CN114211991A - Control unit for wireless charging unmanned aerial vehicle, unmanned aerial vehicle and control method - Google Patents
Control unit for wireless charging unmanned aerial vehicle, unmanned aerial vehicle and control method Download PDFInfo
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- CN114211991A CN114211991A CN202111561316.4A CN202111561316A CN114211991A CN 114211991 A CN114211991 A CN 114211991A CN 202111561316 A CN202111561316 A CN 202111561316A CN 114211991 A CN114211991 A CN 114211991A
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- 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
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- 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
- B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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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
- B64D31/00—Power plant control; Arrangement thereof
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention provides a control unit for a wireless charging unmanned aerial vehicle, the unmanned aerial vehicle and a control method, and belongs to the technical field of unmanned aerial vehicle control. The control unit includes: the power-on pre-charging control circuit comprises a power supply branch circuit and a pre-charging branch circuit, wherein the power supply branch circuit is arranged between the output end of a power supply and a distribution box, the pre-charging branch circuit is connected with the power supply branch circuit in parallel, a first resistor and a first switching element which are connected in series are arranged on the pre-charging branch circuit, the first switching element is provided with a first control end so as to control the power supply to pre-charge the distribution box by controlling the first control end, and a second switching element with a second control end is arranged on the power supply branch circuit; and the self-locking unit is provided with at least one delay circuit connected with the second control end in series, each delay circuit is supplied with power by the power distribution box, and the self-locking unit is used for controlling the second switching element to be closed after the power distribution box is powered on and is delayed for preset time by the delay circuit so as to conduct the power supply branch. The control unit of the invention can realize reliable self-locking of the power-on state.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a control unit for a wireless charging unmanned aerial vehicle, the unmanned aerial vehicle and a control method.
Background
Due to battery technology level limitations, endurance is the largest technical challenge facing current drones. And the development and the popularization of the wireless charging technology can reduce the dependence of the unmanned aerial vehicle on a standby battery or a charging cable, prolong the endurance time and the maximum range of the unmanned aerial vehicle and provide guarantee for smoothly completing tasks by the unmanned aerial vehicle.
The wireless charging has the biggest characteristic that the wireless charging can be remotely controlled, the whole process of landing, charging and takeoff of the unmanned aerial vehicle can be independently realized, and no intervention and assistance of a person are needed on site, namely the traditional scheme of controlling the system to be powered on and off through a hardware switch and a plug-in battery connector is not feasible. Therefore, a technical scheme with high reliability and capable of remotely realizing power-on and power-off control is urgently needed to be provided.
Disclosure of Invention
It is an object of a first aspect of the invention to provide a control unit for a wireless charging drone, capable of achieving reliable self-locking of the powered state.
It is a further object of the present invention to increase the useful life of the components.
Another purpose of the invention is to ensure the reliability of the power-on self-locking function.
It is an object of a second aspect of the invention to provide a drone comprising a control unit as described above.
It is an object of a third aspect of the invention to provide a control method for the above-mentioned control unit.
In particular, the invention provides a control unit for a wireless charging drone, comprising:
the power-on pre-charging control circuit comprises a power supply branch circuit and a pre-charging branch circuit, wherein the power supply branch circuit is arranged between the output end of a power supply and a distribution box, the pre-charging branch circuit is connected with the power supply branch circuit in parallel, a first resistor and a first switching element are arranged on the pre-charging branch circuit in series, the first switching element is provided with a first control end so as to control the power supply to pre-charge the distribution box by controlling the first control end, and a second switching element with a second control end is arranged on the power supply branch circuit;
and the self-locking unit is provided with at least one delay circuit connected with the second control end in series, each delay circuit is supplied with power by the power distribution box, and the self-locking unit is used for controlling the second switch element to be closed after the power distribution box is powered on and is delayed for preset time by the delay circuit so as to conduct the power supply branch.
Optionally, the self-locking unit includes two parallel first delay circuits and two parallel second delay circuits of different types, and both the first delay circuit and the second delay circuit can perform the delay of the preset time.
Optionally, the control unit further comprises:
and the lower electric branch comprises a lower electric branch connected with the second control end, and a third switching element with a third control end is arranged on the lower electric branch so as to control the power supply branch to be disconnected by controlling the third control end.
Optionally, the control unit further comprises:
the power-off locking control circuit comprises a fourth switching element which is arranged on the lower circuit branch and is provided with a fourth control end, so that the lower circuit branch is controlled to be disconnected and the power supply branch is controlled to be normally connected by controlling the fourth control end.
Optionally, the first switch element is a pre-charging relay, one end of a coil of the pre-charging relay is connected in series with a second resistor, the other end of the coil of the pre-charging relay is connected with the wireless charging module, one end of the second resistor, which is far away from the coil of the pre-charging relay, is connected with the output end of the power supply, and the coil of the pre-charging relay is further connected in parallel with a first freewheeling diode.
Optionally, the second switch element is a power relay, a coil of the power relay is connected in parallel with a second freewheeling diode, the first delay circuit comprises a first diode, a resistance-capacitance delay circuit and a third resistor which are sequentially connected in series, the second delay circuit comprises a second diode, a digital delay circuit and a fourth resistor which are sequentially connected in series, the first delay circuit is provided with one end of the first diode and one end of the second delay circuit is provided with the second diode and is connected with the power distribution box, the first delay circuit is provided with one end of the third resistor and one end of the second delay circuit is provided with the fourth resistor and is connected with the coil of the power relay.
Optionally, the third switching element is a power-down control relay, one end of a coil of the power-down control relay is connected in series with a fifth resistor and then connected to the output end of the power supply, the other end of the coil of the power-down control relay is connected to the wireless charging module, and the coil of the power-down control relay is further connected in parallel with a third freewheeling diode.
Optionally, the fourth switching element is an electric locking relay, one end of a coil of the electric locking relay is connected to the flight management unit, the other end of the coil of the electric locking relay is grounded, and the coil of the electric locking relay is further connected in parallel to the fourth freewheeling diode.
Optionally, the power-down locking relay is a normally closed relay.
In particular, the invention also provides an unmanned aerial vehicle comprising the control unit of any one of the above.
In particular, the present invention also provides a control method for the control unit of any one of the above, the control method comprising:
receiving a battery charging instruction and charging a battery of the wireless charging module according to the battery charging instruction;
after the battery of the wireless charging module is charged, controlling the pre-charging branch to be conducted according to a pre-charging control instruction;
after the pre-charging branch circuit is conducted, the self-locking unit works so as to conduct the power supply branch circuit after the power distribution box is electrified for a preset time.
According to one embodiment of the invention, the first switch element with the control end is arranged, so that the remote control of pre-charging can be realized, and the self-locking of power-on can be realized through the design of the distribution box and the delay circuit, thereby ensuring the reliability of the power-on state. The service life of the parts can be prolonged by arranging the pre-charging loop.
Furthermore, when the self-locking unit comprises a plurality of delay circuits, a redundancy design is provided for power-on self-locking, so that the reliability of power-on self-locking can be further improved, and the system reliability is also realized.
According to one embodiment of the invention, the self-locking unit comprises a first delay circuit and a second delay circuit which are connected in parallel and have different types, and because the two delay circuits have different failure reasons, when one failure reason occurs in the circuit, the other delay circuit can still normally operate to ensure the power-on self-locking function.
According to one embodiment of the invention, the normally closed contact of the power-off locking relay and the normally open contact of the power-off control relay form a power-off branch, and the flight management unit provides a power-off locking signal to the power-off locking relay to open the normally closed contact of the power-off locking relay, so that the power-off locking state is formed, and power cannot be turned off even if the contact of the power-off control relay is closed. The unmanned aerial vehicle is not allowed to be powered off under any condition, and the unmanned aerial vehicle is automatically allowed to be powered off after falling down, so that reliable power-off locking is realized.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
fig. 1 is a connection block diagram of a control unit for a wireless charging drone according to one embodiment of the present invention;
fig. 2 is a schematic diagram of a control unit for a wireless charging drone according to one embodiment of the invention;
fig. 3 is a schematic diagram of a power interface for a control unit of a wireless charging drone, according to one embodiment of the invention;
fig. 4 is a schematic diagram of a control interface for a control unit of a wireless charging drone, according to one embodiment of the present invention;
fig. 5 is a schematic diagram of a power-up precharge control circuit for a control unit of a wireless charging drone, according to one embodiment of the present invention;
fig. 6 is a schematic diagram of the power down control circuit and the power down lock control circuit of the control unit for the wireless charging drone according to one embodiment of the present invention;
fig. 7 is a schematic diagram of a resistance-capacitance delay circuit for a control unit of a wireless charging drone, according to one embodiment of the present invention;
fig. 8 is a schematic diagram of a digital delay circuit for a control unit of a wireless charging drone, according to one embodiment of the present invention;
fig. 9 is a schematic diagram of an internal buck voltage regulator circuit for a control unit of a wireless charging drone, in accordance with one embodiment of the present invention;
FIG. 10 is a flow chart of a control method according to one embodiment of the invention.
Reference numerals:
100-power supply, 200-power distribution box, 11-first resistor, 20-first switching element, 201-first control end, 30-second switching element, 301-second control end, 40-time delay circuit, 21-pre-charging relay, 12-second resistor, 71-first fly wheel diode, 31-power supply relay, 72-second fly wheel diode, 81-first diode, 41-resistance-capacitance time delay circuit, 13-third resistor, 82-second diode, 42-digital time delay circuit, 14-fourth resistor, 51-power-off control relay, 15-fifth resistor, 73-third fly wheel diode, 61-power-off locking relay, 74-fourth fly wheel diode
Detailed Description
Fig. 1 is a connection block diagram of a control unit for a wireless charging drone according to one embodiment of the present invention. Fig. 2 is a schematic diagram of a control unit for a wireless charging drone according to one embodiment of the invention. LOCK in fig. 2 is a control signal for power-down locking, ON is a power-up control signal, and OFF is a power-down control signal. As shown in fig. 1, in one embodiment, the control unit for a wireless charging drone of the present invention includes a precharge control circuit and a self-locking unit. The power-up pre-charge control circuit includes a power branch disposed between the output terminal of the power source 100 and the distribution box 200, and a pre-charge branch connected in parallel with the power branch, wherein a first resistor 11 and a first switching element 20 are disposed on the pre-charge branch, and the first switching element 20 has a first control terminal 201, so as to control the power source 100 to pre-charge the distribution box 200 by controlling the first control terminal 201. That is, after controlling the first switching element 20 to be closed, the pre-charging branch is connected, and the power supply 100 pre-charges the distribution box 200. Optionally, the first resistor 11 is a high energy resistor for boosting the circuit voltage of the subsequent stage thereof to a preset voltage within a specified time, that is, after the pre-charging branch is connected, so that the distribution box 200 of the subsequent stage of the first resistor 11 can be boosted to the preset voltage within the specified time, and the preset voltage may be 90% to 99% of the power voltage, where the power source 100 is a battery. As shown in fig. 2, in one embodiment, the first switching element 20 is a pre-charge relay 21, one end of a coil of the pre-charge relay 21 is connected in series with the second resistor 12, the other end of the coil of the pre-charge relay 21 is connected to the wireless charging module, one end of the second resistor 12 away from the coil of the pre-charge relay 21 is connected to an output terminal of the power supply 100, and the coil of the pre-charge relay 21 is further connected in parallel with the first freewheeling diode 71. The second resistor 12 divides a voltage with the coil resistance of the precharge relay 21 so that the coil resistance operates within a rated voltage range. An earth opening signal is provided through the wireless charging module, the contact of the pre-charging relay 21 is controlled to be closed, pre-charging is carried out through the second resistor 12, and the power distribution box 200 is powered on to provide a secondary power supply for the self-locking unit below.
A second switching element 30 having a second control terminal 301 is provided in the power branch. The self-locking unit is provided with at least one delay circuit 40 connected with the second control end 301 in series, each delay circuit 40 is powered by the distribution box 200, and the self-locking unit is used for controlling the second switch element 30 to be closed after the distribution box 200 is powered on and delayed for a preset time by the delay circuit 40, so that a power supply branch is conducted, namely, a power-on state is formed. Here, the power-on voltage is derived from the distribution box 200, the distribution box 200 is an uncontrolled power supply in the initial stage of the pre-charging, and the distribution box 200 may also be controlled to supply power to the self-locking unit by detecting the pre-charging voltage of the distribution box 200 and judging the completion of the pre-charging according to the pre-charging voltage. As shown in fig. 2, in one embodiment, the second switching element 30 is a power relay 31, a coil of the power relay 31 is connected in parallel with the second freewheeling diode 72, the first delay circuit includes a first diode 81, a resistance-capacitance delay circuit 41 and a third resistor 13 which are sequentially connected in series, the second delay circuit includes a second diode 82, a digital delay circuit 42 and a fourth resistor 14 which are sequentially connected in series, one end of the first delay circuit provided with the first diode 81 and one end of the second delay circuit provided with the second diode 82 are connected to the power distribution box 200, one end of the first delay circuit provided with the third resistor 13 and one end of the second delay circuit provided with the fourth resistor 14 are connected to the coil of the power relay 31. The third resistor 13 and the fourth resistor 14 are current-down current-limiting resistors, and the values of the resistors are such that when the two resistors are simultaneously connected or any one resistor fails, the coil of the power relay 31 can work within a rated voltage range.
In this embodiment, the first switching element 20 having a control terminal is provided, so that remote control of pre-charging can be achieved, and the power-on self-locking can be achieved through the design of the power distribution box 200 and the delay circuit, thereby ensuring reliability of the power-on state. The service life of the parts can be prolonged by arranging the pre-charging loop.
Furthermore, when the self-locking unit comprises a plurality of delay circuits, a redundancy design is provided for power-on self-locking, so that the reliability of power-on self-locking can be further improved, and the system reliability is also realized.
In another embodiment, the self-locking unit comprises a first delay circuit and a second delay circuit which are connected in parallel and have different types, and the first delay circuit and the second delay circuit can delay for preset time. For example, the first delay circuit is a resistance-capacitance delay circuit 41, the second delay circuit is a digital delay circuit 42, and due to the design of different types of delay circuits (i.e., two paths of non-similar dual-redundancy delay circuits), the delay principles of the two delay circuits are different, so that the reliability of power-on self-locking can be further improved. For example, the reason for the failure of the rc delay circuit 41 is often different from the reason for the failure of the digital delay circuit 42, so when one failure reason occurs in the circuit, the other delay circuit can still operate normally to ensure the power-on self-locking function. The delay time should be longer than the precharge time, and the delay time is related to the precharge voltage, so that the delay circuit is designed.
In the embodiment, a hardware delay circuit is used for delaying time, and in other embodiments, a software delay circuit may also be used.
In another embodiment, the control unit further comprises a power-down control circuit comprising a power-down branch connected to the second control terminal 301, and a third switching element having a third control terminal is disposed on the power-down branch, so as to control the power-down branch to be disconnected by controlling the third control terminal, thereby performing power-down control.
As shown in fig. 2, in one embodiment, the third switching element is a power-down control relay 51, one end of a coil of the power-down control relay 51 is connected in series with the fifth resistor 15 and then connected to the output terminal of the power supply 100, the other end is connected to the wireless charging module, and the coil of the power-down control relay 51 is further connected in parallel with the third freewheeling diode 73. Here, the fifth resistor 15 and the coil resistance of the power-down control relay 51 are divided so that the coil resistance of the power-down control relay 51 operates within a rated voltage range.
In this embodiment, when the wireless charging module provides a power-off ground-on signal, the contacts of the power-off control relay 51 are closed, so that the coil of the power relay 31 is short-circuited and the contacts are disconnected, and power-off of the whole device is realized.
In other embodiments, power down may also be achieved by controlling the power supply 100 output to be off.
In a further embodiment, the control unit further includes a lower power locking control circuit, which includes a fourth switching element disposed on the lower power branch and having a fourth control terminal, so that the lower power branch is controlled to be disconnected and the power branch is controlled to be normally connected by controlling the fourth control terminal.
As shown in fig. 2, in one embodiment, the fourth switching element is a power-down locking relay 61, one end of the coil of the power-down locking relay 61 is connected to the flight management unit, the other end is grounded, and the coil of the power-down locking relay 61 is further connected in parallel to a fourth freewheeling diode 74. In one embodiment, the power down latching relay 61 is selected to be a normally closed relay.
In this embodiment, the normally closed contact of the power-off locking relay 61 and the normally open contact of the power-off control relay 51 form a power-off branch, and the flight management unit provides a power-off locking signal to the power-off locking relay 61 to open the normally closed contact of the power-off locking relay 61, so that a power-off locking state is formed, and even if the contacts of the power-off control relay 51 are closed, power cannot be turned off. The unmanned aerial vehicle is not allowed to be powered off under any condition, and the unmanned aerial vehicle is automatically allowed to be powered off after falling down, so that reliable power-off locking is realized.
The control unit that above-mentioned embodiment provided, with block terminal 200, wireless module and the cross-linked control of flying management unit of charging, can realize that complete machine remote control precharges, goes up and down the electricity, goes up electric locking and electric locking function down for unmanned aerial vehicle's descending, charge, take off the overall process and realize unmanned on duty.
In other embodiments, each of the above-mentioned switching elements may also be a relay, an optical coupler, a mos tube, an integrated circuit, or the like. The control signal provided by the wireless charging module or the flight management unit can also be provided by a battery management system or a distribution box controller. The above-mentioned ground-on signal, i.e. active low, may also be changed to active high. And calculating parameters of each component according to actual requirements, and selecting types according to actual weight and volume requirements.
Fig. 3 is a schematic diagram of a power interface for a control unit of a wireless charging drone, according to one embodiment of the invention. Fig. 4 is a schematic diagram of a control interface for a control unit of a wireless charging drone, according to one embodiment of the present invention. Fig. 5 is a schematic diagram of a power-up precharge control circuit for a control unit of a wireless charging drone, according to one embodiment of the present invention. Fig. 6 is a schematic diagram of a power down control circuit and a power down lock control circuit of a control unit for a wireless charging drone, according to one embodiment of the present invention.
Fig. 7 is a schematic diagram of the rc delay circuit 41 of the control unit for the wireless charging drone according to one embodiment of the present invention. Fig. 8 is a schematic diagram of a digital delay circuit 42 for a control unit of a wireless charging drone, according to one embodiment of the present invention. Fig. 9 is a schematic diagram of an internal buck voltage regulator circuit for a control unit of a wireless charging drone, in accordance with one embodiment of the present invention. In another embodiment, the present application further specifically designs a PCB integrated with the above functions, as shown in fig. 3 to 9, the pins with the same symbols are correspondingly connected. In fig. 3, a TP2 pin of the power interface is connected to the output terminal of the battery, a TP1 pin is used for outputting to the load, in fig. 4, a TP4 pin and a TP5 pin of the control interface are both connected to the distribution box 200, TP6 provides power (K +) to the control terminal of the power relay 31, and TP7 pin is the ground (K-) of the power relay 31. The diodes D1 and D2 are used to regulate the voltage output from the distribution box 200, and the diode D4 is used to absorb the back electromotive force across the coil of the voltage relay, and functions as the second freewheeling diode 72 described above. In FIG. 5, a U1 chip (model number G3VM-101AR1) is used, the output of the battery is controlled to be communicated with the load by an ON signal, namely, the power-ON control is completed, wherein a ceramic resistor of 30R/6W/0.5s can be externally connected between RA1 and RA 2. In fig. 6, the diodes D16 and D17 are arranged to conduct the voltage output by the distribution box 200 in a single direction, and then output the voltage to the lower electric locking control circuit for use, the relays in the lower electric control circuit and the lower electric locking control circuit in fig. 6 are all realized by using relay chips, that is, chips U2A and U2B can be selected as chips with model number HFKA/012-2ZPT, the diodes D6 and D9 in fig. 6 are equivalent to the fourth freewheeling diode 74 and the third freewheeling diode 73, the terminal is grounded by the input of an OFF signal, power is turned OFF, and the terminal is turned OFF by the input of a LOCK signal, so that the lower electric locking state is formed. Fig. 7 and 8 correspond to the RC delay circuit 41 and the digital delay circuit 42, respectively, and the specific connections are as shown in the figure, wherein 10R/15W/0.5s and 1.5W long-time ceramic resistors are externally connected between RB1 and RB2, and between RC1 and RC 2. Since the above circuits need to use 5V voltage, it is also necessary to set an internal voltage-reducing and voltage-stabilizing circuit converting 12V output by the distribution box 200 into 5V, and an ADP7118 AUJZ-5.0U 4 chip is also designed for implementation, where the internal voltage-reducing and voltage-stabilizing circuit is 12V to 5V in fig. 9.
It should be noted that, after the selection, the power supply relay 31 and the fifth resistor 15 are not mounted on the PCB due to their large size, so the circuit diagram does not include the power supply relay 31 and the fifth resistor 15, and only the welding interface is reserved.
The invention also provides an unmanned aerial vehicle which comprises the control unit in any one or the combination of the above embodiments.
FIG. 10 is a flow chart of a control method according to one embodiment of the invention. The present invention also provides a control method for the above control unit, as shown in fig. 10, in one embodiment, the method includes:
and step S100, receiving a battery charging instruction and charging the battery of the wireless charging module according to the battery charging instruction. This battery charging command may be issued by the ground station.
And step S200, after the battery of the wireless charging module is charged, controlling the pre-charging branch circuit to be conducted according to the pre-charging control instruction. That is, the battery pre-charges the distribution box 200, and the pre-charge control command may be generated by the wireless charging module after the charging of the battery is completed and sent to the first control terminal of the first switching element.
Step S300, determining whether the pre-charging is completed, if yes, going to step S400, otherwise, going to step S500.
In step S400, after the pre-charging branch is turned on, the self-locking unit operates, so that the power branch is turned on after a preset time is provided on the distribution box 200. At this time, since the distribution box 200 can power on the self-locking unit, the self-locking unit can automatically conduct time-delay conduction of the power branch after being powered on. Of course, in other embodiments, the self-locking unit can also be controlled to work through the flight management unit.
After the power supply is completed, the flight management unit can also send a power-off locking control instruction to the power-off locking control circuit so as to control the power-off locking control circuit to disconnect the power-off branch and keep the power supply branch connected normally.
And step S500, reporting the fault, namely generating a fault signal which can be fed back to the ground station.
In a further embodiment, step S400 is followed by:
and step S600, carrying out power-on self-test, if the self-test is successful, entering step S700, otherwise, entering step S800.
And S700, feeding back a signal of success of the power-on self-test to the ground station.
And step S800, controlling the power-down control circuit to work according to the power-down control instruction so as to control the power supply branch to be disconnected and finish power down. The power-off control command may be issued by the wireless charging module, and after step S500, the process may also proceed to step S800.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (10)
1. The utility model provides a control unit for wireless unmanned aerial vehicle that charges which characterized in that includes:
the power-on pre-charging control circuit comprises a power supply branch circuit and a pre-charging branch circuit, wherein the power supply branch circuit is arranged between the output end of a power supply and a distribution box, the pre-charging branch circuit is connected with the power supply branch circuit in parallel, a first resistor and a first switching element are arranged on the pre-charging branch circuit in series, the first switching element is provided with a first control end so as to control the power supply to pre-charge the distribution box by controlling the first control end, and a second switching element with a second control end is arranged on the power supply branch circuit;
and the self-locking unit is provided with at least one delay circuit connected with the second control end in series, each delay circuit is supplied with power by the power distribution box, and the self-locking unit is used for controlling the second switch element to be closed after the power distribution box is powered on and is delayed for preset time by the delay circuit so as to conduct the power supply branch.
2. The control unit of claim 1,
the self-locking unit comprises a first delay circuit and a second delay circuit which are connected in parallel and have different types, and the first delay circuit and the second delay circuit can delay the preset time.
3. The control unit of claim 2, further comprising:
and the lower electric branch comprises a lower electric branch connected with the second control end, and a third switching element with a third control end is arranged on the lower electric branch so as to control the power supply branch to be disconnected by controlling the third control end.
4. The control unit of claim 3, further comprising:
the power-off locking control circuit comprises a fourth switching element which is arranged on the lower circuit branch and is provided with a fourth control end, so that the lower circuit branch is controlled to be disconnected and the power supply branch is controlled to be normally connected by controlling the fourth control end.
5. The control unit of claim 4,
the first switch element is a pre-charging relay, one end of a coil of the pre-charging relay is connected with a second resistor in series, the other end of the coil of the pre-charging relay is connected with the wireless charging module, one end, far away from the coil of the pre-charging relay, of the second resistor is connected with the output end of the power supply, and the coil of the pre-charging relay is further connected with a first freewheeling diode in parallel.
6. The control unit of claim 5,
the second switch element is a power relay, a coil of the power relay is connected with the second freewheeling diode in parallel, the first delay circuit comprises a first diode, a resistance-capacitance delay circuit and a third resistor which are sequentially connected in series, the second delay circuit comprises a second diode, a digital delay circuit and a fourth resistor which are sequentially connected in series, the first delay circuit is provided with one end of the first diode and one end of the second diode is arranged on the second delay circuit and is connected with the power distribution box, the first delay circuit is provided with one end of the third resistor and one end of the second delay circuit is arranged on the fourth resistor and is connected with the coil of the power relay.
7. The control unit of claim 6,
the third switch element is a power-off control relay, one end of a coil of the power-off control relay is connected with the output end of the power supply after being connected with a fifth resistor in series, the other end of the coil of the power-off control relay is connected with the wireless charging module, and the coil of the power-off control relay is further connected with a third freewheeling diode in parallel.
8. The control unit of claim 7,
the fourth switch element is a power-off locking relay, one end of a coil of the power-off locking relay is connected with the flight management unit, the other end of the coil of the power-off locking relay is grounded, and the coil of the power-off locking relay is connected with a fourth freewheeling diode in parallel.
9. An unmanned aerial vehicle comprising the control unit of any one of claims 1-8.
10. A control method for a control unit according to any one of claims 1-8, characterized in that the control method comprises:
receiving a battery charging instruction and charging a battery of the wireless charging module according to the battery charging instruction;
after the battery of the wireless charging module is charged, controlling the pre-charging branch to be conducted according to a pre-charging control instruction;
after the pre-charging branch circuit is conducted, the self-locking unit works so as to conduct the power supply branch circuit after the power distribution box is electrified for a preset time.
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