CN107861426B

CN107861426B - Electric unmanned aerial vehicle and intelligent electric quantity protection method thereof

Info

Publication number: CN107861426B
Application number: CN201711113014.4A
Authority: CN
Inventors: 石仁利; 宋健宇; 陈熙
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2014-07-16
Filing date: 2014-07-16
Publication date: 2020-02-14
Anticipated expiration: 2034-07-16
Also published as: CN104166355A; CN107861426A; CN107885225B; CN107885225A; CN104166355B

Abstract

The invention discloses an intelligent electric quantity protection method of an electric unmanned aerial vehicle, which comprises the following steps: acquiring the current residual capacity of the battery in real time; acquiring coordinate information of the current position of the electric unmanned aerial vehicle in real time, and calculating the safety electric quantity required by the electric unmanned aerial vehicle to return to a preset position at the current position according to the coordinate information of the current position of the electric unmanned aerial vehicle; and calculating whether the current residual electric quantity meets the safety electric quantity returned from the current position to the preset position, and if not, giving a prompt. The invention also provides an electric unmanned aerial vehicle capable of applying the method.

Description

Electric unmanned aerial vehicle and intelligent electric quantity protection method thereof

The application is a divisional application of an invention patent application with the application date of 2014, namely 16.07 and 201410339445.2 and the invention name of an electric unmanned aerial vehicle and an intelligent electric quantity protection method thereof.

Technical Field

The present invention relates to an unmanned aerial vehicle (i.e., an unmanned aerial vehicle), and in particular, to an electric unmanned aerial vehicle and an intelligent electric quantity protection method thereof.

Background

In traditional electronic unmanned aerial vehicle, the electric quantity of battery that the suggestion gave the user represents the mode only two, and one of them is the current voltage value of battery, and the other one is the percentage of current battery electric quantity.

However, if the remaining capacity of the battery is determined by the voltage value of the battery, it requires a great deal of experience to know the state of the battery with skill. And if the residual electric quantity of the battery is judged according to the percentage of the current battery electric quantity, the residual electric quantity of the current battery is known more intuitively. For both of these indications, when the battery is in a low power state or is dead, there is a corresponding alarm device, such as a red flashing LED lamp or a buzzer sounding.

Because the low-voltage alarm is based on a fixed reference voltage value and goes to judge whether the battery reaches predetermined low-voltage value, to the beginner of the unmanned aerial vehicle of similar aerial photograph, fly to very far place when electric unmanned aerial vehicle, hardly acquire the electric quantity of battery and report to the police basically, also hardly calculate electric unmanned aerial vehicle at the current position and fly back to the electric quantity that the flying spot needs, thereby lead to many electric unmanned aerial vehicle to crash on the way of returning to the journey, perhaps, let electric unmanned aerial vehicle return in advance, lead to the utilization ratio of battery lower.

Disclosure of Invention

In view of this, the present invention is needed to provide an intelligent electric quantity protection method for an electric unmanned aerial vehicle, which can effectively and intelligently protect the electric unmanned aerial vehicle in real time, avoid accidents caused by insufficient electric quantity of the electric unmanned aerial vehicle, and improve the utilization rate of a battery.

An intelligent electric quantity protection method of an electric unmanned aerial vehicle comprises the following steps:

acquiring the current residual capacity of the battery in real time;

acquiring coordinate information of the current position of the electric unmanned aerial vehicle in real time, and calculating the safety electric quantity required by the electric unmanned aerial vehicle to return to a preset position at the current position according to the coordinate information of the current position of the electric unmanned aerial vehicle;

and calculating whether the current residual electric quantity meets the safety electric quantity returned from the current position to the preset position, and if not, giving a prompt.

The intelligent electric quantity protection method of the electric unmanned aerial vehicle at least has the following advantages:

(1) according to the intelligent electric quantity protection method of the electric unmanned aerial vehicle, the coordinate information of the current position of the electric unmanned aerial vehicle is obtained in real time, the safety electric quantity required by the electric unmanned aerial vehicle to execute the safety protection command at the current position is calculated, and when the current residual electric quantity of the battery is not larger than the safety electric quantity, the safety protection command is immediately executed correspondingly, so that the electric unmanned aerial vehicle is protected in real time, and accidents caused by insufficient electric quantity are avoided.

(2) According to the intelligent electric quantity protection method of the electric unmanned aerial vehicle, whether a safety protection command needs to be executed or not can be automatically judged according to the safety electric quantity of the current position and the current residual electric quantity of the battery, and a user does not need to judge according to self experience, so that the intelligent electric quantity protection method can effectively and intelligently protect the electric unmanned aerial vehicle.

(3) The safe electric quantity adopted by the intelligent electric quantity protection method of the electric unmanned aerial vehicle changes in real time according to the change of the coordinate information of the current position, and the electric unmanned aerial vehicle does not need to return in advance or land in advance, so that the utilization rate of the battery is improved.

(4) According to the intelligent electric quantity protection method of the electric unmanned aerial vehicle, two different levels of alarm electric quantity are set, the electric unmanned aerial vehicle directly lands from the current position to obtain the required electric quantity which is the first level alarm electric quantity, the electric unmanned aerial vehicle returns to the current position to obtain the required electric quantity which is the second level alarm electric quantity, different safety protection measures are selected according to the alarm electric quantities of different levels, for example, when the current residual electric quantity of the battery reaches the first level alarm electric quantity, the electric unmanned aerial vehicle can be automatically controlled to directly land from the current position, emergency protection measures can be taken for the electric unmanned aerial vehicle, when the current residual electric quantity of the battery reaches the second level alarm electric quantity, the electric unmanned aerial vehicle can be selected to be automatically controlled to immediately return, or continue normal flight, and the utilization efficiency of the battery is.

(5) According to the intelligent electric quantity protection method of the electric unmanned aerial vehicle, two different levels of alarm electric quantities are set, the electric quantity required by direct landing of the electric unmanned aerial vehicle from the current position is the first-level alarm electric quantity, and whether the electric quantity of the battery of the electric unmanned aerial vehicle reaches the first-level alarm electric quantity or not is preferentially judged, so that the electric quantity control efficiency of the electric unmanned aerial vehicle is improved.

In one embodiment, the path of the electric unmanned aerial vehicle safely returning from the current position to the preset position is one of the following: the original flight path, the straight path of the current position and the preset position in the horizontal direction and the straight path in the vertical direction, and the straight path between the current position and the preset position.

In one embodiment, when the electric quantity required by the electric unmanned aerial vehicle to safely return from the current position to the preset position is calculated, the electric unmanned aerial vehicle automatically selects a return path according to a preset standard, and calculates the electric quantity required by the electric unmanned aerial vehicle to safely return from the current position to the preset position according to the selected return path.

In one embodiment, the preset criteria includes at least one of: the power consumption is minimum, the return journey is shortest, and the speed change times are minimum.

In one embodiment, the preset criterion is that the power consumption is minimum, and the step of calculating the power required by the electric unmanned aerial vehicle to safely return from the current location to the preset location further includes:

respectively calculating the electric quantity consumed when the electric unmanned aerial vehicle navigates back to the preset position from the current position along different paths;

and calculating the return electric quantity required by the different paths, wherein the return electric quantity comprises the electric quantity consumed by the return paths, and automatically selecting the path with the least return electric quantity as the return path.

In one embodiment, the path of the electric unmanned aerial vehicle safely returning from the current position to the preset position can be automatically set or set by a user.

In one embodiment, the step of calculating the amount of power required for the electric drone to safely return from the current location to the preset location further includes:

acquiring the total electric quantity and the flight time of the battery, and calculating the electric quantity consumption rate of the battery under the current flight condition;

calculating the horizontal distance and the ground clearance of the electric unmanned aerial vehicle from the current position to the preset position according to the current position and the coordinate information of the preset position;

calculating the time required for the electric unmanned aerial vehicle to return from the current position to the preset position according to the horizontal distance and the ground clearance;

and calculating the electric quantity required by the electric unmanned aerial vehicle to return to the preset position from the current position according to the electric quantity consumption rate of the battery under the current flight condition and the time required by the electric unmanned aerial vehicle to return to the preset position from the current position.

In one embodiment, the electric quantity required by the electric unmanned aerial vehicle to return to the preset position from the current position includes an electric quantity required by calculating the horizontal distance and an electric quantity required by calculating the height from the ground, the electric quantity required by the horizontal distance includes a first reserved electric quantity, and the electric quantity required by the height from the ground includes a second reserved electric quantity.

In one embodiment, the preset position is a position coordinate in a flight path recorded by the electric unmanned aerial vehicle, and the step of calculating the electric quantity required by the electric unmanned aerial vehicle to safely return from the current position to the preset position further includes:

calculating the total distance of the electric unmanned aerial vehicle from the current position to the preset position along the original flight path according to the coordinate information of the current position and the preset position and the travel information of the original flight path;

calculating the time required for the electric unmanned aerial vehicle to return to the preset position from the current position along the original flight path according to the total distance from the electric unmanned aerial vehicle to return to the preset position from the current position along the original flight path;

according to the electric quantity consumption rate of the battery under the current flight condition and the time required for the electric unmanned aerial vehicle to return to the preset position from the current position along the original flight path, calculating the electric quantity required for the electric unmanned aerial vehicle to return to the preset position from the current position along the original flight path.

In one embodiment, the electric quantity required for the electric unmanned aerial vehicle to return to the preset position from the current position along the original flight path comprises a reserved electric quantity.

In one embodiment, the time required by the landing process of the electric unmanned aerial vehicle is calculated by the descending height of the unmanned aerial vehicle and the descending speed of the electric unmanned aerial vehicle, and the electric unmanned aerial vehicle is changed in speed at a plurality of preset heights when descending.

In one embodiment, the preset heights include a first preset height and a second preset height, and the first preset height is lowered at a constant speed, then the second preset height is gradually reduced and lowered, and finally the vehicle lands at a constant speed.

In one embodiment, the first preset height and the second preset height are sensed by a ranging sensor of the electric unmanned aerial vehicle, or are preset by a user according to the total height of the electric unmanned aerial vehicle.

In one embodiment, the power consumption rate of the battery in the current flight condition is obtained by spacing a preset time Δ t and averaging a plurality of measurements, wherein the power consumption rate at the nth preset time Δ t is (Q1-Qn)/n × Δ t, Q1 is the total power of the battery, and Qn is the current remaining power of the battery detected after the nth preset time Δ t.

In one embodiment, the preset position is a flying point of the electric unmanned aerial vehicle or a target point designated by a user.

In one embodiment, the current remaining capacity of the battery is a capacity obtained by subtracting a preset capacity from an actual remaining capacity of the battery, and the preset capacity is used as compensation for a calculation error of the safety capacity.

In one embodiment, the current remaining capacity of the battery is obtained by a method for acquiring voltage by an AD acquisition circuit or/and a method for measuring current by a current meter.

An electric drone comprising:

the position sensor is used for acquiring the coordinate information of the current position of the electric unmanned aerial vehicle in real time;

the storage is used for storing coordinate information of a preset position of the electric unmanned aerial vehicle; and

the controller is in communication connection with the position sensor and the memory, and the controller is used for calculating the safe electric quantity required by the electric unmanned aerial vehicle to return to the preset position at the current position according to the coordinate information of the current position of the electric unmanned aerial vehicle and the coordinate information of the preset position, and if not, a prompt is sent.

Above-mentioned electric unmanned aerial vehicle has following advantage at least:

(1) above-mentioned electric unmanned aerial vehicle's position sensor can acquire electric unmanned aerial vehicle's the current position's coordinate information in real time, and the controller can acquire electric unmanned aerial vehicle's the current position's coordinate information in real time to it is in to calculate electric unmanned aerial vehicle the required safe electric quantity of safety protection command is executed to the current position, and when the current residual capacity of battery was not more than safe electric quantity, the controller was executed immediately correspondingly the safety protection command to real-time protection electric unmanned aerial vehicle avoids electric unmanned aerial vehicle to appear because of the accident that the electric quantity is not enough to cause.

(2) Above-mentioned electric unmanned aerial vehicle's controller can be according to the safe electric quantity of current position and the current residual capacity of battery, and whether automatic judgement need carry out the safety protection order, does not need the user to judge according to self experience to make above-mentioned electric unmanned aerial vehicle can automatic protection, have intelligent protect function.

(3) Above-mentioned electric unmanned aerial vehicle's position sensor can acquire electric unmanned aerial vehicle's the current position's coordinate information in real time, and safe electric quantity changes in real time according to the change of current position's coordinate information, need not electric unmanned aerial vehicle and returns in advance or descend in advance to improve the utilization ratio of battery.

(4) The controller of the electric unmanned aerial vehicle can implement electric quantity alarm of two different levels, when the current residual electric quantity of the battery only meets the requirement of returning to a preset position, the possibility that the electric unmanned aerial vehicle cannot return occurs when the electric unmanned aerial vehicle continuously flies forwards, and the controller can automatically implement a return function or continuously fly normally according to the setting of a user; when the current residual capacity of the battery can only meet the requirement of landing to the ground, the controller can implement an automatic landing function.

In one embodiment, the position sensor comprises at least one of a GPS sensor and an altitude sensor.

In one embodiment, the altitude sensor comprises at least one of a barometric altimeter, a laser altimeter, a radio altimeter, an ultrasonic altimeter, and an image ranging sensor.

In one embodiment, the controller includes a calculation unit configured to calculate a safety electric quantity required for safety protection of the electric unmanned aerial vehicle according to coordinate information of the current position of the electric unmanned aerial vehicle and coordinate information of the preset position, and a comparator configured to determine a current remaining electric quantity of the battery and the safety electric quantity;

or, the controller includes a microprocessor for calculating the safety electric quantity required by the safety protection of the electric unmanned aerial vehicle according to the coordinate information of the current position of the electric unmanned aerial vehicle and the coordinate information of the preset position, and judging the current residual electric quantity of the battery and the safety electric quantity.

In one embodiment, the controller further includes a power detection circuit for detecting a current remaining power of the battery in real time, and the controller obtains the current remaining power of the battery through the power detection circuit.

In one embodiment, the electric quantity detection circuit is an AD acquisition circuit or/and a current meter.

In one embodiment, the battery is an intelligent battery capable of automatically detecting the remaining capacity of the battery, and the controller is in communication connection with the intelligent battery to obtain the current remaining capacity of the intelligent battery.

In one embodiment, the safe electric quantity includes an electric quantity required for the electric unmanned aerial vehicle to safely return to the preset position from the current position.

In one embodiment, when the current remaining capacity of the battery is not greater than the capacity required for the electric unmanned aerial vehicle to safely return from the current position to a preset position, the controller automatically executes a direct landing command from the current position.

In one embodiment, the safe electric quantity further comprises an electric quantity required by the electric unmanned aerial vehicle to safely return to a preset position from the current position, and when the current residual electric quantity of the battery is larger than the electric quantity required by the electric unmanned aerial vehicle to safely return to the preset position from the current position and is larger than the electric quantity required by the electric unmanned aerial vehicle to directly land from the current position, the controller controls the electric unmanned aerial vehicle to continuously fly normally.

In one embodiment, when the current remaining capacity of the battery is greater than an electric capacity required for the electric unmanned aerial vehicle to land directly from the current position and is not greater than an electric capacity required for the electric unmanned aerial vehicle to safely return to a preset position from the current position, the controller automatically executes a command for returning to the preset position.

In one embodiment, the electronic device further comprises a prompting module, the controller is in communication connection with the prompting module, and the controller controls the prompting module to send out the prompt.

In one embodiment, the electric unmanned aerial vehicle further comprises a sensor for detecting whether obstacles exist in a surrounding preset range of the electric unmanned aerial vehicle, and the controller automatically plans a return route when the sensor detects that obstacles exist in the surrounding preset range of the electric unmanned aerial vehicle.

In one embodiment, the sensor comprises at least one of an infrared ranging sensor, an ultrasonic ranging sensor, an image ranging sensor, a laser ranging sensor, a microwave radar ranging sensor.

In one embodiment, the path of the electric drone to safely return from the current position to the preset position is set automatically by the controller or set by a user.

In one embodiment, when the controller automatically sets the return path, the controller automatically selects the return path according to a preset standard, and calculates the electric quantity required by the electric unmanned aerial vehicle to safely return from the current position to the preset position according to the selected return path.

Drawings

Fig. 1 is a flowchart of an intelligent electric quantity protection method for an electric unmanned aerial vehicle according to a first embodiment of the present invention;

fig. 2 is a flowchart for calculating the electric quantity required for safe return in the intelligent electric quantity protection method for the electric unmanned aerial vehicle shown in fig. 1;

fig. 3 is a flowchart illustrating calculation of electric power required for a safe landing in the intelligent electric power protection method for the electric drone shown in fig. 1;

fig. 4 is a flowchart of an intelligent electric quantity protection method for an electric unmanned aerial vehicle according to a second embodiment of the present invention;

fig. 5 is a flowchart of a calculation and determination process in the intelligent electric quantity protection method for an electric unmanned aerial vehicle according to the second embodiment of the present invention;

fig. 6 is a schematic diagram of an electric drone according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The utility model provides an electric unmanned aerial vehicle's intelligent electric quantity protection method, it calculates the time that electric unmanned aerial vehicle can continue the flight (the current residual capacity of battery) according to information such as the voltage of battery or/and electric current, can calculate the time (safe electric quantity) that electric unmanned aerial vehicle required at the current position execution safety protection command simultaneously according to electric unmanned aerial vehicle's current state, synthesize the information of the two, corresponding safeguard measure is carried out automatically, avoid appearing the accident that arouses because of the electric quantity of battery is not enough in the flight.

In some embodiments, the electric drone may be a single-rotor drone, or may be a multi-rotor drone, such as a four-rotor drone, a six-rotor drone, or a fixed-wing drone, among others.

In some embodiments, the safe electric quantity may be an electric quantity required for the electric unmanned aerial vehicle to directly land from the current position, an electric quantity required for the electric unmanned aerial vehicle to return to a destination (HOME location), an electric quantity required for the electric unmanned aerial vehicle to open a safety device, for example, to open a parachute or open an airbag, or a combination of multiple ways. Of course, the present invention is not limited to the above various modes, and may also be in other modes, for example, the safe electric quantity may also be the electric quantity required by the electric unmanned aerial vehicle to descend from the current position to the safe height.

Corresponding to different definitions of the safe electric quantity, executing a corresponding safety protection command, for example, if the safe electric quantity is the electric quantity required by the electric unmanned aerial vehicle to directly land from the current position, the safety protection command is a command to immediately land from the current position; the safety electric quantity is required by the electric unmanned aerial vehicle to return to a preset position from the current position, and the safety protection command is a command of immediately returning to the preset position from the current position; the safety electric quantity is the time required for the electric unmanned aerial vehicle to open the safety device, and the safety protection command is a command for immediately opening the safety device.

It should be noted that, the judgement mode of safe electric quantity can the exclusive use, also can make up above-mentioned multiple mode and use, for example, safe electric quantity includes that electric unmanned aerial vehicle directly lands required electric quantity from the current position and electric unmanned aerial vehicle returns from the current position to the required electric quantity of preset position, then the judgement mode is:

(a) when the current residual capacity of the battery is not larger than the electric capacity required by the electric unmanned aerial vehicle to directly land from the current position, immediately executing a command of directly landing from the current position;

(b) when the current residual electric quantity of the battery is larger than the electric quantity required by the electric unmanned aerial vehicle to directly land from the current position and is not larger than the electric quantity required by the electric unmanned aerial vehicle to return to the preset position from the current position, immediately executing a command of returning to the preset position;

(c) when the current residual capacity of the battery is larger than the electric quantity required by the electric unmanned aerial vehicle to return to the preset position from the current position, normal flight is continued.

In some embodiments, the preset position of the electric unmanned aerial vehicle during returning can be a flying starting point or a place designated by a user. Of course, in the present invention, the preset position of the electric unmanned aerial vehicle during the return journey is not limited to the above-mentioned place, but may be other places, for example, when the electric unmanned aerial vehicle is equipped with a sensor for detecting the geographical features of the ground, the preset position of the electric unmanned aerial vehicle during the return journey may be an automatically selected optimal landing point.

In some embodiments, the safe electric quantity of the electric unmanned aerial vehicle can be acquired and judged in a "continuous" loop until a safety protection command is executed. The safe electric quantity of the electric unmanned aerial vehicle can be circularly acquired and judged at intervals of preset time until a safety protection command is executed, for example, the safe electric quantity is circularly acquired and judged once at intervals of 5 seconds.

In some embodiments, the "execute the safety protection command" may be automatically executed by the electric drone, or may be prompted by the prompt module to the user, and the user then controls the electric drone to execute the protection command.

In some embodiments, the current electric quantity of the battery may be an actually measured electric quantity value, or an electric quantity value obtained by subtracting the reserved electric quantity from the actually measured electric quantity value.

In some embodiments, the current capacity of the battery may be measured by a voltage measurement method or a current measurement method. Of course, in the present invention, the current capacity of the battery is not limited to the above measurement method, but may be other measurement methods, such as a voltage and current integrated measurement method.

In some embodiments, the path of the electric drone to safely return from the current location to the preset location is one of: the original flight path, the straight path of the current position and the preset position in the horizontal direction and the straight path in the vertical direction, and the straight path between the current position and the preset position.

The electric unmanned aerial vehicle can automatically set a path from the current position to the preset position in a safe return manner, or set by a user.

In some embodiments, the electric quantity required for the electric unmanned aerial vehicle to directly land from the current position and the electric quantity required for the electric unmanned aerial vehicle to return to the preset position from the current position may be calculated according to an average electric quantity consumption rate of the battery and a time required for the electric unmanned aerial vehicle to directly land from the current position and a time required for the electric unmanned aerial vehicle to return to the preset position from the current position, and may also be calculated according to other manners, for example, an average electric quantity consumed per unit height under the current flight condition, an average electric quantity consumed per unit horizontal distance, a horizontal distance and a ground clearance from the current position to the preset position, and a reserved electric quantity.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings.

Referring to fig. 1, an intelligent electric quantity protection method for an electric unmanned aerial vehicle according to a first embodiment of the present invention includes the following steps:

and step S11, acquiring the current residual capacity of the battery in real time.

There are various ways to detect the current remaining power of the battery, for example, the current remaining power of the battery is obtained by a method of collecting voltage by an AD collecting circuit or/and a method of measuring current by an ammeter.

In one embodiment, a voltage acquisition method is used. The electric quantity of the battery is the sum of total charges which can be output by the battery, generally expressed in AH units, the voltage at two ends of the sampling device can be collected by the AD collecting circuit, the sampling device is electrically connected to a negative electrode circuit of the battery, and the current magnitude is calculated according to the relation I between the voltage and the current, namely U/R. The relation between the electric quantity and the current is Q ═ I multiplied by T. The controller collects the signal periodically, for example, every t time, the amount of change in the electric quantity during discharging or charging is Q1 ∑ I × t, and assuming that the original electric quantity of the battery is Q0, the current electric quantity is Q1+ Q0. If the total capacity of the battery is QALL, the percentage of the current electric quantity is P ═ QALL/Q.

In other embodiments, current collection methods may be employed. The current collection method can directly collect the current on the sampling device through the current meter, and then calculate the current electric quantity of the battery according to the relation between the electric quantity and the current.

In other embodiments, a current and voltage integrated acquisition method may be employed. The voltage on the output end of the battery is collected through an AD collecting circuit, the current on a sampling device is collected through an ammeter, and then the current electric quantity of the battery is calculated according to the relation that Q is equal to Pt and UIt.

Step S12, coordinate information of the current position of the electric unmanned aerial vehicle is obtained in real time, and safe electric quantity required by the electric unmanned aerial vehicle to execute a safety protection command at the current position is calculated according to the coordinate information of the current position of the electric unmanned aerial vehicle and the coordinate information of a preset position.

The safe electric quantity can have different definitions, for example, the safe electric quantity can return to the required electric quantity of preset position for electric unmanned aerial vehicle safety from the current position, also can return to the required electric quantity of preset position and electric unmanned aerial vehicle from the synthesis of the required electric quantity of current position direct landing for electric unmanned aerial vehicle safety, still can return to the required electric quantity of preset position and electric unmanned aerial vehicle from the current position for the current position safety.

And executing corresponding safety protection commands for different defined safety electric quantity. For example, when the safe electric quantity is the electric quantity required by the electric unmanned aerial vehicle to safely return to the preset position from the current position, the safety protection command is a command of returning to the preset position immediately; when the safe electric quantity is the electric quantity required by the electric unmanned aerial vehicle to directly land from the current position, the safety protection command is a command of directly landing from the current position immediately.

The safety electric quantity has different calculation modes according to different definitions. For example, as shown in fig. 2, when the safe electric quantity is an electric quantity required for the electric unmanned aerial vehicle to safely return from the current position to the preset position, the step of calculating the electric quantity required for the electric unmanned aerial vehicle to safely return from the current position to the preset position further includes:

and step S12a, acquiring the total electric quantity and the flight time of the battery, and calculating the electric quantity consumption rate of the battery under the current flight condition.

The memory of the electric unmanned aerial vehicle generally stores the total electric quantity of the battery, the flight time and the coordinate information of the starting and flying point, and the electric quantity consumed by the battery can be calculated according to the total electric quantity of the battery and the flight time. The power consumption of the battery and the flight time are related to each other, for example, at predetermined time intervals, the corresponding power consumption is calculated.

Specifically, in this embodiment, the power consumption rate of the battery is calculated by taking an average value from multiple measurements, so that the power consumption rate of the battery in the current flight condition can be accurately obtained. For example, the power consumption rate of the battery in the current flight condition is obtained by spacing a preset time Δ t and averaging a plurality of measurements, wherein the power consumption rate at the nth preset time Δ t is (Q1-Qn)/n × Δ t, Q1 is the total power of the battery, and Qn is the current remaining power of the battery detected after the nth preset time Δ t. In other words, the power consumption rate at intervals of the first preset time Δ t is (Q1-Q2)/Δ t, Q1 is the total power of the battery, and Q2 is the current remaining power of the battery detected after the interval of the first preset time Δ t; the power consumption rate at the interval of the second preset time 2 Δ t is (Q1-Q3)/2 Δ t, and the power consumption rates at the interval of the third preset time 3 Δ t and above can be analogized in turn. The preset time Δ t may be set according to various situations, for example, the preset time Δ t may be 5 seconds.

And step S12b, calculating the horizontal distance and the ground clearance of the electric unmanned aerial vehicle from the current position to the preset position according to the coordinate information of the current position and the preset position.

The coordinate information of the current position and the preset position can be obtained by a GPS sensor, an altitude sensor and the like. Because the coordinate information of the current position and the preset position is obtained, the horizontal distance from the current position to the preset position and the ground clearance can be calculated according to the coordinate information.

For example, in one embodiment, the coordinate information of the preset position may be stored in the memory of the electric drone in advance, or may be directly input by the user; the plane coordinate of the current position on the horizontal plane can be known through the GPS sensor, and the horizontal distance from the current position to the preset position for the electric unmanned aerial vehicle to return to the current position is calculated according to the preset position and the plane coordinate of the current position on the horizontal plane. The height coordinate of the current position in the vertical direction can be known through a distance measuring sensor, for example, a laser distance measuring sensor and the like, and the electric unmanned aerial vehicle can be known to return to the ground clearance of the preset position from the current position according to the preset position and the height coordinate of the current position in the vertical direction.

In another embodiment, the coordinate information of the preset position may be stored in the memory of the electric drone in advance, or may be directly input by the user; the plane coordinate of the current position on the horizontal plane can be known through the GPS sensor, and the horizontal distance from the current position to the preset position of the electric unmanned aerial vehicle is calculated and calculated according to the current position and the plane coordinate of the preset position on the horizontal plane. The height coordinate of the current position in the vertical direction can be known through a height sensor, for example, an air pressure altimeter, a radio altimeter and the like, and the ground clearance from the current position to the preset position can be known according to the current position and the height coordinate of the preset position in the vertical direction. If the preset position is not the takeoff point, for example, the preset position is a position reset by the user, the height from the ground of the current position to the takeoff point may be used as the height from the ground of the current position to the position reset by the user.

And step S12c, calculating the time required by the electric unmanned aerial vehicle to return from the current position to the preset position according to the horizontal distance and the ground clearance.

The electric unmanned aerial vehicle flies the time required by the horizontal distance can be calculated according to the horizontal distance and the speed when the electric unmanned aerial vehicle flies horizontally, namely, the time required by the horizontal distance is the horizontal distance/the horizontal flying speed. When the electric unmanned aerial vehicle flies horizontally, the electric unmanned aerial vehicle generally flies at a constant speed, for example, the electric unmanned aerial vehicle can fly horizontally at a speed of 8 m/s.

The time required for the electric unmanned aerial vehicle to descend the ground clearance can be calculated according to the ground clearance and the descending speed of the electric unmanned aerial vehicle, that is, the time required for the ground clearance is the ground clearance/descending flight speed. When the electric unmanned aerial vehicle descends, the speed is changed at a plurality of preset heights. For example, in one embodiment, the preset heights include a first preset height and a second preset height, and the first preset height is lowered to the first preset height at a constant speed, then the second preset height is gradually decelerated and lowered to the second preset height, and finally the vehicle lands at a constant speed. For example, when the electric unmanned aerial vehicle descends, the electric unmanned aerial vehicle descends to the height of 15 meters at the speed of 2 meters/second, then descends to the height of 5 meters again, gradually decelerates to 0.5 meters/second, and finally lands at the constant speed of 0.5 meters/second.

It should be noted that, the first preset height and the second preset height may be sensed and known according to a range sensor of the electric drone, for example, a radio range sensor, a laser range sensor, etc., and may also be set in advance by a user according to a total height of the descent.

Step S12d, calculating the electric quantity needed by the electric unmanned aerial vehicle to return from the current position to the preset position according to the electric quantity consumption rate of the battery under the current flight condition and the time needed by the electric unmanned aerial vehicle to return from the current position to the preset position.

By the product between the electric quantity consumption rate of battery under the current flight condition and the time that electric unmanned aerial vehicle navigated back to preset the position from the current position, can learn that electric unmanned aerial vehicle navigates back to preset the required electric quantity in position from the current position, promptly, the required electric quantity of navigating back ═ electric quantity consumption rate (required time of terrain clearance + required time of horizontal distance).

As shown in fig. 3, when the safe electric quantity is an electric quantity required for the electric unmanned aerial vehicle to directly land from the current position, the step of calculating the electric quantity required for the electric unmanned aerial vehicle to directly land from the current position further includes:

step S12 a', obtaining the total electric quantity of the battery, the flight time, and the coordinate information of the takeoff point, and calculating the electric quantity consumption rate of the battery under the current flight condition.

And step S12 b', calculating the height of the electric unmanned aerial vehicle from the current position to the flying point from the current position according to the coordinate information of the flying point and the current position.

Specifically, in this embodiment, the ground clearance from the current position to the departure point, for example, a barometric altimeter, may be obtained through the altitude sensor, and the ground clearance from the current position to the departure point may be regarded as the ground clearance from the current position to the ground.

Step S12 c', calculating the time required for the electric drone to land directly from the current position, based on the height from the ground.

It should be noted that, the first preset height and the second preset height may be sensed and known according to a range sensor of the electric unmanned aerial vehicle, for example, a laser range sensor, or may be set in advance by a user according to a total height of the electric unmanned aerial vehicle.

Step S12 d', calculating the electric quantity required for the electric drone to directly land from the current position according to the electric quantity consumption rate of the battery under the current flight condition and the time required for the electric drone to directly land from the current position.

By the product between the electric quantity consumption rate of battery under the current flight condition and the time that electronic unmanned aerial vehicle directly landed from the present position required, can learn electronic unmanned aerial vehicle from the required electric quantity of the direct landing of present position, promptly, directly descend required electric quantity ═ electric quantity consumption rate liftoff height required time.

It should be noted that the electric quantity required for the electric unmanned aerial vehicle to safely return to the preset position from the current position and the electric quantity required for the electric unmanned aerial vehicle to directly land from the current position are not limited to the above calculation method, and other methods may also be adopted, for example, when the electric quantity required for the electric unmanned aerial vehicle to directly land from the current position is calculated, the actual height from the current position to the ground may be measured by using the distance measuring sensor, and the electric quantity required for the electric unmanned aerial vehicle to directly land from the current position is calculated according to the actual height; when the preset position is a position coordinate in the flight path recorded by the electric unmanned aerial vehicle, when the electric unmanned aerial vehicle is calculated to return to the preset position from the current position, the electric unmanned aerial vehicle can return along the original flight path and calculate the total distance actually returned according to the original flight path.

For example, in one embodiment, when the preset position is a position coordinate in the flight path recorded by the electric drone, the step of calculating the amount of power required by the electric drone to safely return from the current position to the preset position further includes:

In another embodiment, when the return path is a straight path between the current position and the preset position, the step of calculating the electric quantity required by the electric unmanned aerial vehicle to safely return from the current position to the preset position further includes:

calculating the linear distance from the current position to the preset position of the electric unmanned aerial vehicle according to the current position and the coordinate information of the preset position;

calculating the time required by the electric unmanned aerial vehicle to reach the preset position from the current position along a linear path according to the linear distance from the current position to the preset position;

and calculating the electric quantity required by the electric unmanned aerial vehicle to return to the preset position from the current position along the linear path according to the electric quantity consumption rate of the battery under the current flight condition and the time required by the electric unmanned aerial vehicle to return to the preset position from the current position along the linear path.

In addition, when the electric unmanned aerial vehicle safely navigates back to the preset position from the current position, the electric unmanned aerial vehicle can automatically select a navigation path according to a preset standard, and the electric quantity required by the electric unmanned aerial vehicle to safely navigate back to the preset position from the current position is calculated according to the selected navigation path. The electric unmanned aerial vehicle safely navigates back to the preset position from the current position by a path which can be: an original flight path, a straight line path between the current position and the preset position in the horizontal direction and a straight line path between the current position and the preset position in the vertical direction, and the like. The preset criteria may be: the power consumption is minimum, the return journey is shortest, the speed change times are minimum, and the like. The preset standard may be one, or two or more.

For example, in one implementation, if the preset criterion is that the power consumption is minimum, the step of calculating the power required for the electric unmanned aerial vehicle to safely return from the current location to the preset location includes:

Further, in order to compensate for error in the calculation process, the electric unmanned aerial vehicle safely navigates back to the preset position from the current position, and the electric quantity required by the electric unmanned aerial vehicle is reserved except for the electric quantity consumed corresponding to the navigation path.

To calculating the electric unmanned aerial vehicle and returning to the required electric quantity of presetting the position from current position safety and the electric unmanned aerial vehicle and directly descending the error that the in-process of required electric quantity produced from current position, can adopt and reserve the electric quantity and compensate. In other words, the electric quantity required by the electric unmanned aerial vehicle to safely return to the preset position from the current position can reserve the preset electric quantity, namely the calculated electric quantity and the reserved electric quantity; the required electric quantity of electronic unmanned aerial vehicle direct landing from the present position also can reserve predetermined electric quantity, promptly, the required electric quantity of direct landing calculates gained electric quantity + and reserves the electric quantity.

For example, in one embodiment, when calculating the amount of power required for the electric unmanned aerial vehicle to safely return from the current location to the preset location, the amount of power required for the electric unmanned aerial vehicle to return from the current location to the preset location includes the amount of power required for calculating the horizontal distance and the amount of power required for calculating the ground clearance, the amount of power required for the horizontal distance includes a first reserved amount of power, and the amount of power required for the ground clearance includes a second reserved amount of power. For example, the amount of power required for the horizontal distance may be reserved by 2%, that is, the first reserved amount of power is 2%, and the amount of power required for the ground height may be reserved by 2%, that is, the second reserved amount of power is 2%.

In another embodiment, when calculating the amount of power required for the electric drone to land directly from the current location, the amount of power required for the electric drone to land directly from the current location includes a reserved amount of power. For example, the reserved power may be 2% of power.

In another embodiment, when the electric quantity required for the electric unmanned aerial vehicle to return to the preset position from the current position along the original flight path is calculated, the electric quantity required for the electric unmanned aerial vehicle to return to the preset position from the current position along the original flight path includes a reserved electric quantity. For example, the reserved power may be 2% of power.

In addition, the current remaining capacity may be an amount of electricity obtained by subtracting a preset amount of electricity from the actual remaining capacity of the battery, which is used as compensation for a calculation error of the safety amount of electricity, that is, the current remaining capacity of the battery is equal to the actual remaining capacity — the preset amount of electricity. For example, the actual remaining capacity of the battery may be reserved for 10% of the capacity.

In step S13, it is determined whether the current remaining capacity of the battery is greater than the safe capacity.

In one embodiment, when the safe electric quantity is the electric quantity required by the electric unmanned aerial vehicle to safely return to the preset position from the current position, the relation between the electric quantity required by the electric unmanned aerial vehicle to safely return to the preset position from the current position and the current residual electric quantity of the battery is judged.

In another embodiment, when the safe electric quantity is the electric quantity required by the electric unmanned aerial vehicle to directly land from the current position, the magnitude relation between the electric quantity required by the electric unmanned aerial vehicle to directly land from the current position and the current remaining electric quantity of the battery is judged.

In another embodiment, when the safe electric quantity includes the electric quantity required by the electric unmanned aerial vehicle to safely return to the preset position from the current position and the electric quantity required by the electric unmanned aerial vehicle to directly land from the current position, the current remaining electric quantity of the battery is respectively judged to be in a size relation with the electric quantity required by the electric unmanned aerial vehicle to safely return to the preset position from the current position and the electric quantity required by the electric unmanned aerial vehicle to directly land from the current position.

In step S14, if the current remaining capacity of the battery is not greater than the safe capacity, a corresponding safety protection command is immediately executed.

In one embodiment, if the current remaining capacity of the battery is not greater than the capacity required for safely returning to the preset position at the current position, the command for returning to the preset position is immediately executed.

In another embodiment, if the current remaining capacity of the battery is not greater than the capacity required by the electric unmanned aerial vehicle to land directly from the current position, the command of landing directly from the current position is executed immediately.

(3) The safe electric quantity adopted in the intelligent electric quantity protection method of the electric unmanned aerial vehicle changes in real time according to the change of the coordinate information of the current position, and the electric unmanned aerial vehicle does not need to return in advance or land in advance, so that the utilization rate of the battery is improved.

Referring to fig. 4 and 5, an intelligent electric quantity protection method for an electric drone according to a second embodiment of the present invention includes the following steps:

and step S21, acquiring the current residual capacity of the battery in real time.

Step S22, coordinate information of the current position of the electric unmanned aerial vehicle is obtained in real time, and electric quantity required by the electric unmanned aerial vehicle to directly land from the current position and electric quantity required by the electric unmanned aerial vehicle to return to the preset position from the current position are calculated according to the coordinate information of the current position of the electric unmanned aerial vehicle and the coordinate information of the preset position.

The method for calculating the electric quantity required by the electric unmanned aerial vehicle to safely return to the preset position from the current position and calculating the electric quantity required by the electric unmanned aerial vehicle to directly land from the current position can adopt the same method as that in the intelligent electric quantity protection method of the first embodiment, and is not described in detail herein.

It should be noted that the preset position may be a flying point of the electric unmanned aerial vehicle, or a target point designated by a user.

And step S23, judging whether the current residual electric quantity is larger than the electric quantity required by the direct landing of the electric unmanned aerial vehicle from the current position.

At this moment, the electric unmanned aerial vehicle directly descends from the current position by the required electric quantity as the primary alarm electric quantity of the safety electric quantity of the electric unmanned aerial vehicle. Therefore, whether the current residual capacity is larger than the electric quantity required by the direct landing of the electric unmanned aerial vehicle from the current position or not is judged at first, and the electric unmanned aerial vehicle is protected effectively in the emergency time.

And step S24, if the current remaining power is not greater than the power required by the electric unmanned aerial vehicle to land directly from the current position, automatically executing a command of landing directly from the current position.

Because electronic unmanned aerial vehicle is from the one-level warning electric quantity of the safe electric quantity of current position direct landing required electric quantity as electronic unmanned aerial vehicle, when the current residual capacity of battery was less than or equal to one-level warning electric quantity, generally set for electronic unmanned aerial vehicle "automatic" execution safety protection command to protect electronic unmanned aerial vehicle more effectively.

And step S25, if the current residual capacity is larger than the electric quantity required by the electric unmanned aerial vehicle to directly land from the current position, judging whether the current residual capacity is larger than the electric quantity required by the electric unmanned aerial vehicle to return to the preset position from the current position.

At this moment, the electric unmanned aerial vehicle navigates back to the secondary alarm electric quantity of the safety electric quantity of the electric unmanned aerial vehicle as the electric quantity required by the preset position from the current position. Therefore, under the condition that the one-level warning electric quantity is not satisfied, whether the current residual capacity is greater than the electric quantity that electric unmanned aerial vehicle needs to return to the preset position from the current position is judged again to in order to further improve the utilization ratio of battery.

And step S26, if the current residual capacity is larger than the electric quantity required by the electric unmanned aerial vehicle to return from the current position to the preset position, continuing normal flight.

Electric unmanned aerial vehicle navigates back to the required electric quantity of preset position as electric unmanned aerial vehicle's safe electric quantity's second grade warning electric quantity from the current position, and when the current residual capacity of battery was greater than second grade warning electric quantity, electric unmanned aerial vehicle can continue normal flight.

Further, the method further includes step S27, if the current remaining power is not greater than the power required by the electric unmanned aerial vehicle to return to the preset position from the current position, automatically executing a command to return to the preset position, or prompting a user whether to execute the command to return to the preset position.

Because electric unmanned aerial vehicle navigates back to the second grade warning electric quantity that presets the required electric quantity in position as electric unmanned aerial vehicle's safe electric quantity from the current position, at this moment, electric unmanned aerial vehicle can ignore the second grade warning electric quantity under the condition of unsatisfied one-level warning electric quantity, continues normal flight to in the utilization ratio of further improvement battery. For example, if the current remaining capacity is not greater than the electric quantity required by the electric unmanned aerial vehicle to return to the preset position from the current position, whether a command of returning to the preset position is executed or not can be prompted to the user, so that the user can select according to actual conditions.

Based on the intelligent electric quantity protection method, the invention also provides the electric unmanned aerial vehicle which can apply the intelligent electric quantity protection method. The following describes in detail a specific structure of an electric drone according to an embodiment of the present invention with reference to the accompanying drawings.

Referring to fig. 6, the electric drone 100 according to the embodiment of the present invention includes a position sensor 110, a memory 120, and a controller 130.

And the position sensor 110 is used for acquiring the coordinate information of the current position of the electric unmanned aerial vehicle 100 in real time. The position sensor 110 includes at least one of a GPS sensor and an altitude sensor. The height sensor comprises at least one of a barometric altimeter, a laser altimeter, a radio altimeter, an ultrasonic altimeter and an image distance measuring sensor.

For example, in the present embodiment, the position sensor 110 includes a GPS sensor 111 and a barometric altimeter 113, and the horizontal coordinate of the current position is obtained by the GPS sensor 111, and the height coordinate of the current position is obtained by the barometric altimeter 113. In other embodiments, the location sensor 110 includes a GPS sensor capable of sensing both the horizontal coordinate and the height coordinate of the current location.

And a storage 120 for storing coordinate information of the preset position of the electric drone 100. For example, the memory 120 may be an SD memory card, a storage hard disk, or the like.

It should be noted that, when the preset position is not the takeoff point, the memory is also used for storing the coordinate information of the takeoff point of the electric drone 100.

The controller 130 is in communication connection with the position sensor 110 and the memory, and the controller 130 is configured to calculate the safety electric quantity required by the electric unmanned aerial vehicle 100 to execute the safety protection command at the current position according to the coordinate information of the current position of the electric unmanned aerial vehicle 100 and the coordinate information of the preset position, and compare the safety electric quantity with the current remaining electric quantity of the battery 140.

Wherein, when the current remaining capacity of the battery 140 is not greater than the safety capacity, the controller 130 executes a corresponding safety protection command.

The safe power includes at least one of: electric unmanned aerial vehicle 100 is returned from the current position safety and is navigated to the required electric quantity of preset position, and electric unmanned aerial vehicle 100 is from the direct required electric quantity that descends of current position, and electric unmanned aerial vehicle 100 opens the required electric quantity of safety device. The security protection command accordingly comprises at least one of: the command of returning to the preset position immediately, the command of directly landing from the current position immediately, and the command of opening the safety device immediately.

For example, in the illustrated embodiment, the safe power amount includes the power amount required for the electric drone 100 to safely return from the current location to the preset location. When the current remaining capacity of the battery 140 is not greater than the capacity required for the electric drone 100 to safely return from the current position to the preset position, the controller 130 automatically executes a direct landing command from the current position.

It should be noted that the current remaining capacity of the battery 140 may be a capacity obtained by subtracting a preset capacity from the actual remaining capacity of the battery 140, where the preset capacity is used as compensation for a calculation error of the safety capacity.

Further, safe electric quantity still includes that electric unmanned aerial vehicle 100 safely navigates back to the required electric quantity of preset position from the current position, when the current residual capacity of battery 140 is greater than electric unmanned aerial vehicle 100 and navigates back to the required electric quantity of preset position from the current position safety, and is greater than electric unmanned aerial vehicle 100 and directly descends required electric quantity from the current position, controller 130 control electric unmanned aerial vehicle 100 continues normal flight.

When the current remaining capacity of the battery 140 is greater than the capacity required for the electric unmanned aerial vehicle 100 to land directly from the current position and is not greater than the capacity required for the electric unmanned aerial vehicle 100 to return to the preset position from the current position, the controller 130 may selectively execute the corresponding safety protection command, or, automatically execute the corresponding safety protection command.

For example, in the illustrated embodiment, further, when the current remaining power of the battery 140 is greater than the power required for the electric drone 100 to land directly from the current location and is not greater than the power required for the electric drone 100 to safely return from the current location to the preset location, the controller 130 automatically executes the command to return to the preset location.

In other embodiments, the electric unmanned aerial vehicle 100 further includes a prompt module, the controller 130 is in communication connection with the prompt module, and when the current remaining power of the battery 140 is greater than the power required for the electric unmanned aerial vehicle 100 to land directly from the current position and is not greater than the power required for the electric unmanned aerial vehicle 100 to return to the preset position from the current position safely, the controller 130 controls the prompt module to send out a prompt signal whether to return to the preset position.

At the moment, the user selects to immediately execute the command of returning to the preset position or cancel the command of returning to the preset position according to the prompt signal of the prompt module, and the normal flight is continued.

The structure of suggestion module can design according to different demands, for example, the suggestion module can be the display screen on the remote controller, can directly show prompt message on the display screen, perhaps, the suggestion module is warning light such as red LED, reaches the function of suggestion through the scintillation of warning light.

Further, the electric unmanned aerial vehicle 100 further includes a sensor (not shown) for detecting whether an obstacle exists in a preset range around the electric unmanned aerial vehicle 100, and when the sensor detects that an obstacle exists in the preset range around the electric unmanned aerial vehicle 100, the controller automatically plans a return route. For example, the sensor may be an infrared ranging sensor, an ultrasonic ranging sensor, an image ranging sensor, a laser ranging sensor, a microwave radar ranging sensor, and so forth.

Further, when a command of returning to the preset position is executed, the controller 130 controls the electric unmanned aerial vehicle 100 to return along an original flight path, or return along a return path automatically planned by the controller 130, so as to avoid the obstacle.

It should be noted that, the path of the electric unmanned aerial vehicle 100 from the current position to the preset position for safe return flight is one of the following: the original flight path, the straight path of the current position and the preset position in the horizontal direction and the straight path in the vertical direction, and the straight path between the current position and the preset position.

The path of the electric unmanned aerial vehicle 100 safely returning from the current position to the preset position is automatically set by the controller 130, or set by the user. When the controller 130 automatically sets the return path, the controller 130 automatically selects the return path according to a preset standard, and calculates the electric quantity required by the electric unmanned aerial vehicle 100 to safely return from the current position to the preset position according to the selected return path. For example, the preset criterion includes at least one of: the power consumption is minimum, the return journey is shortest, and the speed change times are minimum.

The specific structure of the controller 130 may be designed according to different needs, for example, specifically, in the illustrated embodiment, the controller 130 includes a microprocessor 131, and the microprocessor 131 is configured to calculate the safety electric quantity required for safety protection of the electric drone 100 according to the coordinate information of the current position of the electric drone 100 and the coordinate information of the preset position, and determine the current remaining electric quantity and the safety electric quantity of the battery 140.

In other embodiments, the controller 130 includes a calculating unit for calculating a safety electric quantity required for safety protection of the electric drone 100 according to the coordinate information of the current position of the electric drone 100 and the coordinate information of the preset position, and a comparator for determining the current remaining electric quantity of the battery 140 and the safety electric quantity. For example, the computing unit may be a microprocessor, a calculator integrated circuit, or the like.

When the controller 130 obtains the current remaining power of the battery 140, the current remaining power of the battery 140 may be detected in real time through an internal circuit, or the current remaining power of the battery 140 may be detected in real time through an external circuit. For example, in the illustrated embodiment, the controller 130 further includes a power detection circuit 133 for detecting the current remaining power of the battery 140 in real time, and the controller 130 obtains the current remaining power of the battery 140 through the power detection circuit 133. The electric quantity detection circuit 133 may be an AD acquisition circuit or/and an ammeter.

In other embodiments, the battery 140 is a smart battery that automatically detects its remaining power, and the controller 130 is communicatively connected to the smart battery to obtain the current remaining power of the smart battery.

Above-mentioned electric unmanned aerial vehicle 100 has following advantage at least:

(1) above-mentioned position sensor 110 of electric unmanned aerial vehicle 100 can acquire the coordinate information of electric unmanned aerial vehicle 100's current position in real time, and controller 130 can acquire the coordinate information of electric unmanned aerial vehicle 100's current position in real time to calculate electric unmanned aerial vehicle 100 and be in the required safe electric quantity of safety protection command is carried out to the current position, and when battery 140's current residual capacity was not more than safe electric quantity, controller 130 carried out immediately correspondingly the safety protection command to real-time protection electric unmanned aerial vehicle 100 avoids electric unmanned aerial vehicle 100 to appear because of the accident that the electric unmanned aerial vehicle 100 arouses inadequately.

(2) Above-mentioned electric unmanned aerial vehicle 100's controller 130 can be according to the safe electric quantity of current position and battery 140's current residual capacity, and whether automatic judgement needs to carry out the safety protection order, does not need the user to judge according to self experience to make above-mentioned electric unmanned aerial vehicle 100 can the automatic protection, have intelligent protect function.

(3) Above-mentioned electric unmanned aerial vehicle 100's position sensor 110 can acquire electric unmanned aerial vehicle 100's the current position's coordinate information in real time, and safe electric quantity changes in real time according to the change of current position's coordinate information, need not electric unmanned aerial vehicle 100 and returns in advance or descend in advance to improve battery 140's utilization ratio.

(4) The controller 130 of the electric unmanned aerial vehicle 100 can implement two electric quantity alarms of different levels, when the current remaining electric quantity of the battery 140 can only meet the requirement of returning to a preset position, the possibility that the electric unmanned aerial vehicle 100 cannot return occurs when the electric unmanned aerial vehicle continues to fly forwards, and the controller 130 can automatically implement a return function or continue to fly normally according to the setting of a user; when the current remaining capacity of the battery 140 can only be satisfied for landing on the ground, the controller 130 will implement the auto-landing function.

It should be noted that, in the several embodiments provided in the present invention, it should be understood that the disclosed related apparatuses and methods may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The intelligent electric quantity protection method of the electric unmanned aerial vehicle is characterized by comprising the following steps:

acquiring the current residual capacity of the battery in real time;

acquiring coordinate information of the current position of the electric unmanned aerial vehicle in real time, and calculating the safety electric quantity required by the electric unmanned aerial vehicle to return to a preset position from the current position according to the coordinate information of the current position of the electric unmanned aerial vehicle;

calculating whether the current residual electric quantity meets the safety electric quantity returned from the current position to the preset position, and if not, sending a prompt;

before the calculating whether the current remaining power meets the safety power for returning from the current position to the preset position, the method further comprises the following steps:

and calculating whether the current residual electric quantity meets the electric quantity required by direct landing from the current position, and if not, executing a direct landing command from the current position.

2. The intelligent power protection method for the electric unmanned aerial vehicle according to claim 1, wherein a path of the electric unmanned aerial vehicle safely returning from the current position to the preset position is one of: the original flight path, the straight path of the current position and the preset position in the horizontal direction and the straight path in the vertical direction, and the straight path between the current position and the preset position.

3. The intelligent electric quantity protection method of the electric unmanned aerial vehicle according to claim 1 or 2, wherein when calculating the safe electric quantity required for the electric unmanned aerial vehicle to return from the current position to the preset position, the electric unmanned aerial vehicle automatically selects a return path according to a preset standard, and calculates the safe electric quantity required for the electric unmanned aerial vehicle to return from the current position to the preset position according to the selected return path.

4. The intelligent power protection method for the electric unmanned aerial vehicle of claim 3, wherein the preset standard comprises at least one of the following: the power consumption is minimum, the return journey is shortest, and the speed change times are minimum.

5. The intelligent power protection method for the electric unmanned aerial vehicle of claim 3, wherein the preset criterion is that the power consumption is minimum, and the step of calculating the safe power required for the electric unmanned aerial vehicle to return from the current location to the preset location further comprises:

6. The intelligent power protection method for the electric unmanned aerial vehicle according to claim 1 or 2, wherein a path for the electric unmanned aerial vehicle to safely return to the preset position from the current position can be automatically set or set by a user.

7. The intelligent power protection method for the electric unmanned aerial vehicle according to claim 2, wherein the step of calculating the safe power required for the electric unmanned aerial vehicle to return from the current location to the preset location further comprises:

8. The intelligent electric quantity protection method for the electric unmanned aerial vehicle as claimed in claim 7, wherein the electric quantity required for the electric unmanned aerial vehicle to return to the preset position from the current position comprises an electric quantity required for calculating the horizontal distance and an electric quantity required for calculating the ground clearance, the electric quantity required for the horizontal distance comprises a first reserved electric quantity, and the electric quantity required for the ground clearance comprises a second reserved electric quantity.

9. The intelligent electric quantity protection method for the electric unmanned aerial vehicle according to claim 2, wherein the preset position is a position coordinate in a flight path recorded by the electric unmanned aerial vehicle, and the step of calculating the safe electric quantity required by the electric unmanned aerial vehicle to return from the current position to the preset position further comprises:

10. The intelligent power protection method for the electric unmanned aerial vehicle according to claim 9, wherein the power required for the electric unmanned aerial vehicle to return to the preset position along the original flight path from the current position comprises a reserved power.

11. The intelligent electric quantity protection method for the electric unmanned aerial vehicle according to claim 7 or 9, wherein the time required for the landing process of the electric unmanned aerial vehicle is calculated by the descending height of the electric unmanned aerial vehicle and the descending speed of the electric unmanned aerial vehicle, and the electric unmanned aerial vehicle is changed in speed at a plurality of preset heights when descending.

12. The intelligent electric quantity protection method of the electric unmanned aerial vehicle as claimed in claim 11, wherein the preset heights include a first preset height and a second preset height, and the electric unmanned aerial vehicle descends to the first preset height at a constant speed, then gradually decelerates and descends to the second preset height, and finally lands at a constant speed.

13. The intelligent electric quantity protection method for the electric unmanned aerial vehicle according to claim 12, wherein the first preset height and the second preset height are sensed by a ranging sensor of the electric unmanned aerial vehicle, or are preset by a user according to a total height of the electric unmanned aerial vehicle.

14. The intelligent power protection method of an electric unmanned aerial vehicle according to claim 7 or 9, wherein the power consumption rate of the battery in the current flight situation is obtained by averaging a plurality of measurements at intervals of a preset time Δ t, wherein the power consumption rate at the nth preset time Δ t is (Q1-Qn)/n × Δ t, Q1 is the total power of the battery, and Qn is the current remaining power of the battery detected after the interval of the nth preset time Δ t.

15. The intelligent electric quantity protection method for the electric unmanned aerial vehicle according to claim 2, wherein the preset position is a flying point of the electric unmanned aerial vehicle or a target point designated by a user.

16. The intelligent electric quantity protection method of the electric unmanned aerial vehicle according to claim 1, wherein the current remaining electric quantity of the battery is an electric quantity obtained by subtracting a preset electric quantity from an actual remaining electric quantity of the battery, and the preset electric quantity is used as compensation for a calculation error of the safety electric quantity.

17. The intelligent electric quantity protection method for the electric unmanned aerial vehicle according to claim 1, wherein the current remaining electric quantity of the battery is obtained by a method of collecting voltage by an AD collection circuit or/and a method of measuring current by an ammeter.

18. An electric unmanned aerial vehicle, comprising:

the controller is in communication connection with the position sensor and the memory, and is used for calculating whether the current residual electric quantity of the battery of the electric unmanned aerial vehicle meets the safety electric quantity required by returning to the preset position from the current position or not according to the current residual electric quantity of the battery of the electric unmanned aerial vehicle, the coordinate information of the current position and the coordinate information of the preset position, and if not, sending a prompt;

wherein before calculating whether the current remaining capacity of the battery of the electric unmanned aerial vehicle meets the safety capacity required for returning from the current position to a preset position, the controller is further configured to:

19. The electric drone of claim 18, wherein the position sensor includes at least one of a GPS sensor and an altitude sensor.

20. The electric drone of claim 19, wherein the altitude sensor includes at least one of a barometric altimeter, a laser altimeter, a radio altimeter, an ultrasonic altimeter, an image ranging sensor.

21. The electric unmanned aerial vehicle of claim 18, wherein the controller comprises a calculating unit for calculating a safety electric quantity required for safety protection of the electric unmanned aerial vehicle according to the coordinate information of the current position of the electric unmanned aerial vehicle and the coordinate information of the preset position, and a comparator for judging the current remaining electric quantity of the battery and the safety electric quantity;

22. The electric unmanned aerial vehicle of claim 18, wherein the controller further comprises a power detection circuit for detecting a current remaining power of the battery in real time, and the controller obtains the current remaining power of the battery through the power detection circuit.

23. The electric unmanned aerial vehicle of claim 22, wherein the electric quantity detection circuit is an AD acquisition circuit or/and a current meter.

24. The electric unmanned aerial vehicle of claim 18, wherein the battery is a smart battery for automatically detecting a remaining power thereof, and the controller is in communication with the smart battery to obtain a current remaining power of the smart battery.

25. The electric drone of claim 18, wherein the safe amount of power includes an amount of power required for the electric drone to safely return from the current location to the preset location.

26. The electric unmanned aerial vehicle of claim 25, wherein when the current remaining capacity of the battery is greater than an amount of power required for the electric unmanned aerial vehicle to safely return to a preset position from the current position and greater than an amount of power required for the electric unmanned aerial vehicle to land directly from the current position, the controller controls the electric unmanned aerial vehicle to continue normal flight.

27. The electric unmanned aerial vehicle of claim 26, wherein the controller automatically executes the command to return to the preset position when the current remaining capacity of the battery is greater than an amount of power required for the electric unmanned aerial vehicle to land directly from the current position and is not greater than an amount of power required for the electric unmanned aerial vehicle to safely return to the preset position from the current position.

28. The electric unmanned aerial vehicle of claim 26, further comprising a prompt module, wherein the controller is in communication with the prompt module, and the controller controls the prompt module to send the prompt.

29. The electric unmanned aerial vehicle of claim 27 or 28, further comprising a sensor for detecting whether an obstacle is present within a preset range of the electric unmanned aerial vehicle, wherein the controller automatically plans a return route when the sensor detects that an obstacle is present within the preset range of the electric unmanned aerial vehicle.

30. The electric drone of claim 29, wherein the sensor comprises at least one of an infrared ranging sensor, an ultrasonic ranging sensor, an image ranging sensor, a laser ranging sensor, a microwave radar ranging sensor.

31. The electric drone of claim 27 or 28, wherein the path for the electric drone to safely fly back from the current location to the preset location is one of: the original flight path, the straight path of the current position and the preset position in the horizontal direction and the straight path in the vertical direction, and the straight path between the current position and the preset position.

32. The electric drone of claim 31, wherein a path for the electric drone to safely fly back from the current location to the preset location is set automatically by the controller or set by a user.

33. The electric unmanned aerial vehicle of claim 32, wherein when the controller automatically sets a return path, the controller automatically selects the return path according to a preset criterion, and calculates an electric quantity required by the electric unmanned aerial vehicle to safely return from the current position to the preset position according to the selected return path.

34. The electric drone of claim 33, wherein the preset criteria include at least one of: the power consumption is minimum, the return journey is shortest, and the speed change times are minimum.

35. The electric unmanned aerial vehicle of claim 18, wherein the current remaining capacity of the battery is a capacity obtained by subtracting a preset capacity from an actual remaining capacity of the battery, and the preset capacity is used as compensation for a calculation error of the safety capacity.