CN111711233A - Unmanned aerial vehicle automatic charging system and method for multi-rotor unmanned aerial vehicle - Google Patents

Unmanned aerial vehicle automatic charging system and method for multi-rotor unmanned aerial vehicle Download PDF

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Publication number
CN111711233A
CN111711233A CN202010479048.0A CN202010479048A CN111711233A CN 111711233 A CN111711233 A CN 111711233A CN 202010479048 A CN202010479048 A CN 202010479048A CN 111711233 A CN111711233 A CN 111711233A
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Prior art keywords
charging
battery
voltage
circuit
current
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Chinese (zh)
Inventor
郗小鹏
陈帅
陈永健
张勇
赵利娟
朱亚东
张令军
曹蕊
徐晓旭
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Tianjin Aerospace Zhongwei Date Systems Technology Co Ltd
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Tianjin Aerospace Zhongwei Date Systems Technology Co Ltd
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Priority to CN202010479048.0A priority Critical patent/CN111711233A/en
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0013Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
    • H02J7/0014Circuits for equalisation of charge between batteries
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14Conductive energy transfer
    • B60L53/16Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/18Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
    • B60L58/22Balancing the charge of battery modules
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/00302Overcharge protection
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0045Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007Regulation of charging or discharging current or voltage
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00Type of vehicles
    • B60L2200/10Air crafts
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/80Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/92Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/14Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Secondary Cells (AREA)

Abstract

The invention provides an unmanned aerial vehicle automatic charging system of a multi-rotor unmanned aerial vehicle, which comprises a power conversion module and an overcharge protection module, the power conversion module comprises a first processor, an input voltage detection circuit, a battery voltage detection circuit, a charging and discharging current detection circuit and a BUCK-BOOST circuit, the first processor is connected with the input voltage detection circuit, the battery voltage detection circuit, the charging and discharging current detection circuit and the BUCK-BOOST circuit, the overcharge protection module comprises a second processor, an overcharge protection circuit and a single battery equalization and detection circuit, the second processor is connected with a single battery balancing and detecting circuit, one end of the overcharge protecting circuit is connected with the power conversion module through an electrode, and the other end of the single battery balancing and detecting circuit and the other end of the overcharge protecting circuit are both used for connecting a lithium battery. The invention has the beneficial effects that: the homing precision of the unattended platform is reduced, and the operability of engineering practice is improved.

Description

Unmanned aerial vehicle automatic charging system and method for multi-rotor unmanned aerial vehicle
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle charging, and particularly relates to an unmanned aerial vehicle automatic charging system and method of a multi-rotor unmanned aerial vehicle.
Background
The unmanned system consists of an unmanned platform, a rotor unmanned aerial vehicle and a remote monitoring terminal. Unmanned on duty platform opens the hatch door when remote monitoring terminal sends and carries out the task of patrolling and examining, and elevating system risees unmanned aerial vehicle to unmanned on duty platform take off and land plane, waits to possess the state back unmanned aerial vehicle and begins the automatic task of patrolling and examining of carrying out, and unmanned aerial vehicle descends to unmanned on duty platform when the task of patrolling and examining finishes in, realizes the automatic collection of unmanned aerial vehicle through a series of playback, group oar logic. The charging is completed by the contact of a multi-rotor unmanned aerial vehicle end lithium battery charging electrode and an unmanned aerial vehicle on-duty platform charging electrode in the descending and collection process of the unmanned aerial vehicle.
At present, a contact electrode charging method is mostly adopted in a multi-rotor unmanned system charging mode, constant-voltage and constant-current charging is completed through a lithium battery charging module, and the balancing function of lithium battery charging is removed due to the limitation of wiring complexity. The multi-rotor unmanned aerial vehicle power battery is generally formed by connecting single batteries in series, the problem of consistency of the battery pack is more prominent along with increase of the using times of the battery pack, and the function of the balancing function of the single batteries is more obvious. Whether the battery is in a healthy state cannot be effectively judged by simply depending on the total voltage of the battery, and the possibility that part of the single batteries are low in voltage and part of the single batteries are high in voltage still exists after the total voltage of the battery pack reaches the charge cut-off voltage, so that the flying safety is not facilitated; most of charging systems installed on the unattended system are simply transformed lithium battery chargers or low-power lithium battery charging chips, although the charging function can be completed, the interactivity of charging process data and the system is low. The initial charging voltage, the charging current, the charging capacity, the charging time and the abnormal charging state of the battery in the charging system cannot be fed back to the unattended system in real time in an interactive mode, and effective data support cannot be decided for a user. When a multi-rotor unmanned aerial vehicle battery power failure occurs, charging historical data cannot be read, and power system problem troubleshooting is not facilitated; and the lithium cell on many rotor unmanned aerial vehicle is mostly the 12S lithium cell that 6S lithium cell or two 6S lithium cells establish ties and constitute generally. When the multi-rotor unmanned system is designed, the charging system provided for the product type spectrum of the multi-rotor unmanned aerial vehicle may have inconsistency, even if the 12S lithium battery charger can support 6S lithium battery charging through setting, and the cost and the technical state based on the charging system still do not reach the optimal configuration. When the lithium battery changes when the multi-rotor unmanned aerial vehicle product power system is upgraded, the scheme design and the reliability test of the charging system need to be carried out again.
Disclosure of Invention
In view of this, the present invention aims to provide an automatic charging system and method for a multi-rotor unmanned aerial vehicle, so as to solve the above-mentioned problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an unmanned aerial vehicle automatic charging system of a multi-rotor unmanned aerial vehicle comprises a power conversion module and an overcharge protection module, wherein the power conversion module comprises a first processor, an input voltage detection circuit, a battery voltage detection circuit, a charge-discharge current detection circuit and a BUCK-BOOST circuit, the input end of the first processor is connected with the input voltage detection circuit, the battery voltage detection circuit and the charge-discharge current detection circuit, the output end of the first processor is connected with the BUCK-BOOST circuit, the overcharge protection module comprises a second processor, an overcharge protection circuit and a single battery equalization and detection circuit, the second processor is connected with the single battery equalization and detection circuit, one end of the overcharge protection circuit is connected with the power conversion module through an electrode, and the other end of the single battery equalization and detection circuit and the other end of the overcharge protection circuit are both used for connecting a lithium battery, the power conversion module is also connected to the lithium battery through an electrode.
Furthermore, the power conversion module further comprises a ferroelectric memory, a fan control circuit, an RS485 communication circuit and an LED indicator lamp control circuit which are all connected with the first processor.
The application also provides an automatic charging method for the unmanned aerial vehicle of the multi-rotor unmanned aerial vehicle system, which comprises the following steps:
A. after the system is powered on, the first processor detects the electrode voltage on the unattended platform and judges whether the battery exists or not through the electrode voltage;
if the electrode voltage is detected to be zero, the electrode is not contacted, the battery does not exist, and the detection process is executed in a circulating mode until the electrode voltage is detected to exist; if the electrode voltage is detected to exist, entering a discharge detection stage of 50mA current, wherein the discharge detection period is 20ms, and after 50 times of discharge detection, if the electrode voltage is still greater than the lower limit voltage of the battery, judging that the voltage is not residual voltage of an output capacitor of the BUCK-BOOST circuit, and judging that the battery exists;
if the electrode voltage after discharge detection is still less than the lower limit voltage of the battery, the charging detection stage of 200mA is entered, the charging detection period is 20ms, and after 50 times of charging detection, if the electrode voltage is still less than the lower limit voltage threshold of the battery, the existence of the battery and the lower voltage of the battery are detected, otherwise, the battery does not exist.
B. If the battery is detected to exist, the battery enters a pre-charging mode or a constant current charging mode according to the voltage of the battery;
C. in the pre-charging mode, the battery is pre-charged by 2A current, the pre-charging timing is started at the same time, the input voltage, the battery voltage, the charging current and the temperature need to be judged every time the pre-charging program is executed, the pre-charging can be carried out when the conditions that the input voltage setting threshold, the battery voltage setting threshold, no current detection abnormity and the temperature rise is more than 30 ℃ are met, and otherwise, the current charging is finished and the alarm is given; entering a 20A constant current charging stage when the battery voltage is detected to be higher than a pre-charging threshold within the pre-charging timing time; when the battery does not reach the pre-charging threshold voltage after the pre-charging time is exceeded, pre-charging overtime alarm is carried out;
D. entering a constant-voltage charging stage when the battery voltage is detected to be higher than a constant-voltage charging threshold within the constant-current charging timing time; when the battery does not reach the pre-charging threshold voltage after the constant current charging time, performing constant current charging overtime alarm;
E. in the constant voltage charging stage, the charging current is gradually reduced along with the charging process, and the charging is stopped when the charging current is less than the set termination current.
Further, data recording is carried out on the charging initial state and the charging process fault state in the whole charging process of the battery, and the recording process is as follows:
a. reading the directory frame after detecting the battery;
b. whether the frame recording address is the last frame data recording address or not; if yes, jumping the data address to the first address of the data record, and entering the step c; if not, increasing the length byte number of the data frame by the address, and entering the step c;
c. recording charging parameters;
d. judging whether the charging process is abnormal or not, if so, re-entering the step a; if not, judging whether the charging is finished or not, if so, re-entering the step a, and if not, repeating the step d.
Further, after the overcharge protection is performed in the whole charging process of the battery and the overcharge protection module is powered on, the steps are as follows:
s1, initializing a system after the system is powered on;
s2, regularly reading voltage data of the battery monomer;
s3, judging whether the battery voltage is greater than the equilibrium voltage or not; if yes, turn on the equalization control, go to step S4; if not, the equalization control is turned off, and the process proceeds to step S2;
s4, judging whether the battery voltage is larger than the overcharge voltage, if so, opening overcharge protection, and entering step S2; if not, the overcharge protection is turned off and the process proceeds to step S2.
Compared with the prior art, the unmanned aerial vehicle automatic charging system of the multi-rotor unmanned aerial vehicle system has the following advantages:
according to the unmanned aerial vehicle automatic charging system and method of the multi-rotor unmanned aerial vehicle, the number of the unmanned aerial vehicle on-duty platform and the number of the multi-rotor unmanned aerial vehicle charging electrodes are reduced from 9 pairs of electrodes (2 pairs of charging electrodes and 7 pairs of balancing electrodes) to 2 pairs of charging electrodes through the design of the power conversion module and the overcharge protection module, the unmanned aerial vehicle can complete the charging function only by aligning 2 pairs of charging electrodes when the unmanned aerial vehicle automatically returns, the returning precision of the unmanned aerial vehicle is reduced, and the operability of engineering practice is improved. The device is equipped with overcharge protection module and is connected with group battery balance plug, battery power supply line inside unmanned aerial vehicle for the device possesses overcharge protection, battery cell balance function, has optimized group battery balance plug extension cable simultaneously and has made the inside cable of unmanned aerial vehicle more succinct. The power conversion module can perform primary overcharge protection on the total voltage of the 6S battery pack, and the overcharge protection module performs secondary overcharge protection on the single battery, so that the charging safety is effectively ensured.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of an automatic charging system of an unmanned aerial vehicle of a multi-rotor unmanned aerial vehicle system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an input voltage detection circuit according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a charge/discharge current detection circuit according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a BUCK-BOOST circuit according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an RS485 communication circuit according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a fan control circuit according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a single battery equalization and detection circuit according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an overcharge protection circuit according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a first processor circuit according to an embodiment of the invention;
FIG. 10 is a schematic diagram of a second processor circuit according to an embodiment of the invention;
fig. 11 is a battery detection flow chart in an automatic charging method for a multi-rotor unmanned aerial vehicle system according to an embodiment of the present invention;
fig. 12 is a flow chart illustrating automatic battery charging in an automatic charging method for a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;
fig. 13 is a flowchart illustrating data storage and recording in an automatic charging method for an unmanned aerial vehicle with a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;
fig. 14 is a flowchart illustrating overcharge protection in an automatic charging method for a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the system or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, an automatic charging system of unmanned aerial vehicle with multi-rotor unmanned aerial vehicle comprises a power conversion module and an overcharge protection module, wherein the power conversion module comprises a first processor, an input voltage detection circuit, a battery voltage detection circuit, a charge-discharge current detection circuit and a BUCK-BOOST circuit, the input end of the first processor is connected with the input voltage detection circuit, the battery voltage detection circuit and the charge-discharge current detection circuit, the output end of the first processor is connected with the BUCK-BOOST circuit, the overcharge protection module comprises a second processor, an overcharge protection circuit and a single battery equalization and detection circuit, the second processor is connected with the single battery equalization and detection circuit, one end of the overcharge protection circuit is connected with the power conversion module through an electrode, and the other end of the single battery equalization and detection circuit and the other end of the overcharge protection circuit are both used for connecting a lithium battery, the power conversion module is also connected to the lithium battery through an electrode.
The power conversion module further comprises a ferroelectric memory, a fan control circuit, an RS485 communication circuit and an LED indicator lamp control circuit which are all connected with the first processor.
As shown in fig. 2, the input voltage detection circuit uses a differential circuit composed of operational amplifiers to perform scaling on the input voltage, converts the detected voltage into a voltage of 0-3V to meet the requirement of the AD acquisition range of the first processor, and the circuit design uses a bidirectional clamp diode to protect the ADC interface in the first processor chip. The design principle of the battery voltage detection circuit is the same as that of the input voltage detection circuit, and therefore, the detailed description is omitted here. The output voltage of the BUCK-BOOST circuit can be subjected to closed-loop control through the input voltage detection circuit and the battery voltage detection circuit.
As shown in fig. 3, the charging and discharging current detection circuit adopts a method of indirectly detecting current by parallelly connecting 2 20m Ω constantan wire resistors and sampling voltage, and the circuit realizes current collection by adopting an in-phase proportional amplification circuit composed of operational amplifiers. In order to meet the requirements of charging and discharging batteries, the circuit provides a 0.9V bias reference for the in-phase proportional amplifying circuit in a voltage following mode of an operational amplifier to realize the bidirectional detection of charging current and discharging current, and meanwhile, the acquisition precision of an ADC (analog to digital converter) in the first processor is effectively improved.
As shown in FIG. 4, the BUCK-BOOST circuit adopts the power conversion realized by the bridge circuit composed of four MOSFETs, the device adopts the BUCK function realized by the four-switch BUCK-BOOST circuit, and the three MOSFETs are controlled to be switched on and off according to the switching-on logic of the BUCK circuit so as to realize the charging of the lithium battery. The MOSFET is driven by a special chip, the MOSFET of the high bridge is driven by a bootstrap drive mode, the U14 applies bias voltage through a bootstrap capacitor C33, BHS is low level when U14 is turned off and U16 is turned on, and a power supply VCC12V charges the bootstrap capacitor through two poles. The synchronous BUCK function is realized by complementary conduction of U14 and U16, and U15 is kept normally conducted to provide a path for the voltage output of the BUCK circuit. And the condition that the low-bridge MOSFET is conducted by mistake due to voltage transient at the starting moment of the high bridge is restrained by the low-bridge end MOSFET through the parallel RC network. The MOSFET is a main current passing part, and the heat dissipation part adopts a mode that the MOSFET which is directly inserted makes the back metal contact the heat dissipation plate through 90-degree bending to realize rapid heat transfer.
As shown in fig. 5, the RS485 communication circuit adopts a magnetic isolation manner to isolate the external communication circuit from the charging part circuit. The partial circuit supplies power through external 5V, 2 sets of automatic charging devices can be hung on the same RS485 bus by adopting an isolated RS485 communication interface, and isolated communication between the equipment and the charging devices is realized.
As shown in fig. 6, the fan control circuit controls the triode switch circuit through the temperature rise information of the temperature sensor to realize the start and stop control of the fan. The current-limiting protection measure is adopted for preventing abnormal fan power supply of the charging device circuit caused by the short-circuit fault of the fan.
As shown in fig. 7, the single battery equalization and detection circuit uses an analog switch to gate the single battery voltage acquisition circuit in a time-sharing manner, and the voltage detection of the single battery is realized by the equidirectional proportional amplification circuit. The voltage acquisition consistency problem caused by ADC offset errors and linear errors in different STM32F4 processors is effectively avoided by the mode of analog switch time-sharing gating battery voltage acquisition. The battery monomer voltage balancing part adopts a mode that a switching triode controls a high-power triode to work in a linear region, and meanwhile, 6 paths of high-power triodes are bent by 90 degrees to enable back metal to be in contact with a radiating fin for forced heat radiation.
As shown in fig. 8, the overcharge protection circuit implements the control function of the charge circuit by controlling the N-channel MOSFET with an NPN transistor. When the unbalance of the single battery caused by the charging current exceeds the balancing capacity of the overcharge protection module in the charging process, the triode is turned on at the moment, the MOSFET can be turned off, the negative electrode charging loop is cut off, and further the single battery is balanced further.
As shown in fig. 9, which is a schematic diagram of the first processor, the first processor mainly performs functions of input voltage, battery voltage, charging/discharging current, data state reporting, fan control, and the like. As shown in fig. 10, which is a schematic diagram of the second processor, the second processor collects cell voltages, performs equalization control according to the cell voltages, and performs an overcharge protection function according to cell voltage information.
The first processor and the second processor are both STM32F4 processors.
As shown in fig. 11 and 12, the present application further provides an automatic charging method for a multi-rotor unmanned aerial vehicle, including the following steps:
A. after the system is powered on, the first processor detects the electrode voltage on the unattended platform and judges whether the battery exists or not through the electrode voltage;
if the electrode voltage is detected to be zero, the electrode is not contacted, the battery does not exist, and the detection process is executed in a circulating mode until the electrode voltage is detected to exist; if the electrode voltage is detected to exist, entering a discharge detection stage of 50mA current, wherein the discharge detection period is 20ms, and after 50 times of discharge detection, if the electrode voltage is still greater than the lower limit voltage of the battery, judging that the voltage is not residual voltage of an output capacitor of the BUCK-BOOST circuit, and judging that the battery exists;
if the electrode voltage after discharge detection is still less than the lower limit voltage of the battery, the charging detection stage of 200mA is entered, the charging detection period is 20ms, and after 50 times of charging detection, if the electrode voltage is still less than the lower limit voltage threshold of the battery, the existence of the battery and the lower voltage of the battery are detected, otherwise, the battery does not exist.
B. If the battery is detected to exist, the battery enters a pre-charging mode or a constant current charging mode according to the voltage of the battery;
C. in the pre-charging mode, the battery is pre-charged by 2A current, the pre-charging timing is started at the same time, the pre-charging conditions such as input voltage, battery voltage, charging current and temperature need to be judged every time a pre-charging program is executed, the pre-charging can be carried out when the conditions that the input voltage is set to be a threshold, the battery voltage is set to be a threshold, no current detection is abnormal and the temperature rise is more than 30 ℃, and otherwise, the current charging is finished and the alarm is given; entering a 20A constant current charging stage when the battery voltage is detected to be higher than a pre-charging threshold within the pre-charging timing time; when the battery does not reach the pre-charging threshold voltage after the pre-charging time is exceeded, pre-charging overtime alarm is carried out;
D. entering a constant-voltage charging stage when the battery voltage is detected to be higher than a constant-voltage charging threshold within the constant-current charging timing time; when the battery does not reach the pre-charging threshold voltage after the constant current charging time, performing constant current charging overtime alarm;
E. in the constant voltage charging stage, the charging current is gradually reduced along with the charging process, and the charging is stopped when the charging current is less than the set termination current.
As shown in fig. 13, data recording is performed on the initial charging state and the fault state during the charging process during the whole charging process of the battery, the system externally expands 16384 byte memories, the whole memory is divided into a directory frame and a data frame, the length of the directory frame is 16 bytes of data, the initial address is fixed to 0x00, the first address of the 2 bytes of data frame is recorded in the directory frame, and the data frame storage address can be obtained in an address index manner; the data frame occupies 16368 bytes of data, the length of the data frame is 24 bytes, and the memory can store 682 groups of data; data recording is carried out on the initial charging state and the fault state in the charging process in the whole charging process, so that the historical data can be conveniently analyzed; and after the data frame storage area is full of records, jumping to the data frame starting address for covering data storage, and ensuring that the data frame in the memory is 682 groups of data which are stored latest.
The recording process is as follows:
a. reading the directory frame after detecting the battery;
b. whether the frame recording address is the last frame data recording address or not; if yes, jumping the data address to the first address of the data record, and entering the step c; if not, increasing the length byte number of the data frame by the address, and entering the step c;
c. recording charging parameters;
d. judging whether the charging process is abnormal or not, if so, re-entering the step a; if not, judging whether the charging is finished or not, if so, re-entering the step a, and if not, repeating the step d.
As shown in fig. 14, after the overcharge protection is performed during the entire charging process of the battery, and the overcharge protection module is powered on, the cell voltage is connected to the same AD interface in the second processor chip in an analog switch gating manner, and the second processor reads the cell voltage information at regular time. When the voltage of the battery monomer is greater than the equalizing voltage, the voltages of the 6 battery monomers are judged, the triode with the too high voltage of the battery monomer is turned on to perform passive equalization to reduce the charging speed, and at the same time, if the voltage of the battery monomer is greater than the overcharge voltage, the overcharge protection function is turned on. The overcharge protection function is turned off when the cell voltage is less than the overcharge protection voltage. The method comprises the following steps:
s1, initializing a system after the system is powered on;
s2, regularly reading voltage data of the battery monomer;
s3, judging whether the battery voltage is greater than the equilibrium voltage or not; if yes, turn on the equalization control, go to step S4; if not, the equalization control is turned off, and the process proceeds to step S2;
s4, judging whether the battery voltage is larger than the overcharge voltage, if so, opening overcharge protection, and entering step S2; if not, the overcharge protection is turned off and the process proceeds to step S2.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (5)

1. The utility model provides an automatic charging system of unmanned on duty system unmanned aerial vehicle of many rotors, its characterized in that: comprises a power conversion module and an overcharge protection module, wherein the power conversion module comprises a first processor, an input voltage detection circuit, a battery voltage detection circuit, a charge-discharge current detection circuit and a BUCK-BOOST circuit, the input end of the first processor is connected with the input voltage detection circuit, the battery voltage detection circuit and the charging and discharging current detection circuit, the output end is connected with the BUCK-BOOST circuit, the overcharge protection module comprises a second processor, an overcharge protection circuit and a single battery equalization and detection circuit, the second processor is connected with a single battery balancing and detecting circuit, one end of the overcharge protecting circuit is connected with the power conversion module through an electrode, the other end of the single battery balancing and detecting circuit and the other end of the overcharge protecting circuit are both used for being connected with a lithium battery, and the power conversion module is further connected to the lithium battery through an electrode.
2. The automatic charging system of many rotors unmanned on duty system unmanned aerial vehicle of claim 1, characterized in that: the power conversion module further comprises a ferroelectric memory, a fan control circuit, an RS485 communication circuit and an LED indicator lamp control circuit which are all connected with the first processor.
3. A method for the automatic charging system of the unmanned aerial vehicle with the multi-rotor unmanned aerial vehicle system according to claim 1, comprising the following steps:
A. after the system is powered on, the first processor detects the electrode voltage on the unattended platform and judges whether the battery exists or not through the electrode voltage;
if the electrode voltage is detected to be zero, the electrode is not contacted, the battery does not exist, and the detection process is executed in a circulating mode until the electrode voltage is detected to exist; if the electrode voltage is detected to exist, entering a discharge detection stage of 50mA current, wherein the discharge detection period is 20ms, and after 50 times of discharge detection, if the electrode voltage is still greater than the lower limit voltage of the battery, judging that the voltage is not residual voltage of an output capacitor of the BUCK-BOOST circuit, and judging that the battery exists;
if the electrode voltage after discharge detection is still less than the lower limit voltage of the battery, the charging detection stage of 200mA is entered, the charging detection period is 20ms, and after 50 times of charging detection, if the electrode voltage is still less than the lower limit voltage threshold of the battery, the existence of the battery and the lower voltage of the battery are detected, otherwise, the battery does not exist.
B. If the battery is detected to exist, the battery enters a pre-charging mode or a constant current charging mode according to the voltage of the battery;
C. in the pre-charging mode, the battery is pre-charged by 2A current, the pre-charging timing is started at the same time, the input voltage, the battery voltage, the charging current and the temperature need to be judged every time the pre-charging program is executed, the pre-charging can be carried out when the conditions that the input voltage setting threshold, the battery voltage setting threshold, no current detection abnormity and the temperature rise is more than 30 ℃ are met, and otherwise, the current charging is finished and the alarm is given; entering a 20A constant current charging stage when the battery voltage is detected to be higher than a pre-charging threshold within the pre-charging timing time; when the battery does not reach the pre-charging threshold voltage after the pre-charging time is exceeded, pre-charging overtime alarm is carried out;
D. entering a constant-voltage charging stage when the battery voltage is detected to be higher than a constant-voltage charging threshold within the constant-current charging timing time; when the battery does not reach the pre-charging threshold voltage after the constant current charging time, performing constant current charging overtime alarm;
E. in the constant voltage charging stage, the charging current is gradually reduced along with the charging process, and the charging is stopped when the charging current is less than the set termination current.
4. The method of claim 3, wherein the initial charging state and the fault state of the charging process are recorded during the whole charging process of the battery, and the recording process is as follows:
a. reading the directory frame after detecting the battery;
b. whether the frame recording address is the last frame data recording address or not; if yes, jumping the data address to the first address of the data record, and entering the step c; if not, increasing the length byte number of the data frame by the address, and entering the step c;
c. recording charging parameters;
d. judging whether the charging process is abnormal or not, if so, re-entering the step a; if not, judging whether the charging is finished or not, if so, re-entering the step a, and if not, repeating the step d.
5. The method of claim 3, wherein the overcharge protection is performed during the entire charging process of the battery, and after the overcharge protection module is powered up, the steps are as follows:
s1, initializing a system after the system is powered on;
s2, regularly reading voltage data of the battery monomer;
s3, judging whether the battery voltage is greater than the equilibrium voltage or not; if yes, turn on the equalization control, go to step S4; if not, the equalization control is turned off, and the process proceeds to step S2;
s4, judging whether the battery voltage is larger than the overcharge voltage, if so, opening overcharge protection, and entering step S2; if not, the overcharge protection is turned off and the process proceeds to step S2.
CN202010479048.0A 2020-05-29 2020-05-29 Unmanned aerial vehicle automatic charging system and method for multi-rotor unmanned aerial vehicle Pending CN111711233A (en)

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