CN114487550A - Current detection method, power output monitoring method and device, equipment and medium - Google Patents
Current detection method, power output monitoring method and device, equipment and medium Download PDFInfo
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Abstract
The embodiment of the application provides a current detection method, a power output monitoring device, equipment and a medium, and belongs to the technical field of unmanned aerial vehicles. The current detection method comprises the following steps: acquiring a first voltage signal from the first sampling end; acquiring a second voltage signal from the second sampling end; calculating to obtain a third voltage signal according to the second voltage signal and a preset voltage amplification coefficient; calculating to obtain a first current value according to the first voltage signal, the third voltage signal and the third resistor; and calculating to obtain a target current value according to the first current value, the third voltage signal, the first resistor and the second resistor. According to the technical scheme, the accuracy of current detection can be improved, and the cost of current detection is reduced.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a current detection method, a power output monitoring device, equipment and a medium.
Background
The power system running state of the unmanned aerial vehicle needs to be monitored so as to realize real-time control on the unmanned aerial vehicle. In the correlation technique, adopt the mode realization of galvanometer to unmanned aerial vehicle's current detection, however, this kind of mode leads to the precision of testing result not high, consequently, how to improve unmanned aerial vehicle current detection's accuracy, has become the technical problem who awaits a urgent solution.
Disclosure of Invention
The embodiment of the application mainly aims to provide a current detection method, a power output monitoring device, equipment and a medium, and aims to improve the accuracy of current detection.
In order to achieve the above object, a first aspect of an embodiment of the present application provides a current detection method applied to a current detection circuit, where the current detection circuit includes:
the first end of the first resistor is connected with a ground wire, and the second end of the first resistor is connected with the unmanned aerial vehicle;
a first end of the second resistor is connected with a second end of the first resistor, and a second end of the second resistor is connected with an input end of the amplifier;
a first end of the third resistor is connected with a second end of the second resistor;
the first sampling end is used for connecting the second end of the third resistor;
the second sampling end is used for connecting the output end of the amplifier;
the current detection method comprises the following steps:
acquiring a first voltage signal from the first sampling end;
acquiring a second voltage signal from the second sampling end;
calculating to obtain a third voltage signal according to the second voltage signal and a preset voltage amplification coefficient;
calculating to obtain a first current value according to the first voltage signal, the third voltage signal and the third resistor;
and calculating to obtain a target current value according to the first current value, the third voltage signal, the first resistor and the second resistor.
In some embodiments, the current detection circuit further comprises:
the third sampling end is used for connecting the second end of the second resistor;
before the third voltage signal is obtained through calculation according to the second voltage signal and a preset voltage amplification factor, the current detection method further includes: calculating a voltage amplification factor, specifically comprising:
acquiring a first reference signal from the second sampling end;
acquiring a second reference signal from the third sampling end;
and calculating to obtain the voltage amplification factor according to the first reference signal and the second reference signal.
In some embodiments, said calculating a first current value from said first voltage signal, said third voltage signal and said third resistance comprises:
calculating to obtain a first voltage value according to the first voltage signal and the third voltage signal;
and calculating to obtain the first current value according to the first voltage value and the third resistor.
In some embodiments, the calculating a target current value according to the first current value, the third voltage signal, the first resistor, and the second resistor includes:
calculating to obtain a second voltage value according to the first current value and the second resistor;
calculating to obtain a third voltage value according to the third voltage signal and the second voltage value;
and calculating to obtain the target current value according to the third voltage value and the first resistor.
In some embodiments, before the calculating a target current value according to the first current value, the third voltage signal, the first resistor and the second resistor, the current detecting method further includes:
acquiring a preset current updating parameter;
and updating the target current value according to the current updating parameter.
In order to achieve the above object, a second aspect of the embodiments of the present application provides a power output monitoring method for an unmanned aerial vehicle, where the power output monitoring method includes:
collecting the power voltage of the unmanned aerial vehicle;
calibrating the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value;
acquiring a target current value; the target current value is detected according to the current detection method in the embodiment of the first aspect;
and obtaining a target monitoring result according to the target voltage value and the target current value.
In some embodiments, before the calibrating the power voltage according to the preset voltage calibration coefficient to obtain the target voltage value, the power output monitoring method further includes: calculating a voltage calibration coefficient, specifically comprising:
outputting a preset calibration voltage to the unmanned aerial vehicle;
collecting reference voltage generated by the unmanned aerial vehicle according to the calibration voltage;
and calculating the voltage calibration coefficient according to the calibration voltage and the reference voltage.
In order to achieve the above object, a third aspect of the embodiments of the present application provides a power output monitoring device for an unmanned aerial vehicle, the device including:
the acquisition module is used for acquiring the power voltage of the unmanned aerial vehicle;
the first processing module is used for carrying out calibration processing on the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value;
the acquisition module is used for acquiring a target current value; the target current value is detected by the current detection method according to any one of the embodiments of the first aspect;
and the second processing module is used for obtaining a target monitoring result according to the target voltage value and the target current value.
In order to achieve the above object, a fourth aspect of the embodiments of the present application provides an electronic device, which includes a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for implementing connection communication between the processor and the memory, wherein the program, when executed by the processor, implements the current detection method according to the first aspect; or,
the power output monitoring method of the second aspect described above is implemented.
In order to achieve the above object, a fifth aspect of embodiments of the present application proposes a storage medium, which is a computer-readable storage medium for computer-readable storage, and stores one or more programs, which are executable by one or more processors to implement the current detection method according to the first aspect; or,
the power output monitoring method of the second aspect described above is implemented.
According to the current detection method, the power output monitoring device, the power output monitoring equipment and the medium, a first voltage signal from a first sampling end and a second voltage signal from a second sampling end are obtained, then a third voltage signal is obtained through calculation according to the second voltage signal and a preset voltage method coefficient, a first current value is obtained through calculation according to the first voltage signal, the third voltage signal and a third resistor, and finally a target current value is obtained through calculation according to the first current value, the third voltage signal, the first resistor and the second voltage. Through setting up like this, realized the accurate detection of simple circuit to unmanned aerial vehicle's electric current, when improving again and detecting the accuracy, reduced the cost that detects.
Drawings
FIG. 1 is a schematic circuit diagram of a current detection circuit provided in an embodiment of the present application;
fig. 2 is a first flowchart of a current detection method provided by an embodiment of the present application;
FIG. 3 is a second flowchart of a current detection method provided by an embodiment of the present application;
FIG. 4 is a flowchart of step S400 in FIG. 1;
FIG. 5 is a flowchart of step S500 in FIG. 1;
FIG. 6 is a third flowchart of a current detection method provided by an embodiment of the present application;
FIG. 7 is a flow chart of a method of monitoring power output provided by an embodiment of the present application;
FIG. 8 is a schematic circuit diagram of a voltage detection circuit according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a power output detection device provided in an embodiment of the present application;
fig. 10 is a schematic hardware structure diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that although functional blocks are partitioned in a schematic diagram of an apparatus and a logical order is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the partitioning of blocks in the apparatus or the order in the flowchart. The terms first, second and the like in the description and in the claims, and the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
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 herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
Unmanned aerial vehicle need take the monitored control system constantly to monitor its driving system's output to when driving system breaks down, can in time handle, and, monitor through the output to unmanned aerial vehicle's driving system, also can be convenient for in time carry out real time control to unmanned aerial vehicle's power. The monitoring of the unmanned aerial vehicle power system includes current monitoring and voltage monitoring.
However, at present, the power system of the unmanned aerial vehicle is not provided with a corresponding monitoring system for monitoring basically, so that the operation state of the power system of the unmanned aerial vehicle is unknown, or the current detection of the unmanned aerial vehicle is realized simply by adopting a current meter, and the voltage detection is realized by adopting a simple voltmeter.
Based on this, the embodiment of the application provides a current detection method, a power output monitoring device, equipment and a medium, and aims to improve the accuracy of current detection and reduce the cost of current detection.
The current detection method, the power output monitoring device, the power output monitoring equipment and the power output monitoring medium provided by the embodiment of the application are specifically explained by the following embodiments, and the current detection method in the embodiment of the application is firstly described.
Referring to fig. 1, fig. 1 is a circuit for detecting current according to some embodiments of the present disclosure, the circuit for detecting current includes: the circuit comprises a first resistor R1, a second resistor R2, a third resistor R3, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6 and an integrated operational amplifier U1. The amplifier consists of a fourth resistor R4, a fifth resistor R5 and an integrated operational amplifier U1, the first end of the fourth resistor R4 is connected with the ground wire, the second end of the fourth resistor R4 is connected with the inverting input end of the integrated operational amplifier U1, the first end of the fifth resistor R5 is connected with the second end of the fourth resistor R4, and the second end of the fifth resistor R5 is connected with the output end of the integrated operational amplifier U1; the first end of the first resistor R1 is connected with the ground wire, the second end of the first resistor R1 is connected with the unmanned aerial vehicle, and one end, far away from the first resistor R1, of the unmanned aerial vehicle is connected with a voltage input end; a first end of the second resistor R2 is connected with a second end of the first resistor R1, and a second end of the second resistor R2 is connected with a non-inverting input end of the integrated operational amplifier U1; a first end of the third resistor R3 is connected with a second end of the second resistor R2; a first terminal of the sixth resistor R6 is connected to a second terminal of the fifth resistor R5.
The current detection circuit in fig. 1 is provided with three sampling terminals, namely a first sampling terminal, a second sampling terminal and a third sampling terminal. The first sampling end is used for being connected with the second end of the third resistor R3, the second sampling end is used for being connected with the second end of the sixth resistor R6, and the third sampling end is arranged at the second end of the second resistor R2.
Referring to fig. 2, fig. 2 is an optional flowchart of a current detection method according to an embodiment of the present disclosure based on the current detection circuit shown in fig. 1, where the method in fig. 2 may include, but is not limited to, steps S100 to S500.
Step S100, acquiring a first voltage signal from a first sampling end;
step S200, acquiring a second voltage signal from a second sampling end;
step S300, calculating to obtain a third voltage signal according to the second voltage signal and a preset voltage amplification coefficient;
step S400, calculating to obtain a first current value according to the first voltage signal, the third voltage signal and the third resistor R3;
step S500, calculating to obtain a target current value according to the first current value, the third voltage signal, the first resistor R1 and the second resistor R2.
According to the current detection method, the first voltage signal from the first sampling end and the second voltage signal from the second sampling end are obtained, then the third voltage signal is obtained through calculation according to the second voltage signal and a preset voltage method coefficient, the first current value is obtained through calculation according to the first voltage signal, the third voltage signal and the third resistor R3, and finally the target current value is obtained through calculation according to the first current value, the third voltage signal, the first resistor R1 and the second voltage. Through setting up like this, realized the accurate detection of simple circuit to unmanned aerial vehicle's electric current, when improving again and detecting the accuracy, reduced the cost that detects.
Referring to fig. 3, in some embodiments of the present application, before step S300, the current detection method further includes the steps of:
and calculating the voltage amplification factor, specifically comprising step S600, step S700 and step S800.
Step S600, acquiring a first reference signal from a second sampling end;
step S700, acquiring a second reference signal from a third sampling end;
and step S800, calculating to obtain a voltage amplification factor according to the first reference signal and the second reference signal.
Specifically, in step S600 of some embodiments, the output voltage of the second sampling terminal is obtained through an ADC (Analog to Digital Converter), so as to obtain a first reference signal, which is denoted by VOUT _ ADC. Acquiring the voltage of a second sampling end through a high-precision ADC sampler to obtain a first reference signal, wherein the first reference signal is expressed by a formula (1), and the formula (1) is as follows:
VOUT_ADC＝(VADC*ADC1)/2X (1)
in formula (1), X represents the number of ADC conversion bits, ADC1 is the sampling channel, VADCBy such an arrangement, a relatively accurate first reference signal can be obtained for sampling the voltage.
In step S700 of some embodiments, the voltage of the third sampling terminal is obtained by the ADC, and a second reference signal is obtained, which is denoted by V + _ ADC. And acquiring the voltage of a third sampling end through a high-precision ADC sampler to obtain a second reference signal, wherein the second reference signal is expressed by a formula (2), and the formula (2) is as follows:
V+_ADC＝(VADC*ADC2)/2X (2)
in equation (2), X represents the number of ADC conversion bits, ADC2 is the sampling channel, VADCBy such an arrangement, a more accurate second reference signal can be obtained for sampling the voltage.
In step S800 of some embodiments, the voltage amplification factor is represented by K, and then the voltage amplification factor of the amplifier can be represented by formula (3), where formula (3) is:
K＝VOUT_ADC/V+_ADC (3)
from equation (1) and equation (2), equation (4) can be derived, where equation (4) is:
K＝ADC1/ADC2 (4)
as can be seen from equation (4), the voltage amplification factor obtained at this time has excluded the influence of the resistance.
If the method of the embodiment of the present application is not adopted, according to fig. 1, the voltage amplification factor K of the amplifier can be obtained, and is expressed by the following formula:
K＝(R4+R5)/R4 (5)
in the formula (5), the calculated voltage amplification factor does not meet the requirement of high precision due to the consistency difference and various precision errors of the fourth resistor R4 and the fifth resistor R5.
Therefore, by adopting the technical scheme of the embodiment of the application, high-precision current detection can be realized on the basis of not changing a circuit, so that the accuracy of current detection is improved, and the cost of high-precision current detection is reduced.
In order to improve the accuracy of current detection when actually detecting current, the first resistor R1 and the second resistor R2 in fig. 1 need to be set relatively small, and specific steps of the current detection method according to the embodiment of the present application are described below.
In step S100 of some embodiments, a first voltage signal at a first sampling end is collected by an ADC sampler, and is denoted by V1.
In step S200 of some embodiments, a second voltage signal at the second sampling end is collected by the ADC sampler, and is denoted by V2.
In step S300 of some embodiments, a third voltage signal is calculated according to the voltage amplification factor K and the second voltage signal V2 calculated in the foregoing steps, specifically:
V3＝V2/K (6)
referring to fig. 4, in some embodiments of the present application, step S400 includes, but is not limited to, step S410 and step S420, which are described in detail below in conjunction with fig. 1 and 4.
Step S410, calculating to obtain a first voltage value according to the first voltage signal and the third voltage signal;
in step S420, a first current value is calculated according to the first voltage value and the third resistor R3.
Specifically, in this embodiment, a difference between the first voltage signal and the third voltage signal is calculated to obtain a first voltage value, where the first voltage value is used to represent a voltage difference between two ends of the third resistor R3, and then the voltage difference between two ends of the third resistor R3 is divided by a resistance of the third resistor R3 according to ohm's law to obtain a first current value, where the first current value is used to represent a magnitude of a current value flowing through the third resistor R3. Can be expressed by equation (7), where equation (7) is:
I3＝(V1-V3)/R3 (7)
referring to fig. 5, in some embodiments of the present application, step S500 includes, but is not limited to, step S510, step S520, and step S530, which are described in detail below with reference to fig. 1 and 5.
Step S510, calculating to obtain a second voltage value according to the first current value and the second resistor R2;
step S520, calculating to obtain a third voltage value according to the third voltage signal and the second voltage value;
in step S530, a target current value is calculated according to the third voltage value and the first resistor R1.
Specifically, in this embodiment, a second voltage value is calculated according to the first current value and the second resistor R2, and the second voltage value is used to represent the voltage difference between two ends of the second resistor R2. And then, calculating to obtain a third voltage value according to the third voltage signal and the second voltage value, wherein the third voltage value is used for representing the voltage difference between the two ends of the first resistor R1, and calculating to obtain a target current value according to the third voltage value and the first resistor R1. Can be calculated by the following formula:
VR1＝V3-I1*R2 (8)
I＝VR1/R1 (9)
in formula (8) and formula (9), VR1 represents the third voltage value, and I represents the target current value.
Through setting up like this, can avoid the uniformity difference and the device error of fourth resistance R4 and fifth resistance R5 existence, only need simple revise the voltage amplification factor, just can realize carrying out the detection of high accuracy to unmanned aerial vehicle's power current.
Referring to fig. 6, in some embodiments of the present application, after step S500, the current detection method further includes, but is not limited to, step S900 and step S1000, which are described in detail below with reference to fig. 6.
Step S900, acquiring a preset current updating parameter;
and step S1000, updating the target current value according to the current updating parameter.
Specifically, in this embodiment, although the influence of the fourth resistor R4 and the fifth resistor R5 can be eliminated, the influence of the first resistor R1, the second resistor R2 and the third resistor R3 still exists, and the target current value obtained by calculation differs from the ideal result due to the error or consistency of the first resistor R1, the second resistor R2 and the third resistor R3, so that the target current value needs to be updated.
Through actual test, the difference exists in the target current value error of calculation under the different electric current circumstances, and when unmanned aerial vehicle was in powerful drive state, the actual current value of unmanned aerial vehicle can not be represented to the target current value, consequently, through obtaining the electric current update parameter, carries out the update to the target current value according to the electric current update parameter again, specifically realizes through following formula:
Y＝(A-D)/[1+(X/C)B]+D (10)
in equation (10), X represents the target current value before update, i.e., the target current value calculated according to equation (9), Y represents the target current value after update, i.e., the actual current value, and A, B, C, D is a constant and represents the current update parameter. The current update parameter is determined in the following way:
firstly, under different current conditions, an actual current value Y and a target current value X are calculated, then the actual current value Y and the target current value X are expressed in a Cartesian direct coordinate system, then fitting is carried out through a large amount of data, and current updating parameters A, B, C, D are obtained through calculation.
Through the arrangement, the accuracy of current detection can be further improved, and the requirement on the consistency of peripheral devices is lowered.
Referring to fig. 7, in a second aspect, some embodiments of the present application provide a power output monitoring method, including, but not limited to, step S1100, step S1200, step S1300, and step S1400, which are described in detail below with reference to fig. 7.
Step S1100, collecting power voltage of the unmanned aerial vehicle;
step S1200, calibrating the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value;
step S1300, acquiring a target current value; the target current value is detected by the current detection method according to any one of the embodiments of the first aspect;
and step S1400, obtaining a target monitoring result according to the target voltage value and the target current value.
According to the power output monitoring method, the power voltage is calibrated according to the preset voltage calibration coefficient to obtain the target voltage value, the target monitoring result is obtained according to the target current value obtained in the previous step, and the monitoring cost is reduced while high-precision monitoring is achieved.
Specifically, in the embodiment, the power voltage of the unmanned aerial vehicle is collected through the ADC sampler, and is represented by V4; and then, calibrating the power voltage V1 according to a preset voltage calibration coefficient Q to obtain a target voltage value, wherein the target voltage value is represented by V5.
V5＝(V4*ADC4)/(Q*2X) (12)
In equation (12), ADC4 represents the ADC sampling channel, and X represents the ADC conversion bit number.
Through the arrangement, the target voltage value obtained by detection is more consistent with the actual voltage, the accuracy of voltage detection is improved, circuit arrangement does not need to be changed, and the cost of voltage detection is reduced.
And finally, obtaining a target monitoring result according to the target voltage value and the target current value obtained by detection, thereby realizing the monitoring of the unmanned aerial vehicle power system.
Referring to fig. 8, fig. 8 is a schematic circuit diagram of a voltage detection circuit according to an embodiment of the present disclosure. The voltage detection circuit includes a seventh resistor R7 and an eighth resistor R8. The power output voltage of the drone may be expressed as:
VIN*(R7/R8)＝VOUT (11)
as can be seen from equation (11), the power output voltage of the drone is affected by the consistency difference and error of the seventh resistor R7 and the eighth resistor R8, and therefore, it is necessary to minimize or even eliminate this effect.
In some embodiments of the present application, before step S1200, the voltage detection method further includes the steps of:
outputting a preset calibration voltage to the unmanned aerial vehicle;
collecting a reference voltage generated by the unmanned aerial vehicle according to the calibration voltage;
and calculating to obtain a voltage calibration coefficient according to the calibration voltage and the reference voltage.
Specifically, in this embodiment, a high-precision calibration voltage is first input into the drone, then a reference voltage generated by the drone according to the calibration voltage is collected by the ADC sampler, and then a voltage calibration coefficient Q is calculated according to the calibration voltage and the reference voltage.
With V6 for the calibration voltage and V7 for the reference voltage, the voltage calibration coefficient can be expressed by the following equation:
Q＝(V7*ADC5)/(V6*2X) (12)
in equation (12), the ADC5 represents the ADC sampling channel, and X represents the number of conversion bits.
It should be noted that, the ADC sampler in the embodiment of the present application may be integrated on the central processing unit MCU, or may be separately disposed, and the present application is not particularly limited thereto.
Referring to fig. 9, in a third aspect, some embodiments of the present application further provide a power output monitoring apparatus for an unmanned aerial vehicle, where the power output monitoring apparatus includes an acquisition module 1500, a first processing module 1600, an acquisition module 1700, and a second processing module 1800.
And the acquisition module 1500 is used for acquiring the power voltage of the unmanned aerial vehicle.
The first processing module 1600 is configured to calibrate the power voltage according to a preset voltage calibration coefficient, so as to obtain a target voltage value.
An obtaining module 1700 configured to obtain a target current value; the target current value is detected by the current detection method according to any one of the embodiments of the first aspect;
and a second processing module 1800, configured to obtain a target monitoring result according to the target voltage value and the target current value.
The power output monitoring device of the embodiment of the application calibrates the power voltage according to the preset voltage calibration coefficient to obtain the target voltage value, obtains the target monitoring result according to the target current value obtained in the previous step, and reduces the monitoring cost while realizing high-precision monitoring.
It should be noted that the power output monitoring device of the embodiment of the present application corresponds to the power output monitoring method, and the specific operation process or monitoring steps refer to the power output monitoring method, which is not described herein again.
An embodiment of the present application further provides an electronic device, where the electronic device includes: the power output monitoring system comprises a memory, a processor, a program stored on the memory and capable of running on the processor, and a data bus for realizing connection communication between the processor and the memory, wherein when the program is executed by the processor, the current detection method or the power output monitoring method is realized. The electronic equipment can be any intelligent terminal including a tablet computer, a vehicle-mounted computer and the like.
Referring to fig. 10, fig. 10 illustrates a hardware structure of an electronic device according to another embodiment, where the electronic device includes:
the processor 1900 may be implemented by a general-purpose CPU (central processing unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits, and is configured to execute related programs to implement the technical solution provided in the embodiment of the present application;
the memory 2000 may be implemented in a form of a Read Only Memory (ROM), a static storage device, a dynamic storage device, or a Random Access Memory (RAM). The memory 2000 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present disclosure is implemented by software or firmware, the relevant program codes are stored in the memory 2000 and called by the processor 1900 to execute the current detection method or the power output monitoring method according to the embodiments of the present disclosure;
an input/output interface 2100 for implementing information input and output;
the communication interface 2200 is configured to implement communication interaction between the device and another device, and may implement communication in a wired manner (e.g., USB, network cable, etc.) or in a wireless manner (e.g., mobile network, WIFI, bluetooth, etc.);
a bus 2300 for transmitting information among the respective components of the apparatus (e.g., the processor 1900, the memory 2000, the input/output interface 2100, and the communication interface 2200);
wherein the processor 1900, the memory 2000, the input/output interface 2100 and the communication interface 2200 are communicatively connected to each other within the device via the bus 2300.
The embodiment of the application also provides a storage medium, which is a computer-readable storage medium for computer-readable storage, and the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the current detection method or the power output monitoring method.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processor through 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 embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation to the technical solutions provided in the embodiments of the present application, and it is obvious to those skilled in the art that the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems with the evolution of technology and the emergence of new application scenarios.
It will be appreciated by those skilled in the art that the solutions shown in fig. 1-7 are not intended to limit the embodiments of the present application and may include more or fewer steps than those shown, or some of the steps may be combined, or different steps may be included.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, and functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.
The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the above-described division of units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing programs, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The preferred embodiments of the present application have been described above with reference to the accompanying drawings, and the scope of the claims of the embodiments of the present application is not limited thereto. Any modifications, equivalents and improvements that may occur to those skilled in the art without departing from the scope and spirit of the embodiments of the present application are intended to be within the scope of the claims of the embodiments of the present application.
Claims (10)
1. A current detection method of an unmanned aerial vehicle is applied to a current detection circuit, and the current detection circuit comprises:
the first end of the first resistor is connected with a ground wire, and the second end of the first resistor is connected with the unmanned aerial vehicle;
a first end of the second resistor is connected with a second end of the first resistor, and a second end of the second resistor is connected with an input end of the amplifier;
a first end of the third resistor is connected with a second end of the second resistor;
the first sampling end is used for connecting the second end of the third resistor;
the second sampling end is used for connecting the output end of the amplifier;
the current detection method comprises the following steps:
acquiring a first voltage signal from the first sampling end;
acquiring a second voltage signal from the second sampling end;
calculating to obtain a third voltage signal according to the second voltage signal and a preset voltage amplification coefficient;
calculating to obtain a first current value according to the first voltage signal, the third voltage signal and the third resistor;
and calculating to obtain a target current value according to the first current value, the third voltage signal, the first resistor and the second resistor.
2. The method of claim 1, wherein the current sensing circuit further comprises:
the third sampling end is used for connecting the second end of the second resistor;
before the third voltage signal is obtained through calculation according to the second voltage signal and a preset voltage amplification factor, the current detection method further includes: calculating a voltage amplification factor, specifically comprising:
acquiring a first reference signal from the second sampling end;
acquiring a second reference signal from the third sampling end;
and calculating to obtain the voltage amplification factor according to the first reference signal and the second reference signal.
3. The method of claim 1, wherein calculating a first current value based on the first voltage signal, the third voltage signal, and the third resistance comprises:
calculating to obtain a first voltage value according to the first voltage signal and the third voltage signal;
and calculating to obtain the first current value according to the first voltage value and the third resistor.
4. The method of claim 1, wherein calculating a target current value based on the first current value, the third voltage signal, the first resistance, and the second resistance comprises:
calculating to obtain a second voltage value according to the first current value and the second resistor;
calculating to obtain a third voltage value according to the third voltage signal and the second voltage value;
and calculating to obtain the target current value according to the third voltage value and the first resistor.
5. The method according to any one of claims 1 to 4, wherein before the calculating a target current value according to the first current value, the third voltage signal, the first resistor and the second resistor, the current detection method further comprises:
acquiring a preset current updating parameter;
and updating the target current value according to the current updating parameter.
6. A power output monitoring method of an unmanned aerial vehicle is characterized by comprising the following steps:
collecting the power voltage of the unmanned aerial vehicle;
calibrating the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value;
acquiring a target current value; the target current value is detected by the current detection method according to any one of claims 1 to 5;
and obtaining a target monitoring result according to the target voltage value and the target current value.
7. The method according to claim 6, wherein before the power voltage is calibrated according to a preset voltage calibration coefficient to obtain a target voltage value, the power output monitoring method further comprises: calculating a voltage calibration coefficient, specifically comprising:
outputting a preset calibration voltage to the unmanned aerial vehicle;
collecting reference voltage generated by the unmanned aerial vehicle according to the calibration voltage;
and calculating the voltage calibration coefficient according to the calibration voltage and the reference voltage.
8. The utility model provides an unmanned aerial vehicle's power take off monitoring devices which characterized in that, the device includes:
the acquisition module is used for acquiring the power voltage of the unmanned aerial vehicle;
the first processing module is used for carrying out calibration processing on the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value;
the acquisition module is used for acquiring a target current value; the target current value is detected by the current detection method according to any one of claims 1 to 5;
and the second processing module is used for obtaining a target monitoring result according to the target voltage value and the target current value.
9. An electronic device, characterized in that the electronic device comprises a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for enabling connection communication between the processor and the memory, the program, when executed by the processor, implementing the steps of the current detection method according to any one of claims 1 to 5; or,
the steps of a power output monitoring method as claimed in any one of claims 6 to 7.
10. A storage medium that is a computer-readable storage medium for computer-readable storage, characterized in that the storage medium stores one or more programs that are executable by one or more processors to implement the steps of the current detection method of any one of claims 1 to 7; or,
the steps of a power output monitoring method as claimed in any one of claims 6 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210085162.4A CN114487550A (en) | 2022-01-25 | 2022-01-25 | Current detection method, power output monitoring method and device, equipment and medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210085162.4A CN114487550A (en) | 2022-01-25 | 2022-01-25 | Current detection method, power output monitoring method and device, equipment and medium |
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| CN202210085162.4A Pending CN114487550A (en) | 2022-01-25 | 2022-01-25 | Current detection method, power output monitoring method and device, equipment and medium |
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