CN-122018538-A - Unmanned aerial vehicle control method and system and unmanned aerial vehicle

CN122018538ACN 122018538 ACN122018538 ACN 122018538ACN-122018538-A

Abstract

The application provides a control method, a system and an unmanned aerial vehicle, wherein the method determines a first control strategy of the unmanned aerial vehicle according to the flight task priority and the return priority of the unmanned aerial vehicle under the condition that the insufficient return oil quantity of the unmanned aerial vehicle is predicted, controls the unmanned aerial vehicle to execute the first control strategy, realizes the jump from static and conservative oil quantity management to dynamic and accurate time management, ensures that the unmanned aerial vehicle can maximally excavate the task potential, executes more complex and longer flight within a safety boundary, improves the use benefit of the unmanned aerial vehicle, and determines the subsequent first control strategy by combining the comparison result of the task priority and the return priority instead of mechanical direct return under the condition that the return oil quantity is insufficient, so that the actual requirement of a user can be met, and the satisfaction degree of the user to a product is improved.

Inventors

ZHENG JIAMING
ZHENG HANWEN
WANG KUN
XU FENG
YOU LIANG
ZHANG ZHIJIAN

Assignees

四川傲势乐翼科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260224

Claims (10)

1. A method of unmanned aerial vehicle control, the method comprising: If the fact that the unmanned aerial vehicle is insufficient in return oil quantity is predicted, determining a first control strategy of the unmanned aerial vehicle according to the flight task priority and the return priority of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to execute the first control strategy.
2. The unmanned aerial vehicle control method of claim 1, wherein prior to determining the first control strategy for the unmanned aerial vehicle based on the mission priority and the return priority of the unmanned aerial vehicle, the method further comprises determining a return oil volume sufficient state, the return oil volume sufficient state determined based on a remaining safe voyage time and a time required for return, the return oil volume sufficient state comprising a return oil volume insufficient or a return oil volume sufficient, wherein the determining of the remaining safe voyage time comprises: acquiring initial oil quantity, current flight duration and historical average oil consumption rate; Determining the residual oil quantity according to the initial oil quantity and the current oil quantity; determining the current oil consumption rate according to the current flight duration and the residual oil quantity; determining a current theoretical fuel consumption rate based on the historical average fuel consumption rate and the current fuel consumption rate; and determining the residual safe endurance based on the residual oil amount and the current theoretical oil consumption rate.
3. The unmanned aerial vehicle control method of claim 1, wherein determining the first control strategy of the unmanned aerial vehicle based on the priority of the flight mission and the priority of the return flight of the unmanned aerial vehicle comprises at least one of: if the flight task priority is higher than the return priority, determining the first control strategy as to continue to execute the flight task; and if the priority of the flight task is lower than the return priority, determining the first control strategy as executing return.
4. The drone control method of claim 3, wherein if the first control strategy determines to continue to perform a flight mission, the method further comprises: monitoring the execution completion state of the flight mission and sending a low oil quantity alarm message to a preset object; If the execution completion state is completed, acquiring the latest position and the latest residual safe endurance of the unmanned aerial vehicle; selecting one of a plurality of preset descending positions according to the latest position and the latest residual safe endurance to obtain a current descending position; and controlling the unmanned aerial vehicle to fall to the current fall preparation position.
5. The drone control method of claim 3, wherein if the first control strategy is determined to be to perform a return journey, the method further comprises: The unmanned aerial vehicle is controlled to interrupt the current route, and an autonomous return message based on fuel oil is sent to a preset object; acquiring the current position and the return position of the unmanned aerial vehicle; Planning a return route according to the current position and the return position, and controlling the unmanned aerial vehicle to return according to the return route.
6. The unmanned aerial vehicle control method of any of claims 1-5, wherein the method further comprises: Acquiring the current flight attitude of the unmanned aerial vehicle; if the oil collecting tank of the unmanned aerial vehicle is in a low liquid level state and the current flight attitude meets the abnormal attitude requirement, an attitude limiting request is generated; if the flight task priority is higher than the gesture priority, rejecting the gesture limiting request, and controlling the unmanned aerial vehicle to continue to execute the flight task; and if the priority of the flight task is lower than the priority of the gesture, controlling the unmanned aerial vehicle to adjust the current flight gesture until the flight gesture meets the normal gesture requirement, and limiting the flight gesture of the unmanned aerial vehicle to meet the normal gesture requirement.
7. The method of controlling a drone of claim 6, wherein after controlling the drone to adjust the current flight attitude, the method further comprises: monitoring the liquid level state of the oil collecting tank; And if the oil collecting tank is not in a low liquid level state, releasing the limitation that the flight attitude of the unmanned aerial vehicle meets the normal attitude requirement.
8. The unmanned aerial vehicle control method of any of claims 1-5, wherein the unmanned aerial vehicle comprises a sump tank and a main tank, the engine of the unmanned aerial vehicle being supplied with oil from the sump tank, the method further comprising at least one of: Starting an auxiliary oil pump in the flight stage of the unmanned aerial vehicle so as to transmit oil in a main oil tank to an oil collecting tank through the auxiliary oil pump, so that the oil in the oil collecting tank is maintained at a preset liquid level, wherein the preset liquid level is higher than a low liquid level, and the preset liquid level is lower than or equal to a full liquid level; acquiring the current oil consumption rate of the unmanned aerial vehicle, triggering a low-level warning of an oil collecting tank if the current oil consumption rate is larger than a preset oil consumption rate, and starting the auxiliary oil pump so as to transmit oil in a main oil tank to the oil collecting tank through the auxiliary oil pump, so that the liquid level of the oil collecting tank is improved; If the oil collecting tank of the unmanned aerial vehicle is in a low liquid level state, an auxiliary oil pump is started to transmit oil in the main oil tank to the oil collecting tank through the auxiliary oil pump, and the liquid level of the oil collecting tank is improved.
9. A drone control system, the system comprising: The sensing layer is used for acquiring sensing data of the unmanned aerial vehicle; the intelligent fuel oil management unit is used for determining residual fuel oil quantity according to the perceived data, determining residual safe endurance according to the residual fuel oil quantity and sending the residual safe endurance and perceived data to the flight control module; And the flight control module is used for determining the time required for returning based on the sensing data, further determining the sufficient state of the returning oil quantity based on the time required for returning and the residual safe endurance, and determining a first control strategy of the unmanned aerial vehicle according to the priority of the flight task of the unmanned aerial vehicle and the priority of the returning if the sufficient state of the returning oil quantity is insufficient.
10. Unmanned aerial vehicle, its characterized in that, unmanned aerial vehicle includes auxiliary oil pump, oil collecting tank, main oil tank, engine, sensor assembly, intelligent fuel management unit and flies accuse module, wherein: The auxiliary oil pump is used for transmitting oil in the main oil tank to the oil collecting tank; in the flight stage of the unmanned aerial vehicle, oil is supplied to the engine through the oil in the oil collecting tank; the sensor assembly is used for acquiring sensing data of the unmanned aerial vehicle; The intelligent fuel oil management unit is used for determining residual safe endurance according to the perceived data and sending the residual safe endurance and perceived data to the flight control module; The flight control module is used for determining the time required for returning based on the sensing data, further determining a sufficient return oil quantity state based on the time required for returning and the residual safe endurance, and determining a first control strategy of the unmanned aerial vehicle according to the flight task priority and the return priority of the unmanned aerial vehicle if the sufficient return oil quantity state is insufficient return oil quantity, and controlling the unmanned aerial vehicle to execute the first control strategy.

Description

Unmanned aerial vehicle control method and system and unmanned aerial vehicle Technical Field The embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and system and an unmanned aerial vehicle. Background In the related art, the fuel management for the unmanned aerial vehicle is relatively simple, and the warning or the return is triggered by a preset fuel quantity threshold. For example, the method comprises the steps of collecting residual oil quantity data or collecting liquid level data of an oil tank, and controlling an alarm indicator lamp to light or directly generating a return advice and controlling the unmanned aerial vehicle to return if the residual oil quantity is lower than a threshold value or the liquid level is lower than an early warning liquid level. But only rely on oil mass threshold value or liquid level threshold value to carry out early warning or come to decide the returning journey, the degree of accuracy of early warning is not high, probably can reduce unmanned aerial vehicle's use benefit, can not satisfy user's demand. Disclosure of Invention The embodiment of the application provides an unmanned aerial vehicle control method and system and an unmanned aerial vehicle, which are used for solving the technical problems that the accuracy of early warning is not high, the use benefit of the unmanned aerial vehicle is possibly reduced, and the requirement of a user cannot be met in the related technology by only relying on an oil quantity threshold value or a liquid level threshold value to perform early warning or determine return. The unmanned aerial vehicle control method comprises the steps of determining a first control strategy of the unmanned aerial vehicle according to the flight task priority and the return priority of the unmanned aerial vehicle if insufficient return oil quantity of the unmanned aerial vehicle is predicted, and controlling the unmanned aerial vehicle to execute the first control strategy. In an embodiment of the application, before determining the first control strategy of the unmanned aerial vehicle according to the flight task priority and the return priority of the unmanned aerial vehicle, the method further comprises determining a return oil quantity sufficient state, wherein the return oil quantity sufficient state is determined based on residual safe navigation time and return required time, the return oil quantity sufficient state comprises insufficient return oil quantity or sufficient return oil quantity, the determination mode of the residual safe navigation time comprises the steps of obtaining initial oil quantity, current flight duration and historical average oil consumption rate, determining residual oil quantity according to the initial oil quantity and the current oil quantity, determining current oil consumption rate according to the current flight duration and the residual oil quantity, determining current theoretical oil consumption rate based on the historical average oil consumption rate and the current theoretical oil consumption rate, and determining the residual safe navigation time based on the residual oil quantity and the current theoretical oil consumption rate. In an embodiment of the application, a first control strategy of the unmanned aerial vehicle is determined according to the flight task priority and the return priority of the unmanned aerial vehicle, wherein the first control strategy is determined to continuously execute the flight task if the flight task priority is higher than the return priority, and the first control strategy is determined to execute the return if the flight task priority is lower than the return priority. In an embodiment of the application, if the first control strategy determines that the flight mission is continuously executed, the method further comprises monitoring an execution completion state of the flight mission, sending a low oil quantity alarm message to a preset object, acquiring a latest position and a latest remaining safe endurance of the unmanned aerial vehicle if the execution completion state is completed, selecting one from a plurality of preset descending positions according to the latest position and the latest remaining safe endurance to obtain a current descending position, and controlling the unmanned aerial vehicle to descend to the current descending position. In an embodiment of the application, if the first control strategy determines to execute the return, the method further comprises the steps of controlling the unmanned aerial vehicle to interrupt a current route, sending an autonomous return message based on fuel to a preset object, obtaining the current position and the return position of the unmanned aerial vehicle, planning a return path according to the current position and the return position, and controlling the unmanned aerial vehicle to return according to the r