CN109739253B

CN109739253B - Aircraft battery monitoring method and device, battery and aircraft

Info

Publication number: CN109739253B
Application number: CN201910077960.0A
Authority: CN
Inventors: 秦威; 刘玉华
Original assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Current assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Priority date: 2019-01-28
Filing date: 2019-01-28
Publication date: 2021-11-26
Anticipated expiration: 2039-01-28
Also published as: WO2020156079A1; CN109739253A

Abstract

The embodiment of the invention relates to the technical field of aircrafts, and discloses an aircraft battery monitoring method and device, a battery and an aircraft. Wherein, the method comprises the following steps: acquiring electrical performance parameters of the battery, wherein the electrical performance parameters comprise at least one of battery cycle times, lowest voltage of cells in the battery and differential pressure of the cells in the battery; determining a state identifier according to the electrical performance parameters, wherein the state identifier is used for identifying a battery differential pressure state and a flight control strategy of the aircraft corresponding to the state identifier; and prompting the pressure difference state based on the battery pressure difference state corresponding to the state identifier, and controlling the aircraft to fly based on the flight control strategy corresponding to the state identifier. By the method, the requirements on the flight skill and the flight experience of the user can be reduced, the manual judgment time can be saved, the judgment accuracy can be improved, the risk of aircraft explosion is effectively reduced, and the safety of the aircraft is improved.

Description

Aircraft battery monitoring method and device, battery and aircraft

Technical Field

The embodiment of the invention relates to the technical field of aircrafts, in particular to an aircraft battery monitoring method and device, a battery and an aircraft.

Background

With the progress of science and technology and the development of flight technology, aircrafts are widely applied to various fields. For example, the unmanned aerial vehicle has been widely used in three fields, namely military, scientific research and civil use, and is particularly widely applied in the fields of power communication, weather, agriculture, ocean, exploration, photography, search and rescue, disaster prevention and reduction, crop estimation, drug and smudge, border patrol, public security and counter terrorism, and the like. The safety performance of an aircraft (such as an unmanned aerial vehicle) as a product with higher safety requirements is an important index for evaluating the overall performance of the aircraft. The battery is used as a necessary part for the operation of the aircraft and an important factor influencing the safety of the aircraft, and is particularly important in the safety design of the aircraft.

Because the aircraft is usually powerful, the battery of the aircraft generally adopts a structure in which a plurality of battery cells are connected in combination (for example, a plurality of battery cells are connected in series) to meet the power requirement. The structure requires that the performances of all levels of battery cores of the battery are consistent, otherwise, the safety performance of the whole battery is affected as long as one battery core is degraded, and the structure is a typical wooden barrel effect.

However, in the actual production of the battery, it is difficult to ensure that the cell performance of each grade of the battery is the same. Moreover, even if the cell consistency of the produced battery is high, the cell performance of the battery is inconsistent due to the reasons of non-uniform aging degree, non-uniform heating, external force damage and the like in the use process of the battery. The inconsistent battery core performance of the battery usually causes abnormal power supply, great potential safety hazard is brought to the aircraft, and even the aircraft is subjected to an explosion accident. The problem of inconsistent cell performance of aircraft batteries is typically addressed by monitoring aircraft battery differential pressure.

The current way to monitor aircraft battery pressure differentials is generally: the detection of the battery pressure difference gives a prompt, and after the prompt is given, a user is generally required to perform corresponding processing according to the flight skill and the flight experience of the user, so that the aircraft is prevented from being exploded when the battery core performance of the aircraft battery is inconsistent, and the safety of the aircraft is improved. On the one hand, the method has higher requirements on the flight skill and the flight experience of the user; on the other hand, because manual judgment is time-consuming and has high misjudgment risk, if the judgment is not timely processed or is wrong, the explosion accident can be caused.

Disclosure of Invention

The invention mainly aims to provide an aircraft battery monitoring method and device, a battery and an aircraft, which can reduce the requirements on the flight skill and the flight experience of a user, save the manual judgment time, improve the judgment accuracy, effectively reduce the risk of aircraft explosion and improve the safety of the aircraft.

The embodiment of the invention discloses the following technical scheme:

in a first aspect, an embodiment of the present invention provides an aircraft battery monitoring method, where the method includes:

acquiring electrical performance parameters of the battery, wherein the electrical performance parameters comprise at least one of battery cycle times, lowest voltage of cells in the battery and differential pressure of the cells in the battery;

determining a state identifier according to the electrical performance parameters, wherein the state identifier is used for identifying a battery differential pressure state and a flight control strategy of the aircraft corresponding to the state identifier;

and prompting the pressure difference state based on the battery pressure difference state corresponding to the state identifier, and controlling the aircraft to fly based on the flight control strategy corresponding to the state identifier.

Optionally, the determining the state identifier according to the electrical performance parameter includes:

and determining the state identifier according to the voltage range of the lowest voltage of the battery cell in the battery.

Optionally, the status identifier includes: a first type state identifier and a second type state identifier;

the first type state identification is used for representing that the battery pressure difference is too large, and the flight control strategy of the aircraft is to give a flight prompt or adjust the flight power of the aircraft;

the second type state identifier is used for representing that the battery pressure difference is too large, and the flight control strategy of the aircraft is to adjust the flight state parameters of the aircraft;

and the flight state parameters are used for controlling the aircraft to return or force to land.

Optionally, the determining the state identifier according to the voltage range where the lowest voltage of the battery cell in the battery is located includes:

when the lowest voltage of a battery cell in the battery is larger than a first preset voltage threshold value and the battery cycle number and the battery cell pressure difference of the battery are detected to meet preset conditions, determining that the state identifier is a first type state identifier;

and when the lowest voltage of the battery cell in the battery is smaller than or equal to a first preset voltage threshold and larger than a second preset voltage threshold, and the battery cycle number and the battery cell pressure difference of the battery are detected to meet preset conditions, determining that the state identifier is a second type state identifier.

Optionally, when the state identifier is determined to be a first type state identifier, the first type state identifier includes: a first state identification and a second state identification;

when the state identifier is determined to be a second type state identifier, the second type state identifier includes: a third state identification and a fourth state identification;

the flight control strategy corresponding to the first state identifier is a cautious flight prompt, the flight control strategy corresponding to the second state identifier is an adjustment of the flight power of the aircraft, the flight control strategy corresponding to the third state identifier is a return flight, and the flight control strategy corresponding to the fourth state identifier is a forced landing.

Optionally, the preset conditions include: the method comprises the following steps of (1) carrying out a first preset condition, a second preset condition, a third preset condition, a fourth preset condition and a fifth preset condition;

the first preset condition is that the battery cycle number is greater than a first time threshold and less than or equal to a second time threshold, and the cell voltage difference of the battery is greater than a first voltage difference threshold;

the second preset condition is that the battery cycle number is greater than a second time threshold and less than or equal to a third time threshold, and the cell voltage difference of the battery is greater than a second voltage difference threshold;

the third preset condition is that the battery cycle number is greater than a third time threshold and less than or equal to a fourth time threshold, and the cell voltage difference of the battery is greater than the third voltage difference threshold;

the fourth preset condition is that the battery cycle number is greater than a fourth number threshold and less than or equal to a fifth number threshold, and the cell voltage difference of the battery is greater than a fourth voltage difference threshold;

the fifth preset condition is that the battery cycle number is greater than a fifth number threshold, and the cell voltage difference of the battery is greater than a fifth voltage difference threshold.

Optionally, the pressure difference threshold in each preset condition is associated with a corresponding number threshold, where the larger the pressure difference threshold is, the larger the corresponding number threshold is.

Optionally, when the lowest voltage of the battery cell in the battery is greater than a first preset voltage threshold, and it is detected that the cycle number of the battery and the cell voltage difference of the battery meet a preset condition, determining that the state identifier is a first type state identifier includes:

when the lowest voltage of a battery cell in the battery is greater than a first preset voltage threshold value, and the battery cycle number and the battery cell voltage difference of the battery meet any one of the first preset condition, the second preset condition or the third preset condition, determining that the state identifier is a first state identifier;

and when the lowest voltage of the battery cell in the battery is greater than a first preset voltage threshold value, and the battery cycle number and the battery cell voltage difference of the battery meet any one of a fourth preset condition or a fifth preset condition, determining that the state identifier is a second state identifier.

Optionally, when the lowest voltage of the battery cell in the battery is less than or equal to a first preset voltage threshold and greater than a second preset voltage threshold, and it is detected that the cycle number of the battery and the cell voltage difference of the battery meet preset conditions, determining that the state identifier is a second type state identifier, including:

when the lowest voltage of a battery cell in the battery is smaller than or equal to a first preset voltage threshold and larger than a second preset voltage threshold, and the battery cycle number and the battery cell voltage difference of the battery meet any one of the first preset condition, the second preset condition or a third preset condition, determining that the state identifier is a third state identifier;

and when the lowest voltage of the battery cell in the battery is smaller than or equal to a first preset voltage threshold and larger than a second preset voltage threshold, and the battery cycle number and the battery cell voltage difference of the battery meet any one of a fourth preset condition or a fifth preset condition, determining that the state identifier is a fourth state identifier.

Optionally, before determining the state identifier according to the electrical property parameter, the method further includes:

acquiring discharge state parameters of the battery;

detecting whether the discharge state parameters of the battery meet the flight conditions of the aircraft;

then, the determining the state identifier according to the electrical performance parameter includes:

and when the discharge state parameter of the battery is detected to meet the flight condition of the aircraft, determining a state identifier according to the electrical property parameter.

Optionally, the discharge state parameters include: the lowest voltage of the cells in the battery and the discharge current of the battery.

Optionally, when it is detected that the discharge state parameter of the battery satisfies the flight condition of the aircraft, determining a state identifier according to the electrical performance parameter includes:

and when detecting that the lowest voltage of the battery cell in the battery is greater than a second preset voltage threshold and the discharge current of the battery is greater than a preset current threshold, determining a state identifier according to the electrical performance parameter.

Optionally, the prompting based on the battery pressure difference state corresponding to the state identifier, and controlling the flight of the aircraft based on the flight control strategy corresponding to the state identifier include:

and outputting the state identifier to a flight control system or a remote control device of the aircraft, so that the flight control system or the remote control device prompts a pressure difference state according to the battery pressure difference state corresponding to the state identifier, and controlling the aircraft to fly based on a flight control strategy corresponding to the state identifier.

In a second aspect, an embodiment of the present invention further provides an aircraft battery monitoring apparatus, where the apparatus includes:

the electrical performance parameter acquisition module is used for acquiring electrical performance parameters of the battery, wherein the electrical performance parameters comprise at least one of battery cycle times, lowest voltage of cells in the battery and differential pressure of the cells in the battery;

the state identification determining module is used for determining a state identification according to the electrical performance parameter, and the state identification is used for identifying a battery pressure difference state and a flight control strategy of the aircraft corresponding to the state identification;

and the control module is used for prompting the pressure difference state based on the battery pressure difference state corresponding to the state identifier and controlling the aircraft to fly based on the flight control strategy corresponding to the state identifier.

Optionally, the state identifier determining module is specifically configured to:

Optionally, when the state identifier determining module determines that the state identifier is a first type state identifier, the first type state identifier includes: a first state identification and a second state identification;

when the state identifier determining module determines that the state identifier is a second type state identifier, the second type state identifier includes: a third state identification and a fourth state identification;

Optionally, if the state identifier determining module detects that the lowest voltage of the electric core in the battery is greater than a first preset voltage threshold, and detects that the cycle number of the battery and the electric core voltage difference of the battery meet preset conditions, it determines that the state identifier is a first type state identifier, including:

Optionally, if the lowest voltage of the electric core in the battery is less than or equal to a first preset voltage threshold and greater than a second preset voltage threshold, and it is detected that the cycle number of the battery and the electric core voltage difference of the battery meet preset conditions, the state identifier determining module determines that the state identifier is a second type state identifier, including:

Optionally, the apparatus further comprises:

the discharge state parameter acquisition module is used for acquiring the discharge state parameter of the battery;

the flight detection module is used for detecting whether the discharge state parameters of the battery meet the flight conditions of the aircraft or not;

then, the state identifier determining module is specifically configured to:

and when the flight detection module detects that the discharge state parameter of the battery meets the flight condition of the aircraft, determining a state identifier according to the electrical property parameter.

and when the flight detection module detects that the lowest voltage of the battery cell in the battery is greater than a second preset voltage threshold and the discharge current of the battery is greater than a preset current threshold, determining a state identifier according to the electrical performance parameter.

Optionally, the control module is specifically configured to:

In a third aspect, an embodiment of the present invention further provides a battery, including:

the battery pack comprises at least two battery cells connected in series and/or in parallel;

at least one processor connected with the electric core group; and

a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the aircraft battery monitoring method as described above.

In a fourth aspect, embodiments of the present invention also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the aircraft battery monitoring method as described above.

In a fifth aspect, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer-executable instructions for causing a computer to perform the aircraft battery monitoring method as described above.

In a sixth aspect, an embodiment of the present invention further provides an aircraft, a fuselage, a flight control system, and a battery, where the flight control system and the battery are disposed on the fuselage, the battery is the above battery, the battery is connected to the flight control system to send a state identifier to the flight control system, and the flight control system performs a pressure difference state prompt according to a battery pressure difference state corresponding to the state identifier and controls the aircraft to fly based on a flight control strategy corresponding to the state identifier.

The aircraft battery monitoring method and device, the battery and the aircraft provided by the embodiment of the invention can realize the advanced prejudgment to provide the corresponding battery pressure difference state and the flight control strategy identification when monitoring the aircraft battery pressure difference, so as to control the aircraft in flight based on the identification. By the method, the requirements on the flight skill and the flight experience of the user can be reduced, the manual judgment time can be saved, and the judgment accuracy is improved, so that the risk of aircraft explosion is effectively reduced, and the safety of the aircraft is improved.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a schematic diagram of an application environment of a method for aircraft battery monitoring according to an embodiment of the present invention;

fig. 2 is a schematic diagram of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a battery provided by an embodiment of the invention;

FIG. 4 is a schematic flow chart diagram of a method for aircraft battery monitoring provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of one particular implementation of a method for aircraft battery monitoring provided by an embodiment of the invention;

FIG. 6 is a schematic flow chart diagram of another aircraft battery monitoring method provided by an embodiment of the invention;

FIG. 7 is a schematic illustration of an aircraft battery monitoring device provided by an embodiment of the present invention;

fig. 8 is a schematic diagram of a hardware structure of a battery according to an embodiment of the present invention;

FIG. 9 is a schematic illustration of an aircraft provided by an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.

In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

An aircraft is used as a flying vehicle and is mainly used for completing a specified task through flying, such as a flying task of flying to a specified place, or a shooting task of shooting in the flying process. In the flying process of the aircraft, the safety of the aircraft is a precondition for ensuring that the aircraft can complete a designated flying task or shooting task. Thus, for an aircraft, its safety performance is an important indicator for evaluating its overall performance.

The battery of the aircraft is used as an essential part for the operation of the aircraft and the core of the safety of the aircraft, and the normal operation of the battery is the primary prerequisite for ensuring the safe flight of the aircraft. If the battery of the aircraft runs abnormally, the flight of the aircraft is likely to be influenced, even the aircraft is subjected to an explosion accident, and great property loss is caused to users.

For aircraft batteries, because the power of the aircraft is usually large, the aircraft batteries generally adopt a structure in which a plurality of battery cells are connected in combination (for example, a plurality of battery cells are connected in series) to meet the power requirement. The structure requires that the performances of all levels of battery cores of the battery are consistent, otherwise, the safety performance of the whole battery is affected as long as one battery core is degraded, and the structure is a typical wooden barrel effect.

However, in the actual production of the battery, it is difficult to ensure that the cell performance of each grade of the battery is the same. Moreover, even if the cell consistency of the produced battery is high, the cell performance of the battery is inconsistent due to the reasons of non-uniform aging degree, non-uniform heating, external force damage and the like in the use process of the battery. The inconsistency of the cell performance of the battery is a common cause of the abnormal operation or power supply of the battery. The inconsistent cell performance of the battery is mainly embodied in that the cell voltage difference of the battery is overlarge in the process that the battery supplies power to the aircraft.

If in the application of battery, the too big condition of electric core pressure differential of battery appears, can cause the bad charge and discharge of whole battery to make the life-span of battery shorten, influence the flight of whole aircraft, bring very big potential safety hazard for the flight of aircraft.

Therefore, in order to ensure a proper supply of the battery of the aircraft and to improve the safety of the aircraft, the battery differential pressure of the aircraft is generally monitored.

The current way to monitor aircraft battery pressure differentials is generally:

1. the battery pressure difference is detected and a prompt is given, and after the prompt is given, a user generally needs to perform corresponding processing according to own flight skill and flight experience so as to prevent the aircraft from exploding when the battery cell performance of the aircraft battery is inconsistent and improve the safety of the aircraft.

2. The battery differential pressure is detected and the charge algorithm is modified.

For the first mode, on one hand, the requirement on the flight skill and the flight experience of the user is high, and for a novice, the problem that the aircraft is difficult to process in a proper mode when the battery pressure difference is too large exists, and the risk of aircraft explosion exists; on the other hand, because manual judgment is needed, time is consumed, a high misjudgment risk exists, a machine explosion accident can be caused if the judgment is not timely carried out or the judgment is wrong, and particularly for a low-power battery, an aircraft can be exploded if the judgment is not timely carried out when the battery pressure difference is too large.

For the second method, the method for modifying the electric quantity algorithm is complex to operate, and also has the problems of inaccurate calculation and error modification. Especially, the time for adjusting the electric quantity is short when the electric quantity of the battery changes suddenly, and the aircraft can be subjected to the explosion accident if the electric quantity is not timely and correctly processed.

Based on this, the embodiment of the invention provides an aircraft battery monitoring method and device, a battery and an aircraft, which can realize advanced prejudgment to provide corresponding battery pressure difference states and flight control strategy identifiers when monitoring the aircraft battery pressure difference, so as to control the aircraft in flight based on the identifiers.

By the method, the requirements on the flight skill and the flight experience of the user can be reduced, the manual judgment time can be saved, and the judgment accuracy is improved, so that the risk of aircraft explosion is effectively reduced, and the safety of the aircraft is improved. And the operation is simple, the flight of the aircraft is controlled only based on the flight control strategy corresponding to the state identifier, and the complex operation of modifying the electric quantity algorithm can be avoided.

The embodiments of the present invention will be further explained with reference to the drawings.

Fig. 1 is a schematic diagram of an application environment of the aircraft battery monitoring method according to the embodiment of the invention. Wherein, the application environment comprises: aircraft 100 and remote control device 200. The aircraft 100 is connected to a remote control device 200. The connection may be a communication connection, for example, the aircraft 100 and the remote control device 200 establish a communication connection through a wireless communication module such as a Wifi module or a bluetooth module.

In some embodiments, aircraft 100 and remote control device 200 may also establish a communication connection through a wired communication module.

Through which communication connection to enable interaction of data or information or the like between the aircraft 100 and the remote control device 200. For example, aircraft 100 transmits flight information of aircraft 100, such as flight speed, attitude information, etc. of aircraft 100, to remote control device 200; or remote control device 200 transmits instructions for controlling the flight of aircraft 100 to aircraft 100, to control aircraft 100, and so on.

Wherein the aircraft 100 may be any type of flying equipment. Such as Unmanned Aerial Vehicles (UAVs), Unmanned boats or other mobile devices, and so forth. The following description of the invention uses a drone as an example of an aircraft. It will be apparent to those skilled in the art that other types of aircraft may be used without limitation.

The unmanned aerial vehicle is an unmanned aerial vehicle which is operated by a remote control device or a self-contained program control device and has a mission load. The drone may be of various types, for example, the drone may be a small drone.

In certain embodiments, the drone may be a rotary wing vehicle (rotorcraft), for example, a multi-rotor vehicle propelled through the air by a plurality of propulsion devices, embodiments of the invention are not so limited, and the drone may be other types of drones or mobile devices, such as fixed wing drones, unmanned airships, umbrella wing drones, flapping wing drones, and the like.

The following describes the aircraft in detail by taking the unmanned aerial vehicle as an example.

Please refer to fig. 2, which is a schematic diagram of an unmanned aerial vehicle according to an embodiment of the present invention. Wherein, this unmanned aerial vehicle 100' includes: fuselage (not shown), battery 10, flight control system 20, and power system 30.

The battery 10, the flight control system 20, and the power system 30 are disposed in the fuselage. The battery 10 is connected to the flight control system 20 and the power system 30. The connections may include electrical connections and communication connections. The battery 10 is electrically connected with the flight control system 20 and the power system 30 so as to provide power for the flight control system 20 and the power system 30, thereby ensuring that the unmanned aerial vehicle 100' completes a designated flight task. Data or information interaction is achieved through the communicative coupling of battery 10 to flight control system 20 and power system 30.

In addition, flight control system 20 is communicatively coupled to remote control device 200 to enable interaction of data or information with remote control device 200.

The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The number of the horn may be 2, 4, 6, etc. That is, the number of horn is not limited herein. Wherein one or more booms are used to carry the power system 30.

The battery 10 is a device that directly converts chemical energy into electric energy, and the battery 10 regenerates internal active materials using external electric energy when being charged, and stores the electric energy as chemical energy; upon discharge, the chemical energy is converted to electrical energy output to power the flight control system 20 or power system 30 of the drone 100 'to ensure flight of the drone 100'.

For the drone 100', it is primarily flown to accomplish various tasks, such as, for example, performing aerial photography, line patrol, surveying, metering, cargo transport, and so forth. When the drone 100 ' is flying, its power is usually large, and therefore, in order to meet the power requirement of the flight of the drone 100 ', the battery 10 of the drone 100 ' may include several cells, where several cells may be connected in series.

In some other embodiments, several cells may also be connected in parallel.

For the battery 10 formed by combining a plurality of battery cells, in order to ensure normal power supply of the battery and guarantee flight safety of the unmanned aerial vehicle 100', the performances of all levels of battery cells of the battery 10 are required to be consistent. The inconsistent cell performance of the battery is mainly embodied in that the cell pressure difference of the battery 10 is too large in the process that the battery 10 supplies power to the unmanned aerial vehicle 100'. If in the application of battery 10, the battery cell pressure difference of battery 10 is too large, which may cause poor charging and discharging of whole battery 10, thereby shortening the service life of battery 10, affecting the flight of unmanned aerial vehicle 100 ', and bringing great potential safety hazard to the flight of unmanned aerial vehicle 100'.

Based on this, the battery 10 in the embodiment of the present invention monitors the battery differential pressure state, and specifically, may implement the advanced prejudgment when monitoring the battery differential pressure of the unmanned aerial vehicle 100', so as to give out the corresponding battery differential pressure state and the identifier of the flight control strategy based on the electrical performance parameters of the battery. And may transmit the identification to the flight control system 20 so that the flight control system 20 performs flight control of the drone 100' based on the identification.

Through this mode both can reduce the requirement to user's flight skill and flight experience, can practice thrift artifical judgement time again and improve and judge the accuracy to effectual risk that has reduced unmanned aerial vehicle 100 ' and explode the machine improves unmanned aerial vehicle 100's security.

In some implementations, as shown in fig. 3, the battery 10 includes: a plurality of battery cells 110, an electricity meter 120, and a microprocessor 130. The plurality of battery cells 110 are connected to the electricity meter 120 and the microprocessor 130, and the electricity meter 120 is connected to the microprocessor 130.

The plurality of battery cells 110 includes one or more battery cells arranged in any manner to form a battery pack, such as in series, for providing dc power to various systems of the drone 100', such as the flight control system 20. The plurality of battery cells 110 may have a corresponding capacity, a corresponding volume, or a corresponding packaging form according to actual conditions. The plurality of battery cells 110 may be discharged or charged under controlled conditions, simulating normal operating conditions.

The electricity meter 120 may be any type or brand of electricity metering system or chip, and may calculate and determine the electrical performance parameters of the battery 10 by collecting corresponding data, such as the number of battery cycles, the voltage of the lowest voltage cell among the plurality of battery cells 110, the voltage difference among the plurality of battery cells 110, and the like. The fuel gauge 120 may be run with one or more suitable software programs that record data and perform calculations based on the data.

The electricity meter 120 establishes necessary electrical connections (the electrical connections may be indirect connections formed by related electrical property parameter acquisition circuits, such as a current sampling circuit, a voltage sampling circuit, a temperature sampling circuit, and the like) with the electrical cells 110, and the electricity meter 120 acquires and acquires data of the battery 10 through the electrical connections to determine electrical property parameters of the battery 10, such as electric quantity, electric current, voltage, battery cycle number, and the like.

The electricity meter 120 has discharge, charge, sleep, deep sleep, and the like modes. The electricity meter 120 automatically enters the sleep mode as long as the battery has no charging current and no discharging current, and other modules (such as the microprocessor 130) of the battery are still in a normal power supply state, so that the recovery speed of the mode is high. And the fuel gauge 120 entering the deep sleep mode requires the microprocessor 130 to send instructions to it.

The microprocessor 130 is in communication connection with the electricity meter 120, and the microprocessor 130 can obtain a corresponding state identifier according to the relevant electrical performance parameter calculated and determined by the electricity meter 120. For example, when the microprocessor 130 determines that the battery voltage difference is too large according to the electrical performance parameter transmitted by the electricity meter 120, a status flag indicating that the battery voltage difference is too large is output to prompt the user to perform a corresponding operation based on the status flag. It should be noted that the battery 10 can be any suitable battery, such as a lithium battery, a nickel cadmium battery, or other batteries, among others.

The flight control system 20 is the master control system for the flight of the drone 100 ', which has the capability to monitor and manipulate the flight and tasks of the drone 100 ', including a set of devices to control the launch and recovery of the drone 100 '. The flight control system 20 is used to effect control of the flight of the drone 100'.

Flight control system 20 may include, among other things, flight controls and sensing systems. Wherein the flight controller is communicatively coupled to the sensing system for data or information transfer.

The sensing system is used to measure the position and status information of the drone 100 'and various components of the drone 100', such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity, flying height, and the like. For example, when the drone 100 ' is flying, the current flight information of the drone 100 ' may be acquired in real time by the sensing system, so as to determine the flight status of the drone 100 ' in real time.

The sensing system may include, for example, at least one of an infrared sensor, an acoustic wave sensor, a gyroscope, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, a barometer, and the like. For example, the Global navigation satellite System may be a Global Positioning System (GPS). Attitude parameters during the flight of the drone 100 'may be measured by the IMU, the flying height of the drone 100' may be measured by infrared sensors or acoustic sensors, and so on.

The flight controller is used to control the flight of the drone 100'. And, during the flight of the unmanned aerial vehicle 100 ', the flight controller is provided with power by controlling the battery 10, so as to ensure the normal operation of the flight controller, such as controlling the flight of the unmanned aerial vehicle 100', controlling the battery 10 to supply power to the power system 30, and the like.

It will be appreciated that the drone 100 'may be controlled by the flight controller in accordance with preprogrammed instructions, or the drone 100' may be controlled in response to one or more control instructions from other devices.

For example, after the flight controller 20 receives the battery pressure difference state sent by the battery 10 and the identifier of the flight control strategy, the identifier is read, and the corresponding flight control strategy is adopted based on the identifier to control the unmanned aerial vehicle 100' to fly; or, after receiving the identifier of the battery pressure difference state and the flight control policy sent by the battery 10, the flight controller 20 reads the identifier, and sends the identifier to the remote control device 200, so that the user performs corresponding operations based on the identifier, and the remote control device 200 generates corresponding control instructions after receiving the user operations, and sends the control instructions to the flight controller, so as to implement flight control of the unmanned aerial vehicle 100'.

The power system 30 may include an electronic governor (referred to as an electric governor for short), one or more propellers, and one or more first motors corresponding to the one or more propellers.

The first motor is connected between the electronic speed regulator and the propeller, and the first motor and the propeller are arranged on the corresponding machine arm. The first motor is used to drive the propeller to rotate, thereby providing power for the flight of the drone 100 ', which power enables the drone 100' to achieve one or more degrees of freedom of movement, such as fore and aft movement, up and down movement, and so on. In some embodiments, the drone 100' may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a roll axis, a translation axis, and a pitch axis.

It will be appreciated that the first motor may be a dc motor or an ac motor. In addition, the first motor may be a brushless motor or a brush motor.

The electronic governor is used for receiving a driving signal generated by the flight control module and providing a driving current to the first motor according to the driving signal so as to control the rotating speed of the first motor, thereby controlling the flight of the unmanned aerial vehicle 100'.

In order to complete shooting tasks such as aerial photography, the drone 100' may further include: a camera assembly 40. The camera assembly 40 is mounted to the body, for example, to a center frame of the body. The imaging module 40 is connected to the battery 10 and the flight control system 20.

Wherein, shoot subassembly 40 includes: a cloud deck 410 and an image acquisition device 420.

The pan/tilt head 410 may include a pan/tilt head motor and a second motor. The cradle head 410 is used for carrying an image capturing device 420. The flight controller may electrically control the second motor to control the movement of the pan/tilt head 410 through the pan/tilt head controller. Optionally, in some other embodiments, the pan/tilt head 410 may further comprise a controller for controlling the movement of the pan/tilt head 410 by controlling the pan/tilt head motor and the second motor.

It is understood that the pan/tilt head 410 may be separate from the drone 100 'or may be part of the drone 100'. It will be appreciated that the second motor may be a dc motor or an ac motor.

In addition, the second motor may be a brushless motor or a brush motor. It is also understood that the pan/tilt head 410 may be located at the top of the fuselage, or at the bottom of the fuselage.

The image capturing device 420 may be a device for capturing images, such as a camera or a video camera, and the image capturing device 420 may communicate with the flight control system 20 and perform shooting under the control of the flight control system 20 to accomplish a designated shooting task. It is to be understood that the above-mentioned nomenclature for the components of the drone 100' is for identification purposes only and should not be construed as a limitation on embodiments of the present invention.

The remote control device 200 is connected with the flight controller 20 of the drone 100 'to control the drone 100'. The remote control device 200 is a remote control unit on a ground (ship) receiving surface or an aerial platform, and controls the flight of the drone 100' by sending control instructions to the flight controller 20.

Also, the remote control device 200 may also receive data or information sent by the flight controller 20, such as a status identifier sent by the flight controller 20 to identify the battery pressure differential status and the flight control strategy of the drone 100'. In addition, the remote control device 200 may also display the received status identifier to prompt the user, so that the user may perform corresponding operations according to the status identifier to control the flight of the drone 100'.

For example, when the flight control policy indicated by the state identifier received by the remote control device 200 is to return to the air, the state identifier is displayed to prompt the user to control the unmanned aerial vehicle 100 ' to return to the air, so that the user can perform the control operation of returning to the air, and after receiving the operation, the remote control device 200 can generate a control instruction for controlling the unmanned aerial vehicle 100 ' to return to the air and send the control instruction to the flight controller 20, thereby realizing the returning to the air of the unmanned aerial vehicle 100 '.

It should be noted that the remote control device 200 may be any suitable remote control. For example, the remote control device 200 may be a remote controller, a smart phone, a tablet, a Personal Computer (PC), a wearable device, or the like.

In some implementations, the remote control device 200 includes: an input device and an output device.

The input device is configured to receive a user operation for controlling the flight of the drone 100' and generate a control command based on the user input operation. For example, when the user clicks a return button on the input device, the remote control apparatus 200 receives a user operation through the input device thereof to generate a control instruction for controlling the return of the drone 100 ' and sends the control instruction to the drone 100 ', thereby realizing the return of the drone 100 '.

The input device may be any suitable input device, such as a keyboard, a mouse, a scanner, a light pen, a touch screen, keys, etc.

And the output device is used for displaying the battery pressure difference state corresponding to the state identifier and the flight control strategy. For example, an excessive battery pressure difference is displayed through the output device, the user is prompted to fly cautiously, and the like.

The output device is a human interface device, which may be any suitable output device, such as a display screen, a display panel, etc.

It should be noted that the aircraft battery monitoring method provided by the embodiment of the present invention may be further extended to other suitable application environments, and is not limited to the application environment shown in fig. 1. For example, in practical applications, the aircraft 100 in the application environment may also be any other suitable aircraft, such as an unmanned ship. Also, in other application environments, the number of remote control devices 200 may be more or less, e.g., 3, 4, etc., i.e., the number of remote control devices 200 is not limited herein.

In addition, in some other application environments, the remote control device 200 may not be included. When the application environment does not include the remote control device 200, the flight controller 20 may directly control the aircraft to fly according to the flight control strategy corresponding to the state identifier.

For example, when the battery 10 detects that the battery pressure difference is too large, the unmanned aerial vehicle 100 'needs to be controlled to stop flying, the battery 10 sends the state identifier for identifying that the battery pressure difference is too large and the flight control strategy is forced to land to the flight controller 20, and the flight controller 20 controls the unmanned aerial vehicle 100' to force to land according to the state identifier.

The aircraft battery monitoring method and device, the battery and the aircraft provided by the embodiment of the invention are explained in detail below.

Example 1:

fig. 4 is a schematic flow chart of an aircraft battery monitoring method according to an embodiment of the present invention. The aircraft battery monitoring method can be applied to monitoring batteries of various types of aircraft, such as unmanned planes, unmanned ships or other movable devices and the like. The aircraft battery monitoring method may be performed by any suitable type of battery, such as battery 10 in fig. 2.

Referring to fig. 4, the aircraft battery monitoring method includes:

401: and acquiring the electrical performance parameters of the battery.

The battery comprises at least two battery cells, and the battery cells in the at least two battery cells can be connected in series. In some other embodiments, the cells of the at least two cells may also be connected in parallel.

Wherein the electrical performance parameter comprises at least one of a number of battery cycles, a minimum voltage of cells in the battery, and a voltage differential of cells in the battery.

The cycle number of the battery refers to a complete charging and discharging period of the battery. When the battery has completed a charge cycle, the number of battery cycles is increased by 1. The battery is charged cyclically, i.e. a complete charging and discharging period, for example, the used (discharged) electric quantity reaches 100% of the battery capacity.

For example, if the battery is charged to 75% in the first day, then the battery is fully charged to 100% in the evening, and the battery is charged to 25% in the second day, then a complete discharge process (to 100% charge) is performed, and thus a charge cycle, i.e., a battery charge cycle, is completed.

In other words, the number of battery cycles does not represent the number of charges, and products with a large number of battery cycles must be used many times, but products with a small number of battery cycles do not represent a small number of uses. For example, the display machine in a shop is plugged with a power supply all the day and night, so that a complete charging cycle is difficult to complete, and the cycle frequency of the battery is naturally low. The higher the number of times of use, the more serious the aging degree of the battery is inevitably, that is, the higher the number of times of battery cycling, the more serious the aging degree of the battery is reflected. The aging degree of the battery is an important factor influencing the inconsistency of the performance of the battery core, so that the battery cycle number is a factor to be considered when the aircraft battery is monitored to determine the differential pressure state of the battery and the flight control strategy of the aircraft, namely, the electrical performance parameters of the battery comprise the battery cycle number.

The lowest voltage of the battery cell refers to the voltage value of the cell with the lowest voltage in the at least two battery cells. For example, if the battery includes a cell a, a cell B, and a cell C, where a voltage value of the cell a is 3.5V, a voltage value of the cell B is 3.2V, and a voltage value of the cell C is 4.0V, the lowest voltage of the cells in the battery is the voltage value of the cell B, that is, 3.2V.

In the battery consisting of at least two battery cores, the performance of the whole battery can be influenced as long as one battery core has performance reduction, so that the lowest voltage of the battery cores in the battery is also a factor to be considered when the aircraft battery is monitored to determine the battery differential pressure state and the flight control strategy of the aircraft, namely, the electrical performance parameters of the battery can also comprise the lowest voltage of the battery cores in the battery.

The cell voltage difference of the battery is a difference value between a voltage value of the cell with the highest voltage and a voltage value of the cell with the lowest voltage in the at least two cells. For example, as the above-mentioned cell a, cell B, and cell C are taken as examples, the cell voltage difference of the battery is the difference between the voltage value of the cell C and the voltage value of the cell B, that is, 0.8V.

The cell voltage difference of the battery is a parameter directly reflecting the state of the battery voltage difference, so that the cell voltage difference of the battery is also a factor to be considered when monitoring the battery of the aircraft to determine the state of the battery voltage difference and a flight control strategy of the aircraft, that is, the electrical performance parameter of the battery may also include the cell voltage difference of the battery.

In some implementations, the battery may acquire, through its electricity meter, electrical performance parameters of the battery, such as the number of battery cycles, the lowest voltage of a cell in the battery, the cell voltage difference of the battery, and the like, to acquire the electrical performance parameters of the battery.

402: and determining a state identifier according to the electrical performance parameters, wherein the state identifier is used for identifying the battery pressure difference state and the flight control strategy of the aircraft corresponding to the state identifier.

In some implementations, determining, by the battery, the state identification from the electrical performance parameter may include: and determining the state identifier according to the voltage range of the lowest voltage of the battery cell in the battery. For example, the lowest voltage of the cells in the battery is in different voltage ranges, and the obtained state identifiers are also different.

Wherein the status identification includes but is not limited to: a first type state identification, a second type state identification, and the like.

The first type state identification is used for representing that the battery pressure difference is too large, and the flight control strategy of the aircraft is to give a flight prompt or adjust the flight power of the aircraft. And adjusting the flight power without changing the preset flight track of the aircraft. In some implementations, adjusting the flight power of the aircraft includes: the power of the motor is reduced, and the flight power of the aircraft is reduced. The reduction of the flight power of the aircraft can be realized by reducing the flight speed of the aircraft and turning off the flight-related modules in the aircraft. The flight power of the aircraft is reduced to limit the working power of the aircraft, so that the flight safety of the aircraft is ensured when the battery pressure difference is overlarge.

And when the flight power of the aircraft is adjusted, the aircraft can keep the original flight track to complete the preset flight task, namely, when the power of the aircraft is adjusted, the flight track of the aircraft is kept unchanged.

The second type state identification is used for representing that the battery pressure difference is too large, and the flight control strategy of the aircraft is to adjust the flight state parameters of the aircraft. And the flight state parameters are used for controlling the aircraft to return or force to land. And the adjustment of the flight state parameters can change the preset flight trajectory of the aircraft.

The flight state parameters may include: the parameter used for controlling the return flight of the aircraft and the parameter used for controlling the forced landing of the aircraft. For example, when the flight status parameter is a parameter for controlling return of the aircraft, the aircraft is caused to return. The aircraft is controlled to return or force to land so as to ensure the safety of the aircraft when the battery pressure difference is overlarge.

And adjusting the flight state parameters of the aircraft can make the aircraft not fly according to the preset flight trajectory any more, for example, the aircraft is forced to land by adjusting the flight state parameters, so as to change the preset flight trajectory, that is, when the flight state parameters of the aircraft are adjusted, the flight trajectory of the aircraft is changed.

In some implementations, the determining, by the battery, the state identifier according to a voltage range in which a lowest voltage of a battery cell in the battery is located includes:

The first preset voltage threshold is larger than the second preset voltage threshold. In addition, the values of the first preset voltage threshold and the second preset voltage threshold are not limited, and the first preset voltage threshold and the second preset voltage threshold can be set and adjusted according to needs so as to adapt to the power supply requirements of various batteries. For example, the first predetermined voltage threshold is 3.7V, the second predetermined voltage threshold is 3.2V, and so on.

The first preset voltage threshold and the second preset voltage threshold may be pre-configured in a database of the battery, and the first preset voltage threshold and the second preset voltage threshold configured in the database of the battery may be adjusted as needed.

In some implementations, when the state identity is determined to be a first type state identity, the first type state identity includes, but is not limited to: a first state identification and a second state identification.

In some implementations, when the state identity is determined to be a second type of state identity, the second type of state identity includes, but is not limited to: a third state identification and a fourth state identification.

The flight control strategy corresponding to the first state identifier is a cautious flight prompt, the flight control strategy corresponding to the second state identifier is a flight power adjustment of the aircraft, the flight control strategy corresponding to the third state identifier is a flight return of the aircraft, and the flight control strategy corresponding to the fourth state identifier is a flight forced landing of the aircraft.

And the battery differential pressure states corresponding to the first state identifier, the second state identifier, the third state identifier and the fourth state identifier are all battery differential pressure overlarge.

In some embodiments, the preset conditions include, but are not limited to: the method comprises the following steps of a first preset condition, a second preset condition, a third preset condition, a fourth preset condition and a fifth preset condition.

The values of the frequency threshold and the pressure difference threshold are not limited, namely, the frequency threshold and the pressure difference threshold can be set and adjusted as required to adapt to the power supply requirements of various batteries. For example, the first count threshold value is 0, the second count threshold value is 50, and the first differential pressure threshold value is 70 mV.

The number threshold and the differential pressure threshold may be previously arranged in a database of the battery, and the number threshold and the differential pressure threshold arranged in the database of the battery may be adjusted as necessary.

Wherein the pressure difference threshold in each preset condition is associated with a corresponding number threshold. Specifically, the larger the differential pressure threshold value is, the larger the corresponding number threshold value is, that is, the differential pressure threshold value is increased along with the increase of the number threshold value, because the value of the differential pressure occurring in the battery is generally higher when the battery is in the same discharge power and the number of battery cycles is larger, when the number threshold value is increased, the differential pressure threshold value is adaptively increased.

For example, the first sub-threshold in the first preset condition is 0, the second sub-threshold is 50, and the corresponding first differential pressure threshold is 70 mV; the second time threshold value in the second preset condition is 50, the third time threshold value is 100, and the corresponding first differential pressure threshold value is 90 mV.

In some implementation manners, when the lowest voltage of a battery cell in the battery is greater than a first preset voltage threshold, and it is detected that the number of battery cycles and the cell voltage difference of the battery satisfy a preset condition, determining that the state identifier is a first type state identifier includes:

when the lowest voltage of a battery cell in the battery is greater than a first preset voltage threshold value, and the battery cycle number and the battery cell pressure difference of the battery meet any one of the first preset condition, the second preset condition or the third preset condition, determining that the state identifier is a first state identifier, so that the battery pressure difference is displayed to be too large based on the first state identifier, and cautious flight prompting is performed;

and when the lowest voltage of the battery cell in the battery is greater than a first preset voltage threshold value, and the battery cycle number and the battery cell pressure difference of the battery meet any one of the fourth preset condition or the fifth preset condition, determining that the state identifier is a second state identifier, so that the battery pressure difference is displayed to be overlarge based on the second state identifier, and the flight power of the aircraft is adjusted. For example, the maximum power of the aircraft is adjusted to not more than 1.5 times the hover power, primarily because hover power is the minimum power at which the aircraft can achieve flight;

similarly, when the lowest voltage of the battery cell in the battery is less than or equal to a first preset voltage threshold and greater than a second preset voltage threshold, and it is detected that the battery cycle number and the battery cell voltage difference meet preset conditions, it is determined that the state identifier is a second type state identifier, including:

when the lowest voltage of the battery cell in the battery is smaller than or equal to a first preset voltage threshold and larger than a second preset voltage threshold, and the battery cycle number and the battery cell voltage difference of the battery meet any one of the first preset condition, the second preset condition or a third preset condition, determining that the state identifier is a third state identifier, so that the battery voltage difference is displayed to be too large based on the third state identifier in the following process, and the aircraft is enabled to return;

and when the lowest voltage of the battery cell in the battery is smaller than or equal to a first preset voltage threshold and larger than a second preset voltage threshold, and the battery cycle number and the battery cell pressure difference of the battery meet any one of a fourth preset condition or a fifth preset condition, determining that the state identifier is a fourth state identifier, so that the battery pressure difference is displayed to be too large based on the third state identifier, and the aircraft is forced to descend.

The following takes fig. 5 as an example to specifically describe the aircraft battery monitoring method provided by the present embodiment.

It is assumed that the first preset voltage threshold is 3.7V, the second preset voltage threshold is 3.2V, the first time threshold is 0, the second time threshold is 50, the third time threshold is 100, the fourth time threshold is 150, the fifth time threshold is 200, the first differential pressure threshold is 70mV, the second differential pressure threshold is 90mV, the third differential pressure threshold is 110mV, the fourth differential pressure threshold is 140mV, and the fifth differential pressure threshold is 170 mV. As shown in fig. 5, first, the battery obtains the electrical performance parameters of the battery through an electricity meter, etc., wherein the parameters include: at least one of a number of battery cycles, a minimum voltage of cells in the battery, and a voltage differential of cells in the battery. The battery then determines a state indicator based on the electrical performance parameter. The method specifically comprises the following conditions:

1. when the lowest voltage of the battery cell in the battery is greater than a first preset voltage threshold, namely greater than 3.7V, if the cycle number of the battery is detected to be greater than a first time threshold, namely greater than 0, and less than or equal to a second time threshold, namely less than or equal to 50, and the cell voltage difference of the battery is greater than a first voltage difference threshold, namely greater than 70 mV; or the battery cycle number is greater than the second time threshold value, namely greater than 50 and less than or equal to the third time threshold value, namely less than or equal to 100, and the cell differential pressure of the battery is greater than the second differential pressure threshold value, namely greater than 90 mV; or when the battery cycle number is greater than a third time threshold value, namely greater than 100 and less than or equal to a fourth time threshold value, namely less than or equal to 150, and the cell differential pressure of the battery is greater than a third differential pressure threshold value, namely greater than 110mV, the battery determines that the state identifier is a first state identifier, the first state identifier is used for identifying that the battery differential pressure is too large, and the flight control strategy is a cautious flight prompt.

2. When the lowest voltage of the battery cell in the battery is greater than a first preset voltage threshold, namely greater than 3.7V, if the battery cycle number is greater than a fourth number threshold, namely greater than 150 and less than or equal to a fifth number threshold, namely less than or equal to 200, and the cell voltage difference of the battery is greater than a fourth voltage difference threshold, namely greater than 140 mV; or, when the number of battery cycles is greater than a fifth threshold value, that is, greater than 200, and the cell voltage difference of the battery is greater than a fifth threshold value, that is, greater than 170mV, the battery determines that the state identifier is a second state identifier, where the second state identifier is used to identify that the battery voltage difference is too large, and the flight control strategy is to adjust the flight power of the aircraft, for example, to limit the maximum power of the aircraft to not exceed N times, such as 1.5 times, of the hover power. Wherein, the hovering power is the minimum power that the aircraft can fly.

3. When the lowest voltage of the battery cell in the battery is smaller than or equal to a first preset voltage threshold and larger than a second preset voltage threshold, namely, smaller than or equal to 3.7V and larger than 3.2V, if the battery cycle number is detected to be larger than the first time threshold, namely, larger than 0 and smaller than or equal to the second time threshold, namely, smaller than or equal to 50, and the cell voltage difference of the battery is larger than the first voltage difference threshold, namely, larger than 70 mV; or the battery cycle number is greater than the second time threshold value, namely greater than 50 and less than or equal to the third time threshold value, namely less than or equal to 100, and the cell differential pressure of the battery is greater than the second differential pressure threshold value, namely greater than 90 mV; or when the battery cycle number is greater than a third time threshold value, namely greater than 100 and less than or equal to a fourth time threshold value, namely less than or equal to 150, and the cell voltage difference of the battery is greater than a third voltage difference threshold value, namely greater than 110mV, the battery determines that the state identifier is a third state identifier, the first state identifier is used for identifying that the battery voltage difference is too large, and the flight control strategy is that the aircraft performs return voyage.

4. When the lowest voltage of the battery cells in the battery is less than or equal to a first preset voltage threshold and greater than a second preset voltage threshold, namely less than or equal to 3.7V and greater than 3.2V, if the battery cycle number is greater than a fourth number threshold, namely greater than 150 and less than or equal to a fifth number threshold, namely less than or equal to 200, and the cell voltage difference of the battery is greater than a fourth voltage difference threshold, namely greater than 140 mV; or when the battery cycle number is greater than a fifth threshold value, that is, greater than 200, and the cell voltage difference of the battery is greater than a fifth voltage difference threshold value, that is, greater than 170mV, the battery determines that the state identifier is a fourth state identifier, where the fourth state identifier is used to identify that the battery voltage difference is too large, and the flight control strategy is to force the aircraft to land.

403: and prompting the pressure difference state based on the battery pressure difference state corresponding to the state identifier, and controlling the aircraft to fly based on the flight control strategy corresponding to the state identifier.

The flight of the aircraft may be controlled by the battery, for example, the battery generates a corresponding control command based on the status identifier and sends the control command to the flight control system to control the flight of the aircraft.

In some other embodiments, the flight of the aircraft may also be controlled by other devices with logic processing capabilities than batteries.

Therefore, prompting based on the battery pressure difference state corresponding to the state identifier, and controlling the aircraft to fly based on the flight control strategy corresponding to the state identifier may include:

For example, the battery is communicated with a flight control system of the aircraft, the battery sends a state identifier for identifying that the battery pressure difference is too large and the flight control strategy is forced landing to the flight control system, the flight control system generates a control instruction for forced landing based on the state identifier after receiving the state identifier, and controls the aircraft to be forced landing based on the control instruction, so that the safety of the aircraft is ensured when the battery pressure difference is too large.

Or after receiving the state identifier sent by the battery, the flight control system sends the state identifier to a remote control device (such as a remote controller, an intelligent terminal and the like), the remote control device displays the state identifier to prompt a user that the pressure difference is too large, so that the user can perform input operation for forcing the aircraft to land based on the state identifier, the remote controller generates a control instruction for forcing the aircraft to land after receiving the input operation, and controls the aircraft to land based on the control instruction, so that the safety of the aircraft is ensured when the pressure difference of the battery is too large.

In the embodiment of the invention, the advanced prejudgment can be realized when the battery pressure difference of the aircraft is monitored so as to provide the corresponding battery pressure difference state and the identification of the flight control strategy, so that the aircraft can be controlled based on the identification. By the method, the requirements on the flight skill and the flight experience of the user can be reduced, the manual judgment time can be saved, and the judgment accuracy is improved, so that the risk of aircraft explosion is effectively reduced, and the safety of the aircraft is improved.

Example 2:

fig. 6 is a schematic flow chart of another aircraft battery monitoring method according to an embodiment of the present invention. The aircraft battery monitoring method can be applied to monitoring batteries of various types of aircraft, such as unmanned planes, unmanned ships or other movable devices and the like. The aircraft battery monitoring method may be performed by any suitable type of battery, such as battery 10 in fig. 2.

Referring to fig. 6, the aircraft battery monitoring method includes:

601: and acquiring the electrical performance parameters of the battery.

602: and acquiring the discharge state parameters of the battery.

The discharge state parameter is a parameter in the discharge process of the battery and is used for reflecting the power supply condition of the battery. The discharge state parameters include, but are not limited to: the lowest voltage of the cells in the battery and the discharge current of the battery.

The battery comprises a plurality of battery cores, the discharge voltage of the battery is determined by the battery core voltage, and the lowest voltage of the battery cores in the battery can well reflect the discharge voltage of the battery, so that the lowest voltage of the battery cores in the battery can be used as an electrical property parameter of the battery, and can also be used as a discharge state parameter of the battery.

Similarly, the battery can obtain the discharge state parameter of the battery through the fuel gauge.

603: detecting whether the discharge state parameters of the battery meet the flight conditions of the aircraft.

In some implementations, the flight condition of the aircraft is that the lowest voltage of the battery cells is greater than a second preset voltage threshold and the discharge current of the battery is greater than a preset current threshold. That is, when it is detected that the lowest voltage of the battery cell in the battery is greater than the second preset voltage threshold and the discharge current of the battery is greater than the preset current threshold, it indicates that the flight condition of the aircraft is satisfied.

It should be noted that the preset current threshold can be set and adjusted as needed to meet the power supply requirements of various batteries. For example, the preset current threshold is 3A, etc.

604: and when the discharging state of the battery is detected to meet the flight condition of the aircraft, determining a state identifier according to the electrical property parameter, wherein the state identifier is used for identifying the battery pressure difference state and a flight control strategy of the aircraft corresponding to the state identifier.

In some implementations, determining a status indicator from the electrical performance parameter upon detecting that the discharge status parameter of the battery satisfies the flight condition of the aircraft may include:

It should be noted that, determining the state identifier according to the electrical performance parameter in the embodiment of the present invention is similar to determining the state identifier according to the electrical performance parameter in the above embodiment, and details of the technique that are not described in detail in the embodiment of the present invention may refer to the detailed description in the above embodiment, so that details are not described here again.

605: and prompting the pressure difference state based on the battery pressure difference state corresponding to the state identifier, and controlling the aircraft to fly based on the flight control strategy corresponding to the state identifier.

It should be noted that step 601 and step 605 in the embodiment of the present invention are similar to step 401 and step 403 in the above embodiment, respectively, and details of the technique not described in detail in the embodiment of the present invention may refer to the detailed description of step 401 and step 403 in the above embodiment, so that details are not described herein again.

It should be noted that, as can be understood by those skilled in the art from the description of the embodiments of the present invention, in different embodiments, the step 601 and the step 605 can have different execution sequences without contradiction, for example, the step 602 is executed first, and then the step 601 is executed; or step 601 and step 602 are performed simultaneously, etc.

Example 3:

fig. 7 is a schematic diagram of an aircraft battery monitoring apparatus according to an embodiment of the present invention. The aircraft battery monitoring device 70 may be applied to monitoring batteries of various types of aircraft, such as unmanned planes, unmanned ships or other mobile devices, and the like. The aircraft battery monitoring device 70 may be configured in any suitable type of battery, such as the battery 10 of FIG. 2.

Referring to fig. 7, the aircraft battery monitoring device 70 comprises: an electrical property parameter obtaining module 701, a discharge state parameter obtaining module 702, a flight detection module 703, a state identifier determining module 704, and a control module 705.

The electrical performance parameter acquiring module 701 is used for acquiring electrical performance parameters of the battery.

In some implementations, the electrical performance parameter acquisition module 701 is connected with the fuel gauge to receive electrical performance parameters of the battery collected by the fuel gauge.

The discharging state parameter acquiring module 702 is configured to acquire a discharging state parameter of the battery.

Wherein, the discharge state parameters include but are not limited to: the lowest voltage of the cells in the battery and the discharge current of the battery.

Similarly, the discharge state parameter acquiring module 702 may acquire the discharge state parameter of the battery through the fuel gauge.

The flight detection module 703 is configured to detect whether the discharge state parameter of the battery satisfies a flight condition of the aircraft.

The flight condition of the aircraft is that the lowest voltage of a battery cell in the battery is larger than a second preset voltage threshold value and the discharge current of the battery is larger than a preset current threshold value. That is, when the flight detection module 703 detects that the lowest voltage of the electric core in the battery is greater than the second preset voltage threshold and the discharge current of the battery is greater than the preset current threshold, it indicates that the flight condition of the aircraft is satisfied.

The state identifier determining module 704 is configured to determine a state identifier according to the electrical performance parameter when the flight detecting module 703 detects that the discharge state of the battery satisfies the flight condition of the aircraft, where the state identifier is used to identify a battery differential pressure state and a flight control strategy of the aircraft.

In some implementations, the state identification determination module 704 is specifically configured to: and when detecting that the lowest voltage of the battery cell in the battery is greater than a second preset voltage threshold and the discharge current of the battery is greater than a preset current threshold, determining a state identifier according to the electrical performance parameter.

In some implementations, the determining the state identifier by the state identifier determining module 704 according to the electrical performance parameter may include: and determining the state identifier according to the voltage range of the lowest voltage of the battery cell in the battery. For example, the lowest voltage of the cells in the battery is in different voltage ranges, and the obtained state identifiers are also different.

the second type state identifier is used for representing that the battery pressure difference is too large, and the flight control strategy of the aircraft is to adjust the flight state parameters of the aircraft; and the flight state parameters are used for controlling the aircraft to return or force to land. In some implementations, the state identifier determining module 704 determines, according to a voltage range in which the lowest voltage of the battery cells in the battery is located, that the state identifier:

In some implementations, the first type of status identification includes, but is not limited to: a first state identification and a second state identification; the second type state identification includes but is not limited to: a third state identification and a fourth state identification.

In some implementations, if it is detected that the lowest voltage of the battery cells in the battery is greater than a first preset voltage threshold, and it is detected that the battery cycle number and the battery cell voltage difference satisfy preset conditions, the determining module 704 determines that the state identifier is a first type state identifier, including:

and when the lowest voltage of the battery cell in the battery is greater than a first preset voltage threshold value, and the battery cycle number and the battery cell pressure difference of the battery meet any one of the fourth preset condition or the fifth preset condition, determining that the state identifier is a second state identifier, so that the battery pressure difference is displayed to be overlarge based on the second state identifier, and the flight power of the aircraft is adjusted. For example, the maximum power of the aircraft is adjusted to not more than 1.5 times the hover power, primarily because the hover power is the minimum power at which the aircraft can achieve flight.

Similarly, if it is detected that the lowest voltage of the electric cores in the battery is less than or equal to a first preset voltage threshold and greater than a second preset voltage threshold, and it is detected that the cycle number of the battery and the cell voltage difference of the battery meet preset conditions, the state identifier determining module 704 determines that the state identifier is a second type state identifier, including:

The control module 705 is configured to prompt a differential pressure state based on the battery differential pressure state corresponding to the state identifier, and control the flight of the aircraft based on the flight control strategy corresponding to the state identifier.

For example, the control module 705 generates a corresponding control command based on the status identifier and sends the control command to the flight control system to control the flight of the aircraft.

In some other embodiments, control module 705 may also control the flight of the aircraft with other devices having logic processing capabilities.

Therefore, the control module 705 is specifically configured to:

It should be noted that in some other embodiments, the discharge state parameter acquiring module 702 and/or the flight detection module 703 are not essential modules of the aircraft battery monitoring device 70, that is, in some other embodiments, the discharge state parameter acquiring module 702 and/or the flight detection module 703 may be omitted. For example, in some embodiments, the aircraft battery monitoring device 70 may not include the discharge state parameter acquisition module 702 and/or the flight detection module 703.

It should be further noted that, in the embodiment of the present invention, the aircraft battery monitoring device 70 may execute the aircraft battery monitoring method provided in the embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details which are not described in detail in the exemplary embodiment of the aircraft battery monitoring device 70, reference is made to the aircraft battery monitoring method provided by the exemplary embodiment of the invention.

Example 4:

fig. 8 is a schematic diagram of a hardware structure of a battery provided by an embodiment of the present invention, wherein the battery may be various types of batteries, such as a lithium battery, a nickel-cadmium battery, or other storage batteries. As shown in fig. 8, the battery 80 includes:

the battery pack 801 comprises at least two battery cells connected in series and/or in parallel; one or more processors 802 connected with the electric core group 801; and a memory 803, illustrated in fig. 8 as one processor 802.

The processor 802 and the memory 803 may be connected by a bus or other means, such as by a bus in FIG. 8.

The memory 803, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the aircraft battery monitoring method in the embodiment of the present invention (for example, the electrical performance parameter obtaining module 701, the discharge state parameter obtaining module 702, the flight detection module 703, the state identifier determining module 704, and the control module 705 shown in fig. 7). The processor 802 executes various functional applications of the battery 80 and data processing, i.e., implements the aircraft battery monitoring method of the method embodiments, by executing non-volatile software programs, instructions, and modules stored in the memory 803.

The memory 803 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the battery 80, and the like.

Further, the memory 803 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 803 may optionally include memory located remotely from the processor 802, which may be connected to the flight control system via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 803 and, when executed by the one or more processors 802, perform the aircraft battery monitoring method of any of the method embodiments, e.g., performing the method steps 401 through 403 of FIG. 4 described above, implementing the functions of the module 701-705 of FIG. 7.

The battery 80 can execute the aircraft battery monitoring method provided by the method embodiment, and has corresponding functional modules and beneficial effects of the execution method. For technical details which are not described in detail in the battery embodiment, reference is made to the aircraft battery monitoring method provided in the method embodiment.

Embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the aircraft battery monitoring method as described above. For example, the above-described method steps 401 to 403 in fig. 4 are executed to implement the functions of the modules 701 and 705 in fig. 7.

Embodiments of the present invention provide a non-transitory computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform an aircraft battery monitoring method as described above. For example, the above-described method steps 401 to 403 in fig. 4 are executed to implement the functions of the modules 701 and 705 in fig. 7.

Example 5:

fig. 9 is a schematic view of an aircraft provided by an embodiment of the present invention, where the aircraft 90 includes: fuselage (not shown), battery 91, flight control system 92. Wherein, the flight control system 92 and the battery 91 are arranged on the fuselage, and the battery 91 is connected with the flight control system 92. The battery 91 may be the battery 80 described above.

Communication connection is established between the battery 91 and the flight control system 92, so that the battery 91 sends a state identifier to the flight control system 92, the flight control system 92 performs pressure difference state prompting based on the battery pressure difference state corresponding to the state identifier, and controls the aircraft 90 to fly based on the flight control strategy corresponding to the state identifier.

Among these, the aircraft 90 includes, but is not limited to: unmanned aerial vehicles or unmanned ships, etc. In addition, the specific structure of the aircraft 90 may refer to the structure of the drone 100' described above.

In the embodiment of the present invention, the battery 91 may implement an advanced prediction to give an identifier of a corresponding battery differential pressure state and a flight control strategy when monitoring the aircraft battery differential pressure, so as to perform flight control on the aircraft based on the identifier. By the method, the requirements on the flight skill and the flight experience of the user can be reduced, the manual judgment time can be saved, and the judgment accuracy is improved, so that the risk of aircraft explosion is effectively reduced, and the safety of the aircraft is improved.

It should be noted that the above-described device embodiments are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes in the methods for implementing the embodiments may be implemented by hardware associated with computer program instructions, and the programs may be stored in a computer readable storage medium, and when executed, may include processes of the embodiments of the methods as described. The storage medium may be a Read-Only Memory (ROM) or a Random Access Memory (RAM).

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An aircraft battery monitoring method, the method comprising:

acquiring electrical performance parameters of the battery, wherein the electrical performance parameters comprise battery cycle times, lowest voltage of electric cores in the battery and differential pressure of the electric cores in the battery;

determining state identification according to the electrical performance parameters, wherein the state identification comprises a first state identification, a second state identification, a third state identification and a fourth state identification;

when the lowest voltage of a battery cell in the battery is greater than a first preset voltage threshold value, and the battery cycle number and the battery cell pressure difference of the battery meet any one of a first preset condition, a second preset condition or a third preset condition, determining that the state identifier is a first state identifier, and the flight control strategy corresponding to the first state identifier is to perform cautious flight prompting, wherein the first preset condition is that the battery cycle number is greater than a first time threshold value and less than or equal to a second time threshold value, and the battery cell pressure difference of the battery is greater than a first pressure difference threshold value, the second preset condition is that the battery cycle number is greater than a second time threshold value and less than or equal to a third time threshold value, and the battery cell pressure difference of the battery is greater than a second pressure difference threshold value, and the third preset condition is that the battery cycle number is greater than a third time threshold value and less than or equal to a fourth time threshold value, the cell voltage difference of the battery is greater than a third voltage difference threshold value;

when the lowest voltage of a battery cell in the battery is greater than a first preset voltage threshold, and the battery cycle number and the battery cell pressure difference of the battery meet any one of a fourth preset condition or a fifth preset condition, determining that the state identifier is a second state identifier, wherein a flight control strategy corresponding to the second state identifier is to adjust the flight power of the aircraft, the fourth preset condition is that the battery cycle number is greater than a fourth number threshold and less than or equal to a fifth number threshold, the battery cell pressure difference of the battery is greater than a fourth pressure difference threshold, the fifth preset condition is that the battery cycle number is greater than the fifth number threshold, and the battery cell pressure difference of the battery is greater than the fifth pressure difference threshold;

when the lowest voltage of a battery cell in the battery is smaller than or equal to a first preset voltage threshold and larger than a second preset voltage threshold, and the battery cycle number and the battery cell voltage difference of the battery meet any one of the first preset condition, the second preset condition or a third preset condition, determining that the state identifier is a third state identifier, and determining that the flight control strategy corresponding to the third state identifier is return flight;

when the lowest voltage of a battery cell in the battery is smaller than or equal to a first preset voltage threshold and larger than a second preset voltage threshold, and the battery cycle number and the battery cell voltage difference of the battery meet any one of a fourth preset condition or a fifth preset condition, determining that the state identifier is a fourth state identifier, and determining that a flight control strategy corresponding to the fourth state identifier is forced landing;

2. The method of claim 1,

the state identification is used for representing that the battery pressure difference is too large.

3. The method of claim 2, wherein the pressure difference threshold value in each preset condition is associated with a corresponding number threshold value, wherein the larger the pressure difference threshold value is, the larger the corresponding number threshold value is.

4. A method according to any of claims 1-3, wherein prior to determining a state identity from the electrical property parameter, the method further comprises:

acquiring discharge state parameters of the battery;

5. The method of claim 4, wherein the discharge state parameters comprise: the lowest voltage of the cells in the battery and the discharge current of the battery.

6. The method of claim 5, wherein determining a status indicator based on the electrical performance parameter upon detecting that the discharge status parameter of the battery satisfies the flight condition of the aircraft comprises:

7. The method of claim 1, wherein prompting based on the battery pressure difference state corresponding to the state identifier and controlling the aircraft to fly based on the flight control strategy corresponding to the state identifier comprises:

8. An aircraft battery monitoring device, the device comprising:

the electrical performance parameter acquisition module is used for acquiring electrical performance parameters of the battery, wherein the electrical performance parameters comprise battery cycle times, lowest voltage of battery cells in the battery and differential pressure of the battery cells in the battery;

the state identification determining module is used for determining state identifications according to the electrical performance parameters, and the state identifications comprise a first state identification, a second state identification, a third state identification and a fourth state identification;

9. The apparatus of claim 8, wherein the status indicator is used to indicate that the battery voltage difference is too large.

10. The apparatus of claim 9, wherein the pressure difference threshold value in each preset condition is associated with a corresponding number threshold value, wherein the larger the pressure difference threshold value is, the larger the corresponding number threshold value is.

11. The apparatus according to any one of claims 8-10, further comprising:

then, the state identifier determining module is specifically configured to:

12. The apparatus of claim 11, wherein the discharge state parameters comprise: the lowest voltage of the cells in the battery and the discharge current of the battery.

13. The apparatus of claim 12, wherein the state identifier determining module is specifically configured to:

14. The apparatus of claim 8, wherein the control module is specifically configured to:

15. A battery, comprising:

at least one processor connected with the electric core group; and

a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. An aircraft, comprising: fuselage, flight control system and battery, flight control system with the battery set up in the fuselage, its characterized in that, the battery be claim 15 the battery, the battery with flight control system connects to send the state sign to flight control system, flight control system is according to the battery pressure difference state that the state sign corresponds carries out the suggestion of pressure difference state, and based on the flight control strategy control that the state sign corresponds the aircraft flies.