Power distribution method and system based on return time constraint, medium and unmanned aerial vehicle
By establishing a Cartesian coordinate system and allocating flight power strategies during the drone's return, the power distribution problem under the user's different return time requirements is solved, and low average power return and safe return are achieved.
Patent Information
- Application Number
- CN202510401642.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-01
- Publication Date
- 2025-08-01
AI Technical Summary
The prior art is difficult to optimize the power utilization efficiency during the drone's return while meeting the user's different return time needs, resulting in unreasonable return paths and power distribution.
By establishing a space Cartesian coordinate system, collecting user needs and drone parameter information, calculating and allocating flight power in horizontal and vertical directions, and formulating acceleration, uniform speed and deceleration motion strategies to achieve low average power return.
It realizes that while meeting the return time requirements, optimizes power distribution, reduces the average power consumption of the drone's return, adapts to different return time requirements, and improves the safety and energy saving of the drone.
Smart Images
Figure CN120406486A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a method for planning the flight path of an unmanned aerial vehicle, and particularly to a power allocation method, system, medium and unmanned aerial vehicle based on the constraint of return time. Background Art
[0002] The return technology of unmanned aerial vehicles is a key function developed by combining advanced aerospace technology and unmanned aerial vehicle technology, aiming to cope with emergencies during flight, such as communication interruption, insufficient power or bad weather, etc., to ensure the safe return of unmanned aerial vehicles. Its core working principle relies on the GPS positioning system. When the unmanned aerial vehicle loses contact with the operator or the power is lower than the safety threshold, the system will automatically plan the return path according to the pre-recorded GPS coordinates and guide the unmanned aerial vehicle back to the take-off point. In addition, modern unmanned aerial vehicles are usually equipped with intelligent sensors that can monitor the flight state and environment in real time to ensure the safety and reliability of the return process.
[0003] With the continuous progress of technology, the return function of unmanned aerial vehicles is also continuously optimized. For example, by introducing machine learning and data analysis technologies, unmanned aerial vehicles can learn the environmental characteristics from each flight and optimize the return strategy, so as to achieve a faster and more accurate return in complex environments. In the future, with the further development of intelligent technologies, the return technology of unmanned aerial vehicles is expected to make greater breakthroughs in path planning, environmental adaptability and energy management, etc., providing a more efficient and reliable safety guarantee for the wide application of unmanned aerial vehicles. At present, reasonably allocating the flight power of an unmanned aerial vehicle (UAV) during return according to the different return time requirements of users is a key problem to be solved. The core of this problem lies in how to optimize the power utilization efficiency while meeting the user's requirements for return time, optimize the return path of the unmanned aerial vehicle, and ensure the safe return of the unmanned aerial vehicle. Summary of the Invention
[0004] Embodiments of the present application provide a power allocation method, system, medium and unmanned aerial vehicle based on the constraint of return time. According to the different return time requirements of users, the present application reasonably allocates the flight power of an unmanned aerial vehicle (UAV) during return, realizes a return with low average power, and at the same time satisfies the joint optimization and precise allocation of return time and return power, making the low-power allocation method during the return process of the unmanned aerial vehicle conform to the actual application scenario and can be effectively applied to engineering practice.
[0005] The present invention provides a power allocation method based on the constraint of return time, including the following steps:
[0006] Step S1, when the unmanned aerial vehicle receives the user's return instruction or triggers the system automatic return instruction due to reasons such as less remaining energy, establish a spatial Cartesian coordinate system with the unmanned aerial vehicle as the origin of the spatial coordinate.
[0007] Step S2: Collect user requirements and UAV parameter information, including the required return time t of the user, the mass m of the UAV, and the coordinates (x1, y1, z1) of the return target point E.
[0008] Step S3: Calculate the minimum value P of the average flight power of the UAV in the horizontal direction 水平,减 and the time of the acceleration stage in the horizontal direction the time of the uniform motion stage and the time of the deceleration stage Adjust the flight strategy in the horizontal direction.
[0009] Step S4: According to the required return time t, the set threshold, and the coordinates of the return target point E, calculate the average flight power of the acceleration stage in the vertical direction of the UAV, the average flight power of the deceleration stage, and the time of the acceleration stage in the vertical direction the time of the deceleration stage Adjust the flight strategy in the vertical direction.
[0010] Preferably, the specific content of step S3 is as follows: In the X-axis movement:
[0011] The minimum value P of the average flight power needs to be called in the acceleration stage 水平,加 :
[0012]
[0013] The minimum value P of the average flight power needs to be called in the deceleration stage 水平,减 :
[0014]
[0015] The time of the acceleration stage The time of the uniform motion stage and the time of the deceleration stage
[0016]
[0017] In the Y-axis movement:
[0018] The minimum value P of the average flight power needs to be called in the acceleration stage 水平,加 :
[0019]
[0020] The minimum value P of the average flight power needs to be called in the deceleration stage 水平,减 :
[0021]
[0022] The time of the accelerating motion stage The time of the uniform motion stage and the time of the decelerating motion stage
[0023]
[0024] Preferably, the flight strategy in the horizontal direction in step S3 is: accelerate in the horizontal direction towards point E with power P 水平,加 for a duration of perform uniform motion in the horizontal direction towards point E without flight power boost for a duration of decelerate in the horizontal direction towards point E with power P 水平,减 for a duration of
[0025] Preferably, in step S4, the set threshold is
[0026] Preferably, step S4 is specifically:
[0027] When the required return time t ≤ the set threshold: if z1 > 0, calculate the average flight power called for upward accelerating motion and the average flight power called for decelerating until the speed is 0 If z1 < 0, the UAV calculates the average flight power called for downward accelerating motion and the average flight power called for decelerating until the speed is 0 and the time of the acceleration and deceleration stages of the UAV in the vertical direction (Z-axis) is
[0028] When the required return time t > the set threshold: if z1 > 0, calculate the average flight power called for upward accelerating motion and the times of the acceleration stage with flight power boost and the deceleration stage without flight power boost of the UAV in the vertical direction (Z-axis) are respectively and If z1 < 0, the UAV calculates the average flight power called for decelerating until the speed is 0 and the times of the acceleration stage without flight power boost and the deceleration stage with flight power boost of the UAV in the vertical direction (Z-axis) are respectively and
[0029] Preferably, the flight strategy in the vertical direction in step S4 is:
[0030] When the required return time t≤ the set threshold: if z1>0, use power in the vertical direction upward Acceleration, duration Apply power upward in the vertical direction Slowdown, duration If z1<0, the power is applied downward in the vertical direction (Z axis). Acceleration, duration Apply power downward in the vertical direction Slowdown, duration
[0031] When the required return time t> set threshold: if z1>0, use power in the vertical direction upward Acceleration, duration In the vertical direction, there is no power support and the deceleration movement is upward. The duration If z1<0, the reactive power in the vertical direction is used to accelerate downwards, and the duration is In the vertical direction, power Deceleration duration
[0032] Preferably, when When , the vertical flight strategy is:
[0033] If z1>0, the power is applied upward in the vertical direction. Acceleration, duration In the vertical direction, there is no power support and the deceleration movement is upward. The duration If z1<0, there is no power support in the vertical direction and the acceleration is downward. The duration In the vertical direction (Z axis) the power Slowdown, duration
[0034] The present invention also proposes a power allocation system based on return time constraints, using the above-mentioned power allocation method based on return time constraints, including:
[0035] Spatial coordinate establishment module: used to establish a spatial Cartesian coordinate system with the drone as the spatial coordinate origin when the drone receives a return command from the user or triggers an automatic return command from the system due to low remaining energy;
[0036] Parameter acquisition module: used to collect user requirements and UAV parameter information, including the user's required return time t, the UAV's mass m, and the coordinates of the return target point E (x1, y1, z1);
[0037] Flight power allocation module: used to determine the flight power and time allocation of the drone in the X-axis, Y-axis, and Z-axis;
[0038] Flight strategy planning module: used to determine the flight strategies of the UAV on the X-axis, Y-axis, and Z-axis.
[0039] The present invention also provides a computer-readable storage medium storing a computer program, which when executed by a processor causes the processor to execute the above power allocation method based on the return time constraint.
[0040] The present invention also provides a UAV including the above power allocation system based on the return time constraint.
[0041] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
[0042] The present invention takes into account that due to different situations during the return flight, users have different requirements for the return time t. That is, if the user hopes the UAV to return quickly, the return time is smaller; otherwise, the return time is larger. The present invention analyzes and calculates the return power of the UAV on the X-axis, Y-axis, and Z-axis based on the return time requirement. Based on the comparison between the required return time t and the limit value, the return power on the X-axis, Y-axis, and Z-axis in the state is calculated respectively, and a return strategy is formulated. It solves the key problem of how to reasonably allocate the flight power of the UAV during the return flight according to the different return time requirements of users, realizes the return with low average power, and at the same time satisfies the joint optimization and precise allocation of the return time and return power. Especially when within the time range, both flight modes on the Z-axis can achieve the return of the UAV. The present invention selects the return flight plan with a lower average power, effectively reducing the average return power of the UAV and having a certain energy-saving effect. In the present invention, in-depth theoretical analysis and application exploration of the above problems are carried out, aiming to provide unique and efficient solutions. Physically, it conforms to the realistic application scenarios and will be able to be effectively applied to engineering practice. Description of the Drawings
[0043] Figure 1 It is a flowchart of the power allocation method based on the return time constraint in the first embodiment of the present application; Detailed Embodiments
[0044] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the accompanying drawings of the specification and specific embodiments.
[0045] Embodiment 1
[0046] As Figure 1 shown, a power allocation method based on the return time constraint includes the following steps:
[0047] Step S1: When the drone receives a return command from the user or triggers an automatic return command from the system due to low remaining energy, a spatial Cartesian coordinate system is established with the drone as the origin of the spatial coordinates.
[0048] When the drone at point O receives a return command from the user or triggers an automatic return command from the system due to low remaining energy, the system records the position information of the return point O. A spatial Cartesian coordinate system is established, with point O as the origin of the spatial coordinate system (0,0,0).
[0049] Step S2: Collect user requirements and UAV parameter information, including the user's required return time t, the UAV's mass m, and the coordinates of the return target point E (x1, y1, z1).
[0050] The UAV receives the user's request for return time t, the UAV's mass m, and the coordinates of the return target point E are (x1, y1, z1).
[0051] Step S3: Compare the minimum flight average power threshold The maximum flight average power threshold of the UAV at this time like Then the UAV return power allocation is performed; if The allocation ends.
[0052] Among them, the minimum flight average power threshold
[0053] Step S4, flight power and time distribution of the drone in the X-axis and Y-axis: Calculate the minimum value P of the average flight power required to accelerate the drone in the horizontal direction (X-axis or Y-axis) to point E. 水平,加 , the deceleration phase requires the minimum value of the average flight power P 水平,减 ; Calculate the time of the drone's acceleration phase in the horizontal direction (X axis or Y axis) Time of uniform motion phase and the time of the deceleration phase
[0054] The flight strategy of the drone in the X-axis and Y-axis: in the horizontal direction (X-axis or Y-axis) toward point E, the power P is used. 水平,加 Acceleration, duration Move at a constant speed in the horizontal direction (X or Y axis) towards point E without flight power, duration In the horizontal direction (X axis or Y axis), the power P is applied to point E. 水平,减 Deceleration, duration
[0055] Among them, when calculating the acceleration or deceleration motion stage of the UAV flying towards point E on the X-axis and Y-axis, the minimum value of the average flight power needs to be called. and and the time of the acceleration and deceleration stages of the UAV during the acceleration, uniform motion, and deceleration motion stages in the horizontal direction (X-axis or Y-axis). A return method in which the UAV adaptively selects different attitude adjustment strategies according to the user's different requirements for the return time t.
[0056] Step S5, compare the required return time t with If then enter step S6 for UAV return power distribution; if then enter step S7 for UAV return power distribution;
[0057] Step S6, flight power and time distribution of the UAV on the Z-axis: Calculate the average flight power called by the UAV when accelerating in the vertical direction (Z-axis) and the average flight power called when decelerating until the speed is 0 Calculate and the time of the acceleration stage of the UAV in the vertical direction (Z-axis) and the time of the deceleration stage
[0058] If z1>0, the flight strategy of the UAV on the Z-axis: Use power in the vertical direction (Z-axis) upward to accelerate for a duration of Use power in the vertical direction (Z-axis) upward to decelerate for a duration of
[0059] If z1<0, the flight strategy of the UAV on the Z-axis: Use power in the vertical direction (Z-axis) downward to accelerate for a duration of Use power in the vertical direction (Z-axis) downward to decelerate for a duration of
[0060] Among them, if z1>0, the UAV calculates the average flight power called for upward acceleration and the average flight power called for decelerating until the speed is 0 by using the flight power If z1<0, the UAV calculates the average flight power called for downward acceleration and the average flight power called for decelerating until the speed is 0 and the time of the acceleration and deceleration stages of the UAV in the vertical direction (Z-axis) is
[0061] Step S7, the flight power and time distribution of the UAV on the Z axis:
[0062] If z1>0, the flight strategy of the drone in Z: use power upward in the vertical direction (Z axis) Acceleration, duration In the vertical direction (Z axis), the upward deceleration movement is performed without power support, and the duration
[0063] If z1<0, the flight strategy of the drone in Z is to accelerate downward without power support in the vertical direction (Z axis), and the duration is In the vertical direction (Z axis) the power Deceleration duration
[0064] If z1>0, the UAV calculates the average flight power for upward acceleration motion The acceleration time of the UAV in the vertical direction (Z axis) with flight power support and the deceleration time without flight power support are respectively and If z1<0, the UAV calculates the average flight power required to decelerate until the speed reaches 0. The acceleration time of the UAV in the vertical direction (Z axis) without flight power support and the deceleration time with flight power support are respectively and
[0065] The premise of using the attitude adjustment method is that the UAV uses the average flight power to accelerate upward and decelerate until the speed is 0, or the UAV uses the average flight power to accelerate downward and decelerate until the speed is 0. According to the UAV's motion mode in the vertical direction (Z axis), the proposed method gives two flight average power calling methods with different flight times, and the use conditions (flight time) of these two methods have overlapping coverage areas, which are Moreover, the average power distribution method in which the UAV first calls the flight power to accelerate upward and then decelerates through its own gravity acceleration g until the speed is 0 has lower average power during the entire flight process than the average power distribution method in which the UAV first calls the flight power to accelerate upward and then calls the flight power to decelerate until the speed is 0.
[0066] The following is a further detailed analysis and description of the design of the present invention in conjunction with specific embodiments.
[0067] In the network described in the design specification of the present invention, the UAV hovers at point O at the return point, and the target for the UAV to return is at point E. Without loss of generality, point O is taken as the origin (0, 0, 0) of the spatial Cartesian coordinate system, and the coordinates of point E are (x1, y1, z1). The UAV located at point O will move from point O to the target point E when it receives the return instruction from the user or triggers the system automatic return instruction due to reasons such as energy.
[0068] In the present invention, considering different situations, the user will have different requirements for the return time t. That is, if the user hopes the UAV to return quickly, the return time t is smaller; conversely, the return time t is larger. Since the UAV needs to accelerate and fly towards point E after receiving the return instruction at the hovering point, and the speeds on the X-axis, Y-axis, and Z-axis should be 0 when it reaches point E. Therefore, in the present invention, it is necessary to consider not only the acceleration and deceleration in the horizontal return on the X-axis and Y-axis, but also the acceleration and deceleration on the Z-axis. So, next, the energy consumption and the required flight time for the return in the horizontal direction (X-axis and Y-axis) and the vertical direction (Z-axis) are analyzed:
[0069] 1. Movement of the UAV in the horizontal direction
[0070] Since the UAV has no speed at point O, the UAV needs to experience acceleration, uniform motion, and deceleration in the horizontal direction to reach the position (x1, y1, z1) of point E. Therefore, there is
[0071] s1 + s2 + s3 = s
[0072] where s1, s2, and s3 respectively represent the displacement of the UAV in the horizontal direction (X-axis or Y-axis) during acceleration, the displacement during uniform motion, and the displacement during deceleration, and s = |x1| or s = |y1|.
[0073] At the same time, for the time of motion, there is
[0074] t1 + t2 + t3 = t
[0075] where t1, t2, and t3 respectively represent the time of the UAV in the horizontal direction (X-axis or Y-axis) during acceleration, the time during uniform motion, and the time during deceleration, and t represents the return time of the UAV required by the user.
[0076] For the acceleration stage of motion, there is
[0077] v 水平 = at1
[0078] and
[0079]
[0080] Among them, v 水平 is the final speed of the UAV's accelerated motion in the horizontal direction (X-axis or Y-axis), and also the speed of uniform motion; a is the acceleration of the accelerated motion.
[0081] For the uniform motion stage, there is
[0082] s2 = v 水平 t2
[0083] For the decelerated motion stage, there is
[0084] 0 = v 水平 -at3
[0085] and
[0086]
[0087] Among them, a is the acceleration of the decelerated motion.
[0088] When the UAV performs accelerated and decelerated motion in the horizontal direction (X-axis or Y-axis), the average flight power P 水平 needs to be called. There is
[0089] P 水平 = mav 水平
[0090] Among them, m is the mass of the UAV.
[0091] Based on the above formulas, it can be obtained that
[0092]
[0093] Since P 水平 is a function of v 水平 , so let
[0094]
[0095] It can be obtained that the fixed point of P 水平 is
[0096] v 水平 = 0 or
[0097] Since v > 0, so
[0098]
[0099] Also, since the second derivative of P 水平 with respect to v 水平 at v 水平 * is
[0100]
[0101] Therefore, it can be known that when the UAV is in the acceleration or deceleration motion stage in the horizontal direction (X-axis or Y-axis), it needs to call the average flight power to have the minimum value, which is
[0102]
[0103] and the time of the acceleration and deceleration stages when the UAV needs to call the minimum average flight power during the acceleration, uniform motion, and deceleration stages in the horizontal direction (X-axis or Y-axis) is
[0104]
[0105] Therefore, the average power value of the UAV during the entire process of moving in the horizontal direction (X-axis or Y-axis) is
[0106] 2. Movement of the UAV in the vertical direction (Z-axis)
[0107] Since the UAV has no speed in the Z-axis when receiving the return instruction, the UAV needs to experience acceleration and deceleration in the vertical direction if it wants to reach the position (x1, y1, z1) of point E.
[0108] 2.1 If z1 > 0, it means that point E is higher than the current position of point O. The UAV needs to first accelerate upward, and then can decelerate until the speed is 0 by its own gravitational acceleration g or by calling an appropriate flight power. Therefore, the above two deceleration methods are analyzed separately:
[0109] 2.1.1 For the case where the UAV first calls the average flight power to accelerate upward and then decelerates until the speed is 0 by its own gravitational acceleration g, there is
[0110] d1 + d2 = z1
[0111] where d1 and d2 respectively represent the displacement of the UAV's acceleration and deceleration motions in the Z-axis.
[0112] At the same time, for the time of the motion, there is
[0113] e1 + e2 = t
[0114] where e1 and e2 respectively represent the time of the UAV's acceleration and deceleration motions in the Z-axis.
[0115] For the acceleration motion stage, there is
[0116] v z = (a1 - g)e1
[0117] and
[0118]
[0119] wherein, v z is the final velocity of the accelerating motion; a1 is the acceleration of the accelerating motion.
[0120] For the decelerating motion stage, there is
[0121] 0 = v z - ge2
[0122] and
[0123]
[0124] When the UAV performs an accelerating motion upward along the Z - axis, the average flight power P needs to be called z is
[0125]
[0126] By combining the above equations, it can be obtained that when is satisfied, there is
[0127]
[0128] And the time for the UAV to perform accelerating and decelerating motions in the vertical direction (Z - axis) is
[0129]
[0130] and
[0131]
[0132] Therefore, the average power value of the UAV during the entire process of motion along the Z - axis is
[0133] 2.1.2 For the case where the UAV first calls the average flight power to perform an upward accelerating motion, and then calls the average flight power to perform deceleration until the speed is 0, there is
[0134] d1 + d2 = z1
[0135] and
[0136] e1 + e2 = t
[0137] For the accelerating motion stage, there is
[0138] v z =(a1 - g)e1 A>
[0139] and
[0140]
[0141] For the deceleration stage of motion, there is
[0142] 0 = v z -(a2 + g)e2
[0143] and
[0144]
[0145] where a2 is the acceleration of the deceleration motion.
[0146] By combining the above equations, it can be obtained that when is satisfied, the average flight power required for the Z-axis to perform an acceleration motion is and the average flight power required for the deceleration motion is respectively
[0147]
[0148] and
[0149]
[0150] and the time for the acceleration and deceleration stages of the UAV in the vertical direction (Z-axis) is
[0151]
[0152] Therefore, the average power value of the UAV during the entire process of motion in the Z-axis is
[0153] Based on the above analysis, it can be known that
[0154] (1) For when, since the UAV's return time is relatively short, the UAV can only adopt an average power distribution method of first calling the flight power to perform an upward acceleration motion and then calling the flight power to perform deceleration until the speed is 0;
[0155] (2) For when, since the UAV's return time is relatively long, the UAV can only adopt an average power distribution method of first calling the flight power to perform an upward acceleration motion and then decelerating until the speed is 0 through its own gravitational acceleration g;
[0156] (3) For At this time, the UAV can adopt a power distribution method of first calling the flight power to accelerate upward and then calling the flight power to decelerate until the speed is 0, or an average power distribution method of first calling the flight power to accelerate upward and then decelerating until the speed is 0 through its own gravitational acceleration g. However, due to
[0157]
[0158] Therefore, the average power of the entire flight process of the UAV adopting the average power distribution method of first calling the flight power to accelerate upward and then decelerating until the speed is 0 through its own gravitational acceleration g is lower than that of the average power distribution method of first calling the flight power to accelerate upward and then calling the flight power to decelerate until the speed is 0.
[0159] At the same time, an average flight power threshold value is set in the present invention to improve the service life of the unmanned aerial vehicle. Therefore, when At this time, if the maximum flight average power threshold value of the UAV Then the UAV adopts a power distribution method of first calling the flight power to accelerate upward and then decelerating until the speed is 0 through its own gravitational acceleration g to reduce the average flight power of the UAV in the entire flight stage and have more power for handling emergencies and communication in the second half of the return journey.
[0160] 2.2 If z1 < 0, it means that the E point is lower than the current position of the O point. The UAV needs to first accelerate through its own gravitational acceleration g or call an appropriate average flight power, and then decelerate until the speed is 0 by calling an appropriate average flight power. Therefore, the above two deceleration methods are analyzed separately:
[0161] 2.2.1 For the case where the UAV needs to first accelerate downward through its own gravitational acceleration g and then decelerate until the speed is 0 by calling an appropriate average flight power, there are
[0162] d1 + d2 = |z1|
[0163] and
[0164] e1 + e2 = t
[0165] For the acceleration stage, there are
[0166] v z = ge1
[0167] and
[0168]
[0169] For the deceleration motion stage, there is
[0170] 0 = v z -(a2 - g)e2
[0171] and
[0172]
[0173] When the UAV decelerates upward along the Z - axis, the average flight power P needs to be called z which is
[0174]
[0175] By combining the above equations, when is satisfied, there is
[0176] <s
[0177] And the time for the UAV to accelerate and decelerate in the vertical direction (Z - axis) is
[0178]
[0179] and
[0180]
[0181] Therefore, the average power value of the UAV during the entire process of moving along the Z - axis is
[0182] 2.2.2 For the case where the UAV needs to first call an appropriate average flight power to accelerate downward, and then call an appropriate average flight power to decelerate until the speed is 0, there is
[0183] d1 + d2 = |z1|
[0184] and
[0185] e1 + e2 = t
[0186] For the acceleration motion stage, there is
[0187] v z =(a1 + g)e1
[0188] and
[0189]
[0190] For the deceleration motion stage, there is
[0191] 0 = v z -(a2 - g)e2
[0192] and
[0193]
[0194] By combining the above equations, it can be obtained that when is satisfied, the average flight power required for the Z-axis to accelerate is and the average flight power required for deceleration is respectively
[0195]
[0196] and
[0197]
[0198] And the time for the UAV to accelerate and decelerate in the vertical direction (Z-axis) is
[0199]
[0200] Therefore, the average power value of the UAV during the entire process of moving in the Z-axis is
[0201] Based on the above analysis, it can be known that
[0202] (1) For when the return time of the UAV is short, the UAV can only adopt the average power distribution method of first calling the flight power to accelerate downward and then calling the flight power to decelerate until the speed is 0;
[0203] (2) For when the return time of the UAV is long, the UAV can only adopt the average power distribution method of first accelerating through its own gravitational acceleration g and then calling the flight power to decelerate until the speed is 0;
[0204] (3) For when, the UAV can adopt the average power distribution method of first calling the flight power to accelerate downward and then calling the flight power to decelerate until the speed is 0 or the UAV can adopt the average power distribution method of first accelerating through its own gravitational acceleration g and then calling the flight power to decelerate until the speed is 0. However, due to
[0205]
[0206] Therefore, the average power allocation method in which the UAV accelerates downward without flight power support (relying solely on gravity) and then decelerates until the speed reaches 0 by calling flight power has lower average power for the entire flight process than the average power allocation method in which the UAV first accelerates downward and then decelerates until the speed reaches 0 by calling flight power.
[0207] when When the maximum flight average power threshold of the UAV is The UAV accelerates downward without flight power support (relying solely on gravity), and then decelerates by calling flight power until the speed reaches 0. This average power allocation method reduces the average flight power of the UAV during the entire flight phase and leaves more power for handling emergencies and communications in the second half of the return journey.
[0208] As the UAV flies through the air, its instantaneous power changes at different speeds. The UAV's flight time t can be discretely divided into time intervals of Δt. Since Δt is sufficiently small, it can be assumed that the UAV's instantaneous power is constant within each time interval. Therefore, the UAV's instantaneous flight power at the nth time interval can be calculated using the classic kinematic power calculation formula: P(n) = ma(v + anΔt), where a is the acceleration and v is the initial velocity at the initial state of motion.
[0209] Example 2
[0210] The present invention also proposes a power allocation system based on return time constraints, using the above-mentioned power allocation method based on return time constraints, including:
[0211] Spatial coordinate establishment module: used to establish a spatial Cartesian coordinate system with the drone as the spatial coordinate origin when the drone receives a return command from the user or triggers an automatic return command from the system due to low remaining energy;
[0212] Parameter acquisition module: used to collect user requirements and UAV parameter information, including the user's required return time t, the UAV's mass m, and the coordinates of the return target point E (x1, y1, z1);
[0213] Flight power allocation module: used to determine the flight power and time allocation of the drone in the X-axis, Y-axis, and Z-axis;
[0214] Flight strategy planning module: used to determine the flight strategy of the drone in the X-axis, Y-axis, and Z-axis.
[0215] Example 3
[0216] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to execute the above-mentioned power allocation method based on the return time constraint.
[0217] Embodiment 4
[0218] The present invention also provides a drone including the above-mentioned power allocation system based on the return time constraint.
[0219] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in whole or in part in the form of a computer program product, the computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on a computer, the processes or functions according to the embodiments of the present invention are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrating one or more available media. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state disk (SSD)).
[0220] The embodiments of the specific implementation manners are all preferred embodiments of the present invention, and do not limit the protection scope of the present invention accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be covered within the protection scope of the present invention. Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present invention. Obviously, those skilled in the art can make various changes and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.
Claims
1. A power allocation method based on return time constraint, characterized in that It includes the following steps: Step S1: When the drone receives the user's return instruction or triggers the system's automatic return instruction due to reasons such as low remaining energy, a spatial Cartesian coordinate system is established with the drone as the spatial coordinate origin. Step S2: Collect user requirements and UAV parameter information, including the required return time t of the user, the mass m of the UAV, and the coordinates (x1, y1, z1) of the return target point E. Step S3, calculate the minimum value P of the average flight power of the drone in the horizontal direction 水平,减 and the time of the acceleration stage in the horizontal direction the time of the uniform motion stage and the time of the deceleration stage Adjust the flight strategy in the horizontal direction; Step S4: Calculate the average flight power of the UAV in the vertical acceleration stage, the average flight power in the deceleration stage, and the time of the vertical acceleration stage according to the required return time t, the set threshold, and the coordinates of the return target point E. The time of the deceleration stage Adjust the flight strategy in the vertical direction.
2. The power allocation method based on return time constraint according to claim 1, characterized in that The specific content of step S3 is as follows for the movement on the X-axis: The minimum value P of the average flight power needs to be called during the accelerated motion phase 水平,加 : The minimum value P of the average flight power needs to be called during the deceleration stage 水平,减 : The time of the accelerating motion stage The time of the uniform motion stage and the time of the decelerating motion stage For the movement on the Y-axis: The minimum value P of the average flight power needs to be called during the acceleration phase 水平,加 : The minimum value P of the average flight power needs to be called during the deceleration motion stage 水平,减 : The time of the accelerated motion stage The time of the uniform motion stage and the time of the decelerated motion stage 3. The power allocation method based on return time constraint according to claim 2, wherein The flight strategy in the horizontal direction for step S3 is as follows: In the horizontal direction, accelerate towards point E with power P 水平,加 for a duration of Then, move uniformly towards point E in the horizontal direction without flight power boost for a duration of After that, in the horizontal direction, decelerate towards point E with power P 水平,减 for a duration of 4. The power allocation method based on return time constraint according to claim 1, wherein In the step S4, the set threshold is 5. The power allocation method based on return time constraint according to claim 4, wherein The specific content of step S4 is as follows: When the required time for return t ≤ the set threshold: If z1 > 0, calculate the average flight power called for upward acceleration motion and the average flight power called for deceleration until the speed is 0 If z1 < 0, the UAV calculates the average flight power called for downward acceleration motion and the average flight power called for deceleration until the speed is 0 and the time for the acceleration and deceleration phases of the UAV in the vertical direction (Z-axis) is When the required return time t> the set threshold: if z1>0, calculate the average flight power called for upward acceleration movement The acceleration time of the UAV in the vertical direction (Z axis) with flight power support and the deceleration time without flight power support are respectively and If z1<0, the UAV calculates the average flight power required to decelerate until the speed reaches 0. The acceleration time of the UAV in the vertical direction (Z axis) without flight power support and the deceleration time with flight power support are respectively and 6. The power allocation method based on return time constraint according to claim 5, characterized in that The flight strategy in the vertical direction of step S4 is as follows: When the required return time t ≤ the set threshold: If z1 > 0, use power to accelerate upward in the vertical direction for a duration of Use power to decelerate upward in the vertical direction for a duration of If z1 < 0, use power to accelerate downward in the vertical direction (Z-axis) for a duration of Use power to decelerate downward in the vertical direction for a duration of When the required time t for returning > the set threshold: If z1 > 0, accelerate upward in the vertical direction using power for a duration of Decelerate upward without power assistance in the vertical direction for a duration of If z1 < 0, accelerate downward without reactive power assistance in the vertical direction for a duration of Use power in the vertical direction to decelerate for a duration of 7. The power allocation method based on the return time constraint according to claim 6, wherein, When occurs, the vertical flight strategy is selected as follows: If z1 > 0, apply power in the upward vertical direction for acceleration, with a duration of Decelerate upward without power application in the vertical direction, with a duration of If z1 < 0, accelerate downward without power application in the vertical direction, with a duration of Apply power in the vertical direction (Z-axis) for deceleration, with a duration of 8. A power distribution system based on return time constraint, using the power distribution method based on return time constraint according to any one of claims 1 to 7, characterized in that, It includes: Spatial coordinate establishment module: Used to establish a spatial Cartesian coordinate system with the drone as the spatial coordinate origin when the drone receives the user's return instruction or triggers the system's automatic return instruction due to reasons such as low remaining energy. Parameter collection and acquisition module: Used to collect user requirements and UAV parameter information, including the required return time t of the user, the mass m of the UAV, and the coordinates (x1, y1, z1) of the return target point E. Flight power distribution module: Used to determine the flight power and time distribution of the drone on the X-axis, Y-axis, and Z-axis. Flight strategy planning module: Used to determine the flight strategies of the drone on the X-axis, Y-axis, and Z-axis.
9. A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the power distribution method based on return time constraints according to any one of claims 1 to 7.
10. A drone, characterized in that, It includes the power distribution system based on return time constraints described in claim 8.