CN114572019A

CN114572019A - Method for charging movable platform, base station and movable platform system

Info

Publication number: CN114572019A
Application number: CN202210260256.0A
Authority: CN
Inventors: 彭凡; 吴号; 汪洋; 黄雪峰
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2022-03-16
Filing date: 2022-03-16
Publication date: 2022-06-03

Abstract

A method for charging a movable platform, a base station and a movable platform system. The method for charging the movable platform comprises the following steps: acquiring a next operation task of the movable platform; and selecting a corresponding charging mode according to the operation information of the next operation task, wherein the charging mode comprises a normal charging mode for charging the battery of the movable platform and a storage charging mode for facilitating storage of the battery, and in the storage charging mode, the electric quantity of the battery is controlled to be smaller than that when the battery is fully charged. According to the embodiment of the application, the corresponding charging mode is selected according to the operation information of the next operation task of the movable platform, so that the battery of the movable platform is prevented from being in a high-power-storage state for a long time, and the service life of the battery is prolonged.

Description

Method for charging movable platform, base station and movable platform system

Technical Field

The invention relates to the technical field of battery charging, in particular to a method for charging a movable platform, a base station and a movable platform system.

Background

Unmanned aerial vehicles replace manual inspection work and are widely applied to various fields of electric power, forestry, public safety and the like. Compared with manual inspection, the unmanned aerial vehicle is high in operation maneuverability and flexible in operation, is not limited by landforms and landforms, and greatly reduces inspection operation cost. However, the battery life of the drone is short, and the radius of motion is limited, which greatly affects the operating efficiency of the drone.

In order to facilitate the charging and maintenance of the unmanned aerial vehicle during the inspection period, an unattended base station can be arranged near the inspection operation for arranging the unmanned aerial vehicle in the non-operation state and charging the unmanned aerial vehicle in the non-operation state.

Disclosure of Invention

A first aspect of the present application provides a method of charging a movable platform, comprising:

acquiring a next operation task of the movable platform;

and selecting a corresponding charging mode according to the operation information of the next operation task, wherein the charging mode comprises a normal charging mode for charging the battery of the movable platform and a storage charging mode for facilitating storage of the battery, and in the storage charging mode, the electric quantity of the battery is controlled to be smaller than that when the battery is fully charged.

A second aspect of the present application provides a base station, comprising:

a charging device for charging a battery of the movable platform; and

a processor configured to perform the method of the first aspect of the present application.

A third aspect of the present application provides a movable platform system comprising:

a movable platform and a base station as described in the second aspect of the present application;

the base station further comprises a positioning device, wherein the positioning device can adjust the movable platform to the target position of the base station, so that the base station can charge the movable platform.

According to the embodiment of the application, the corresponding charging mode is selected according to the time interval of the distance between the movable platform and the next action, so that the battery can be effectively prevented from being in a high-power storage state for a long time, and the service life of the battery can be prolonged.

Drawings

Other objects and advantages of the present invention will become apparent from the following description of the invention which refers to the accompanying drawings, and may assist in a comprehensive understanding of the invention.

FIG. 1 illustrates a flow diagram of a method of charging a movable platform according to an embodiment of the invention;

FIG. 2 illustrates a flow diagram of a method of selecting a corresponding charging mode according to a time interval, according to an embodiment of the invention;

FIG. 3 is a flow chart of a method for controlling the battery capacity within a preset capacity interval;

FIG. 4 illustrates a flow diagram of a method of selecting a corresponding charging mode according to a time interval, according to another embodiment of the invention;

FIG. 5 shows a flow chart of a charging method for a normal charging mode;

FIG. 6 illustrates a flow chart of a method of selecting whether to immediately charge a battery based on a current temperature;

fig. 7 shows a block diagram of a base station according to an embodiment of the present invention;

fig. 8 is a block diagram illustrating a structure of a base station according to another embodiment of the present invention;

fig. 9 is a block diagram illustrating a structure of a base station according to another embodiment of the present invention;

FIG. 10 illustrates a block diagram of a moveable platform system according to an embodiment of the present invention; and

FIG. 11 illustrates a block diagram of a moveable platform system according to an embodiment of the present invention.

It is noted that the drawings are not necessarily to scale and are merely illustrative in nature and not intended to obscure the reader.

Description of reference numerals:

100. a movable platform system; 10. a base station; 11. a charging device; 12. a processor; 13. a communication device; 14. parking apron; 15. a standby power supply; 16. a positioning device;

20. a movable platform; 21. a battery; 22. a temperature sensor;

30. an unmanned aerial vehicle; 31. a body; 32. a rotor; 33. a battery.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention. It should be apparent that the described embodiment is one embodiment of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

It is to be noted that technical terms or scientific terms used herein should have the ordinary meaning as understood by those having ordinary skill in the art to which the present invention belongs, unless otherwise defined.

The meaning of "a plurality" in the description of embodiments of the invention is at least two, e.g., two, three, etc., unless explicitly specified otherwise.

The battery of the unattended movable platform is usually a lithium ion battery, and the unattended movable platform such as an unmanned aerial vehicle is usually arranged outdoors, so that the working temperature environment range can reach-40 ℃ to 50 ℃. Although the lithium ion battery is designed with consideration of the influence of the temperature factor in the storage scene, if the influence of the electric quantity factor is coupled, namely when the lithium ion battery is in a high-temperature and high-electric-quantity state, the cathode material of the lithium ion battery is easy to generate chemical action with an electrolyte solvent, the cathode material is damaged, byproducts are formed, and accompanying gas is generated, so that the internal chemical reaction interface is deteriorated, the capacity is jumped, and gas generation is expanded.

As an example, in the field of drone technology, in order to ensure that the drone has sufficient power in the next operation, generally, after the drone finishes the current operation and returns to the base station, the base station immediately charges the battery of the drone until the battery is fully charged. This means that the drone will wait for the next job task to start in a state of full battery. For the case of short time intervals from the next job task, it is advantageous for the drone to charge immediately after returning to the base station. However, for a longer time interval from the next work task, this will cause the battery of the drone to be stored at a high capacity for a longer time in the non-work state, which will accelerate the aging of the battery.

Therefore, it is necessary to consider how to reduce the influence of high-temperature and high-power storage on the battery, and also to minimize the negative influence on the user experience.

Based on the above technical problem, the embodiments of the present application provide a method, a base station, and a mobile platform system for charging a mobile platform. According to the embodiment of the application, the corresponding charging mode can be determined according to the operation information of the next operation of the distance between the movable platform and the mobile platform, the battery is favorably prevented from being in a high-power-storage state for a long time, and therefore the service life of the battery is favorably prolonged.

The movable platform may include, but is not limited to, any one of an unmanned aerial vehicle, an unmanned ship, and a robot (e.g., a sweeping robot, a mopping robot, etc.). The base station is used for charging the movable platform. The base station may be an unattended base station. For example, the base station may automatically charge the movable platform after the movable platform returns to the base station after the current job task is completed.

Among them, a method of charging the movable platform (hereinafter, simply referred to as a charging method) may be applied to the base station or the movable platform system. It is readily understood that the charging method of the present application is applicable to secondary batteries, particularly lithium batteries.

The charging method of the embodiment of the invention comprises the following steps: acquiring a next operation task of the movable platform; and selecting a corresponding charging mode according to the operation information of the next operation task.

The job information of the job task of the movable platform may be set by the user. For example, the user may set job information such as the type, number, job start time, and/or end time of job tasks.

The charging mode includes a normal charging mode for performing a charging operation for the battery of the movable platform and a storage charging mode for facilitating storage of the battery, wherein in the storage charging mode, the amount of charge of the battery is controlled to be less than the amount of charge when the battery is fully charged.

The charge of the battery may be represented by SOC. It will be readily appreciated that the normal charging mode is a charging mode common in the art, and the goal of charging is to fully charge the battery. The storage charge mode is different from the normal charge mode in that the goal is not to fully charge the battery, but to place the battery in a more storage-friendly state. That is, when the battery is stored in this state, the battery is advantageous in terms of the service life of the battery and is more friendly to the battery. In the storage charging mode, the battery will not be fully charged, and the charge of the battery will be less than when the battery is fully charged.

According to the embodiment of the application, the corresponding charging mode is determined according to the operation information of the next operation of the movable platform, the storage charging mode or the normal charging mode can be reasonably selected according to the actual requirement of the movable platform, the battery can be prevented from being in a high-power storage state for a long time, and the service life of the battery can be prolonged.

In some embodiments, the job information may include a job task start time. The specific steps of selecting the corresponding charging mode according to the job information of the next job task in the charging method are shown in fig. 1.

In step S11, a time interval Δ t from the current time to the start of the next work task of the movable platform is acquired.

In step S12, the corresponding charging mode is selected according to the time interval Δ t.

After the starting time of the next work task of the movable platform, the time interval delta t from the current time to the starting time of the next work task of the movable platform can be calculated, and then the normal charging mode or the storage charging mode is selected according to the length of the time interval delta t.

It is easily understood that when the next job task start time of the movable platform is not temporarily determined, the normal charging mode or the storage charging mode may be selected to charge the movable platform. Of course, in some cases, it is preferable to charge the movable platform in the normal charging mode when the start time of the next task of the movable platform is not determined temporarily, and in this case, if the movable platform has a sudden task use demand, it is possible to ensure that the movable platform has enough power to complete the sudden task.

In some embodiments, the selecting the respective charging mode according to the time interval Δ t in step S12 includes: if the time interval delta t is less than or equal to a first preset time t1, selecting a normal charging mode; if the time interval Δ t is greater than the first preset time period t1, the storage charging mode is selected.

The method for selecting the respective charging mode according to the time interval Δ t may specifically refer to the flowchart shown in fig. 2.

In step S21, it is determined whether or not the time interval Δ t is greater than t 1; if yes, executing step S221, selecting a storage charging mode; if not, step S222 is executed to select the normal charging mode.

t1 can be set according to actual conditions. In some embodiments, t1 is selected to ensure that the charge of the battery can be charged from 0 to full charge at least during time t 1. It will be readily appreciated that when the battery requires temperature regulation prior to charging, the selection of t1 should be greater than or equal to the sum of the time to regulate the temperature of the battery and the time to fully charge the battery.

In an exemplary application scenario taking an unmanned aerial vehicle as an example, after the unmanned aerial vehicle finishes the current operation and returns to the base station, the base station obtains a time interval Δ t from the current time to the start time of the next operation task of the unmanned aerial vehicle, and then selects a corresponding charging mode according to the time interval Δ t.

In this application scenario, if the time for the base station to charge the battery of the drone from 0 to full is 40 minutes and the time for adjusting the temperature of the battery is at least 15 minutes, t1 may be set to 60 minutes, for example. And when the time interval delta t of the unmanned aerial vehicle obtained by the base station from the next operation task is 50 minutes, selecting a normal charging mode to charge the battery of the unmanned aerial vehicle. From this, can make unmanned aerial vehicle electric quantity when carrying out the operation task next time as far as possible sufficient. And when the time interval delta t of the unmanned aerial vehicle obtained by the base station from the next operation task is 100 minutes, selecting a storage charging mode to charge the battery of the unmanned aerial vehicle. Therefore, the battery can be prevented from being in a high-power state for a long time, and the storage time of the battery in the high-power state is reduced.

In some embodiments, after entering the storage charging mode, the charging method further includes obtaining a time interval Δ t from the current time to the start time of the next work task of the movable platform again, and if the time interval Δ t is less than or equal to a first preset time period t1, exiting the storage charging mode and entering the normal charging mode.

In the above embodiment, the charging method is equivalent to that in the case that the time interval Δ t between the movable platform and the next job task is greater than t1, the battery enters the storage charging mode first, and then enters the normal charging mode after the time interval Δ t is equal to or less than the first preset time period t 1.

Therefore, the charging method of the embodiment of the present application can also be expressed as: acquiring a time interval delta t from the current moment to the starting moment of the next operation task of the movable platform; and directly entering a normal charging mode or entering a storage charging mode first and then entering the normal charging mode according to the time interval delta t. Alternatively, the charging method in the embodiment of the present application may be expressed as: acquiring a time interval delta t from the current moment to the starting moment of the next operation task of the movable platform; and determining whether to charge the battery of the movable platform by adopting a charging mode comprising a storage charging mode according to the time interval delta t.

Therefore, in the embodiment of the application, for the condition that the time interval delta t from the current time to the starting time of the next operation task of the movable platform is longer, in the process of charging the battery, the battery is charged in the storage charging mode, and then the battery is charged in the normal charging mode, so that the storage time of the battery in a high-power state can be reduced, and the full power of the battery in the next operation task can be met.

It is easy to understand that, after the time interval Δ t is acquired for the first time when the movable platform returns to the base station, the countdown is started when the storage charging mode is entered, and the storage charging mode is exited and the normal charging mode is entered until the time interval Δ t is less than or equal to the first preset time period t 1. Alternatively, after the time interval Δ t is acquired for the first time, the start time of the next work task of the movable platform may be acquired at a preset time interval, and the time interval Δ t may be recalculated.

Further, in the charging method, after entering the storage charging mode, if a time interval Δ t from the current time to the start time of the next work task of the movable platform is equal to a first preset time period t1, exiting the storage charging mode, and entering the normal charging mode.

In some embodiments, the charging method further comprises: if the storage charging mode is selected, the temperature of the battery is adjusted so that the temperature of the battery is less than or equal to the storage temperature upper limit value Ts. In this way, the battery can be stored at a battery-friendly temperature in the storage charging mode, further improving the life of the battery.

The storage temperature upper limit value Ts may be set according to the characteristics of the battery itself and the actual conditions of the environment in which the battery is placed. For example, the upper limit Ts of the storage temperature may be set to 60 ℃, 45 ℃, 30 ℃, 20 ℃, 10 ℃ or 0 ℃.

During the continuous process of the charging method, the temperature T of the battery may be acquired at a first preset time interval, and the battery is cooled when the temperature is higher than the upper limit value Ts of the storage temperature, so that the temperature T of the battery is maintained in a range of less than or equal to the upper limit value Ts of the storage temperature in a non-charging state.

In some embodiments, the charging method further comprises: and if the storage charging mode is selected, controlling the electric quantity of the battery within a preset electric quantity interval. The lower limit of the preset electric quantity interval may be a first preset threshold a%, and the upper limit may be a second preset threshold B%, where a < B. That is, when the storage charge mode is selected, the amount of charge q% of the battery is controlled to be within a% to B%.

Specifically, when the selected charging mode is the storage charging mode, controlling the charge amount q% of the battery within the preset charge amount interval includes the following three cases.

In the first case: and if the current electric quantity q% of the battery exceeds the upper limit value B% of the preset electric quantity interval, performing discharging operation on the battery to reduce the electric quantity of the battery to (B-delta q)%. Wherein 0< DELTAq is less than or equal to B-A.

When the current electric quantity q% of the battery is higher and is larger than the second preset threshold value B%, the performance loss of the battery caused by the storage of the battery under the electric quantity is larger, and therefore the self-discharge treatment needs to be carried out on the battery. The self-discharge process may be performed by discharging the battery capacity using a discharge circuit until the battery capacity q% is controlled to be equal to (B- Δ q)%.

In the second case: and if the current electric quantity q% of the battery is lower than the lower limit value A% of the preset electric quantity interval, performing charging operation on the battery so as to enable the electric quantity of the battery to rise to (A +. DELTA.q)%.

When the current battery capacity q% of the battery is very low and is less than the first preset threshold a%, the battery life is also affected by the storage of the battery under the low battery capacity, and therefore, the battery needs to be charged until the battery capacity q% is (a + Δq)%.

In the third case: and if the current electric quantity q% of the battery is greater than or equal to a first preset threshold value A% and less than or equal to a second preset threshold value B%, not performing charging and discharging operation on the battery.

In the third case, the battery capacity q% is in the target state (i.e. within the preset capacity interval), i.e. not in the high capacity state with the highest capacity, nor in the low capacity state with the lowest capacity. Such an amount of power is more battery friendly, which can reduce battery performance loss and correspondingly extend battery life.

The first preset threshold a% and the second preset threshold B% may be changed according to different types of materials of the battery.

Relevant experiments prove that for the lithium battery, when the electric quantity of the battery is between 50% and 65% of the total electric quantity, the service life of the battery is longer. Optionally, the first preset threshold a% is 50% of the total power (i.e. full power), and the second preset threshold B% is 65% of the total power.

Fig. 3 shows a flow chart of a method for controlling the charge q% of the battery within a preset charge interval.

In step S31, the current charge q% of the battery is collected.

In step S32, it is determined whether the current electric quantity q% is larger than B%. If yes, step S331 is executed to discharge the battery to reduce the battery capacity q% to (B- # q)%. If not, step S332 is executed to continuously determine whether the current electric quantity q% is less than a%.

In step S332, if it is determined that the current electric quantity q% is less than a%, performing step S34, and performing charging processing on the battery to raise the electric quantity q% of the battery to (a + Δq)%; and if the current electric quantity q% is judged to be larger than or equal to A%, executing the step S35, and not carrying out charging and discharging operation on the battery.

Therefore, when the electric quantity q% of the battery is higher than the second preset threshold B% in the state that the battery is in the storage charging mode, the embodiment of the application discharges the electric quantity of the battery to the electric quantity which is lower than the second preset threshold B% by deltaq%, but does not directly discharge the electric quantity of the battery to the first preset threshold A%; when the electric quantity q% of the battery is lower than the first preset threshold value a%, the embodiment of the present application charges the electric quantity of the battery to the electric quantity Δ q% higher than the first preset threshold value a%, instead of directly charging the electric quantity of the battery to the second preset threshold value B%. In other words, the hysteresis quantity Δ q is introduced in the embodiment of the present application. The hysteresis quantity delta q can avoid the repeated stop and start of the charging and discharging operation when the electric quantity is adjusted to the critical point of an upper limit value B% or a lower limit value A%, and the electric quantity q of the battery can be stably maintained between A% and B% within a certain time after the electric quantity is adjusted.

It is easy to understand that fig. 3 only illustrates one implementation manner of controlling the charge q% of the battery within the preset charge interval according to the embodiment of the present application, and the present application is not limited to the above-mentioned flow.

It is easy to understand that in the storage charging mode of the present application, the temperature T and the electric quantity q% of the battery can be adjusted at the same time, so that the battery can maintain the electric quantity state and the temperature condition which are friendly to the battery to the maximum extent, and the service life of the battery is prolonged.

In some embodiments, the storage charging mode may include a medium-long term storage charging mode and a short term storage charging mode. The upper limit value of the preset electric quantity interval in the medium-long term storage charging mode is smaller than the upper limit value of the preset electric quantity interval in the short term storage charging mode.

The lower limit value of the preset electric quantity interval in the medium-and-long-term storage charging mode may be equal to the lower limit value of the preset electric quantity interval in the short-term storage charging mode.

Specifically, the preset electric quantity interval in the medium-long term storage charging mode is A% -B1%, and the preset electric quantity interval in the short term storage charging mode is A% -B2%, wherein B1 is less than B2. It is easily understood that a% -B1% is the best state of charge stored in the battery, and a% -B2% is the next best state of charge stored in the battery.

In other words, in the long-term storage charging mode, the upper limit value of the electric quantity is lower, and the battery is more friendly. In the short-term storage charging mode, the upper limit value of the electric quantity is higher, and the battery is allowed to be in a slightly high-electric-quantity state because the battery needs to be used in a relatively shorter time, so that unnecessary performance loss caused by large-amplitude electric quantity adjustment on the battery in a short term can be avoided as much as possible, and the high-temperature high-electric-quantity storage time of the battery is reasonably and fully shortened.

In the charging method, for an embodiment in which the storage charging mode includes a medium-long term storage charging mode and a short term storage charging mode, selecting the corresponding charging mode according to a time interval Δ t from a current time to a start time of a next work task of the movable platform may specifically include three cases.

In the first case: and if the time interval delta t is less than or equal to a first preset time period t1, selecting a normal charging mode.

In the second case: and if the time interval delta t is greater than a second preset time period t2, selecting a medium-long term storage charging mode, wherein t2 > t 1.

In the third case: if the time interval Δ t is greater than the first preset time period t1 and less than the second preset time period t2, the short-term storage charging mode is selected.

Fig. 4 shows a flowchart for selecting a corresponding charging mode according to a time interval according to another embodiment of the present invention. The step S41 is the same as the step S21, and the step S422 is the same as the step S222.

When it is determined in step S41 that the time interval Δ t is greater than t1, step S421 is executed to determine whether the time interval Δ t is less than t2, so as to further determine whether to select the medium-and-long-term storage charging mode or the short-term storage charging mode.

If it is determined in step S421 that the time interval Δ t is smaller than t2, step S431 is executed to select the short-term storage charging mode; if the time interval Δ t is greater than t2, step S432 is executed to select the medium-and-long-term storage charging mode.

In some embodiments, if the normal charging mode is selected, the battery may be immediately subjected to a charging operation.

For the battery, when the charging temperature is within the preset temperature range, the performance of the battery is better. Therefore, in some embodiments, the temperature T of the battery may also be adjusted to be within a preset temperature interval before the battery is charged. It is easy to understand that if the temperature T of the battery is originally within the preset temperature range, the charging operation can be directly performed without adjusting the temperature of the battery.

The lower limit value of the preset temperature interval may be a first preset threshold value Tmin and the upper limit value may be a second preset threshold value Tmax, where Tmin < Tmax. That is, when the normal charge mode is selected, the battery is charged while controlling the temperature T of the battery within Tmin to Tmax.

In some embodiments, referring to fig. 5, before charging the battery, steps S51 and S52 may be further included to ensure that the temperature T of the battery is within a preset temperature interval at the time of charging.

In step S51, the current temperature T of the battery is collected.

In step S52, whether to immediately perform the charging operation on the battery is selected according to the current temperature T.

The charging method comprises the following steps: if the current temperature T is within a preset temperature range, immediately charging the battery; and if the current temperature T is outside the preset temperature interval, performing temperature adjustment operation on the battery so as to enable the temperature T of the battery to be within the preset temperature interval, and then performing charging operation on the battery.

In some embodiments, when the selected charging mode is the normal charging mode, if the current temperature T of the battery is outside the preset temperature interval, the temperature adjustment operation on the battery includes the following two cases.

In the first case: and if the current temperature T is higher than the upper limit value Tmax of the preset temperature interval, cooling the battery to reduce the temperature T of the battery to Tmax-delta T, wherein 0< deltaT is less than or equal to Tmax-Tmin.

In the second case: and if the current temperature T is lower than the lower limit value Tmin of the preset temperature interval, performing temperature rise operation on the battery to enable the temperature T of the battery to rise to Tmin +. DELTA.T.

Fig. 6 shows a flow chart of a method for selecting whether to immediately perform a charging operation on a battery according to a current temperature.

In step S61, it is determined whether the acquired current temperature T of the battery is greater than Tmax. If yes, step S621 is executed to cool down the battery to reduce the temperature of the battery to Tmax- Δ T. Then, step S64 is executed to perform the charging operation on the battery.

In step S61, if it is determined that the collected current temperature T of the battery is less than or equal to Tmax, step S622 is executed to further determine whether the current temperature T is less than Tmin.

In step S622, if it is determined that the current temperature T is less than Tmin, step S63 is executed to perform a temperature raising operation on the battery so as to raise the temperature of the battery to Tmin +. DELTA.T. Then, step S64 is executed to perform the charging operation on the battery.

In step S622, if it is determined that the current temperature T is not lower than Tmin, step S64 is executed to perform a charging operation on the battery.

In the above-described embodiment of the present application, when the temperature T of the battery is higher than the second preset threshold Tmax, the embodiment of the present application adjusts the temperature T of the battery to a temperature that is lower than the second preset threshold Tmax by Δ T, instead of directly lowering the temperature T of the battery to the first preset threshold Tmin. When the temperature T of the battery is lower than the first preset threshold Tmin, the embodiment of the present application adjusts the temperature of the battery to a temperature Δ T% higher than the first preset threshold Tmin, instead of directly increasing the temperature T of the battery to the second preset threshold Tmax. In other words, the hysteresis quantity Δ T is introduced in the embodiment of the present application. The hysteresis quantity Δ T can avoid the repeated start of the temperature adjustment operation when the temperature is adjusted to the critical point of the upper limit value Tmax or the lower limit value Tmin, and ensure that the temperature T of the battery can be stably maintained between Tmin and Tmax within a certain time after the temperature adjustment is finished.

In the above charging method, the temperature T of the battery may be acquired at a second preset time interval so as to be maintained at a preset temperature interval in the charged state.

It is easily understood that, during the storage charging mode, when the battery capacity q% is lower than the lower limit value a% of the preset capacity interval and the battery needs to be charged (to charge the battery capacity q% to (a + Δq)%), the temperature T of the battery may be adjusted to the preset temperature interval before the charging operation (i.e., within the temperature interval Tmin Tmax), and then the charging operation may be performed on the battery. When the electric quantity q% of the battery is charged to (A +. DELTA.q)%), stopping the charging operation of the battery, collecting the temperature T of the battery, and maintaining the temperature T of the battery below a storage temperature upper limit value Ts.

The embodiment of the application also provides a base station which is used for charging the battery of the movable platform.

Fig. 7 shows a block diagram of a base station according to an embodiment of the present invention. Referring to fig. 7, the base station 10 includes: a charging device 11 and a processor 12. The charging device 11 is used to charge the battery of the movable platform. The processor 12 is configured to execute the charging method of any of the above embodiments to control the charging device 11 to charge the battery of the movable platform.

Fig. 8 shows a block diagram of the base station 10 according to another embodiment of the present invention. Referring to fig. 8, the base station 10 may further include a communication device 13 for acquiring a starting time of a next job task of the movable platform.

The communication device 13 may be in communication with the movable platform or the remote console to obtain a starting time of a next job task of the movable platform, so that the processor 12 can select a corresponding charging mode according to a time interval from the current time to the starting time of the next job task of the movable platform.

The communication device 13 may also be communicatively connected to the movable platform to obtain the current temperature T of the battery of the movable platform, so that the processor 12 can adjust the temperature of the battery according to the current temperature T of the battery.

Fig. 9 shows a block diagram of a base station 10 according to another embodiment of the present invention. Referring to fig. 9, the base station 10 may further include a backup power supply 15, and the backup power supply 15 may be used to supply power to the base station 10 when the base station 10 is disconnected from an external power supply. It will be readily appreciated that the ability of the backup power source 15 to be used to power the base station 10 means that the backup power source 15 is able to provide power to at least one powered device of the base station 10. The electric device may be, for example, the charging device 11, the processor 12, the communication device 13, or other devices of the base station 10 that need to operate with electric energy.

In some embodiments, the base station 10 further comprises an alarm for issuing an alarm when an abnormal condition occurs in the base station 10 and/or a positioning device for positioning the movable platform to a target position of the base station 10 for charging. In this case, the consumer may also be an alarm or a positioning device.

In the present embodiment, the base station 10 is typically powered by mains electricity. When the commercial power is cut off, the standby power supply 15 supplies power to the electric equipment of the base station 10 to ensure the normal operation of the base station 10. For example, when the mains power is suddenly cut off, the power consuming equipment of the base station 10 is immediately powered by the backup power supply 15 to allow the mobile platform to leave the base station 10, and/or to allow an alarm to issue an alarm alert, etc.

In some embodiments, the charging device 11 can also be connected to a backup power source 15, such that the backup power source 15 can be used to charge the battery of the movable platform. Specifically, when the mains supply is powered off, the backup power supply 15 immediately supplies power to the charging device 11 to ensure that the battery of the movable platform can be charged normally.

In some embodiments, backup power source 15 may include a battery and/or a solar panel.

The embodiment of the application also provides a movable platform system. Fig. 10 shows a block diagram of a movable platform system according to an embodiment of the present invention.

Referring to fig. 10, a movable platform system 100 includes a movable platform 20 and a base station 10 according to any embodiment of the present application, and the base station 10 is configured to perform the charging method described above to charge the movable platform 20.

Wherein, the base station 10 further comprises a positioning device 16, and the positioning device 16 can adjust the movable platform 20 to the target position of the base station 10, so that the base station 10 can charge the battery of the movable platform 20.

The target position may specifically be a position suitable for performing a charging operation for the movable platform 20. In practical application, the target position can be set according to actual needs. For example, in embodiments where the base station 10 has an apron for carrying the movable platform 20, the target position may be provided in a central region or an edge region or any designated location of the apron.

In the embodiment of the present application, the number of the positioning devices 16 may be one or more. In the case that the number of the aligning devices 16 is one, the position and the aligning direction of the aligning devices 16 are both adjustable, and by adjusting the position and the aligning direction of the aligning devices 16 on the apron, the movable platform 20 can be pushed from different positions and directions until the movable platform 20 is pushed to the target position. In the case where the number of the positioning devices 16 is plural, the plural positioning devices 16 can push the movable platform 20 from different directions to quickly push the movable platform 20 to the target position.

The truing device 16 may be driven by a drive device so as to be able to move relative to the tarmac. It is to be understood that the positioning device 16 may have any structure known to those skilled in the art, and the structure of the positioning device 16 is not particularly limited in the embodiments of the present application.

FIG. 11 illustrates a block diagram of a moveable platform system according to an embodiment of the present invention. In the embodiment shown in fig. 11, the movable platform is a drone 30. As can be appreciated, the drones 30 may include various types of fixed wing drones, rotor drones, parachute drones, and the like.

The drone 30 includes a fuselage 31 and at least one rotor 32. A rotor 32 is provided to the fuselage 31, the rotor 32 being configured to control movement of the drone 30, including lifting, landing, diving, steering, and the like.

The drone 30 may also include a battery 33 for powering the rotor 32 and other electrical devices of the drone 30.

The base station 10 is a charging base station that charges the unmanned aerial vehicle 30. The base station 10 has an apron 14 for carrying a drone 30.

The base station 10 further includes a charging device (not shown in the figure) and a processor (not shown in the figure), and the processor is configured to control the charging device to charge the battery 33 of the drone 30 according to the charging method of any of the above embodiments.

The base station 10 further includes a positioning device (not shown in the figure) capable of adjusting the drone 30 to a target position of the base station 10, so that the base station 10 can charge the drone 30.

Base station 10 can be unmanned on duty equipment, and the user carries out the communication through remote control platform and unmanned aerial vehicle 30, including setting for unmanned aerial vehicle 30's task and controlling unmanned aerial vehicle 30's flight etc. The base station 10 may include a communication device, configured to be in communication connection with the movable platform or a remote console, so as to obtain a starting time of a next job task of the movable platform and obtain a temperature of a battery of the movable platform, so that the base station 10 according to an embodiment of the present application can perform the charging method according to any one of the embodiments.

It should also be noted that, in the case of the embodiments of the present invention, features of the embodiments and examples may be combined with each other to obtain a new embodiment without conflict.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and the scope of the present invention is subject to the scope of the claims.

Claims

1. A method of charging a movable platform, comprising:

acquiring a next operation task of the movable platform;

2. The method of claim 1, wherein the job information includes a job task start time, and wherein selecting a corresponding charging mode based on the job information of the next job task comprises:

and acquiring a time interval from the current moment to the starting moment of the next operation task of the movable platform, and selecting a corresponding charging mode according to the time interval.

3. The method of claim 2, further comprising:

and if the storage charging mode is selected, controlling the electric quantity of the battery within a preset electric quantity interval.

4. The method of claim 3, wherein the storage charging mode comprises a medium-long term storage charging mode and a short term storage charging mode, wherein an upper limit value of the preset charge interval in the medium-long term storage charging mode is smaller than an upper limit value of the preset charge interval in the short term storage charging mode.

5. The method of claim 4, wherein selecting the corresponding charging mode according to the time interval comprises:

if the time interval is less than or equal to a first preset time, selecting the normal charging mode;

if the time interval is longer than a second preset time, selecting the medium-long term storage charging mode, wherein the second preset time is longer than the first preset time;

and if the time interval is greater than the first preset time and less than the second preset time, selecting the short-term storage charging mode.

6. The method of claim 3, wherein the controlling the amount of power of the battery within a preset power interval comprises:

acquiring the current electric quantity of the battery;

if the current electric quantity exceeds the upper limit value B% of the preset electric quantity interval, performing discharging operation on the battery to enable the electric quantity of the battery to be reduced to (B-delta q)%;

if the current electric quantity is lower than the lower limit value A% of the preset electric quantity interval, performing charging operation on the battery to enable the electric quantity of the battery to rise to (A + DELTAq)%,

wherein 0< DELTAq is less than or equal to B-A.

7. The method of claim 2, wherein selecting the respective charging mode according to the time interval comprises:

and if the time interval is greater than the first preset time, selecting the storage charging mode.

8. The method of claim 5 or 7, further comprising:

and after entering the storage charging mode, re-acquiring the time interval from the current moment to the start moment of the next operation task of the movable platform, and if the time interval is less than or equal to the first preset time length, exiting the storage charging mode and entering the normal charging mode.

9. The method of claim 1, further comprising:

and if the storage charging mode is selected, adjusting the temperature of the battery so that the temperature of the battery is less than or equal to the upper limit value of the storage temperature.

10. The method of claim 1, further comprising:

and if the normal charging mode is selected, acquiring the current temperature of the battery, and selecting whether to immediately charge the battery according to the current temperature.

11. The method of claim 10, wherein selecting whether to immediately charge the battery based on the current temperature comprises:

if the current temperature is within a preset temperature range, immediately performing charging operation on the battery;

and if the current temperature is outside the preset temperature interval, carrying out temperature adjustment operation on the battery so as to enable the temperature of the battery to be in the preset temperature interval, and then carrying out charging operation on the battery.

12. The method of claim 11, wherein the performing a temperature conditioning operation on the battery if the current temperature is outside the preset temperature interval comprises:

if the current temperature is higher than an upper limit value Tmax of the preset temperature interval, cooling the battery to enable the temperature of the battery to be reduced to Tmax-delta T;

if the current temperature is lower than the lower limit value Tmin of the preset temperature interval, heating the battery to raise the temperature of the battery to Tmin +. DELTA.T,

wherein 0< DELTAT is less than or equal to Tmax-Tmin.

13. A base station, comprising:

a charging device for charging a battery of the movable platform; and

a processor for performing the method of any one of claims 1 to 12.

14. The base station of claim 13, wherein the base station includes a backup power source, wherein the backup power source is operable to power the base station when the base station and an external power source are disconnected.

15. The base station of claim 14, wherein the charging device is connected to the backup power source, the backup power source being operable to charge a battery of the movable platform.

16. The base station of claim 14, wherein the backup power source comprises a battery, a solar panel.

17. A movable platform system, comprising:

a movable platform and the base station of any one of claims 13 to 16;

the base station further comprises a positioning device, and the positioning device can adjust the movable platform to a target position of the base station so that the base station can charge the movable platform.