influence of air resistance by power calibration. Based on this, the above-mentioned calibration parameter may also include air resistance, that is, the above-mentioned initial power function is adjusted by air resistance, component parameters of transmission components and device weight to obtain a power conversion function. Exemplarily, the calibration parameter corresponding to the ship type may also include water resistance, which can be determined according to the buoyancy of the movable device and the volume in water. The specific method of determining the power conversion function according to the water resistance can refer to the relevant description of the above two examples, which will not be repeated here.

[0092] In S203, the target acceleration corresponding to the movement instruction is introduced into the power conversion function corresponding to the device type to calculate the target power corresponding to the engine.

[0093] In this embodiment, the engine can determine the target acceleration corresponding to the movable device. Since the power conversion function is used to calculate the corresponding power values ​​under different accelerations, the engine can import the above power conversion function according to the target acceleration corresponding to the moving instruction to determine the corresponding target power of the engine.

[0094] In S204, the engine is controlled to operate at the target power so that the mobile device operates at the target acceleration.

[0095] In this embodiment, after determining its target power, the engine can be operated at the calculated target power, so that the movable device can be operated at the acceleration corresponding to the movement instruction, thereby achieving the purpose of accurately controlling the engine operation.

[0096] As can be seen from the above, the engine power control method provided by the embodiment of the present application, considering that the engine can be installed on different movable devices, and the engine can still automatically perform adaptive adjustment on the power conversion function after leaving the factory, when receiving the moving instruction for the movable device on which the engine is installed, the device type of the installed movable device can be determined first, and the corresponding power conversion function can be selected according to the device type, and the target acceleration indicated by the moving instruction is introduced into the above power conversion function, the target power of the engine is calculated, and the engine is controlled to run at the target power, so that the movable device can run at the target acceleration, and the purpose of adaptive adjustment of the engine power is achieved. Compared with the existing engine control technology, the engine in the embodiment of the present application can be configured with the corresponding power conversion algorithm for different device types when leaving the factory, so that the movable device can directly install the engine in the corresponding device without adjusting the power of the engine, reducing the difficulty of engine power correction operation; and the corresponding power conversion function can be selected according to the device type, so that the obtained target power matches the type of device installed, improving the accuracy of power control, and then improving the accuracy of equipment control.

[0097] Figure 4 The specific implementation flow chart of S202 in the engine power control method provided in the second embodiment of the present application is shown. Figure 4 As shown, relative to Figure 2 In the embodiment, the engine power control method provided in the embodiment of the present application includes S202 including S401 to S407, which are specifically described as follows:

[0098] In S401, if the device type is a car type, first load characteristic data of the movable device during driving is determined; the first load characteristic data includes a first load value and a load distribution diagram.

[0099] In the present embodiment, the automobile-type movable device is mainly moved on land, therefore, the main resistance during its movement includes the air flow resistance during the movement and the friction with the ground. The above two resistances are both related to the weight of the movable device, based on which the engine can determine the first load characteristic data corresponding to the movable device. Among them, the above first load characteristic data includes the first load value and the load distribution diagram corresponding to the movable device. The above first load value is specifically the sum of the weight of the movable device itself and the weight of its load (such as goods and people, etc.). The above load distribution diagram can be determined according to the placement position of each load on the movable device and the load weight corresponding to each position.

[0100] For example, Figure 5FIG. 1 is a schematic diagram showing a load distribution diagram provided by an embodiment of the present application. Figure 5 As shown in (a) of FIG. 1 , a passenger is seated on the back seat of the mobile device, and the passenger is located at position 1, while the driver is seated on the front seat of the mobile device, that is, located at position 2. Therefore, the load weights corresponding to the above two positions are larger, and the corresponding load distribution diagram can be specifically as follows: Figure 5 As shown in (b), the gravity values ​​corresponding to the above two positions are greater than the gravity values ​​at other positions.

[0101] In S402, first environmental information corresponding to the moment when the movement instruction is received is acquired through an environmental sensor configured on the mobile device; the first environmental information includes: road surface type and weather type.

[0102] In this embodiment, an environmental sensor is configured on the movable device, through which the first environmental information of the environment in which the movable device is located can be collected. After obtaining the corresponding first environmental information, the environmental sensor can send it to the engine. According to the number of dimensions of environmental information to be collected, different types of environmental sensors can be configured to obtain environmental information of corresponding dimensions. For example, in this embodiment, the road surface type and weather type are required. The above two environmental dimensions can be obtained by two different environmental sensors, wherein the road surface type can be obtained by obtaining the road surface image through the image module module, and the road surface image can be determined after image analysis; and the weather type can be collected through the weather monitoring module, or the weather type corresponding to the current location of the movable device can be determined through the Internet.

[0103] In this embodiment, when the engine receives the movement instruction, in addition to determining the first load characteristic data, it can also send a collection instruction to the environmental sensor. After receiving the collection instruction, the environmental sensor can feedback the corresponding first environmental information to the engine. The above-mentioned first environmental information includes the road surface type and the weather type. Since the magnitude of the road surface friction is related to the roughness of the road surface and the current weather type, for example, if it is currently raining, the corresponding friction will be reduced; if it is currently sunny or windy, the friction is mainly determined based on the road surface type.

[0104] In S403, the current calibration friction coefficient of the mobile device is determined according to the initial friction coefficient corresponding to the road surface type and the friction influence factor corresponding to the weather type.

[0105] In this embodiment, the engine may store the correspondence between different road surface types and friction coefficients. After the corresponding road surface type during the current movement of the mobile device is determined by the environmental sensor, the corresponding initial friction coefficient may be determined by querying the above correspondence. For example, when the mobile device moves on a cement ground, the corresponding friction coefficient is f1, and when the mobile device moves on a gravel ground, the corresponding friction coefficient is f2, where f1<f2.

[0106] In this embodiment, the engine may store the correspondence between the weather type and the friction influence factor, and determine the friction influence factor corresponding to the current weather type by querying the above correspondence. Among them, if the above weather type is a sunny type, the above friction influence factor is 1; if the above weather type is a rainy type, the above friction influence factor may be factor1 which is less than 1; if the above weather type is a snowy type, the above friction influence factor may be factor2 which is less than factor1. The specific values ​​of each friction influence factor may be determined according to the actual situation. After determining the above friction influence factor, the engine may perform coefficient correction on the above friction influence factor for the initial friction coefficient. For example, if the initial friction coefficient is f and the friction influence factor is factor, the corresponding calibration friction coefficient is f*factor.

[0107] In S404, the initial friction resistance corresponding to each tire on the movable device is determined according to the first load value and the calibrated friction coefficient.

[0108] In this embodiment, the movable device is equipped with multiple tires, and the first load value can be divided equally by the pressure of multiple tire squares. Based on this, the engine can calculate the pressure value corresponding to each tire according to the number of tires and the first load value, and calculate the initial friction resistance corresponding to each tire according to the above-mentioned calibrated friction coefficient.

[0109] In S405, based on the weather type and the current speed of the movable device, the load distribution diagram is calibrated to obtain a calibrated gravity distribution.

[0110] In this embodiment, during the movement of the car, the actual gravity distribution of the car will be affected due to wind pressure and environmental wind force. For example, if the wind force on the right side of the car is strong during driving, the car will deviate to the left due to the wind force. Correspondingly, the actual pressure value on the right side of the vehicle will decrease, while the actual pressure value on the right side will increase. The wind force effect is related to the driving speed of the vehicle and the environmental wind force. Based on this, the engine can determine the corresponding weather type during the driving of the car, determine the corresponding wind speed based on the weather type, and perform load-bearing calibration on the above-mentioned load distribution diagram according to the current speed and wind speed of the car to obtain a calibrated gravity distribution, thereby reducing the pressure effect on each tire of the car due to wind force and improving the accuracy of subsequent power determination.

[0111] Further, as another embodiment of the present application, the above S405 may specifically include the following steps:

[0112] In S405.1, a wind speed vector is constructed according to a first wind force level and a wind direction corresponding to the weather type, and a movement vector corresponding to the movable device is constructed according to the current speed and the moving direction of the movable device.

[0113] In this embodiment, the first environmental information includes a weather type, and the weather type also records the current first wind force level and wind direction. The engine can determine the real-time wind speed corresponding to the first wind force level according to the corresponding relationship between the wind force level and the wind speed, and construct a corresponding wind speed vector according to the real-time wind speed and the wind direction.

[0114] In this embodiment, the engine can construct a corresponding movement vector according to the current speed and movement direction of the car. The vector magnitude of the movement vector is determined based on the current speed of the car, and the movement direction determines the vector direction of the movement vector.

[0115] In S405.2, a resistance vector corresponding to the movable device is determined according to the wind speed vector and the movement vector.

[0116] In this embodiment, the car will generate a certain amount of air resistance during its movement. The engine can determine the air resistance vector currently encountered by the car based on the movement vector, and superimpose the air resistance vector and the wind speed vector to obtain the resistance vector corresponding to the movable device.

[0117] In S405.3, the total device weight of the movable device is determined based on the device weight of the movable device and the first load value.

[0118] In S405.4, the center of gravity position corresponding to the movable device is determined according to the total device weight and the load distribution diagram.

[0119] In this embodiment, the user can store the weight of the movable device in the memory corresponding to the engine, and then determine the first load value corresponding to the loaded passenger in the car according to the gravity sensing module configured on each seat in the car, and add the above device weight to the first load value to calculate the total device weight corresponding to the movable device. The engine can determine the center of gravity position corresponding to the movable device according to the load distribution diagram and the determined total device weight.

[0120] In S405.5, the resistance surface of the movable device is determined according to the wind speed vector and the movement vector.

[0121] In this embodiment, the engine can determine the wind direction according to the wind speed vector, determine the moving direction of the car according to the moving vector, and then determine the corresponding orientation of the car according to the moving direction. For example, if the wind direction is north and the car's forward direction is east, the corresponding resistance surface is the left side of the car's forward direction; for another example, if the wind direction is north and the car's forward direction is south, the corresponding resistance surface is directly in front of the car's forward direction.

[0122] In S405.6, the resistance torque between the center of gravity position and the resistance surface is calculated.

[0123] In this embodiment, the engine can calculate the distance between the center of gravity and the resistance surface, and use the distance as the above-mentioned resistance torque. Figure 6 FIG. 1 is a schematic diagram showing a resistance torque provided by an embodiment of the present application. Figure 6 As shown, the movable device is a car, the corresponding center of gravity position of the car is point 61, and the corresponding resistance surface is the left side surface, that is, surface 62. The above resistance torque can be determined based on the distance from point 61 to the above surface 62, that is, distance 63.

[0124] In S405.7, a load floating factor is calculated according to the resistance vector, the resistance torque and the total device weight; the load floating factor is:

[0125]

[0126] Wherein, WeightFloat is the weight floating factor; is the modulus of the resistance vector; WeightTotal is the total device weight; Dist is the resistance torque; α is the preset angle coefficient.

[0127] In this embodiment, the actual force on each tire will be affected by the wind force, and the degree of wind force influence is related to the wind force and the corresponding torque. Among them, the greater the wind force, the higher the corresponding influence; the longer the torque, the higher the corresponding influence. Therefore, the above-mentioned load floating factor is proportional to the resistance vector and the resistance torque, and has nonlinear characteristics; at the same time, if the weight of the movable device is larger, its movement process is more stable, that is, the less affected by the resistance, therefore, the above-mentioned load floating factor is inversely proportional to the total device weight. The engine can calculate the load floating factor through the above three parameters.

[0128] In S405.8, the load distribution diagram is calibrated using the load floating factor to obtain the calibrated gravity distribution.

[0129] In this embodiment, after the engine calculates the load floating factor, it can reduce the load value in the load area corresponding to the resistance surface side according to the load floating factor, and increase the load value in the load area opposite to the resistance surface according to the load floating factor. For example, if the resistance surface is the left side of the car, the load value of all areas on the left side of the vehicle's center axis can be reduced according to the load floating factor, and the load value of all areas on the right side of the vehicle's center axis can be increased according to the load floating factor, so that the load distribution diagram is calibrated based on the above principle to obtain a calibrated gravity distribution.

[0130] In an embodiment of the present application, the resistance effect on the movable device is determined and the corresponding load influence factor is determined, so that the load distribution diagram is calibrated based on the load influence factor, thereby improving the accuracy of the subsequently obtained calibrated gravity distribution, and then improving the accuracy of the subsequent power control.

[0131] In S406, a resistance calibration is performed on the initial friction resistance corresponding to each tire using the calibrated gravity distribution to obtain a calibrated friction resistance.

[0132] In this embodiment, the above-mentioned initial friction resistance is obtained when the gravity is evenly distributed. However, due to the uneven force on the vehicle, the actual pressure value received by each tire is different. Based on this, the engine can determine the actual pressure value of each tire according to the calibrated gravity distribution, and calculate the friction force based on the actual pressure value and the calibrated friction coefficient determined in S403, so as to obtain the above-mentioned calibrated friction resistance.

[0133] In S407, the initial power function corresponding to the engine is calibrated according to the calibrated friction resistance, the slope value of the current position of the movable device, the vehicle weight of the movable device, and the current air resistance of the movable device to obtain the power conversion function; the power conversion function is specifically:

[0134]

[0135] Among them, P tagt is the target power; f sd is the calibrated friction resistance; θ is the slope value; G is the vehicle weight; C D is the air resistance; v is the speed value of the movable device; A is the windward area of ​​the movable device; ρ is the current air density.

[0136] In this embodiment, after calculating the calibrated friction resistance corresponding to each tire, the engine can add up all the above calibrated friction resistances to obtain the total friction force corresponding to the movable device. When providing the target acceleration for the movable device, it is necessary to offset the above total friction resistance, and collect other parameters of the movable device during the movement, such as, slope value, vehicle weight, air resistance, current speed of the movable device, windward area of ​​the movable device and current air density, and construct a corresponding power conversion function, so as to achieve the purpose of accurately determining the target power corresponding to the target acceleration. It should be noted that, since there is a certain corresponding relationship between the target acceleration and the current speed v, the engine can convert the target acceleration in the moving instruction and the acceleration time required by the engine into an expression of the speed v, and substitute it into the above power conversion function, and then the target power corresponding to the target acceleration can be calculated. Among them, the conversion expression of the above target acceleration to the moving speed can be: v=v0+at, where v0 is the current speed of the movable device, a is the target acceleration, and t is the acceleration time required by the engine.

[0137] In the preceding step, the initial power function can be calibrated based on the total friction resistance calculated above, thereby obtaining a power conversion function that matches the current friction resistance, so as to improve the accuracy of subsequent resistance compensation, and further improve the accuracy of target acceleration control.

[0138] In some implementations, if the engine can adjust the output power corresponding to different tires separately, the engine can determine the power conversion function corresponding to each tire based on the calibrated friction resistance corresponding to each tire, so that it can subsequently output the corresponding target power to the different tires, thereby improving the accuracy of the control of the movable device.

[0139] Further, as another embodiment of the present application, the above S407 may also include the following steps:

[0140] In S407.1, if the current motion mode of the movable device is the autonomous driving mode, the initial power function corresponding to the engine is calibrated according to the calibrated friction resistance, the slope value of the current position of the movable device, the vehicle weight of the movable device and the current air resistance of the movable device to obtain the power conversion function.

[0141] In this embodiment, the car can correspond to two motion modes, one is an autonomous driving mode in which the driver drives manually, and the other is a following driving mode in which another vehicle is being driven. If the current motion mode of the car is an autonomous driving mode, that is, there is no need to follow the preceding vehicle, in this case, the initial power function can be calibrated according to the calibrated friction force to obtain a power conversion function.

[0142] In S407.2, if the current motion mode of the mobile device is the following driving mode, the real-time following distance between the mobile device and the following car is obtained.

[0143] In S407.3, a speed deviation corresponding to the mobile device is obtained according to the real-time following distance and a preset following distance range.

[0144] In this embodiment, when the motion mode of the automobile is the following mode, in order to maintain the distance from the leading vehicle, when determining the target acceleration corresponding to the automobile, it is necessary to determine whether the distance from the leading vehicle is within a preset following distance range. If the real-time distance between the movable device and the leading vehicle (i.e., the following vehicle) is within the preset following distance range, the initial power function corresponding to the engine can be calibrated according to the calibrated friction resistance to obtain the power conversion function. On the contrary, if the real-time distance between the movable device and the following vehicle is outside the preset following distance range, for example, less than the lower limit value of the following distance range, or greater than the upper limit value of the following distance range, the distance deviation between the movable device and the following vehicle can be used, and then the above-mentioned speed deviation can be calculated according to the front vehicle speed of the following vehicle, the distance deviation, the current speed of the movable device and the calibration time, and the speed deviation is used to maintain the above-mentioned real-time following distance within the above-mentioned following distance range.

[0145] In S407.4, the initial power function corresponding to the engine is calibrated according to the calibrated friction resistance, the slope value of the current position of the movable device, the vehicle weight of the movable device, the current air resistance of the movable device and the speed deviation to obtain the power conversion function.

[0146] In this embodiment, when the engine is in the following mode, its actual target acceleration will be somewhat different from the acceleration indicated in the movement instruction. It is necessary to calibrate the acceleration in the movement instruction according to the above-mentioned speed deviation to obtain the target acceleration based on the speed deviation correction. Then, according to the calibrated friction resistance and the calibrated target acceleration, the initial power function can be corrected to calculate the corresponding power conversion function.

[0147] In the embodiment of the present application, the power conversion function is calibrated in a corresponding manner according to different motion modes, which can improve the accuracy of the power conversion function and then match the determined target power with the current motion mode.

[0148] Figure 7 The flowchart of the specific implementation of the engine power control method in S202 provided in the third embodiment of the present application is shown. Figure 7 , relative to Figure 2 In the embodiment, a method for controlling engine power provided by the embodiment includes: S701 to S707 in S202, which are described in detail as follows:

[0149] Furthermore, before the initial power vector and the shortest distance are introduced into a preset power correction algorithm to calculate a correction power vector corresponding to the initial power vector, the method further includes:

[0150] In S701, if the device type is a drone type, second load characteristic data of the drone's takeoff is determined; the second load characteristic data includes a second load value and a load size.

[0151] In this embodiment, if the movable device is a drone, the drone may be equipped with a carrying component, and the user may place the items to be transported on the carrying component to control the drone to transport the items to a designated area. In this case, when the user starts the drone to fly, the drone may determine the second load characteristic data corresponding to the items placed in the carrying component. Optionally, if the drone does not carry any items when the drone is started to fly, the second load characteristic data may be empty, that is, the second load value is 0 and the load size is 0.

[0152] In this embodiment, the second load characteristic data includes two-dimensional parameters, namely, the second load value of the carried items and the size of the carried items, i.e., the load size. The greater the weight of the item, the greater the corresponding second load value; the greater the size of the item, the greater the corresponding load size. Optionally, if there are multiple items carried, the load size is determined based on the sizes of the multiple items.

[0153] In some implementations, a gravity sensor is configured on the carrying component, and the drone can determine the second weight value of the carried item through the sensing value fed back by the gravity sensor. The carrying component can be provided with a photosensitive component, and the weight size of the item placed on the carrying component can be determined based on the area of ​​the region blocked by the photosensitive component.

[0154] In some implementations, a camera module may be provided on the carrying component, and the drone may use the camera module to capture an area image of the area where the carrying component is located, determine the contour of the carried items in the area image through a contour recognition algorithm, and determine the above-mentioned load size based on the contour of the item.

[0155] In S702, second environmental information at the take-off time is acquired through an environmental sensor configured on the drone; the second environmental information includes: a second wind force level and air composition data.

[0156] In this embodiment, the drone is equipped with an environmental sensor, through which the second environmental information in the environment where the drone is located can be collected. According to the number of dimensions of the environmental information to be collected, different types of environmental sensors can be configured to obtain environmental information of corresponding dimensions. For example, in this embodiment, it is necessary to collect the second wind force level and air composition data, and the above two environmental dimensions can be obtained by two different environmental sensors, wherein the air composition data can be collected by the air composition detection module; and the second wind force level can be collected by the wind force detection module.

[0157] In this embodiment, when the UAV receives the start command, in addition to determining the second load characteristic data corresponding to the carried components, it can also send a collection command to the environmental sensor. After receiving the collection command, the environmental sensor can feedback the corresponding second environmental information to the UAV. The second environmental information includes the second wind force level and air composition data; the larger the value of the second wind force level, the higher the wind speed in the scene where the UAV is currently located, and the greater the impact on the flight; conversely, the smaller the value of the second wind force level, the lower the wind speed in the scene where the UAV is currently located, and the smaller the impact on the flight. The air composition data is used to determine the particle size in the air. If the size of the particles contained in the air is larger and the density is higher, it will affect the operation of the UAV's engine. Therefore, when correcting the power vector, the air composition data still needs to be considered.

[0158] In S703, a load ratio corresponding to the drone is determined according to the rated load of the drone and the second load value.

[0159] In this embodiment, different models of drones may correspond to different rated loads, and the rated load is the maximum second load value of the drone during operation. If the actual second load value of the drone during flight exceeds the above rated load, the drone is in an overloaded operation state, and being in an overloaded operation state for a long time will affect the service life of the engine in the drone.

[0160] In this embodiment, the drone can calculate the ratio between the current second load value and the rated load, and use the ratio as the load ratio of the drone. When the drone is in a non-overloaded operating state, the load ratio is a value less than 1; when the drone is in an overloaded operating state, the load ratio is a value greater than 1.

[0161] In S704, the resistance factor corresponding to the engine is obtained through the particle density and water vapor density in the air composition data.

[0162] In this embodiment, the air composition data collected by the drone through the environmental sensor can record the values ​​corresponding to different air components, such as water vapor density, oxygen concentration, particle density, particle size, etc. The drone can extract the relevant parameters that affect the engine operation from the above air composition data, namely the above-mentioned particle density and water vapor density. Among them, the higher the particle density, the greater the resistance generated during the engine rotation; similarly, the higher the water vapor density, the greater the probability of water droplets condensing on the surface of the engine during the engine rotation, which will also affect the normal operation of the engine. Based on this, the drone can import the preset resistance conversion model based on the above two parameters to obtain the corresponding resistance factor under the current air quality.

[0163] In S705, based on the load ratio and the resistance factor, the reference power curve of the UAV is calibrated to obtain the calibrated power curve; the calibrated power curve is:

[0164]

[0165] Among them, Power adj (x) is the calibration power curve; Power base (x) is the reference power curve; WeightRA is the load ratio; Resist is the resistance factor; β and γ are the preset speed resistance coefficients; V1 is the preset first speed threshold; V2 is the preset second speed threshold; x is the current speed of the UAV.

[0166] In this embodiment, the degree of influence of air resistance varies according to the speed of the drone, that is, the faster the speed of the drone, the higher the degree of influence of air resistance. Therefore, when calibrating the reference power curve, different adjustment methods can be used according to the different speed ranges of the drone. In the case of a low speed, the value of the corresponding drag coefficient β is small; conversely, in the case of a high speed, the value of the corresponding drag coefficient γ is large, and the calculated drag factor and load ratio are used to calibrate the reference power curve to obtain the corresponding calibrated power curve.

[0167] In an embodiment of the present application, the UAV can calibrate the reference power curve in a corresponding manner according to different speeds, thereby improving the accuracy of the calibrated power curve, and then improving the accuracy of subsequent UAV engine control.

[0168] In S706, a current resistance function of the UAV is generated based on the load size and the second wind force level.

[0169] In this embodiment, the larger the size of the carried object, the greater the degree of influence of the wind force during the movement. Since the larger the size, the larger the corresponding resistance surface, the drone can determine the influence of wind speed on the power according to the load size and the second wind force level of the current position, that is, obtain the above-mentioned resistance function. Among them, the above-mentioned resistance function is used to determine the corresponding relationship between the driving force and the resistance. Since the size of the driving force affects the speed of the drone, that is, there is a certain corresponding relationship between the speed of the drone and the driving force, and the speed of the drone is proportional to its wind resistance, the above-mentioned two functions can be combined to obtain the corresponding relationship between the driving force and the wind resistance, that is, the above-mentioned resistance function.

[0170] Further, as another embodiment of the present application, the above S706 may include the following steps:

[0171] In S706.1, a resistance surface corresponding to the moving direction of the drone is determined according to the placement posture of the load of the drone.

[0172] In this embodiment, different surfaces of the items (i.e., loads) placed on the carrying component may correspond to different areas. Therefore, the corresponding resistance surfaces of the drone when subjected to wind force are different according to the different postures of the loads. Based on this, when determining the resistance function, the drone may first determine the placement posture corresponding to the load, i.e., the corresponding posture, and determine the surface subjected to wind force in the posture according to the direction of movement of the drone, and use the surface as the above-mentioned resistance surface.

[0173] In S706.2, based on the load size, a resistance area corresponding to the resistance surface is determined.

[0174] In this embodiment, the drone can determine the resistance area corresponding to the resistance surface according to the load size corresponding to the load object. Specifically, the drone can obtain the load image corresponding to the load object through the camera module, and construct a three-dimensional model corresponding to the load object based on the load image, and then determine the resistance area corresponding to the resistance surface through the three-dimensional model.

[0175] In S706.3, the resistance function is generated according to the resistance area and the second wind force level.

[0176] In this embodiment, the UAV obtains a reference drag coefficient corresponding to different speeds according to the second wind force level, and multiplies the reference drag coefficient by the above-mentioned resistance area to construct a corresponding relationship between speed and resistance, and then obtains the above-mentioned resistance function according to the relationship between speed and driving force.

[0177] In the embodiment of the present application, by determining the posture corresponding to the weight, determining the resistance area of ​​the resistance surface, and then constructing a resistance function, the accuracy of the resistance function can be improved.

[0178] In S707, the power conversion function is generated according to the resistance function and the calibration power curve.

[0179] In this embodiment, since the resistance function is used to determine the correspondence between the driving force and the wind resistance, and the calibration power curve is used to determine the correspondence between the driving force and the acceleration under the current load, the composition of the driving force can be further refined through the above two functions, and the size of the above driving force is determined according to the power of the engine. Therefore, the corresponding power conversion function can be calculated by combining the above two functions, thereby reducing the influence of resistance and weight on the power calibration process, and improving the accuracy of subsequent target power determination.

[0180] Further, as another embodiment of the present application, the above S707 specifically includes the following steps:

[0181] In S707.1, if the movement type of the movable device is a single movement type, the power conversion function is generated according to the resistance function and the calibration power curve.

[0182] In this embodiment, the movement types of the drone include two types, namely, a single movement type and a coordinated movement type. The single movement type means that the movement track of each drone is independent of each other, while the coordinated movement type means that the movement tracks of multiple drones are related. For example, when transporting larger materials, one or more drones are required to transport together. In this case, the multiple drones are in a coordinated movement mode.

[0183] In this embodiment, since the movement of the UAV in the independent movement mode does not need to consider the movement of other UAVs, its corresponding power conversion function can be determined according to the resistance function and the calibration power curve.

[0184] In S707.2, if the movement type of the movable device is a cooperative movement type, obtaining motion characteristic parameters between the movable device and the second cooperatively operated UAV; the motion characteristic parameters include a relative speed and a relative distance;

[0185] In S707.3, a collaborative calibration function corresponding to the movable device is constructed according to the relative speed and the relative distance.

[0186] In this embodiment, when the UAV is in the collaborative movement mode, the UAV needs to determine the relative motion relationship with other collaboratively operating UAVs, that is, determine the relative speed and relative distance between them, so as to construct a collaborative calibration function between the UAV and the other collaboratively operating second UAV to determine whether it is necessary to calibrate the movement speed of the UAV and the relative distance between the UAV and the other UAVs to keep the distance between them within a reasonable range.

[0187] In S707.4, the power conversion function is generated according to the resistance function, the calibration power curve and the coordinated calibration function.

[0188] In this embodiment, when the UAV is in a collaborative operation mode, the above three functions can be combined to construct a corresponding power conversion function, thereby reducing the influence of air resistance and weight, and keeping the relative position relationship between the UAV and the other second UAV within a preset distance range, thereby improving the accuracy of power control.

[0189] Figure 8 FIG. 4 is a flowchart showing a specific implementation of an engine power control method provided in the fourth embodiment of the present application after S204. Figure 8 , relative to Figure 2-7 In any of the embodiments, the engine power control method provided in this embodiment further includes, after S204, S801 to S802, which are described in detail as follows:

[0190] Further, after controlling the engine to operate at the target power so that the mobile device operates at the target acceleration, the method further includes:

[0191] In S801, the real-time speed of the mobile device is obtained within a preset monitoring time, and the actual acceleration of the mobile device is determined based on a plurality of the real-time speeds.

[0192] In S802, if the actual acceleration does not match the target acceleration within the monitoring time, abnormal warning information of the engine is generated to perform abnormal processing on the engine.

[0193] In this embodiment, the movable device can determine whether the actual acceleration is consistent with the target acceleration corresponding to the moving instruction within a preset monitoring period. If the two are consistent, it is recognized that there is no abnormality in the engine. On the contrary, if the actual acceleration of the movable device is different from the target acceleration within the monitoring period, it may be that there is an abnormality in the engine and it is unable to provide corresponding power to the movable device. At this time, corresponding abnormal warning information can be generated to prompt the user to handle the engine abnormality, such as repairing the engine.

[0194] In this embodiment, Fig. 9 The structure block diagram of an engine power control device provided by an embodiment of the present application is shown. The engine power control device includes various units for executing Figure 2 The steps implemented by the first device in the corresponding embodiment. For details, please refer to Figure 2 and Figure 2 For the convenience of explanation, only the parts related to this embodiment are shown.

[0195] See also Fig. 9 , the engine power control device comprises:

[0196] A movement instruction receiving unit 91, configured to determine a device type of the movable device in response to a movement instruction of the movable device equipped with an engine;

[0197] A power conversion function determination unit 92 is used to determine, according to the device type, a power conversion function for converting the engine power corresponding to the movement instruction; the power conversion function includes at least one calibration characteristic parameter; the calibration characteristic parameter is determined based on the device type;

[0198] A target power calculation unit 93, used for importing the target acceleration corresponding to the movement instruction into the power conversion function corresponding to the device type, and calculating the target power corresponding to the engine;

[0199] The instruction response unit 94 is used to control the engine to operate at the target power so that the movable device operates at the target acceleration.

[0200] It should be understood that Fig. 9 In the structural block diagram of the device shown, each module is used to execute Figures 2 to 8 The steps in the corresponding embodiments, and for Figures 2 to 8Each step in the corresponding embodiment has been explained in detail in the above embodiment. Figures 2 to 8 as well as Figures 2 to 8 The relevant descriptions in the corresponding embodiments are not repeated here.

[0201] Fig.10 is a structural block diagram of a drone provided by another embodiment of the present application. Fig.10 The drone 1000 of this embodiment includes: a processor 1010, a memory 1020, and a computer program 1030 stored in the memory 1020 and executable on the processor 1010, such as a program of the engine power control method. When the processor 1010 executes the computer program 1030, the steps of each embodiment of the engine power control method described above are implemented, such as Figure 2 Alternatively, the processor 1010 implements the above when executing the computer program 1030 Fig. 9 The functions of each module in the corresponding embodiment are, for example, Fig. 9 For details on the functions of the units 91 to 94, please refer to Fig. 9 Related description in the corresponding embodiment.

[0202] Exemplarily, the computer program 1030 may be divided into one or more modules, one or more modules are stored in the memory 1020, and are executed by the processor 1010 to complete the present application. One or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 1030 in the drone 1000. For example, the computer program 1030 may be divided into various unit modules, and the specific functions of each module are as described above.

[0203] The drone 1000 may include, but is not limited to, a processor 1010 and a memory 1020. Those skilled in the art will appreciate that Fig.10 It is only an example of the drone 1000 and does not constitute a limitation of the drone 1000. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the drone may also include input and output devices, network access devices, buses, etc.

[0204] The processor 1010 may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0205] The memory 1020 may be an internal storage unit of the drone 1000, such as a hard disk or memory of the drone 1000. The memory 1020 may also be an external storage device of the drone 1000, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. equipped on the drone 1000. Furthermore, the memory 1020 may also include both an internal storage unit of the drone 1000 and an external storage device.

[0206] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling engine power, characterized in that: include: In response to a movement instruction of a movable device equipped with an engine, determining a device type of the movable device; Determining a power conversion function for converting the engine power corresponding to the movement instruction according to the device type; the power conversion function includes at least one calibration characteristic parameter; the calibration characteristic parameter is determined based on the device type; Importing the target acceleration corresponding to the movement instruction into the power conversion function corresponding to the device type, and calculating the target power corresponding to the engine; controlling the engine to operate at the target power so that the mobile device operates at the target acceleration; The step of determining, according to the device type, a power conversion function for converting the engine power corresponding to the movement instruction comprises: If the device type is a car type, determining first load characteristic data of the mobile device during driving; the first load characteristic data includes a first load value and a load distribution diagram; Acquiring, through an environmental sensor configured on the mobile device, first environmental information corresponding to the moment when the movement instruction is received; the first environmental information includes: road type and weather type; Determining a current calibrated friction coefficient of the mobile device according to an initial friction coefficient corresponding to the road surface type and a friction influence factor corresponding to the weather type; Determining an initial friction resistance corresponding to each tire on the mobile device according to the first load value and the calibrated friction coefficient; Based on the weather type and the current speed of the movable device, performing load-bearing calibration on the load-bearing distribution diagram to obtain a calibrated gravity distribution; Performing a resistance calibration on the initial friction resistance corresponding to each tire by using the calibration gravity distribution to obtain a calibrated friction resistance; According to the calibrated friction resistance, the slope value of the current position of the movable device, the vehicle weight of the movable device and the current air resistance of the movable device, the initial power function corresponding to the engine is calibrated to obtain the power conversion function; the power conversion function is specifically: Among them, P tagt is the target power; f sd is the calibrated friction resistance; θ is the slope value; G is the vehicle weight; C D is the air resistance; v is the speed value of the movable device; A is the windward area of ​​the movable device; ρ is the current air density; or The step of determining, according to the device type, a power conversion function for converting the engine power corresponding to the movement instruction comprises: If the device type is a drone type, determining the second load characteristic data of the drone's takeoff; the second load characteristic data includes a second load value and a load size; Acquiring second environmental information at the take-off time through an environmental sensor configured on the drone; the second environmental information includes: a second wind force level and air composition data; Determining a load ratio corresponding to the drone according to the rated load of the drone and the second load value; Obtaining a resistance factor corresponding to the engine through the particle density and water vapor density in the air composition data; Based on the load ratio and the resistance factor, the reference power curve of the UAV is calibrated to obtain a calibrated power curve; the calibrated power curve is: Among them, Power adj (x) is the calibration power curve; Power base (x) is the reference power curve; WeightRA is the weight ratio; Resist is the resistance factor; β and γ are the preset speed resistance coefficients; V1 is the preset first speed threshold; V2 is the preset second speed threshold; x is the current speed of the drone; Based on the load size and the second wind force level, generating a current resistance function of the drone; The power conversion function is generated based on the resistance function and the calibrated power curve.

2. The control method according to claim 1, characterized in that: The step of performing load-bearing calibration on the load distribution diagram based on the weather type and the current speed of the mobile device to obtain a calibrated gravity distribution includes: constructing a wind speed vector according to a first wind force level and a wind direction corresponding to the weather type, and constructing a movement vector corresponding to the movable device according to the current speed and the moving direction of the movable device; Determining a resistance vector corresponding to the movable device according to the wind speed vector and the movement vector; Determining a total device weight of the movable device based on the device weight of the movable device and the first load value; Determining a center of gravity position corresponding to the movable device according to the total device weight and the load distribution diagram; determining a resistance surface of the movable device according to the wind speed vector and the movement vector; Calculating the resistance moment between the center of gravity position and the resistance surface; The load floating factor is calculated according to the resistance vector, the resistance torque and the total device weight; the load floating factor is: Wherein, WeightFloat is the weight floating factor; is the modulus of the resistance vector; WeightTotal is the total device weight; Dist is the resistance torque; α is the preset angle coefficient; The load distribution diagram is subjected to load-bearing calibration using the load floating factor to obtain the calibrated gravity distribution.

3. The control method according to claim 1, characterized in that: The step of calibrating the initial power function corresponding to the engine according to the calibrated friction resistance, the slope value of the current position of the movable device, the vehicle weight of the movable device, and the current air resistance of the movable device to obtain the power conversion function includes: If the current motion mode of the mobile device is the autonomous driving mode, the initial power function corresponding to the engine is calibrated according to the calibrated friction resistance, the slope value of the current position of the mobile device, the vehicle weight of the mobile device and the current air resistance of the mobile device to obtain the power conversion function; If the current motion mode of the mobile device is a following driving mode, obtaining a real-time following distance between the mobile device and the following vehicle; Obtaining a speed deviation corresponding to the mobile device according to the real-time following distance and a preset following distance range; According to the calibrated friction resistance, the slope value of the current position of the movable device, the vehicle weight of the movable device, the current air resistance of the movable device and the speed deviation, the initial power function corresponding to the engine is calibrated to obtain the power conversion function.

4. The control method according to claim 1, characterized in that: The step of generating the power conversion function according to the resistance function and the calibration power curve comprises: If the movement type of the movable device is a single movement type, generating the power conversion function according to the resistance function and the calibration power curve; If the movement type of the movable device is a cooperative movement type, obtaining motion characteristic parameters between the movable device and the second cooperatively operated UAV; the motion characteristic parameters include relative speed and relative distance; constructing a collaborative calibration function corresponding to the mobile device according to the relative speed and the relative distance; The power conversion function is generated based on the resistance function, the calibration power curve and the cooperative calibration function.

5. The control method according to any one of claims 1 to 4, characterized in that: After controlling the engine to operate at the target power so that the mobile device operates at the target acceleration, the method further includes: Acquire the real-time speed of the mobile device within a preset monitoring time, and determine the actual acceleration of the mobile device based on a plurality of the real-time speeds; If the actual acceleration does not match the target acceleration within the monitoring time, abnormal warning information of the engine is generated to perform abnormal processing on the engine.

6. An engine power control device, characterized in that: include: a movement instruction receiving unit, configured to determine a device type of the movable device in response to a movement instruction of the movable device equipped with an engine; A power conversion function determination unit, used to determine, according to the device type, a power conversion function for converting the engine power corresponding to the movement instruction; the power conversion function includes at least one calibration characteristic parameter; the calibration characteristic parameter is determined based on the device type; A target power calculation unit, used for importing the target acceleration corresponding to the movement instruction into the power conversion function corresponding to the device type, and calculating the target power corresponding to the engine; a command response unit, configured to control the engine to operate at the target power so that the mobile device operates at the target acceleration; The power transfer function determination unit is further configured to: If the device type is a car type, determining first load characteristic data of the mobile device during driving; the first load characteristic data includes a first load value and a load distribution diagram; Acquiring, through an environmental sensor configured on the mobile device, first environmental information corresponding to the moment when the movement instruction is received; The first environmental information includes: road surface type and weather type; Determining a current calibrated friction coefficient of the mobile device according to an initial friction coefficient corresponding to the road surface type and a friction influence factor corresponding to the weather type; Determining an initial friction resistance corresponding to each tire on the mobile device according to the first load value and the calibrated friction coefficient; Based on the weather type and the current speed of the movable device, performing load-bearing calibration on the load-bearing distribution diagram to obtain a calibrated gravity distribution; Performing a resistance calibration on the initial friction resistance corresponding to each tire by using the calibration gravity distribution to obtain a calibrated friction resistance; According to the calibrated friction resistance, the slope value of the current position of the movable device, the vehicle weight of the movable device and the current air resistance of the movable device, the initial power function corresponding to the engine is calibrated to obtain the power conversion function; the power conversion function is specifically: Among them, P tagt is the target power; f sd is the calibrated friction resistance; θ is the slope value; G is the vehicle weight; C D is the air resistance; v is the speed value of the movable device; A is the windward area of ​​the movable device; ρ is the current air density; or If the device type is a drone type, determining the second load characteristic data of the drone's takeoff; the second load characteristic data includes a second load value and a load size; Acquiring second environmental information at the take-off time through an environmental sensor configured on the drone; the second environmental information includes: a second wind force level and air composition data; Determining a load ratio corresponding to the drone according to the rated load of the drone and the second load value; Obtaining a resistance factor corresponding to the engine through the particle density and water vapor density in the air composition data; Based on the load ratio and the resistance factor, the reference power curve of the UAV is calibrated to obtain a calibrated power curve; the calibrated power curve is: Among them, Power adj (x) is the calibration power curve; Power base (x) is the reference power curve; WeightRA is the weight ratio; Resist is the resistance factor; β and γ are the preset speed resistance coefficients; V1 is the preset first speed threshold; V2 is the preset second speed threshold; x is the current speed of the drone; Based on the load size and the second wind force level, generating a current resistance function of the drone; The power conversion function is generated based on the resistance function and the calibrated power curve.

7. An engine comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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