Cooperative Method, Device and Storage Medium for UAV Jet System

Abstract

The present application discloses a method, device and storage medium for the collaboration of a drone jet system, relating to the field of drones. The specific implementation scheme includes: determining the allocated gas volume for the current flight phase according to the current flight phase and the total jet gas volume; determining the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system; determining the gas volume state according to the allocated gas volume and the optimal required gas volume for the current flight phase; and determining the collaboration strategy of the jet system for the current flight phase so as to collaborate with the flight control system. The present disclosure solves the problem in the prior art that the collaboration effect between the jet system and the flight control system of a drone is poor, resulting in poor flight efficiency and stability of the drone, realizes the dynamic collaboration of the jet system, and improves the flight efficiency and stability of the drone.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicles, and particularly to a collaborative method, device and storage medium for an unmanned aerial vehicle jet system. Background Technique

[0002] The jet system provides additional thrust and correction moment for the unmanned aerial vehicle by ejecting high-speed airflows on the wings or other surfaces of the unmanned aerial vehicle to change the airflow state, thereby effectively improving the flight ability of the unmanned aerial vehicle in complex environments. The advantage of the jet system is that it can enable the unmanned aerial vehicle to quickly achieve an efficient aerodynamic effect, thereby reducing energy consumption, reducing air resistance, and extending the endurance time of the unmanned aerial vehicle.

[0003] However, currently, the collaborative effect between the jet system and the flight control system of the unmanned aerial vehicle is poor, resulting in poor flight efficiency and stability of the unmanned aerial vehicle. Summary of the Invention

[0004] Embodiments of this application provide a collaborative method, device and storage medium for an unmanned aerial vehicle jet system, which solve the problem of poor collaborative effect between the jet system and the flight control system of the unmanned aerial vehicle in the prior art, resulting in poor flight efficiency and stability of the unmanned aerial vehicle, and realize the dynamic collaboration of the jet system, improving the flight efficiency and stability of the unmanned aerial vehicle.

[0005] In a first aspect, embodiments of this application provide a collaborative method for an unmanned aerial vehicle jet system, including:

[0006] Determine the allocated air volume for the current flight stage according to the current flight stage and the total jet air volume; determine the optimal required air volume for the current flight stage according to the current flight parameters of the flight control system; determine the air volume state according to the allocated air volume and the optimal required air volume for the current flight stage; determine the collaborative strategy of the jet system for the current flight stage according to the air volume state to collaborate with the flight control system.

[0007] Further, determining the optimal required air volume for the current flight stage according to the current flight parameters of the flight control system includes:

[0008] Determine the unit thrust contribution according to the current flight parameters of the flight control system; determine the optimal required air volume corresponding to the current flight stage according to the unit thrust contribution, the jet outlet velocity and the jet outlet cross-sectional area.

[0009] Further, determining the collaborative strategy of the jet system for the current flight stage according to the air volume state includes:

[0010] When the gas volume status is sufficient gas volume, the jet system coordination strategy for the current flight phase includes that the jet system provides the optimal required gas volume; when the gas volume status is insufficient gas volume, the jet system coordination strategy for the current flight phase includes restricting the actual gas consumption in the current flight phase to be at most the allocated gas volume in the current flight phase while meeting flight safety and the requirements for performing flight missions; when the allocated gas volume in the current flight phase cannot meet flight safety, utilize the allocated gas volume in subsequent flight phases.

[0011] Further, the method further includes:

[0012] Determine that the actual gas consumption in the previous flight phase does not match the corresponding allocated gas volume, and update the allocated gas volumes corresponding to the current flight phase and subsequent flight phases according to the remaining gas volume.

[0013] Further, updating the allocated gas volumes corresponding to the current flight phase and subsequent flight phases according to the remaining gas volume includes:

[0014] Determine the target gas volume that needs to be reallocated according to the remaining gas volume, the allocated gas volumes corresponding to the current flight phase and subsequent flight phases before the update; update the allocated gas volumes corresponding to the current flight phase and subsequent flight phases according to the target gas volume, the current flight phase, and subsequent flight phases.

[0015] Further, determining the allocated gas volume for the current flight phase according to the current flight phase and the total jet gas volume includes:

[0016] Determine the allocation weights corresponding to each flight phase according to the total number of flight phases and the preset flight mission requirements; determine the allocated gas volume for the current flight phase according to the current flight phase, the total jet gas volume, and the allocation weights corresponding to each flight phase.

[0017] Further, the total number of flight phases includes the takeoff phase, the cruise phase, and the landing phase. The allocation weight of the takeoff phase is greater than the allocation weights of the cruise phase and the landing phase, and the allocation weight of the cruise phase is determined according to the preset flight mission requirements.

[0018] Further, the method further includes:

[0019] Record jet data and analyze the jet data to optimize the jet system coordination strategy.

[0020] In a second aspect, an embodiment of the present application provides a drone jet system coordination device, including:

[0021] An allocation module, configured to determine the allocated gas volume for the current flight phase according to the current flight phase and the total jet gas volume;

[0022] An optimal gas volume module, configured to determine the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system;

[0023] The gas volume status module is used to determine the gas volume status according to the allocated gas volume and the optimal required gas volume in the current flight phase;

[0024] The strategy determination module is used to determine the cooperation strategy of the jet system in the current flight phase according to the gas volume status, so as to cooperate with the flight control system.

[0025] In a third aspect, an embodiment of the present application provides a device, which includes: a processor; a memory for storing executable instructions of the processor; when the processor executes the executable instructions, the method as described in the first aspect or any possible implementation manner of the first aspect is implemented.

[0026] In a fourth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium, which includes computer programs or instructions for storage. When the computer programs or instructions are executed, the method as described in the first aspect or any possible implementation manner of the first aspect is implemented.

[0027] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0028] In the embodiments of the present application, by determining the allocated gas volume in the current flight phase according to the current flight phase and the total jet gas volume, so as to perform pre-allocation of the gas volume for each flight phase; determining the optimal required gas volume in the current flight phase according to the current flight parameters, so as to predict the gas volume required by the UAV; determining the gas volume status according to the allocated gas volume and the optimal required gas volume in the current flight phase; determining the cooperation strategy of the jet system in the current flight phase according to the gas volume status, it is possible to achieve dynamic cooperation between the jet system and the flight control system, and improve the flight efficiency and stability of the UAV. Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application or the description of the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0030] Figure 1 It is a schematic flowchart of the UAV jet system cooperation method provided by the embodiment of the present application;

[0031] Figure 2 It is a schematic diagram of the composition of the UAV jet system cooperation device provided by the embodiment of the present application. Detailed Embodiments

[0032] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] The following explanations are made for some of the technologies involved in the embodiments of the present application to facilitate understanding. They should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described here without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, some descriptions of well-known functions and structures are omitted in the following description.

[0034] With the rapid development of unmanned aerial vehicle (UAV) technology, its application scenarios are becoming increasingly extensive. From logistics distribution to agricultural monitoring, from emergency rescue to complex environment detection, UAVs have become an indispensable tool in many fields. However, with the increase in application complexity, the performance requirements of UAVs in high-precision and complex environment tasks are also constantly improving. For example: under the conditions of strong winds, air pressure changes or sudden environmental disturbances, how can a UAV maintain attitude stability; under the constraints of limited resources, how can resources be maximally utilized to complete tasks.

[0035] To address the above challenges, a jet system for assisting flight control has gradually been introduced into UAVs. The application of the jet system in UAV flight can significantly improve the flight performance of UAVs, especially in terms of increasing lift, improving maneuverability, and optimizing energy efficiency. The jet lift augmentation system changes the airflow state by ejecting high-speed airflows on the wing or other surfaces, providing additional thrust and correction moments, thereby effectively improving the flight ability of UAVs in complex environments.

[0036] In addition, the jet system can also achieve airflow control of different parts by adjusting the airflow direction and intensity to optimize the flight attitude and stability of UAVs. The advantage of the jet system is that it can enable UAVs to quickly achieve an efficient aerodynamic effect, thereby reducing energy consumption, reducing air resistance, and extending the endurance time of UAVs.

[0037] However, the introduction of the jet system also brings new technical problems. There are a series of technical problems such as how to dynamically cooperate with the flight control system, how to adapt to different flight stages, and how to achieve optimal resource efficiency.

[0038] The jet system provides additional thrust and correction moment for the UAV by ejecting high-speed airflows on the wings or other surfaces of the UAV to change the airflow state, thereby effectively improving the flight ability of the UAV in complex environments. The advantage of the jet system is that it can enable the UAV to quickly achieve an efficient aerodynamic effect, thereby reducing energy consumption, air resistance, and extending the endurance time of the UAV.

[0039] However, the current coordination effect between the jet system and the flight control system of the UAV is poor, resulting in poor flight efficiency and stability of the UAV.

[0040] Against this background, the present disclosure provides a method for coordinating the jet system of a UAV, which can achieve dynamic coordination between the jet system and the flight control system, and improve the flight efficiency and stability of the UAV.

[0041] The execution subject of the method for coordinating the jet system of the UAV provided by the embodiments of the present disclosure can be a computer or a server, or can also be other electronic devices with data processing capabilities; or, the execution subject of the method can also be a processor (such as a central processing unit (CPU)) in the above-mentioned electronic device; furthermore, the execution subject of the method can also be an application program (APP) installed in the above-mentioned electronic device that can implement the functions of the method; or, the execution subject of the method can also be a functional module or unit with the functions of the method in the above-mentioned electronic device, etc. The execution subject of the method is not limited herein.

[0042] The method for coordinating the jet system of the UAV will be described exemplarily below with reference to the accompanying drawings.

[0043] Figure 1 is a schematic flow chart of the method for coordinating the jet system of the UAV provided by the embodiments of the present application. Among them, Figure 1 This is only an execution order shown in the embodiments of the present application, and does not represent the only execution order of the method for coordinating the jet system of the UAV. Under the condition that the final result can be achieved, Figure 1 the steps shown can be executed in parallel or reversed. As Figure 1 shown, the method may include:

[0044] S101. Determine the allocated air volume for the current flight phase according to the current flight phase and the total jet air volume.

[0045] Exemplarily, the total jet air volume can be evenly distributed to each flight phase, or the total jet air volume can be distributed according to the importance of each flight phase.

[0046] Specifically, determining the allocated air volume for the current flight phase according to the current flight phase and the total jet air volume may include:

[0047] According to the total flight phases and preset mission requirements, determine the allocation weights corresponding to each flight phase; according to the current flight phase, the total jet gas volume, and the allocation weights corresponding to each flight phase, determine the allocated gas volume for the current flight phase.

[0048] Specifically, the total flight phases may include the takeoff phase, the cruise phase, and the landing phase. The allocation weight of the takeoff phase is greater than that of the cruise phase and the landing phase, and the allocation weight of the cruise phase is determined according to the preset flight mission requirements.

[0049] Exemplarily, a larger allocation weight can be determined for the flight phase with a higher priority. For example, since the takeoff phase needs to overcome gravity and has the greatest thrust requirement, the allocation weight is large; the landing phase has high requirements for precise control, so resources should be guaranteed first and the allocation weight is large; the cruise phase has a stable thrust requirement and the allocation weight is small.

[0050] Exemplarily, the weights can also be determined according to the importance of the flight missions in each flight phase. For example, for the non-maneuvering flight mission in the cruise phase, the allocation weight is small; for flight missions such as maneuvering missions (such as turning, speed change, etc.) in the takeoff phase and the cruise phase, the allocation weights are relatively larger.

[0051] For example, when the UAV has no maneuvering and other large thrust requirements during the cruise phase, the allocation weight of the takeoff phase is the largest, which can be [0.55, 0.65]; the allocation weight of the cruise phase is the smallest, which can be [0.15, 0.20]; the allocation weight of the landing phase is relatively large, which can be [0.20, 0.25]. When the UAV has maneuvering and other large thrust requirements during the cruise process, the allocation weight of the takeoff phase is the largest, which can be [0.45, 0.55]; the allocation weight of the cruise phase is relatively large, which can be [0.30, 0.45], and the allocation weight of the landing phase is the smallest, which can be [0.55, 0.65].

[0052] It can be understood that after determining the allocation weights of each flight phase, the allocated gas volume for each flight phase can be obtained by calculating the product of the total jet gas volume and the allocation weights of each flight phase, and then the allocated gas volume corresponding to the current flight phase can be determined.

[0053] S102. Determine the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system.

[0054] Specifically, determining the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system may include:

[0055] Determine the unit thrust contribution according to the current flight parameters of the flight control system; determine the optimal required gas volume corresponding to the current flight phase according to the unit thrust contribution, the jet outlet velocity, and the jet outlet cross-sectional area.

[0056] Specifically, determining the unit thrust contribution according to the current flight parameters of the flight control system may include:

[0057] Determine the unit thrust contribution according to the current flight parameters, the current flight phase, and the current flight mission of the flight control system.

[0058] Exemplarily, the unit thrust contribution can be determined according to the formula shown in the following formula (1);

[0059] (1)

[0060] In formula (1), represents the unit thrust contribution, represents the flap deflection of the UAV, represents the elevator deflection of the UAV, represents the throttle of the UAV, represents the indicated airspeed of the UAV, represents the angle of attack of the UAV, represents the pitch angle of the UAV, represents the track angle of the UAV, represents the vertical velocity of the UAV, represents the altitude of the UAV; represents the takeoff phase, represents the climb mission in the cruise phase, represents the maneuver mission in the cruise phase, represents the landing phase.

[0061] S103. Determine the gas volume state according to the allocated gas volume and the optimal required gas volume in the current flight phase.

[0062] Exemplarily, the allocated gas volume in the current flight phase and the optimal required gas volume in the current flight phase can be compared to determine their magnitudes; when the allocated gas volume in the current flight phase is larger or the allocated gas volume in the current flight phase is equal to the optimal required gas volume, determine that the gas volume state is sufficient gas volume; when the optimal required gas volume in the current flight phase is larger, determine that the gas volume state is insufficient gas volume.

[0063] S104. Determine the jet system coordination strategy in the current flight phase according to the gas volume state to coordinate with the flight control system.

[0064] Furthermore, determining the jet system coordination strategy in the current flight phase according to the gas volume state may include:

[0065] When the gas volume status is sufficient gas volume, the jet system coordination strategy for the current flight phase includes that the jet system provides the optimal required gas volume.

[0066] When the gas volume status is insufficient gas volume, the jet system coordination strategy for the current flight phase includes that, under the premise of meeting flight safety and the requirements for performing flight missions, the actual gas consumption in the current flight phase is limited to a maximum of the allocated gas volume in the current flight phase; when the allocated gas volume in the current flight phase cannot meet flight safety, the allocated gas volume in subsequent flight phases is utilized.

[0067] Exemplarily, when the gas volume is sufficient, it can be determined that the jet system coordination strategy for the current flight phase includes: First, prioritize ensuring attitude stability. The jet system outputs gas volume according to the requirements of the flight control system, and preferentially meets the optimal attitude stability requirements to ensure that the UAV maintains a good flight attitude (such as stable pitch angle and roll angle). Second, mission execution requirements. After ensuring optimal attitude stability, the jet system outputs gas volume according to the best requirements. If the current phase encounters sudden environmental conditions (such as unexpected situations like turbulence and crosswind), the jet system further optimizes the gas volume distribution to adapt to dynamic requirements.

[0068] Exemplarily, when the gas volume is insufficient, it can be determined that the jet system coordination strategy for the current flight phase includes: First, prioritize ensuring flight safety. If flight safety may be affected, the jet system outputs gas volume to prioritize ensuring flight safety, ignoring the optimal attitude requirements. The flight control system maintains stable and safe flight through rudder surface adjustment or power compensation. Second, secondary mission restrictions. If the requirements for flight safety have been met, the jet system outputs all the gas volume according to the preset value. If the flight mission requirements still cannot be fully achieved, the dynamic performance of the current mission is restricted (such as reducing the maneuvering range, reducing sharp turns, reducing the climb rate, etc.) to save gas volume. If flight safety cannot be met, the allocated gas volume in subsequent flight phases can be allocated to the current flight phase to ensure the safety of the UAV in the current flight phase.

[0069] It should be noted that when the UAV encounters emergency situations such as sudden airflows and flight control instability, resulting in a sudden increase in gas volume demand, the jet system coordination strategy for the current flight phase can be changed to an emergency situation coordination strategy. The emergency situation coordination strategy includes: First, globally prioritize resource allocation to ensure safety, and the gas volume required in the current flight phase can borrow the gas volume in subsequent flight phases. Second, subsequent mission scheduling. After ensuring safety, the gas volume in subsequent phases can be reallocated, giving priority to retaining necessary missions and reducing secondary missions.

[0070] In this embodiment, by determining the allocated gas volume for the current flight phase according to the current flight phase and the total jet gas volume, determining the optimal required gas volume for the current flight phase according to the current flight parameters, determining the gas volume state according to the allocated gas volume and the optimal required gas volume for the current flight phase, and determining the jet system coordination strategy for the current flight phase according to the gas volume state, dynamic coordination between the jet system and the flight control system can be achieved, improving the flight efficiency and stability of the UAV.

[0071] In some possible implementation manners, the method may further include:

[0072] Determine that the actual gas consumption in the previous flight phase does not match the corresponding allocated gas volume, and update the allocated gas volumes corresponding to the current flight phase and subsequent flight phases according to the remaining gas volume.

[0073] Exemplarily, after any flight phase is completed, the actual gas consumption in this phase can be compared with the allocated gas volume in this phase. When the two are different, update the allocated gas volumes corresponding to the current flight phase and subsequent flight phases according to the remaining gas volume.

[0074] Exemplarily, when the remaining gas volume is less than the sum of the allocated gas volumes of the uncompleted flight phases, the allocated gas volumes of each uncompleted flight phase can be reduced; when the remaining gas volume is greater than the sum of the allocated gas volumes of the uncompleted flight phases, the allocated gas volumes of each uncompleted flight phase can be increased; when the remaining gas volume is equal to the sum of the allocated gas volumes of the uncompleted flight phases, the allocated gas volumes of each uncompleted flight phase can be reduced or the allocated gas volumes of each uncompleted flight phase can be increased.

[0075] Further, updating the allocated gas volumes corresponding to the current flight phase and subsequent flight phases according to the remaining gas volume includes:

[0076] Determine the target gas volume that needs to be reallocated according to the remaining gas volume, the allocated gas volumes corresponding to the current flight phase and subsequent flight phases before the update; update the allocated gas volumes corresponding to the current flight phase and subsequent flight phases according to the target gas volume, the current flight phase and subsequent flight phases.

[0077] Exemplarily, the difference between the remaining gas volume and the sum of the allocated gas volumes corresponding to the current flight phase and subsequent flight phases before the update can be calculated and determined as the target gas volume.

[0078] Exemplarily, when updating the allocated gas volume corresponding to the current flight phase and subsequent flight phases, the proportional allocation method (i.e., according to the proportion of the allocated gas volume of each flight phase in the total jet gas volume, the target gas volume is allocated to the current flight phase and subsequent flight phases proportionally), the priority allocation method (presetting corresponding weights according to the importance of the unfinished flight phases, and allocating the target gas volume to the current flight phase and subsequent flight phases according to the weights), the dynamic demand method (by predicting the minimum gas volume required for the unfinished flight phases, allocating the target gas volume to the current flight phase and subsequent flight phases), the segmented priority strategy allocation method (dividing the unfinished flight phases into key phases and ordinary phases, preferentially allocating the target gas volume to the key phases, and after meeting the requirements of the key phases, allocating the remaining target gas volume to the ordinary phases), the dynamic adjustment compensation method (combining real-time monitoring data and the deviation of historical gas volume allocation to perform compensatory allocation for the unfinished flight phases), the multi-objective optimization allocation method (through a multi-objective optimization algorithm, optimally allocating the target gas volume according to the task objectives corresponding to the unfinished flight phases), and the equal allocation method (allocating the target gas volume equally to the current flight phase and subsequent flight phases according to the number of the current flight phase and subsequent flight phases) can be used to allocate the target gas volume to the current flight phase and subsequent flight phases.

[0079] It should be noted that when the actual gas consumption in the previous flight phase matches the corresponding allocated gas volume, it may not be necessary to update the allocated gas volume corresponding to the current flight phase and subsequent flight phases.

[0080] Specifically, according to the remaining gas volume, the allocation of the target gas volume according to the equal allocation method may include:

[0081] Calculating the difference between the remaining gas volume and the sum of the allocated gas volumes corresponding to the unfinished flight phases to obtain a first difference; calculating the difference between the total number of flight phases and the number of completed flight phases to obtain a second difference; calculating the ratio of the first difference to the second difference to obtain a first ratio;

[0082] Updating the allocated gas volumes corresponding to the current flight phase and subsequent flight phases to the sum of the allocated gas volumes corresponding to the current flight phase and subsequent flight phases before update and the first ratio respectively.

[0083] Exemplarily, the update of the allocated gas volumes corresponding to the current flight phase and subsequent flight phases can be achieved through the secondary allocation formula shown in formula (2).

[0084] (2)

[0085] Wherein, 。

[0086] In formula (2), represents the updated allocated gas volume for the k-th flight phase represents the allocated gas volume before update for the k-th flight phase represents the allocation correction value represents the current remaining gas volume (i.e., the remaining gas volume) represents the number of completed flight phases represents the total number of flight phases

[0087] It can be understood that the first difference is the aforementioned target gas volume, and the allocation correction value is the aforementioned first ratio. In this embodiment, the target gas volume is evenly distributed to the current flight phase and subsequent flight phases

[0088] Exemplarily, the current remaining gas volume can be expressed as the difference between the total jet gas volume and the actual gas consumption of the completed flight phases

[0089] Exemplarily, taking , , , , (i.e., the flight phases include the first phase, the second phase, and the third phase. The first phase is completed, and the remaining gas volume is 60L (taking the total jet gas volume as 100L as an example, that is, the actual gas consumption of the completed first phase is 40L), the allocated gas volume before update for the second phase is 35L, and the allocated gas volume before update for the third phase is 15L) as an example, then the allocation correction value , the updated allocated gas volume for the second phase, that is, the updated allocated gas volume for the second flight phase , the updated allocated gas volume for the third phase, that is, the updated allocated gas volume for the third flight phase .

[0090] In this embodiment, after the actual gas consumption of the previous flight phase does not match the corresponding allocated gas volume, according to the remaining gas volume, the allocated gas volumes corresponding to the current flight phase and subsequent flight phases are updated, which can make the best use of the jet gas volume resources, avoid waste, and ensure the smooth completion of key phase tasks, further improving the collaborative effect of the jet system

[0091] In some possible embodiments, the method may further include:

[0092] Recording jet data and analyzing the jet data to optimize the jet system collaboration strategy

[0093] In this embodiment, by recording jet data and analyzing the jet data to optimize the jet system collaboration strategy, the collaboration efficiency between the jet system and the flight control system can be continuously improved

[0094] Although the present application provides method operation steps such as in the embodiments or flowcharts, more or fewer operation steps may be included based on routine or non-creative labor. The order of steps listed in this embodiment is only one way among the execution orders of numerous steps and does not represent the only execution order. When the actual device or client product is executed, it can be executed in the order of the method shown in this embodiment or the drawings or executed in parallel (for example, in an environment of parallel processors or multi-threaded processing).

[0095] As Figure 2 shown, the embodiments of the present application also provide a collaborative device for an unmanned aerial vehicle jet system. The device includes: a distribution module 201, an optimal gas volume module 202, a gas volume status module 203, and a strategy determination module 204.

[0096] The distribution module 201 is configured to determine the distributed gas volume in the current flight stage according to the current flight stage and the total jet gas volume.

[0097] The optimal gas volume module 202 is configured to determine the optimal required gas volume in the current flight stage according to the current flight parameters of the flight control system.

[0098] The gas volume status module 203 is configured to determine the gas volume status according to the distributed gas volume and the optimal required gas volume in the current flight stage.

[0099] The strategy determination module 204 is configured to determine the collaborative strategy of the jet system in the current flight stage according to the gas volume status so as to collaborate with the flight control system.

[0100] The beneficial effects and specific implementation manners of the embodiments of this device can refer to the foregoing method embodiments and will not be elaborated herein.

[0101] Some modules in the device described in the present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0102] The device or module illustrated in the foregoing embodiments of the application can be specifically implemented by a computer chip or entity, or by a product with a certain function. For convenience of description, when describing the above device, it is divided into various modules according to functions and described separately. When implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module implementing a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0103] The methods, devices or modules described in this application can be implemented in the form of computer-readable program code. The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor, and a computer-readable medium that stores computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, application specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, the method steps can be logically programmed to enable the controller to be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers to achieve the same function. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or structures within the hardware component.

[0104] The embodiments of this application also provide a device, which includes: a processor; a memory for storing instructions executable by the processor; when the processor executes the executable instructions, the methods described in the embodiments of this application are implemented.

[0105] The embodiments of this application also provide a non-volatile computer-readable storage medium, on which a computer program or instructions are stored. When the computer program or instructions are executed, the methods described in the embodiments of this application are implemented.

[0106] In addition, in each embodiment of the present invention, the various functional modules can be integrated in one processing module, or each module can exist alone, or two or more modules can be integrated in one module.

[0107] The above storage medium includes, but is not limited to, random access memory (English: Random Access Memory; abbreviation: RAM), read-only memory (English: Read-Only Memory; abbreviation: ROM), cache (English: Cache), hard disk drive (English: Hard Disk Drive; abbreviation: HDD), or memory card (English: Memory Card). The memory can be used to store computer program instructions.

[0108] From the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary hardware. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product, or can also be embodied in the implementation process of data migration. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, mobile terminal, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments of the present application.

[0109] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments. All or part of the present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on.

[0110] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting the present application; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the present application.

Claims

1. A collaborative method for an unmanned aerial vehicle jet system, characterized in that, Comprising: Determine the allocated gas volume for the current flight phase according to the current flight phase and the total jet gas volume; Determine the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system; Determine the gas volume state according to the allocated gas volume and the optimal required gas volume for the current flight phase; Determine the jet system coordination strategy for the current flight phase according to the gas volume state to coordinate with the flight control system; The determining the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system includes: determining the unit thrust contribution according to the current flight parameters, the current flight phase and the current flight mission of the flight control system; Determine the optimal required gas volume corresponding to the current flight phase according to the unit thrust contribution, the jet outlet velocity and the jet outlet cross-sectional area.

2. The method according to claim 1, characterized in that, The determining the jet system coordination strategy for the current flight phase according to the gas volume state includes: When the gas volume state is sufficient gas volume, the jet system coordination strategy for the current flight phase includes the jet system providing the optimal required gas volume; When the gas volume state is insufficient gas volume, the jet system coordination strategy for the current flight phase includes restricting the actual gas consumption in the current flight phase to be at most the allocated gas volume for the current flight phase under the condition of meeting flight safety and performing the flight mission; when the allocated gas volume for the current flight phase cannot meet flight safety, utilize the allocated gas volume for subsequent flight phases.

3. The method according to claim 1, wherein The method further includes: Determine that the actual gas consumption in the previous flight phase does not match the corresponding allocated gas volume, and update the allocated gas volumes corresponding to the current flight phase and subsequent flight phases according to the remaining gas volume.

4. The method according to claim 3, characterized in that, The updating the allocated gas volumes corresponding to the current flight phase and subsequent flight phases according to the remaining gas volume includes: Determine the target gas volume that needs to be reallocated according to the remaining gas volume, the current flight phase before updating and the allocated gas volumes corresponding to subsequent flight phases; Update the allocated gas volumes corresponding to the current flight phase and subsequent flight phases according to the target gas volume, the current flight phase and subsequent flight phases.

5. The method according to claim 1, characterized in that, The determining the allocated gas volume for the current flight phase according to the current flight phase and the total jet gas volume includes: Determine the allocation weights corresponding to each flight phase according to the total flight phases and the preset flight mission requirements; Determine the allocated gas volume for the current flight phase according to the current flight phase, the total jet gas volume and the allocation weights corresponding to each flight phase.

6. The method according to claim 5, wherein The total flight phases include the takeoff phase, the cruise phase and the landing phase. The allocation weight of the takeoff phase is greater than the allocation weights of the cruise phase and the landing phase. The allocation weight of the cruise phase is determined according to the preset flight mission requirements.

7. The method according to claim 1, wherein The method further includes: Record jet data and analyze the jet data to optimize the jet system coordination strategy.

8. A collaborative device for an unmanned aerial vehicle jet system, characterized in that, Comprising: An allocation module for determining the allocated gas volume for the current flight phase according to the current flight phase and the total jet gas volume; An optimal gas volume module for determining the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system; A gas volume state module for determining the gas volume state according to the allocated gas volume and the optimal required gas volume for the current flight phase; A strategy determination module for determining the jet system coordination strategy for the current flight phase according to the gas volume state to coordinate with the flight control system; The optimal air volume module is specifically configured to determine the unit thrust contribution according to the current flight parameters, the current flight phase, and the current flight mission of the flight control system; According to the unit thrust contribution, the jet outlet velocity, and the jet outlet cross-sectional area, determine the optimal required air volume corresponding to the current flight phase.

9. An apparatus for implementing a collaborative method of a drone jet system, characterized in that, It includes: A processor; A memory for storing executable instructions that can be executed by the processor; When the processor executes the executable instructions, the method described in any one of claims 1 to 7 is implemented.

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