Power allocation method for drone return

Abstract

The present invention discloses a power allocation method for a drone's return flight. The method includes the following steps: when the drone returns, the coordinates of the drone's takeoff point are set as the origin of a three-dimensional coordinate system and the coordinates of point E, where a data collector is located; obtaining the drone's total power and allocating it into flight power and communication power based on the data collector's Z-axis coordinate and the drone's return time t; when the drone flies between the takeoff point and the data collector, it adjusts its acceleration on the X, Y, and Z axes by invoking its own flight power to control the drone's speed and position; and sending data to the data collector based on the communication power. When the drone returns, different flight modes and communication and flight power allocations are selected to optimize energy consumption.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle (UAV) power distribution, and particularly relates to a power distribution method for returning UAV. Background Art

[0002] The allocation of flight power and communication power for drones is a critical element in drone technology. Flight power primarily refers to the power required by a drone during flight to maintain hovering, forward movement, and climb maneuvers. This power primarily originates from the drone's engine and is converted by the rotors into energy to support flight. Flight power is affected by multiple factors, including flight speed, environmental conditions, rotor radius, rotor speed, airframe drag, and air density. Communication power, on the other hand, refers to the strength of the drone's transmitted signal and determines the communication distance and reliability between the drone and the ground control station. A drone's communication power is constrained by factors such as flight distance, altitude, antenna gain, and signal interference. In practical applications, drones must rationally allocate flight power and communication power based on mission requirements and environmental conditions to ensure stable and safe mission completion, a critical challenge that needs to be addressed. Summary of the Invention

[0003] The purpose of the present invention is to provide a power distribution method for a UAV returning home, which selects different flight modes and communication and flight power distribution when the UAV returns home, so as to achieve optimal energy consumption.

[0004] The technical solutions for achieving the purpose of the present invention are:

[0005] A power distribution method for a UAV return flight comprises the following steps:

[0006] S01: When the drone returns, the coordinates of the drone's takeoff are set as the origin O of the three-dimensional coordinate system. , the coordinates of the data collector location E are ;

[0007] S02: Get the total power of the drone , according to the Z-axis coordinate of the data collector The total power will be It is distributed into flight power and communication power. When the UAV flies between the take-off point and the data collector, it adjusts its acceleration on the X-axis, Y-axis and Z-axis by calling its own flight power to control the speed and position of the UAV. Data is sent to the data collector according to the communication power.

[0008] Compared with the prior art, the present invention has the following significant advantages:

[0009] The drone selects different flight modes and allocates communication and flight power during return to base to optimize energy consumption. This solution aims to provide a unique and efficient solution that physically matches real-world application scenarios and can be effectively applied in real-world engineering scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 Flowchart of the power distribution method for returning to the home position of a UAV according to this embodiment. DETAILED DESCRIPTION

[0011] Example 1:

[0012] like Figure 1 As shown, a power distribution method for a UAV return flight includes the following steps:

[0013] S01: When the drone returns, the coordinates of the drone's takeoff are set as the origin O of the three-dimensional coordinate system. , the coordinates of the data collector location E are ;

[0014] S02: Get the total power of the drone , according to the Z-axis coordinate of the data collector The total power will be It is distributed into flight power and communication power. When the UAV flies between the take-off point and the data collector, it adjusts its acceleration on the X-axis, Y-axis and Z-axis by calling its own flight power to control the speed and position of the UAV. Data is sent to the data collector according to the communication power.

[0015] Combine Figure 1 As shown, the design of the present invention is further analyzed and described in detail.

[0016] In the network described in the present invention, after collecting data at the sensor, the drone returns to the control point and sends data to the data collector at the control point during the return flight. The coordinates of the sensor are set as the origin O of the three-dimensional coordinate system. , the coordinates of point E where the target controller is located are During the entire flight phase when the UAV is returning to the controller, the UAV can send the data it has just collected. Assume that the UAV has a larger total power of This power can be used as flight power to adjust the flight attitude of the UAV when returning, and can also be used as data transmission power. Therefore, there is no need to consider the situation of insufficient power in the present invention.

[0017] Since the UAV is flying in the air, the channel gain between the UAV and the data collector will change at different time periods. Assume that the return time of the UAV from point O to point E is set to (known), can be discretely divided into The time interval, due to is small enough so that the position of the drone can be assumed to be constant within each time interval.

[0018] Because the UAV needs to adjust its acceleration along the X, Y, and Z axes by invoking its own flight power to precisely control its speed and position as it flies between its takeoff point and the data collector, the following section describes and analyzes the UAV's motion in the horizontal (X and Y) and vertical (Z) directions.

[0019] 1. The drone experiences acceleration, constant speed, and deceleration in the horizontal direction

[0020] According to Newton's law of motion, the flight power used by the UAV during the acceleration and deceleration phases in the horizontal direction (X or Y axis) is:

[0021] ;

[0022] in, For the quality of the drone; or ; is the flight time of the UAV from point O to point E.

[0023] The acceleration and deceleration times for the drone to perform acceleration, constant speed, and deceleration in the horizontal direction (X or Y axis) when the minimum flight power is required are:

[0024] ;

[0025] in, 、 and are the movement time in the horizontal direction (X-axis or Y-axis) during acceleration, uniform speed or deceleration.

[0026] Since the UAV is flying in the air, the instantaneous power of the UAV will change at different speeds. discretely divided into The time interval, due to is small enough, so we can assume that the instantaneous power of the drone is constant in each time interval. The classic kinematic power calculation formula can be used The instantaneous flight power of the UAV at the nth time interval is obtained as follows.

[0027] UAV in Total in time time intervals, and the instantaneous power of the UAV on the X-axis is:

[0028] ;

[0029] UAV in Total in time time intervals, and the instantaneous power of the UAV on the X axis is

[0030] ;

[0031] UAV in Total in time time intervals, and the instantaneous power of the UAV on the X axis is

[0032] ;

[0033] The position information of the UAV in the X-axis direction can be given according to the acceleration, constant speed and deceleration stages:

[0034] 1) The drone experiences the first acceleration phase in the X-axis direction. The speed information of a time interval is expressed as:

[0035] ;

[0036] in, ; .

[0037] The drone experiences the first acceleration phase in the X-axis direction. The position information of a time interval is expressed as:

[0038] ;

[0039] in, .

[0040] 2) The drone experiences the first stage of uniform speed in the X-axis direction. The position information of a time interval is expressed as:

[0041] ;

[0042] in, .

[0043] 3) The drone experiences the first deceleration phase in the X-axis direction. The speed information of a time interval is expressed as:

[0044] ;

[0045] in, .

[0046] The drone experiences the first deceleration phase in the X-axis direction. The position information of a time interval is expressed as:

[0047] ;

[0048] UAVs in Total in time time intervals, and the instantaneous power of the UAV on the Y axis is:

[0049] ;

[0050] UAVs in Total in time time intervals, and the instantaneous power of the UAV on the Y axis is:

[0051] ;

[0052] UAVs in Total in time time intervals, and the instantaneous power of the UAV on the Y axis is:

[0053] ;

[0054] The position information of the UAV in the Y-axis direction can be given according to the acceleration, constant speed and deceleration stages:

[0055] 1) The drone experiences the first acceleration phase in the Y-axis direction. The speed information of a time interval is expressed as:

[0056] ;

[0057] in, ; .

[0058] The drone experiences the first acceleration phase in the Y-axis direction. The position information of a time interval is expressed as:

[0059] ;

[0060] in, .

[0061] 2) The drone experiences the first stage of uniform speed in the Y-axis direction. The position information of a time interval is expressed as:

[0062] ;

[0063] in, .

[0064] 3) The drone experiences the first deceleration phase in the Y-axis direction. The speed information of a time interval is expressed as:

[0065] ;

[0066] in, .

[0067] The drone experiences the first deceleration phase in the Y-axis direction. The position information of a time interval is expressed as:

[0068] ;

[0069] 2. The movement of the drone in the vertical direction (Z axis)

[0070] Since the UAV has no speed on the Z axis when it receives the return command, if the UAV wants to reach the position of point E It needs to experience acceleration and deceleration in the vertical direction. Because objects in the vertical direction are naturally affected by gravity and experience downward acceleration, the UAV's vertical motion (Z-axis) can be divided into two flight modes: A and B. Among them, mode A requires flight power support only during the acceleration or deceleration phase, but not during the other phase; mode B requires flight power support during both acceleration and deceleration phases.

[0071] 1. Analysis of Flight Mode A:

[0072] 1) If , it means that point E is higher than the current position of point O, and the UAV needs to accelerate upward first, and then use its own gravity acceleration to accelerate Decelerate until the speed reaches 0.

[0073] According to Newton's laws of motion, when When , the flight power called by the UAV in the vertical direction (along the Z axis upward) is:

[0074] ;

[0075] in, is the acceleration due to gravity; is the flight time of the UAV from point O to point E.

[0076] The drone is accelerated in the vertical direction (Z axis) and only by its own gravity acceleration The time for deceleration is:

[0077] , ;

[0078] UAVs in Total in time time intervals, and the instantaneous power of the UAV is:

[0079] ;

[0080] UAVs in Total in time time intervals, and the instantaneous power of the UAV is:

[0081] ;

[0082] (1) The UAV experiences the first stage of acceleration in the vertical direction. The speed information of a time interval is expressed as:

[0083] ;

[0084] in, ; .

[0085] The UAV undergoes the first stage of acceleration in the vertical direction. The position information of a time interval is expressed as:

[0086] ;

[0087] in, .

[0088] (2) The UAV experiences the first deceleration phase in the vertical direction. The speed information of a time interval is expressed as:

[0089] ;

[0090] in, .

[0091] The UAV experiences the first deceleration phase in the vertical direction. The position information of a time interval is expressed as:

[0092] ;

[0093] 2) If , it means that point E is lower than the current position of point O, and the UAV needs to pass its own gravity acceleration first. Accelerate the movement, then decelerate it by calling the appropriate flight power until the speed reaches 0.

[0094] According to Newton's laws of motion, when When the UAV uses the appropriate flight power in the vertical direction (along the Z axis) to decelerate until the speed reaches 0, the flight power is:

[0095] ;

[0096] The time for the drone to accelerate and decelerate in the vertical direction (Z axis) is:

[0097] , ;

[0098] UAV in Total in time time intervals, and the instantaneous power of the UAV is:

[0099] ;

[0100] UAV in Total in time time intervals, and the instantaneous power of the UAV is:

[0101] ;

[0102] (1) The UAV experiences the first stage of acceleration in the vertical direction. The speed information of a time interval is expressed as:

[0103] ;

[0104] in, ; .

[0105] The UAV undergoes the first stage of acceleration in the vertical direction. The position information of a time interval is expressed as:

[0106] ;

[0107] in, .

[0108] (2) The UAV experiences the first deceleration phase in the vertical direction. The speed information of a time interval is expressed as:

[0109] ;

[0110] in, .

[0111] The UAV experiences the first deceleration phase in the vertical direction. The position information of a time interval is expressed as:

[0112] ;

[0113] 2. Analysis of Flight Mode B:

[0114] 1) If , it means that point E is higher than the current position of point O. The UAV needs to accelerate upward first, and then decelerate until the speed reaches 0.

[0115] According to Newton's laws of motion, when When the UAV accelerates in the vertical direction (upward along the Z axis), the flight power called is:

[0116] ;

[0117] The flight power required for the UAV to decelerate in the vertical direction (upward along the Z axis) is:

[0118] ;

[0119] The time for the acceleration and deceleration phases of the drone in the vertical direction (Z axis) is:

[0120] ;

[0121] UAV in Total in time time intervals, and the instantaneous power of the UAV is:

[0122] ;

[0123] UAV in Total in time time intervals, and the instantaneous power of the UAV is:

[0124] ;

[0125] (1) Therefore, the UAV experiences the first acceleration phase in the vertical direction. The speed information of a time interval is expressed as:

[0126] ;

[0127] in, ; .

[0128] The UAV undergoes the first stage of acceleration in the vertical direction. The position information of a time interval is expressed as:

[0129] ;

[0130] in, .

[0131] (2) The UAV experiences the first deceleration phase in the vertical direction. The speed information of a time interval is expressed as:

[0132] ;

[0133] in, .

[0134] The UAV experiences the first deceleration phase in the vertical direction. The position information of a time interval is expressed as:

[0135] ;

[0136] 2) If , it means that point E is lower than the current position of point O. The UAV needs to accelerate downward first, and then decelerate until the speed reaches 0.

[0137] According to Newton's laws of motion, when When the UAV accelerates in the vertical direction (downward along the Z axis), the flight power required is:

[0138] ;

[0139] The flight power required for the UAV to decelerate in the vertical direction (downward along the Z axis) is:

[0140] ;

[0141] The time for the acceleration and deceleration phases of the drone in the vertical direction (Z axis) is:

[0142] ;

[0143] UAV in Total in time time intervals, and the instantaneous power of the UAV is:

[0144] ;

[0145] UAV in Total in time time intervals, and the instantaneous power of the UAV is:

[0146] ;

[0147] (1) Therefore, the UAV experiences the first acceleration phase in the vertical direction. The speed information of a time interval is expressed as:

[0148] ;

[0149] in, ; .

[0150] The UAV undergoes the first stage of acceleration in the vertical direction. The position information of a time interval is expressed as:

[0151] ;

[0152] in, .

[0153] (2) The UAV experiences the first deceleration phase in the vertical direction. The speed information of a time interval is expressed as:

[0154] ;

[0155] in, .

[0156] The UAV experiences the first deceleration phase in the vertical direction. The position information of a time interval is expressed as:

[0157] ;

[0158] Based on the above analysis of the UAV flying in A or B on the Z axis, it can be seen that if both flight modes A and B can be used for the UAV's return trip ( ) and when When the UAV is in the second half of the flight, that is, when the UAV is experiencing a deceleration phase in the vertical direction, the total power of the UAV when flying in mode A is All power except for the horizontal flight power (X and Y axes) can be used for data transmission. When using Method B, the UAV's total power is first allocated to Z-axis flight attitude adjustment and horizontal flight power (X and Y axes). The remaining power is used for data transmission. Furthermore, because the UAV is closer to the data collector during the second half of flight, Method A can achieve higher data transmission rates.

[0159] If both flight modes A and B are available for the UAV's return trip And when When the UAV is in the second half of the flight, that is, when the UAV is experiencing a deceleration phase in the vertical direction, the total power of the UAV when flying in mode A is First, some power must be allocated for adjusting the flight attitude on the X, Y, and Z axes, while the remaining power can be used for data transmission. When using method B, the UAV's total power must first be allocated for adjusting the flight attitude on the Z axis and some for adjusting the flight attitude on the X and Y axes, while the remaining power can be used for data transmission.

[0160] Also because when When:

[0161] ;

[0162] Therefore, flying in mode B can achieve a higher data transmission rate. However, in mode B, The duration is after , while in method A, The duration is shorter after Therefore, it is necessary to compare the data transmission rates of Method A and Method B again, as shown below:

[0163] For method A:

[0164] when The acceleration time of UAV in Z axis is , that is, the acceleration motion phase of the UAV in the Z axis includes the acceleration motion of the UAV in the horizontal direction (X axis and Y axis), part of the uniform motion, but does not include the deceleration motion.

[0165] a) UAVs in The position information of a time interval is expressed as:

[0166] ; ; ;

[0167] In the The channel gain between the UAV and the sensor in a time interval can be expressed as:

[0168] ;

[0169] Among them, Indicates the channel gain at a distance of 1 meter.

[0170] Therefore, drones The data transmission rate for a time interval is:

[0171] ;

[0172] in, .

[0173] b) UAVs in The position information of a time interval is expressed as:

[0174] ; ;

[0175] ;

[0176] Therefore, drones The data transmission rate for a time interval is:

[0177] ;

[0178] in, ,and .

[0179] c) UAVs in The position information of a time interval is expressed as:

[0180] ; ;

[0181] ;

[0182] Therefore, drones The data transmission rate for a time interval is:

[0183] ;

[0184] in, ,and .

[0185] d) UAVs in the The position information of a time interval is expressed as:

[0186] ; ;

[0187] Therefore, drones The data transmission rate for a time interval is:

[0188] ;

[0189] in, ,and .

[0190] During the UAV's return flight to the controller, the amount of data sent back by the UAV is: ;

[0191] when The acceleration time of UAV in Z axis is , that is, the acceleration motion phase of the UAV in the Z axis includes the acceleration motion, uniform motion and partial deceleration motion of the UAV in the horizontal direction (X axis and Y axis).

[0192] a) UAVs in The position information of a time interval is expressed as:

[0193] ; ; ;

[0194] Drones in the The data transmission rate for a time interval is:

[0195] ;

[0196] in, ;

[0197] b) UAVs in The position information of a time interval is expressed as:

[0198] ; ;

[0199] ;

[0200] Therefore, drones The data transmission rate for a time interval is:

[0201] ;

[0202] in, .

[0203] c) UAVs in The position information of a time interval is expressed as:

[0204] ;

[0205] ; ; ;

[0206] Therefore, drones The data transmission rate for a time interval is:

[0207] ;in, ,and .

[0208] d) UAVs in the The position information of a time interval is expressed as:

[0209] ; ; ;

[0210] Therefore, drones The data transmission rate for a time interval is:

[0211] ;in, ,and .

[0212] During the UAV's return flight to the controller, the amount of data sent back by the UAV is: ;

[0213] For method B:

[0214] a) UAVs in The position information of a time interval is expressed as:

[0215] ; ; ;

[0216] Drones in the The data transmission rate for a time interval is:

[0217] ;in, ;

[0218] b) UAVs in The position information of a time interval is expressed as:

[0219] ; ; ;

[0220] Therefore, drones The data transmission rate for a time interval is:

[0221] ;

[0222] in, .

[0223] c) UAVs in The position information of a time interval is expressed as:

[0224] ;

[0225] ;

[0226] ;

[0227] Therefore, drones are The data transmission rate for a time interval is:

[0228] ;in, ,and .

[0229] d) UAVs in the The position information of a time interval is expressed as:

[0230] ; ; ;

[0231] Therefore, drones The data transmission rate for a time interval is:

[0232] ;

[0233] in, ,and .

[0234] During the UAV's return flight to the controller, the amount of data sent back by the UAV is: ;

[0235] Therefore, if , The UAV selects method A to return; otherwise, it selects method B to return.

[0236] , The UAV selects method A to return; otherwise, it selects method B to return.

[0237] The following is an example of a specific implementation (preferred embodiment) to illustrate the method of selecting a flight mode for returning to the home position of a UAV and allocating communication and flight power, including the following steps:

[0238] Step 1: When the drone receives data over the sensor, it starts the return command and needs to obtain the drone quality , the gravity acceleration of the current flight area , UAV and controller location information, total flight power and the drone's return time Set the coordinates of the drone's takeoff point to the origin O of the three-dimensional coordinate system. , the coordinates of the controller's location point E are ;

[0239] Step 2, if and , go to step 3; if and , go to step 4; if and , go to step 5; if and , go to step 6; if and , go to step 7; if and , go to step 8; if and , go to step 9; if and , go to step 10; if and , go to step 11;

[0240] Step 3: UAV returns to home using flight mode A. During the time interval, the instantaneous power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is ; 2) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and 0 and the communication power is ;3) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are all 0, and the communication power is ; 4) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and 0 and the communication power is ;

[0241] Step 4: UAV returns to the home position using flight mode A. During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is ; 2) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are 0, 0, and And the communication power is ;3) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are all 0, and the communication power is ;4) In During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and 0 and the communication power is ;

[0242] Step 5: UAV returns to the home position using flight mode A. During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is ; 2) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are 0, 0, and And the communication power is ;3) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is ; 4) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and 0 and the communication power is ;

[0243] Step 6: UAV returns to the home position using flight mode B. During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is ; 2) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are 0, 0, and And the communication power is ;3) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are 0, 0, and And the communication power is ; 4) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is ;

[0244] Step 7, if , the UAV uses flight mode A to return home, and at the same time 1) During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and 0 and the communication power is ; 2) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are all 0, and the communication power is ;3) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and 0 and the communication power is ; 4) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is .

[0245] like , go to step 11;

[0246] Step 8, if , the UAV uses flight mode A to return home, and at the same time 1) During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and 0 and the communication power is ; 2) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are all 0, and the communication power is ;3) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are 0, 0, and And the communication power is ; 4) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is .

[0247] like , go to step 11;

[0248] Step 9: UAV returns to the home position using flight mode A. During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and 0 and the communication power is ; 2) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are all 0, and the communication power is ;3) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are 0, 0, and And the communication power is ; 4) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is ;

[0249] Step 10: UAV returns to the home position using flight mode A. During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and 0 and the communication power is ; 2) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is ;3) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are 0, 0, and And the communication power is ; 4) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is ;

[0250] Step 11: UAV returns to the home position using flight mode B. During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is ; 2) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are 0, 0, and And the communication power is ;3) in the During the time interval, the power values ​​assigned by the UAV to the X-axis, Y-axis, and Z-axis are 0, 0, and And the communication power is ; 4) in the During the time interval, the power values ​​allocated by the UAV to the X-axis, Y-axis, and Z-axis are 、 and And the communication power is .

[0251] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A power distribution method for returning to the airframe of a drone, characterized in that: The following steps are involved: S01: When the drone returns, the coordinates of the drone's takeoff are set as the origin O of the three-dimensional coordinate system. , the coordinates of the data collector location E are ; S02: Get the total power of the drone , according to the Z-axis coordinate of the data collector The total power will be The power is allocated to flight power and communication power. When the UAV flies between the takeoff point and the data collector, it adjusts its acceleration on the X, Y, and Z axes by calling its own flight power to control the speed and position of the UAV. Data is sent to the data collector based on the communication power. The vertical movement is divided into two flight modes: A and B. In flight mode A, the drone only receives flight power boost during the acceleration or deceleration phase, while the other phase does not receive flight power boost. In flight mode B, the drone receives flight power boost during both acceleration and deceleration phases. like and , the real-time power value allocated to the X-axis, Y-axis, Z-axis and communication in each flight phase when the UAV adopts flight mode A, and g is the gravity acceleration of the current flight area; like and ,The real-time power values ​​allocated to the X-axis, Y-axis, Z-axis and communication in each flight phase of the UAV using flight mode A; like and ,The real-time power values ​​allocated to the X-axis, Y-axis, Z-axis and communication in each flight phase of the UAV using flight mode A; like and ,The real-time power values ​​allocated to the X-axis, Y-axis, Z-axis and communication in each flight phase of the UAV using flight mode B; like and ,The drone compares the amount of data returned by flight mode A and flight mode B, and gives the real-time power values ​​allocated to the X-axis, Y-axis, Z-axis and communication in each flight phase for the flight mode with a larger amount of returned data; like and ,The drone compares the amount of data returned by flight mode A and flight mode B, and gives the real-time power values ​​allocated to the X-axis, Y-axis, Z-axis and communication in each flight phase for the flight mode with a larger amount of returned data; like and ,The real-time power values ​​allocated to the X-axis, Y-axis, Z-axis and communication in each flight phase of the UAV using flight mode A; like and ,The real-time power values ​​allocated to the X-axis, Y-axis, Z-axis and communication in each flight phase of the UAV using flight mode A; like and ,The real-time power values ​​allocated to the X-axis, Y-axis, Z-axis and communication in each flight phase when the UAV adopts flight mode B.

2. The power distribution method for returning to the home position of a UAV according to claim 1, characterized in that: like and , the distributed power includes: 1) In the During the time interval, the instantaneous power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is ; For drone quality, Discrete division The time interval, n is the number of time intervals; 2) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and 0 and the communication power is ; 3) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are all 0, and the communication power is ; 4) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and 0 and the communication power is .

3. The power distribution method for returning to the home position of a UAV according to claim 1, characterized in that: like and , the distributed power includes: 1) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is ; For drone quality, Discrete division The time interval, n is the number of time intervals; 2) In the During the time interval, the power values ​​assigned to the X-axis, Y-axis, and Z-axis by the drone are 0, 0, and And the communication power is ; 3) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are all 0, and the communication power is ; 4) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and 0 and the communication power is .

4. The power distribution method for returning to the home position of a UAV according to claim 1, characterized in that: like and , the distributed power includes: 1) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is ; For drone quality, Discrete division The time interval, n is the number of time intervals; 2) In the During the time interval, the power values ​​assigned to the X-axis, Y-axis, and Z-axis by the drone are 0, 0, and And the communication power is ; 3) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is ; 4) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and 0 and the communication power is .

5. The power distribution method for returning to the home position of a UAV according to claim 1, characterized in that: like and , the distributed power includes: 1) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is ; For drone quality, Discrete division The time interval, n is the number of time intervals; 2) In the During the time interval, the power values ​​assigned to the X-axis, Y-axis, and Z-axis by the drone are 0, 0, and And the communication power is ; 3) In the During the time interval, the power values ​​assigned to the X-axis, Y-axis, and Z-axis by the drone are 0, 0, and And the communication power is ; 4) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is .

6. The power distribution method for returning to the home position of a UAV according to claim 1, characterized in that: like and ,when The amount of data transmitted back using flight mode A hour, For the data volume transmitted using flight mode B, the power allocation includes: 1) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and 0 and the communication power is ; For drone quality, Discrete division The time interval, n is the number of time intervals; 2) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are all 0, and the communication power is ; 3) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and 0 and the communication power is ; 4) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is ; like When , the allocated power includes: 1) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is ; 2) In the During the time interval, the power values ​​assigned to the X-axis, Y-axis, and Z-axis by the drone are 0, 0, and And the communication power is ; 3) In the During the time interval, the power values ​​assigned to the X-axis, Y-axis, and Z-axis by the drone are 0, 0, and And the communication power is ; 4) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is .

7. The power distribution method for returning to the home position of a UAV according to claim 1, characterized in that: like and ,when The amount of data transmitted back using flight mode A hour, For the data volume transmitted using flight mode B, the power allocation includes: 1) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and 0 and the communication power is ; For drone quality, Discrete division The time interval, n is the number of time intervals; 2) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are all 0, and the communication power is ; 3) In the During the time interval, the power values ​​assigned to the X-axis, Y-axis, and Z-axis by the drone are 0, 0, and And the communication power is ; 4) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is ; like When , the allocated power includes: 1) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is ; 2) In the During the time interval, the power values ​​assigned to the X-axis, Y-axis, and Z-axis by the drone are 0, 0, and And the communication power is ; 3) In the During the time interval, the power values ​​assigned to the X-axis, Y-axis, and Z-axis by the drone are 0, 0, and And the communication power is ; 4) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is .

8. The power distribution method for returning to the home position of a UAV according to claim 1, characterized in that: like and , the distributed power includes: 1) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and 0 and the communication power is ; For drone quality, Discrete division The time interval, n is the number of time intervals; 2) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are all 0, and the communication power is ; 3) In the During the time interval, the power values ​​assigned to the X-axis, Y-axis, and Z-axis by the drone are 0, 0, and And the communication power is ; 4) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is .

9. The power distribution method for returning to the home position of a UAV according to claim 1, characterized in that: like and , the distributed power includes: 1) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and 0 and the communication power is ; For drone quality, Discrete division The time interval, n is the number of time intervals; 2) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is ; 3) In the During the time interval, the power values ​​assigned to the X-axis, Y-axis, and Z-axis by the drone are 0, 0, and And the communication power is ; 4) In the During the time interval, the power values ​​allocated to the X-axis, Y-axis, and Z-axis of the drone are 、 and And the communication power is .

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