CN113682481B - Battery management method and device and unmanned aerial vehicle - Google Patents

Battery management method and device and unmanned aerial vehicle Download PDF

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Publication number
CN113682481B
CN113682481B CN202110886691.XA CN202110886691A CN113682481B CN 113682481 B CN113682481 B CN 113682481B CN 202110886691 A CN202110886691 A CN 202110886691A CN 113682481 B CN113682481 B CN 113682481B
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battery pack
battery
charging
unmanned aerial
aerial vehicle
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CN113682481A (en
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秦威
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Priority to PCT/CN2022/110087 priority patent/WO2023011556A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
    • B64D27/02—Aircraft characterised by the type or position of power plant
    • B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION 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
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/62—Monitoring or controlling charging stations in response to charging parameters, e.g. current, voltage or electrical charge
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION 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
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Abstract

The embodiment of the invention relates to the technical field of charging, in particular to a battery management method and device and an unmanned aerial vehicle. The invention provides a battery management method, a device and an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring the electric quantity of each battery; obtaining the electric quantity difference of the battery pack according to the electric quantity of each battery; if the electric quantity difference of the battery pack is smaller than or equal to a preset voltage difference, canceling the detection of an in-place signal of the battery pack and opening each charging switch so as to charge the battery pack, wherein the detection of the in-place signal is used for determining whether the battery pack is correctly installed on the unmanned aerial vehicle; if the battery pack is charged, a charging switch of each battery is closed, and the on-site signal detection of the battery pack is opened.

Description

Battery management method and device and unmanned aerial vehicle
Technical Field
The embodiment of the invention relates to the technical field of charging, in particular to a battery management method and device and an unmanned aerial vehicle.
Background
At present, along with the deep application of unmanned aerial vehicles, users who apply such as some electric power inspection, forest fire prevention have put forward unmanned aerial vehicle and independently charge, and the requirement of independently cruising.
Autonomous charging of an unmanned aerial vehicle is usually realized by adopting an independent hardware charging circuit, but the method can complicate the structure and increase the difficulty of software control when applied to a multi-battery system.
Disclosure of Invention
The embodiment of the invention provides a battery management method, a battery management device and an unmanned aerial vehicle, which can reduce software control difficulty when a multi-battery system is managed to be charged.
In a first aspect, a technical solution adopted by an embodiment of the present invention is: the battery management method is applied to a battery pack, the battery pack is detachably mounted on an unmanned aerial vehicle, the unmanned aerial vehicle comprises a flight control module, the battery pack is used for being mounted on the unmanned aerial vehicle and supplying power for the flight control module, the battery pack comprises at least two batteries connected in parallel, the batteries comprise a charging switch, a discharging switch and at least one electric core, and the charging switch, the discharging switch and the electric core are connected in series, and the method comprises the following steps:
acquiring the electric quantity of each battery;
obtaining the electric quantity difference of the battery pack according to the electric quantity of each battery;
if the electric quantity difference of the battery pack is smaller than or equal to a preset voltage difference, canceling the detection of an in-place signal of the battery pack and opening each charging switch so as to charge the battery pack, wherein the detection of the in-place signal is used for determining whether the battery pack is correctly installed on the unmanned aerial vehicle;
and if the battery pack is charged, closing a charging switch of each battery, and opening the in-place signal detection of the battery pack.
In some embodiments, the method further comprises:
and if the electric quantity difference of the battery pack is larger than the preset voltage difference, alarming.
In some embodiments, before the detecting of the bit signal of the battery pack is turned on by turning off a charging switch of each of the batteries if the charging of the battery pack is completed, the method further includes:
and if the battery pack has a safety alarm event, alarming.
In some embodiments, the alerting if the battery pack has a safety alert event, comprises:
and if the battery pack generates a safety alarm event, closing a charging switch of each battery.
In some embodiments, the obtaining the power of each battery includes:
acquiring a docking state of the flight control module and a charging platform;
if the docking state is a correct docking state, acquiring the electric quantity of each battery;
and if the docking state is an error docking state, alarming.
In some embodiments, the obtaining the docking status of the flight control module and the charging platform includes:
acquiring the working state of the unmanned aerial vehicle, wherein the working state comprises a landing state and a flight state;
and if the unmanned aerial vehicle is in a landing state, acquiring a docking state of the flight control module and the charging platform.
In some embodiments, after the charging switch of each of the batteries is turned off and the bit signal of the battery is turned on if the charging of the battery is completed, the method further comprises:
and sending a first signal to the flight control module, wherein the first signal is used for indicating the flight control module to control the unmanned aerial vehicle to normally operate.
In a second aspect, an embodiment of the present invention provides a battery management apparatus, including
At least one processor, 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 battery management method according to any one of the first aspects described above.
In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle, including: a flight control module, a battery pack, and a battery management device as described in the second aspect;
the battery management device is respectively in communication connection with the flight control module and the battery pack;
the battery pack comprises at least two batteries connected in parallel, wherein the batteries comprise a charging switch, a discharging switch and at least one electric core, and the charging switch, the discharging switch and the electric core are connected in series.
In a fourth aspect, embodiments of the present invention also provide a non-volatile computer-readable storage medium storing computer-executable instructions for causing a computer to perform the battery management method according to any one of the first aspects.
In a fifth aspect, embodiments of the present invention also provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method as described in the first aspect above.
Compared with the prior art, the invention has the beneficial effects that: different from the prior art, the invention provides a battery management method, a device and an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring the electric quantity of each battery; obtaining the electric quantity difference of the battery pack according to the electric quantity of each battery; if the electric quantity difference of the battery pack is smaller than or equal to a preset voltage difference, canceling the detection of an in-place signal of the battery pack and opening each charging switch so as to charge the battery pack, wherein the detection of the in-place signal is used for determining whether the battery pack is correctly installed on the unmanned aerial vehicle; if the battery pack is charged, a charging switch of each battery is closed, and the on-site signal detection of the battery pack is opened.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements/modules and steps, and in which the figures do not include the true to scale unless expressly indicated by the contrary reference numerals.
Fig. 1 is a schematic block diagram of a unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a battery system of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic hardware structure of a battery management device according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a battery management method according to an embodiment of the present invention;
FIG. 5 is a flowchart of another battery management method according to an embodiment of the present invention;
fig. 6 is a schematic partial flow chart of a battery management method according to an embodiment of the present invention;
fig. 7 is a schematic partial flow chart of another battery management method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
In order to facilitate an understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings and specific examples. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.
It should be noted that, if not conflicting, the various features of the embodiments of the present invention may be combined with each other, which are all within the protection scope of the present application. In addition, although functional block division is performed in the device schematic, in some cases, block division may be different from that in the device. Moreover, the words "first," "second," and the like as used herein do not limit the data and order of execution, but merely distinguish between identical or similar items that have substantially the same function and effect.
When the multi-battery system is mounted on an unmanned aerial vehicle, on the one hand, the on-site signal enables the charging switch to be in an off state, and on the other hand, since a plurality of batteries are connected in parallel, in order to prevent mutual charging between the batteries due to battery pressure difference, the charging switch also needs to be in the off state. Therefore, for the unmanned aerial vehicle applying the multi-battery system, the problem that the charging switch is closed when the battery is in place needs to be solved, and the unmanned aerial vehicle can be autonomously charged.
In order to solve the problems, the embodiment of the invention provides a battery management method, a device and an unmanned aerial vehicle, which are capable of realizing autonomous charging by optimizing a charging strategy without increasing a hardware structure in a charging process of a multi-battery system and reducing software control difficulty.
The battery management method provided by the embodiment of the invention can be used for supplying power to the unmanned aerial vehicle, and fig. 1 shows a schematic diagram of a structural block diagram of the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises: battery management device 10, battery pack 20, and flight control module 30. The battery management device 10 is respectively in communication connection with a flight control module 30 and a battery pack 20, the flight control module 30 is used for controlling the unmanned aerial vehicle to operate, the battery pack 20 comprises at least two batteries which are connected in parallel, each battery comprises a charging switch, a discharging switch and at least one electric core, and the charging switch, the discharging switch and the electric core are connected in series.
The battery pack 20 is a battery pack capable of data communication, and is connected in communication with the flight control module 30. In some embodiments, the battery pack 20 has a communication port that is wired to the flight control module 30, and in other embodiments, the battery pack 20 has a wireless communication module, such as a Bluetooth module, a cellular module, or a local area network module, that is directly connected to the flight control module 30. In practical applications, the communication connection manner between the flight control module 30 and the battery pack 20 is not limited in this embodiment, and the battery pack 20 and the flight control module 30 can perform data communication.
Specifically, in some of these embodiments, the unmanned aerial vehicle further comprises a fuselage body; the flight control module and the battery management device are arranged in the body, a battery compartment is further arranged in the body, and the battery pack can be arranged in the battery compartment, namely, the battery pack can be detachably arranged in the unmanned aerial vehicle.
In some embodiments, the unmanned aerial vehicle body is further provided with a specific power receiving interface, the power receiving interface is used for being in butt joint with the charging platform, when the unmanned aerial vehicle is in butt joint with the charging platform, the battery pack is further connected with a charging power supply of the charging platform, and then the charging power supply of the charging platform can charge the battery pack of the unmanned aerial vehicle by controlling the charging switch. In particular, the power receiving interface may be a metal contact, a metal structural member, or any other suitable device for transmitting electrical power.
In order to facilitate understanding of the present invention, a battery circuit structure of a unmanned aerial vehicle to which the present invention is applicable is first described, and referring to fig. 2, fig. 2 is a schematic circuit structure of a battery system of a unmanned aerial vehicle to which a battery management method according to an embodiment of the present invention is applicable. The battery system comprises a battery management device 10 and a battery pack 20, wherein the battery management device 10 is respectively in communication connection with a flight control module of an unmanned aerial vehicle and the battery pack 20, the battery pack 20 comprises at least two batteries connected in parallel, each battery comprises a charging switch, a discharging switch and at least one electric core, the charging switch, the discharging switch and the electric core are connected in series, control ends of the charging switch and the discharging switch are connected with the battery management device, and the battery management device 10 is used for controlling the charging switch and the discharging switch to enable the batteries to charge and discharge normally. The battery management device 10 is further configured to detect whether a battery is in place, that is, whether the battery is mounted on the unmanned aerial vehicle. If the battery is detected in place, in order to avoid charging the batteries with each other when the battery pack 20 is discharged, the battery management device 10 is further configured to control the charging switch to be turned off when the battery pack 20 is detected in place. In particular, the battery management device 10 may detect whether the battery pack is in place using an in-place signal detection circuit or any other suitable manner known in the art.
Specifically, referring to fig. 2, the battery PACK 20 includes a first battery 21 and a second battery 22, where the first battery 21 includes a first charge NMOS transistor Q1, a first discharge NMOS transistor Q2, and a first core group 211, the second battery 22 includes a second charge NMOS transistor Q3, a second discharge NMOS transistor Q4, and a second core group 221, where an anode terminal of the first core group 211 is connected to a source of the first charge NMOS transistor Q1, a drain of the first charge NMOS transistor Q1 is connected to a drain of the first discharge NMOS transistor Q2, a source of the first discharge NMOS transistor Q2 is connected to a positive common terminal pack+ of the battery PACK 20, a positive terminal of the second core group 221 is connected to a source of the second charge NMOS transistor Q3, a drain of the second charge NMOS transistor Q3 is connected to a drain of the second discharge NMOS transistor Q4, a source of the second discharge NMOS transistor Q4 is connected to a positive common terminal pack+ of the battery PACK 20, a negative terminal of the first core group 211 and a negative terminal of the second core group 221 are connected to a common terminal of the battery PACK 20, and the first charge NMOS transistor Q2 and the second core group are connected to a negative terminal of the battery PACK 10, and the first charge NMOS transistor Q4 and the positive terminal of the second core group is connected to the positive common terminal of the battery PACK 10 and the second core group of the battery PACK is connected to the positive common terminal of the positive charge NMOS transistor and the drain of the second battery PACK 20. In addition, when the unmanned aerial vehicle is in butt joint with the charging platform, the positive electrode end PACK+ and the negative electrode end PACK-of the battery PACK are connected with a charging power supply.
Referring to fig. 1 and 2 in combination, in the unmanned aerial vehicle, when the battery management device 10 detects that the battery pack 20 is in place, that is, when it is determined that the battery pack is correctly installed in the unmanned aerial vehicle, a low-level signal is output to the gate of the first charge NMOS transistor Q1 and the gate of the second charge NMOS transistor Q3, respectively, so that the first charge NMOS transistor Q1 and the second charge NMOS transistor Q3 are disconnected; then, when the battery pack 20 is discharged, for example, when the flight control module is powered, the battery management device 10 outputs a high level to the gate of the first discharge NMOS transistor Q2 and the gate of the second discharge NMOS transistor Q4, respectively, so that the first discharge NMOS transistor Q2 and the second discharge NMOS transistor Q4 are turned on. At this time, the discharge circuit of the first battery 21 is: the positive terminal of the first battery cell 211 outputs a discharge current, which flows through the body diode of the first charge NMOS transistor Q1 and the first discharge NMOS transistor Q2 to the positive terminal pack+ of the battery PACK 20, and flows back from the negative terminal PACK-of the battery PACK 20 to the negative electrode of the first battery cell 211, and similarly, the discharge loop of the second battery 22 is: the positive terminal of the second cell unit 221 outputs a discharge current, which flows through the body diode of the second charge NMOS Q3 and the second discharge NMOS Q4 to the positive terminal pack+ of the battery unit 20, and flows back to the negative electrode of the second cell unit 221 from the negative terminal PACK-of the battery unit 20, so that the flight control module can be powered by the positive terminal pack+ and the negative terminal PACK-of the battery unit 20. In practical applications, the charge switch and the discharge switch may be PMOS transistors, IGBT transistors, or any other suitable switching circuit, which is not limited herein.
It should be noted that, the battery management method according to the embodiment of the present invention is generally performed by the above-mentioned battery management device, i.e. the battery management device 10 of fig. 1 or fig. 2. Specifically, the battery management device provided by the embodiment of the invention is further described below with reference to the accompanying drawings.
Referring to fig. 3, fig. 3 is a schematic hardware structure of a battery management device according to an embodiment of the invention. The battery management device comprises at least one processor and a memory in communication with 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 battery management method as provided in any one of the method embodiments described below.
The battery management device includes: at least one processor 11; and a memory 12 communicatively coupled to the at least one processor 11, one processor 11 being illustrated in fig. 3. The memory 12 stores instructions executable by the at least one processor 11 to enable the at least one processor 11 to perform the battery management methods described below with respect to fig. 4-7, implementing the functions of the modules and units of fig. 1-2. The processor 11 and the memory 12 may be connected by a bus or otherwise, for example in fig. 3.
The memory 12 is used as a non-volatile computer readable storage medium for storing non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions/modules corresponding to the battery management method in the embodiments of the present application. The processor 11 executes various functional applications of the server and data processing by running nonvolatile software programs, instructions and modules stored in the memory 12, i.e., implements the method embodiment battery management method described below.
The memory 12 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the program distribution apparatus, and the like. In addition, memory 12 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, memory 12 may optionally include memory located remotely from processor 11, which may be connected to the battery management device 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 12 and when executed by the one or more processors 11 perform the battery management methods in any of the method embodiments described below, for example, performing the method steps of fig. 4-7 described below, implementing the functions of the modules and units of fig. 1-2.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be found in the methods provided in the embodiments of the present application.
An embodiment of the present invention provides a battery management method, please refer to fig. 4, wherein the battery management method is performed by the battery management device described in any one of the above embodiments, and is applied to a battery pack, the battery pack is detachably mounted on an unmanned aerial vehicle, the unmanned aerial vehicle includes a flight control module, and the battery pack is used for supplying power to the flight control module when the battery pack is mounted on the unmanned aerial vehicle. The method comprises the following steps:
step S10: acquiring the electric quantity of each battery;
when the battery pack is detected to be placed in the device, the battery management device establishes electrical connection with the battery pack, and starts to acquire battery parameters of each battery in the battery pack, such as battery power, voltage, battery model and the like. Specifically, referring to fig. 1, when the battery pack is placed in the unmanned aerial vehicle, if the unmanned aerial vehicle is in a sleep state, that is, the flight control module is in a sleep state, the battery pack is in a state of neither discharging nor charging. Then, referring to fig. 2, in order to obtain the battery parameters of each battery, the battery management device may control the first charge and discharge switch and the second charge and discharge switch to be turned on briefly to activate the battery pack, so that the battery management device may obtain the parameters of the first battery 21 and the second battery 22. For example, the battery management device may turn on the first charge and discharge switches and the second charge and discharge switches in a specific order or sequence in a polling manner, so that the battery parameters of each battery in the battery pack may be read in sequence. Alternatively, if the battery pack is an intelligent battery, the battery pack may communicate with the battery management device directly through the intelligent battery, so that the battery management device obtains parameters of the battery pack. Of course, in practical application, a corresponding detection circuit may be also provided to detect the battery parameters, so that the battery management device obtains the electric quantity of each battery in the battery pack.
Step S20: obtaining the electric quantity difference of the battery pack according to the electric quantity of each battery;
specifically, after the battery management device obtains the electric quantity of each battery in the battery pack, the electric quantity difference between every two batteries is made one by one, the electric quantity difference between each battery and other batteries in the battery pack is obtained, and an electric quantity difference meter is manufactured. Or after the battery management device obtains the electric quantity of each battery in the battery pack, each battery can be sequenced according to the electric quantity information to form a battery pack sequence which is arranged according to the electric quantity, and then the battery with high electric quantity and the battery with the lowest electric quantity are subjected to difference to obtain the maximum electric quantity difference of the battery pack.
Step S30: if the electric quantity difference of the battery pack is smaller than or equal to a preset voltage difference, canceling the detection of an in-place signal of the battery pack and opening each charging switch so as to charge the battery pack, wherein the detection of the in-place signal is used for determining whether the battery pack is correctly installed on the unmanned aerial vehicle;
specifically, when each electric quantity difference in the electric quantity difference meter is smaller than or equal to a preset pressure difference, or when the maximum electric quantity difference of the battery pack is smaller than the preset pressure difference, the electric quantity of each battery in the battery pack is in a controllable range, and each battery in the battery pack can be directly charged in parallel, so that safety is ensured, electric quantity calculation cannot be influenced, and the risk of electric quantity jump is avoided. Therefore, when the difference of the electricity of the battery pack is less than or equal to the preset pressure difference, the detection of the in-place signal of the battery pack is canceled, and each charging switch in the battery pack is opened, so that each battery in the battery pack is connected in parallel for charging, the batteries do not need to be charged one by one, and the charging efficiency of the battery pack can be improved. The preset pressure difference is an empirical value, and can be set by a technician according to actual needs.
For example, referring to fig. 2, when it is determined that the difference in the power of the battery pack 20 is less than or equal to the preset voltage difference, the on-site signal detection of the battery pack 20 is canceled, and high-level signals are respectively output to the gates of the first charge NMOS transistor Q1 and the second charge NMOS transistor Q2, so that they are turned on. At this time, the charging circuit of the first battery 21 is: the charging power supply inputs electric energy through the positive electrode end of the battery PACK 20, flows through the body diode of the first discharging NMOS tube Q2 and the first charging NMOS tube Q1 to the positive electrode of the first battery cell group 211, and flows back to the charging power supply from the negative electrode of the first battery cell group 211 and the negative electrode end PACK-of the battery PACK 20; similarly, the charging power source inputs electric energy through the positive terminal of the battery PACK 20, flows through the body diode of the second discharging NMOS tube Q4 and the second charging NMOS tube Q3 to the positive terminal of the second battery cell 221, and flows back to the charging power source from the negative terminal of the second battery cell 221 and the negative terminal PACK-of the battery PACK 20, so that the charging power source charges the battery PACK 20 through the positive terminal pack+ and the negative terminal PACK-of the battery PACK 20.
Step S40: and if the battery pack is charged, closing a charging switch of each battery, and opening the in-place signal detection of the battery pack.
Specifically, the battery management device can judge whether the battery pack is charged or not according to the electric quantity of each battery in the battery pack by acquiring the electric quantity of each battery, if the battery pack is charged, each charging switch in the battery pack is closed, and in-situ signal detection of the battery pack is opened, so that the system is in a normal working state.
For example, referring to fig. 2, after the battery pack 20 is charged, a low level signal is output to the gate of the first charging NMOS Q1 and the gate of the second charging NMOS Q2, respectively, so that the first charging NMOS Q1 and the second charging NMOS Q2 are disconnected, charging is completed, and the on-bit signal detection of the battery pack is turned on.
In the battery management method, based on the existing battery system, adjustment is made on the charging strategy, and when the difference of the electricity between each battery in the battery pack is not more than the preset pressure difference, the in-place signal detection work is canceled, so that each charging switch can be opened, each battery is connected in parallel for charging, the unmanned aerial vehicle can be autonomously charged, and the charging efficiency is improved. Compared with the conventional method for controlling and charging the multi-battery system by using a hardware circuit, the method does not need to change the hardware structure, has the advantages of small software control difficulty, easy program design, simple scheme, easy development, low cost and high efficiency. And the unmanned aerial vehicle can be automatically charged, so that the automation degree and the intelligent degree of the unmanned aerial vehicle are improved.
In some of these embodiments, referring to fig. 5, the method further comprises:
step S310: and if the electric quantity difference of the battery pack is larger than the preset voltage difference, alarming.
After the difference in the electric quantity of the battery pack is obtained in step S20, if the difference in the electric quantity of the battery pack is greater than the preset difference in pressure, the excessive difference in pressure indicates that the consistency of the battery pack is relatively long, and a problem that a certain battery cell is overcharged easily occurs. For example, the user is alerted by controlling a display, buzzer, microphone, vibrator or any other suitable alerting device to alert the user that the difference in power between the battery packs is too large, and that the battery needs to be replaced. It can be appreciated that in some embodiments, when it is determined that the difference in the electric quantity of the battery pack is greater than the preset difference in the electric quantity of the fish, the electric quantity of each battery can be equalized by the equalization circuit, so that the difference in the electric quantity of the battery pack is not greater than the preset difference in the electric quantity.
In some embodiments, before performing step S40, please continue with fig. 5, the method further includes:
step S31: and if the battery pack has a safety alarm event, alarming.
When the battery pack enters the charging process, the battery management device is also used for monitoring whether the charging state of the battery pack is abnormal, if so, the battery pack is indicated to have a safety alarm event, and then the battery management device gives an alarm. For example, the alarm may be given by controlling a display, a buzzer, a microphone, a vibrator, or any other suitable alarm device.
Specifically, the battery pack further comprises a charging current detection unit and a temperature detection unit, the charging current detection unit is connected between the negative electrode end of the battery pack and the negative electrode end of each battery in series, the battery management unit is respectively connected with the charging current detection unit and the temperature detection unit, and the temperature detection unit is used for detecting the temperature of the battery pack and sending the temperature of the battery pack to the battery management device. When the battery pack is charged, the battery management device can detect whether the temperature of the battery pack is normal or not through the temperature detection unit and detect whether the charging current is normal or not through the charging current detection unit, and if the temperature of the battery pack is not in a preset temperature range and/or the charging current exceeds a preset current value, an alarm is given to prevent the battery from being over-heated or overcharged. It will be appreciated that the battery management device may also be used to detect if there is an abnormality in the charge voltage of the battery pack, if there is a short circuit in the charge, or to monitor other safety alarm triggering events, if there is an abnormality, to alert.
Further, in some of these embodiments, if a safety alarm event occurs with the battery pack, the charge switch of each of the batteries is turned off. When the battery management device monitors that the battery pack has a safety alarm event, the battery management device indicates that the charging state of the battery pack is abnormal, and in order to protect the safety of the battery pack, each charging switch in the battery pack should be closed, specifically, a low-level signal can be respectively output to each charging NMOS tube, so that each charging NMOS tube is disconnected, a charging loop of each battery is disconnected, and the safety of the system is ensured.
In some embodiments, referring to fig. 6, the step S10 includes:
step S11: acquiring a docking state of the flight control module and a charging platform;
step S12: if the docking state is a correct docking state, acquiring the electric quantity of each battery;
step S13: and if the docking state is an error docking state, alarming.
Specifically, after the flight control module controls the unmanned aerial vehicle to reach the charging area, the unmanned aerial vehicle needs to be well docked with the charging platform to be charged, so that the docking state of the flight control module and the charging platform is acquired before charging is performed, and if the docking state of the flight control module and the charging platform is correct, the electric quantity of each battery in the battery pack is acquired; if the two are not correctly docked, an alarm is given, for example, the user can be reminded to perform manual intervention or to check the charging area for faults and the like. For example, the flight control module may determine whether it is properly docked with the charging platform by means of contact recognition, communication recognition, visual recognition, or any other suitable means.
In some embodiments, referring to fig. 7, the step S11 includes:
step S111: acquiring the working state of the unmanned aerial vehicle, wherein the working state comprises a landing state and a flight state;
step S112: and if the unmanned aerial vehicle is in a landing state, acquiring a docking state of the flight control module and the charging platform.
In general, the charging platform is set on the ground, so that whether the unmanned aerial vehicle is in a flight state or a landing state should be acquired first, and if the unmanned aerial vehicle is in the landing state, the operation of acquiring the docking state of the flight control module and the charging platform is performed. It can be appreciated that in other embodiments, the charging platform is disposed on the charging unmanned aerial vehicle, and the unmanned aerial vehicle is not required to be firstly determined at this time, and whether the unmanned aerial vehicle is in a docking state with the charging platform is directly determined.
In some embodiments, after performing step S40, referring to fig. 5, the method further includes:
step S50: and sending a first signal to the flight control module, wherein the first signal is used for indicating the flight control module to control the unmanned aerial vehicle to normally operate.
In order to further improve the safety and reliability of the system, after the battery pack is charged, the battery management device sends a first signal to the flight control module, so that the flight control module is instructed to normally control the unmanned aerial vehicle to operate.
In summary, the battery management method provided by the embodiment of the invention enables the unmanned aerial vehicle to be safer in the autonomous charging process by monitoring whether the charging state of the battery pack is abnormal and communicating with the flight control module, so that the working safety of the system is ensured.
Embodiments of the present application also provide a non-volatile computer-readable storage medium storing computer-executable instructions for causing one or more processors to perform a battery management method according to any one of the embodiments above, for example, performing the method steps of fig. 4 to 7 described above, to implement the functions of the modules in fig. 1 to 3.
The embodiments of the present application also provide a computer program product, including a computer program stored on a non-volatile computer readable storage medium, the computer program including program instructions, which when executed by a computer, cause the computer to perform the battery management method in any of the method embodiments described above, for example, to perform the method steps of fig. 4 to 7 described above, to implement the functions of the modules in fig. 1 to 3.
The invention provides a battery management method, a device and an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring the electric quantity of each battery; obtaining the electric quantity difference of the battery pack according to the electric quantity of each battery; if the electric quantity difference of the battery pack is smaller than or equal to a preset voltage difference, canceling the detection of an in-place signal of the battery pack and opening each charging switch so as to charge the battery pack, wherein the detection of the in-place signal is used for determining whether the battery pack is correctly installed on the unmanned aerial vehicle; if the battery pack is charged, a charging switch of each battery is closed, and the on-site signal detection of the battery pack is opened.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for executing the method described in each embodiment or some parts of the embodiments with at least one computer device (which may be a personal computer, a server, or a network device, etc.).
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the 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 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. The battery management method is applied to a battery pack, and is characterized in that the battery pack is detachably mounted on an unmanned aerial vehicle, the unmanned aerial vehicle comprises a flight control module, the battery pack is used for being mounted on the unmanned aerial vehicle and supplying power for the flight control module, the battery pack comprises at least two batteries connected in parallel, the batteries comprise a charging switch, a discharging switch and at least one electric core, and the charging switch, the discharging switch and the electric core are connected in series, and the method comprises the following steps:
acquiring the electric quantity of each battery;
obtaining the electric quantity difference of the battery pack according to the electric quantity of each battery;
if the electric quantity difference of the battery pack is smaller than or equal to a preset voltage difference, canceling the detection of an in-place signal of the battery pack and opening each charging switch so as to charge the battery pack, wherein the detection of the in-place signal is used for determining whether the battery pack is correctly installed on the unmanned aerial vehicle;
if the battery pack is charged, closing a charging switch of each battery, and opening an in-place signal detection of the battery pack;
and detecting an in-place signal of the battery pack, and closing the charging switch if the battery pack is detected to be in place.
2. The battery management method according to claim 1, characterized in that the method further comprises:
and if the electric quantity difference of the battery pack is larger than the preset voltage difference, alarming.
3. The battery management method of claim 1, wherein, before the detecting of the bit signal of the battery pack is turned on by turning off a charge switch of each of the batteries if the charging of the battery pack is completed, the method further comprises:
and if the battery pack has a safety alarm event, alarming.
4. The battery management method of claim 3, wherein the alerting if a security alarm event occurs to the battery pack comprises:
and if the battery pack generates a safety alarm event, closing a charging switch of each battery.
5. The battery management method according to claim 1, wherein the acquiring the electric quantity of each battery includes:
acquiring a docking state of the flight control module and a charging platform;
if the docking state is a correct docking state, acquiring the electric quantity of each battery;
and if the docking state is an error docking state, alarming.
6. The method of claim 5, wherein the obtaining the docking status of the flight control module and the charging platform comprises:
acquiring the working state of the unmanned aerial vehicle, wherein the working state comprises a landing state and a flight state;
and if the unmanned aerial vehicle is in a landing state, acquiring a docking state of the flight control module and the charging platform.
7. The battery management method according to claim 1, wherein after the charge switch of each of the batteries is turned off and the bit signal detection of the battery pack is turned on if the charging of the battery pack is completed, the method further comprises:
and sending a first signal to the flight control module, wherein the first signal is used for indicating the flight control module to control the unmanned aerial vehicle to normally operate.
8. A battery management apparatus, comprising
At least one processor, 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 battery management method of any one of claims 1-7.
9. An unmanned aerial vehicle, comprising: a flight control module, a battery pack, and the battery management device according to claim 8;
the battery management device is respectively in communication connection with the flight control module and the battery pack;
the battery pack comprises at least two batteries connected in parallel, wherein the batteries comprise a charging switch, a discharging switch and at least one electric core, and the charging switch, the discharging switch and the electric core are connected in series.
10. A non-transitory computer-readable storage medium storing computer-executable instructions for causing a computer to perform the battery management method according to any one of claims 1-7.
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