KR102092324B1 - A monitoring device of the drone's battery pack charged status considering atmospheric temperature and atmospheric pressure according to flight height of the drone - Google Patents

Abstract

The present invention relates to a battery pack charging state monitoring device considering the atmospheric temperature and the atmospheric pressure in accordance with the flight height of a drone. Basically, the present invention monitors not only the flight altitude of the drone in flight and a charging state of a battery pack changed in accordance with a flight mode change, but also the charging state of the battery pack considering a rapid discharging phenomenon of the battery pack due to changes in the atmospheric temperature and the atmospheric pressure as the flight altitude of the drone increases. Moreover, the present invention accurately monitors the charging state of the battery pack changed in accordance with the flight altitude of the drone by reflecting capacity information in an algorithm monitoring the charging state of the battery pack by deriving a formula in accordance with the atmospheric temperature and the atmospheric pressure in accordance with the flight altitude of the drone.

Description

A monitoring device of the drone's battery pack charged status considering atmospheric temperature and atmospheric pressure according to flight height of the drone}

The present invention relates to a battery pack charging state monitoring device in consideration of temperature and air pressure according to the flight altitude of a drone, and more particularly, the present invention basically charges a battery pack that changes according to flight altitude and flight mode switching of a drone in flight. In addition to monitoring the state, as the flight altitude of the drone increases, it is an invention to precisely monitor the charge state of the battery pack in consideration of the rapid discharge phenomenon of the battery pack due to changes in temperature and atmospheric pressure.

In addition, the present invention derives the formula according to the temperature and air pressure of the drone according to the flight altitude, and reflects the variable discharge capacity information in an algorithm that monitors the charging state of the battery pack, so that the battery pack changes according to the drone's flight altitude. It is an invention that precisely monitors the state of charge.

Drones, which were originally developed for military purposes, have been used in various ways in our lives. From simple leisure drones to drones for broadcast cameras, surveillance drones, and courier drones, That is true.

On the other hand, an accident due to a drone crash occurs in proportion to the increase in drone usage, and among accidents caused by the drone fall, there are accidents caused by the sudden discharge of the battery pack of the drone.

Therefore, in order to prevent such an accident, a monitoring system is adopted in the drone, so that the residual charge capacity of the drone battery pack is communicated to the outside to prevent an accident caused by the sudden discharge of the battery pack of the drone.

However, such a conventional battery pack or monitoring system is a method of simply calculating the discharge capacity by referring to the current bare cell voltage or current, and there is a problem in that a discharge capacity dependent on temperature cannot be accurately known to an external system.

In addition, when the battery pack is used at a low temperature, the remaining capacity must be updated and displayed according to the current temperature (low temperature). By displaying the remaining capacity data calculated at room temperature continuously, the correct capacity of the battery pack suitable for the current temperature is displayed. It will not be displayed.

In particular, drones are mostly affected by temperature, so they are significantly affected by temperature. As the atmosphere rises 100m to 10 ~ 15km above the surface, the average temperature decreases by about 0.6 ℃.

At this time, the lithium-ion battery (Lithium-ion battery) used as the battery pack of the drone rapidly discharges the battery as it gets lower than the normal temperature of 25 ℃. Through the battery pack monitoring technology, the drone must be controlled while accurately monitoring the charging status of the drone that changes in real time to prevent accidents caused by the drone falling.

In addition, when monitoring the state of charge (SOC) of the lithium ion battery used in the battery pack of the drone, discharge capacity information according to the air temperature when the drone switches from the rising or falling to the flying mode And the accumulated current amount and the charging state monitoring value calculated before the flight mode change is used as initial SOC information for flight mode change.

Therefore, in order to prevent drone accidents from increasing day by day and to safely use drones, a battery pack charging condition monitoring device considering temperature and air pressure according to the flight altitude of the drone was developed.

The following are prior arts related to this.

1. Republic of Korea Patent Registration No. 10-1894149 Monitoring system and control method using drone capable of wireless charging 2. Republic of Korea Patent Registration No. 10-1894409 drone control system and method 3. Republic of Korea Patent Registration No. 10-1895529 RTLS based drone autonomous flight system and drone autonomous flight method

The present invention is to solve the above problems,

The present invention basically not only monitors the flight altitude of the drone in flight and the charging state of the battery pack that changes depending on the flight mode change, but also as the flight altitude of the drone rises, the battery pack suddenly changes due to changes in temperature and atmospheric pressure. The purpose of this is to precisely monitor the charge state of the battery pack in consideration of the discharge phenomenon.

In addition, the present invention derives the formula according to the temperature and air pressure of the drone according to the flight altitude, and reflects the variable discharge capacity information in an algorithm that monitors the charging state of the battery pack, so that the battery pack changes according to the drone's flight altitude. The purpose is to precisely monitor the state of charge.

In order to achieve the above object, the battery pack charging state monitoring device in consideration of the temperature and air pressure according to the flight altitude of the present inventors,

A battery pack 100 providing power to various control devices and driving devices of the drone;

A battery information storage unit 200 for storing discharge capacity information for each air temperature during a drone flight, discharge capacity information for each atmospheric pressure during a drone flight, and initial SOC information;

Atmospheric thermometer 300 for measuring the air temperature during a drone flight, and providing the measured air temperature information to the monitoring unit 700;

A flight altimeter 400 for measuring drone flight altitude and providing the measured flight altitude information to the monitoring unit 700;

An atmospheric pressure meter 500 for measuring atmospheric pressure when flying a drone and providing the measured atmospheric pressure information to the monitoring unit 700;

A current measuring system 600 for measuring current information of the battery pack 100 and providing the measured current information to the monitoring unit 700;

Monitoring unit 700 periodically collects atmospheric temperature information, flight altitude information, atmospheric pressure information, and current information measured from the atmospheric thermometer 300, flight altimeter 400, atmospheric pressure gauge 500, and current measuring instrument 600 Wow;

Using the air temperature information, flight altitude information, atmospheric pressure information, and current information, the charging state of the battery pack 100 when the drone flight altitude is elevated and the charging state of the battery pack 100 when the drone flight altitude is increased to maintenance. And a SOC estimating unit 800 for estimating the state of charge of the battery pack 100 when maintaining the drone flight altitude.

The battery pack charging status monitoring device considering the temperature and air pressure according to the flight altitude of the drone of the present invention basically monitors not only the flight altitude of the drone in flight but also the charging status of the battery pack that changes according to the flight mode change, As the flight altitude of the drone rises, the charge state of the battery pack is precisely monitored in consideration of the sudden discharge phenomenon of the battery pack due to changes in atmospheric temperature and atmospheric pressure, so that the drone is safely used and managed to prevent drone accidents. do.

In addition, the present invention derives the formula according to the temperature and air pressure of the drone according to the flight altitude, and reflects the variable discharge capacity information in an algorithm that monitors the charging state of the battery pack, so that the battery pack changes according to the drone's flight altitude. Since the charging status is precisely monitored, it is also useful in the development of drone-related technologies, which are currently actively being used, and thus has high industrial applicability.

1 is a functional block diagram of the present invention
2 is an atmospheric pressure information graph according to the altitude of the present invention
Figure 3 is a graph of the battery capacity ratio according to the pressure of the present invention
Figure 4 is a graph of the change in battery capacity according to the temperature of the present invention
5 is a block diagram of an SOC estimator for increasing the altitude of the present invention.
6 is a flow chart of the operation of SOC estimator for estimating flight altitude of the present invention
Figure 7 is a block diagram of SOC estimation for flight mode switching of the present invention
8 is an operation flow chart of SOC estimation for flight mode switching of the present invention
9 is a block diagram of SOC estimation for maintaining the flight altitude of the present invention
10 is an operation flow chart of SOC estimation for maintaining the flight altitude of the present invention

An embodiment of the present invention will be described in detail with reference to FIGS. 1 to 10.

Referring to FIG. 1, the battery pack charging state monitoring device (hereinafter referred to as a 'monitoring device') in consideration of temperature and air pressure according to the flight altitude of the drone of the present invention basically switches the flight altitude and flight mode of the drone 20 in flight. In addition to monitoring the state of charge of the battery pack 100 that changes according to, as well as the flight altitude of the drone 20 increases, considering the rapid discharge phenomenon of the battery pack 100 due to changes in the atmospheric temperature and atmospheric pressure Since the charge state of the battery pack 100 is precisely monitored, it is an invention to safely use and manage the drone to prevent a drone accident.

Therefore, the monitoring device 10 of the present invention includes a battery pack 100, a battery information storage unit 200, an atmospheric thermometer 300, a flight altimeter 400, an atmospheric pressure gauge 500, an electric current measurement system 600, and a monitoring unit (700), the SOC estimation means 800 is basically configured to include, it may be further configured to further include a communication unit (900).

Particularly, the monitoring device 10 of the present invention derives the formula according to the atmospheric temperature and atmospheric pressure according to the flight altitude of the drone 20, and extracts variable discharge capacity information into an algorithm for monitoring the charging state of the battery pack 100. As it reflects and accurately monitors the charging state of the battery pack 100 that changes according to the flight altitude of the drone 20, it is also highly available in industry because it helps to develop drone-related technologies that are currently actively being conducted.

Specifically, the battery pack charging status monitoring device considering the temperature and air pressure according to the flight altitude of the drone of the present invention,

A battery pack 100 providing power to various control devices and driving devices of the drone;

A battery information storage unit 200 for storing discharge capacity information for each air temperature during a drone flight, discharge capacity information for each atmospheric pressure during a drone flight, and initial SOC information;

Atmospheric thermometer 300 for measuring the air temperature during a drone flight, and providing the measured air temperature information to the monitoring unit 700;

A flight altimeter 400 for measuring drone flight altitude and providing the measured flight altitude information to the monitoring unit 700;

An atmospheric pressure meter 500 for measuring atmospheric pressure when flying a drone and providing the measured atmospheric pressure information to the monitoring unit 700;

A current measuring system 600 for measuring current information of the battery pack 100 and providing the measured current information to the monitoring unit 700;

Monitoring unit 700 periodically collects atmospheric temperature information, flight altitude information, atmospheric pressure information, and current information measured from the atmospheric thermometer 300, flight altimeter 400, atmospheric pressure gauge 500, and current measuring instrument 600 Wow;

Using the air temperature information, flight altitude information, atmospheric pressure information, and current information, the charging state of the battery pack 100 when the drone flight altitude is elevated and the charging state of the battery pack 100 when the drone flight altitude is increased to maintenance. And a SOC estimating unit 800 for estimating the state of charge of the battery pack 100 when maintaining the drone flight altitude.

Referring to FIG. 1, the battery pack 100 is generally installed and configured in a drone 20 to provide power to various control devices and driving devices.

Here, the battery pack 100 may include a plurality of battery modules connected in series and / or in parallel, and each battery module may include a plurality of battery cells.

At this time, each battery module or each battery cell may be a secondary battery such as a nickel metal battery or a lithium ion battery, but the monitoring device 10 of the present invention describes and applies a lithium ion battery, and the capacity of each battery module May be the same as or different from each other.

Referring to the atmospheric pressure information graph according to the altitude of FIG. 2, as the flight altitude of the drone 20 increases, the atmospheric pressure tends to decrease.

Referring to the graph of the battery capacity ratio according to the pressure in FIG. 3, since the discharge capacity of the battery pack 100 increases as the pressure increases, the discharge of the battery pack 100 is discharged at a relatively fast time when the pressure is high. The capacity increases as the pressure decreases, so that the discharge is performed for a relatively long time when the pressure is low.

Referring to the graph of the change in battery capacity according to the temperature of FIG. 4, the discharge capacity relationship with respect to the temperature has a trend in the form of a non-linear graph. As the discharge capacity of the battery pack decreases as the temperature decreases, it is relatively low when the temperature is low. It discharges quickly. Therefore, the discharge capacity of the battery pack increases as the temperature increases, so that the discharge is performed for a relatively long time when the temperature is high.

Referring to FIG. 1, the battery information storage unit 200 includes discharge capacity information by air temperature during flight of the drone 20, discharge capacity information by air pressure during flight of the drone 20, and battery information storage unit 200. The battery management system (BMS) stores initial SOC information before a drone starts.

Here, the battery management system (BMS) of the battery information storage unit 200 can generally monitor the charging state of the battery pack 100 and manage the battery pack 100 according to the monitoring result, through which the battery pack By preventing overcharging and overdischarging of (100) and performing cell balancing, it is possible to control the charging state between the plurality of battery modules included in the battery pack 100 to be uniform, thereby improving the energy efficiency of the battery pack 100. It is to increase the life of the battery pack 100.

Therefore, the monitoring device 10 of the present invention receives the initial SOC information from the memory of the battery management system (BMS) of the battery information storage unit 200 that provides this function, and the battery pack 100 of the drone 20 is charged. It will be used as data to improve monitoring performance.

At this time, when the drone flight altitude increases, the discharge capacity information by air temperature means the discharge capacity by air temperature when the flight altitude of the battery pack 100 is experimentally and theoretically calculated by numerous tests in advance, and the battery pack according to the temperature The discharge capacity information of is stored as a look-up table.

In addition, the discharge capacity information for each atmospheric pressure when the drone flying altitude is increased also means the discharge capacity for each atmospheric pressure when the flying altitude of the battery pack 100 is experimentally and theoretically calculated by numerous tests in advance, and the battery pack 100 according to the atmospheric pressure ) Is also stored in the look-up table.

Therefore, the battery information storage unit 200 serves to provide the discharge capacity information according to the atmospheric temperature and the atmospheric pressure to the SOC estimation unit 800.

Specifically, the battery information storage unit 200 is to provide a discharge capacity (pre-stored value) suitable for the temperature and atmospheric pressure of the current flight altitude to the SOC estimation means 800 through the monitoring unit 700.

The battery information storage unit 200 may be a conventional EIPROM, a flash memory, or an equivalent thereof, and the type is not limited thereto.

In addition, the battery information storage unit 200 stores initial SOC information stored in the memory of the battery management system (BMS) before the drone starts.

That is, before the drone 20 is operated, the initial SOC information stored in the memory of the battery management system (BMS) is acquired and stored, and the SOC estimating means 800 uses the SOC as a data value when estimating the SOC.

On the other hand, as shown in Figures 3 and 4, the battery has a characteristic that the characteristics are rapidly reduced at high pressure and low temperature due to the electrochemical properties.

For example, in the case of atmospheric pressure, as the altitude decreases, the atmospheric pressure increases, and in the case of temperature, as the atmosphere increases by 100 m from the surface to a height of 10 to 15 km, the average temperature decreases by about 0.6 ° C.

Therefore, in the case of the lithium ion battery used in the battery pack 100 of the drone 20, the discharge capacity of the battery pack 100 was inevitably lowered as the temperature went lower than the normal temperature (25 ° C) and the altitude became lower.

At this time, when monitoring the state-of-charge (SOC) of the lithium-ion battery, which is the main power source of the drone 20, variable discharge capacity information according to temperature and atmospheric pressure must be accurately reflected. In order to accurately reflect variable discharge capacity information as the flight mode changes from the descent to the rising, it is possible to improve the monitoring performance by changing the initial SOC information from time to time.

Referring to Figure 1, the atmospheric thermometer 300 is to measure the air temperature when the drone flight altitude rises, and provides the measured air temperature information to the monitoring unit 700.

That is, if the flight altitude rises from 0 m, which is the surface of the surface, to 1 km after 1 minute, the air temperature at 1 km is measured. If the air temperature is 20 ° C, the air temperature information of 20 ° C is provided to the monitoring unit 700. .

This is for extracting discharge capacity information for each air temperature when the SOC is estimated by the SOC estimating means 800.

In addition, as the atmospheric thermometer 300, a thermistor, a winding resistance type sensor, a wide area resistance sensor, a semiconductor diode sensor, a medal core type sensor, a thermocouple, or the like may be used. Here, the type of the atmospheric thermometer 300 is limited. It is not done.

Referring to FIG. 1, in the case of the flight altimeter 400, the flight altitude of the drone 20 is measured, and the measured flight altitude information is provided to the monitoring unit 700.

This is information provided by the SOC estimating means 800 to determine whether the drone 20 is switched to the flight mode when the SOC is estimated, and through this, it reflects variable discharge capacity information according to the flight altitude of the drone 20. .

Referring to FIG. 1, the atmospheric pressure gauge 500 measures atmospheric pressure when the flight altitude of the drone 20 rises, and provides the measured atmospheric pressure information to the monitoring unit 700.

This is information provided by the SOC estimating means 800 to determine whether the drone 20 is switched to the flight mode when the SOC is estimated, thereby reflecting variable discharge capacity information according to whether the drone 20 is switched to the flight mode. It is for.

Referring to FIG. 1, the current measuring system 600 measures current information of the battery pack 100 and provides the measured current information to the monitoring unit 700.

This is to be used as information for estimating the SOC of the drone 20 when the SOC estimating means 800 is in flight (when the altitude is increased, when the altitude is increased to the maintenance, and when the altitude is maintained).

In addition, the current measurement system 600 is connected in series to the large current path between the cell and the external terminal constituting the battery pack 100, detects the current of the cell, converts it into a constant electrical signal, and monitors the unit 700 ).

Referring to FIG. 1, the monitoring unit 700 periodically measures atmospheric temperature information, flight altitude information measured from the atmospheric thermometer 300, flight altimeter 400, atmospheric pressure gauge 500, and current measuring instrument 600, It performs the function of collecting atmospheric pressure information and current information, and serves to provide the collected atmospheric temperature information, atmospheric pressure information, flight altitude information, and current information to the SOC estimation unit 800.

Referring to FIG. 1, the SOC estimating means 800 estimates a state of charge of a lithium ion battery during a drone flight based on atmospheric temperature information, flight altitude information, atmospheric pressure information, and current information obtained through the monitoring unit 700 do.

That is, the charging state of the battery pack 100 when the drone flight altitude is increased and the charging state of the battery pack 100 when the drone flight altitude is switched from rising to maintenance and the battery pack 100 when the drone flight altitude is maintained. It is to estimate the state.

Here, the state of charge (SOC) of the battery pack 100 described in the monitoring apparatus 10 of the present invention is the most important indicator for determining the remaining charge of the battery pack 100, and the battery pack ( 100) is used to determine the operating time and charge and discharge of the drone 20 using.

Therefore, it is necessary to accurately estimate the state of charge (SOC) of the battery pack 100 to enable stable battery management of the drone 20.

In addition, in the monitoring apparatus 10 of the present invention, the current integration method (Ampere-hour counting) generally used for estimation of the state of charge (SOC) is used, and the current accumulation method accumulates the current amount with respect to the counted time. A precise current measurement is required in this way, and the measurement period must be kept as short as possible to increase accuracy.

However, for precise measurement, the cost of hardware is substantially increased, and even so, the occurrence of measurement error cannot be excluded at all, so a method for compensating the error is provided to secure accuracy.

Therefore, the monitoring device 10 of the present invention is configured to configure the current measuring system 600 for precise current measurement, and by configuring a flight elevation estimating mode, a flight mode switching estimation mode, and a flight altitude maintenance estimation mode to reduce measurement errors, It will perform accurate SOC estimation.

At this time, the SOC estimating unit 800 may estimate the SOC using a current integration method of accumulating the current amount with respect to the counted time, the SOC estimator 810 for estimating flight altitude, and the SOC estimator for switching the flight mode. (820), characterized in that it comprises a SOC estimator 830 for maintaining the flight altitude, a detailed description thereof will be described later.

As shown in Figures 5 and 6, the SOC estimator 810 for increasing the flight altitude,

When the flight altitude information obtained from the monitoring unit 700 is an increase in flight altitude, an initial SOC information extraction module 811 for extracting initial SOC information stored in the battery information storage unit 200,

Discharge capacity information extraction for extracting current atmospheric temperature information and atmospheric pressure information from the monitoring unit 700 and extracting discharge capacity information matching the extracted current atmospheric temperature information and atmospheric pressure information from the battery information storage unit 200 A module 812,

A cumulative current amount calculation module 813 for extracting current information from the battery information storage unit 200 and accumulating the current amount to calculate the accumulated current amount when the drone's flight altitude is increased;

Flight altitude rise to monitor the charging status of the battery pack 100 when the drone flight altitude increases by substituting the extracted initial SOC information, discharge capacity information, and accumulated cumulative current amount information into Equation 1 below to calculate the charging status monitoring value. It comprises a dragon SOC estimation module 814.

(수식1)

(Equation 1)

(SOC _before : calculated charge status monitoring value when the drone flight altitude rises, SOC _ini : initial SOC information stored in the battery information storage unit 200 before the drone starts, Cn _before : discharge according to atmospheric temperature and atmospheric pressure when the drone flight altitude rises Capacity information, i: current amount)

Specifically,

The initial SOC information extraction module 811 extracts initial SOC information stored in the battery information storage unit 200 when flight altitude information obtained from the monitoring unit 700 is an increase in flight altitude.

For example, when the information indicating that the altitude is changing on the ground surface 0m is obtained from the monitoring unit 700, it means that the drone 20 is currently rising, and the initial SOC information stored in the battery information storage unit 200 To extract, for example, information of 0.8 is extracted as initial SOC information.

In addition, the discharge capacity information extraction module 812 extracts current atmospheric temperature information and atmospheric pressure information from the monitoring unit 700, and stores the discharge capacity information matched with the extracted current atmospheric temperature information and atmospheric pressure information in the battery information. It is extracted from the unit 200.

For example, if the air temperature is at the ground level and the air temperature is measured at 20 ° C after 1 minute at 25 ° C, 2.7 Ah, which is the discharge capacity information matched to this, is extracted from the battery information storage unit 200, and the atmospheric pressure is also atmospheric. As with temperature, discharge capacity information is extracted from the battery information storage unit 200.

In addition, the cumulative current amount calculation module 813 extracts current information from the monitoring unit 700 to accumulate the current amount to calculate the accumulated current amount when the drone's flight altitude is increased.

For example, assuming that the time when the flight altitude of the drone 20 is at the ground level is 10 o'clock and the cycle is '1 minute', the current amount measured at 10 am and the current amount measured at 10: 1 am In the case of accumulation, it is calculated that the accumulated current amount is 2.7 Ah.

At this time, it has been described, for example, that the monitoring device 10 of the present invention sets the cycle in units of 1 minute, but if necessary, freely set the cycle, such as 30 minutes and 1 hour, to obtain information for each cycle and obtain SOC It will be obvious that it can be set to judge information.

On the other hand, the flight altitude rising SOC estimation module 814 calculates the charging state monitoring value by substituting the extracted initial SOC information, discharge capacity information, and accumulated cumulative current amount information into Equation 1 above, to thereby calculate the drone 20 It is to monitor the charging state of the battery pack 100 according to the flight altitude of the.

에 2.7 Ah을 대입하게 되면, 'SOC_before = 0.8 - 2.7/2.7'이 되며, 오전 10시부터 오전 10시 1분까지의 SOC_before는 '-0.2'가 되는 것이다.For example, SOC _before assigns 0.8 to SOC _ini , and 2.7 Ah to Cn _before ,

If the assignment to the _{2.7 Ah, 'SOC before = 0.8} - 2.7 / 2.7' This is, SOC _before 10:00 am until 10:01 a.m. will be a "-0.2".

As described above, it can be seen that when the flight altitude of the drone 20 increases, the outside temperature decreases and the Cn _before decreases, so that the SOC _before decreases.

That is, if the initial SOC _ini is 0.8 when the surface temperature is 25 ° C and the discharge capacity is 2.9 Ah, when the temperature is 25 ° C, and when the discharge capacity is 2.6 Ah, when the discharge capacity is 2.6 Ah when the temperature is 25 ° C, if the flight altitude increases Since the discharge capacity Cn _before decreases due to the decrease in the outside temperature, the SOC _before decreases rapidly as the flight altitude of the drone 20 increases.

As shown in Figures 7 and 8, the SOC estimator 820 for switching the flight mode,

When the flight altitude information obtained from the monitoring unit 700 is switched from ascending to maintenance, initial SOC information for flight mode switching for extracting the charging status monitoring value calculated by the SOC estimator 810 for the flight altitude increase Extraction module (821),

Flight mode switching for extracting current atmospheric temperature information and atmospheric pressure information from the monitoring unit 700 and extracting discharge capacity information matching the extracted current atmospheric temperature information and atmospheric pressure information from the battery information storage unit 200 The discharge capacity information extraction module (822),

A cumulative current amount calculation module 823 for switching a flight mode for calculating a cumulative current amount when a drone's flight altitude is switched from rising to maintenance by extracting current information from the battery information storage unit 200 and accumulating the amount of current.

The drone flight altitude is maintained by increasing the charging status monitoring value calculated by the SOC estimator 810 for extracting the flight altitude and discharging capacity information and accumulated current amount by calculating the charging status monitoring value in Equation 2 below. It includes a flight mode switching SOC estimation module 824 for monitoring the charging state of the battery pack 100 at the time of switching to.

(수식2)

(Equation 2)

(SOC _after : Charge level monitoring value calculated when the flight altitude is increased to maintenance, SOC _before : Drone flight altitude monitoring value calculated when the flight elevation is increased, Cn _after : Waiting when the flight altitude is increased to maintenance Discharge capacity information according to temperature and atmospheric pressure, i: current amount)

Specifically, when the flight altitude information obtained from the monitoring unit 700 is switched from ascent to maintenance, the initial SOC information extraction module 821 for switching the flight mode is the SOC estimator 810 for estimating the flight altitude. ) Calculates the charge status monitoring value calculated by.

For example, the flight altitude information is periodically acquired by the monitoring unit 700. If the altitude at 10 is 2 km to 10: 1 and the altitude is 3 km, and the altitude is 3 km at 10: 2, the drone (20) It can be seen that this is the point of transition from rising to maintaining altitude.

At this time, if the charging state monitoring value calculated at 10: 1 (the charging state monitoring value calculated by the SOC estimator 810 for flying altitude increase) is 1.0, it is used as initial SOC information for the flight mode switching of the drone 20 Is done.

The flight mode switching discharge capacity information extraction module 822 extracts current atmospheric temperature information and atmospheric pressure information from the monitoring unit 700, and retrieves discharge capacity information matched to the extracted current atmospheric temperature information and atmospheric pressure information. It is extracted from the battery information storage unit 200.

For example, if the atmospheric temperature at 10 o'clock is measured at 22 ° C, 2.0 Ah, which is the discharge capacity information matched thereto, is extracted from the battery information storage unit, and the atmospheric pressure is similar to the atmospheric temperature, and the discharge capacity information is stored in the battery information storage unit 200. It is to extract from.

In addition, the cumulative current amount calculation module 823 for switching the flight mode extracts current information from the battery information storage unit 200 and accumulates the current amount to calculate the accumulated current amount at the time when the flight altitude information of the drone is switched from ascending to maintenance. Is done.

Subsequently, the SOC estimating module 824 for switching the flight mode finally calculates the charged state monitoring value, discharge capacity information, and accumulated current amount information calculated by the SOC estimator 810 for estimating flight altitude in Equation 2 above. By calculating the charging status monitoring value by substituting, the charging status of the battery pack 100 is monitored when the drone flight altitude is switched from rising to maintenance.

에 1.0 Ah을 대입하게 되면, 'SOC_after = 1.0 - 1.0/2.0'이 되며, 오전 10시부터 오전 10시 1분까지의 SOC_after는 '0.5'가 되는 것이다.For example, SOC _after assigns 1 to SOC _before (= SOC _ini ), and 2.0 Ah to Cn _after ,

When the assignment of _{1.0 Ah, 'SOC after = 1.0} - 1.0 / 2.0' and is, from 10 a.m. to 10 a.m. _after the SOC to 1 minute is to be a "0.5".

Since the SOC _before (= SOC _ini ) is set as the initial value when the flight mode of the drone 20 is switched, the initial SOC of the monitoring device 10 of the present invention using the current integration method is changed from time to time, thereby monitoring performance. This can be improved.

That is, since SOC information is periodically measured and provided, monitoring performance can be improved.

9 and 10, the SOC estimator 830 for maintaining the flight altitude,

When the flight altitude information obtained from the monitoring unit 700 maintains the flight altitude, the initial SOC for flight altitude maintenance extracting the charging state monitoring value calculated by the SOC estimator 820 for the flight mode conversion. Information extraction module (831),

Flight altitude maintenance for extracting current atmospheric temperature information and atmospheric pressure information from the monitoring unit 700 and extracting discharge capacity information matching the extracted current atmospheric temperature information and atmospheric pressure information from the battery information storage unit 200 The discharge capacity information extraction module 832,

Accumulated current amount calculation module 833 for maintaining flight altitude for calculating the accumulated current amount when the drone maintains flight altitude by extracting current information from the battery information storage unit 200 to accumulate current amount.

The battery according to maintaining the drone flight altitude by calculating the charging status monitoring value by substituting Equation 3 below for the charging status monitoring value and the discharge capacity information and the accumulated current amount calculated by the SOC estimator 820 for switching the extracted flight mode. It is configured to include a flight estimating SOC estimation module 834 for monitoring the charge state of the pack 100.

(수식3)

(Equation 3)

(SOC _after ': Charge state monitoring value calculated when flight altitude is maintained, SOC _after : Charge state monitoring value calculated when the flight altitude is increased to maintenance, Cn _after ': At atmospheric temperature and atmospheric pressure at the time of flight altitude maintenance. Discharge capacity information, i: current amount)

In detail, the initial SOC information extraction module 831 for maintaining the flight altitude is the SOC estimator for switching the flight mode when the flight altitude information obtained from the monitoring unit 700 maintains the flight altitude. 820) extracts the calculated charge state monitoring value.

For example, the flight altitude information is periodically obtained from the monitoring unit 700, and when the altitude is maintained at 2 km from 2 km to 10: 1 at 10 o'clock, the drone 20 also maintains flight altitude. You can.

At this time, if the charging state monitoring value calculated at 9:59 is 1.0, it is used as initial SOC information for maintaining the altitude of the drone 20.

Then, the flight altitude maintenance discharge information extraction module 832 extracts current atmospheric temperature information and atmospheric pressure information from the monitoring unit 700, and discharge capacity information matching the extracted current atmospheric temperature information and atmospheric pressure information. Is extracted from the battery information storage unit 200.

For example, if the atmospheric temperature at 10 o'clock is measured at 22 ° C, 2.0 Ah, the discharge capacity information matched to this, is extracted from the battery information storage unit, and the discharge capacity information of the atmospheric pressure is the battery information storage unit 200 as well as the atmospheric temperature. It is to extract from.

In addition, the accumulated current amount calculation module 833 for maintaining the flight altitude extracts current information from the battery information storage unit 200 and accumulates the current amount to calculate the accumulated current amount while maintaining the drone flight altitude.

For example, if the altitude is maintained at 2 km from 10 km to 10 km and the altitude is maintained at 2 km, the drone 20 maintains the flight altitude, and the current amount measured at 10 am and 10:01 am The measured current is continuously accumulated.

Subsequently, the SOC estimation module 834 for maintaining the flight altitude finally calculates the charging state monitoring value, discharge capacity information, and accumulated current amount information calculated by the SOC estimator 820 for the flight mode conversion in Equation 3 above. By calculating the charging state monitoring value by substituting, the charging state of the battery pack 100 according to the drone flight altitude maintenance is monitored.

Next, an operation flow of the SOC estimator 830 for maintaining the flight altitude will be described with reference to FIG. 10.

Based on the flight altitude information obtained from the monitoring unit 700 through the initial SOC information extraction module 831 for maintaining the first flight altitude, it is determined whether the drone 20 maintains the flight altitude, and as a result of the determination, the drone 20 is in flight In the case of maintaining the altitude, the charging state monitoring value calculated before maintaining the flight mode is used as initial SOC information for maintaining the flight mode (S831).

That is, the charge state monitoring value calculated before the flight altitude of the drone 20 is maintained is temporarily stored through a temporary buffer and then provided.

Then, through the flight altitude maintenance discharge information extraction module 832, the battery information storage unit (e.g., discharge temperature information matched to the atmospheric temperature information and atmospheric pressure information obtained from the monitoring unit 700 at the time of flight altitude maintenance) 200) to be extracted (S832).

Thereafter, through the accumulated current amount calculation module 833 for maintaining the flight altitude, the current information is extracted from the battery information storage unit 200 until the flight altitude maintenance time of the drone 20 is accumulated, and the current amount is accumulated to calculate the accumulated current amount (S833). ).

Subsequently, through the SOC estimation module 834 for maintaining the flight altitude, the initial SOC information for discharging the altitude of the drone 20, the discharge capacity information, and the accumulated current amount information are substituted into Equation 3 below to calculate the drone. The SOC of the battery pack 100 according to the drone flight altitude maintenance of (20) is estimated (S834) to monitor the state of charge of the battery pack 100.

On the other hand, the monitoring device 10 of the present invention is configured to further include a communication unit 900, as shown in Figure 1, through the communication unit 900 to transmit the charging state information of the battery pack 100 to an external system, Various information of the external system can be received.

Accordingly, the communication unit 900 is connected to the SOC estimating means 800, and the estimated SOC information is transmitted to the external system 30 for output, or the control signal and various telegrams from the external system 30 are SOC estimating means. Transmit and receive functions provided by (800).

Particularly, the external system 30 obtains the estimated SOC information in real time or periodically, so that when the flight altitude of the drone 20 rises, the SOC information changing from time to time can be checked immediately.

In the above, the technical idea of the present invention has been described together with the accompanying drawings, but this is merely illustrative of a preferred embodiment of the present invention, and does not limit the present invention. In addition, it is obvious that anyone who has ordinary knowledge in this technical field can make various modifications and imitation without departing from the scope of the technical idea of the present invention.

10: Monitoring device
20: drone
30: external system
100: battery pack
200: battery information storage unit
300: atmospheric thermometer
400: flight altimeter
500: atmospheric pressure gauge
600: ammeter
700: monitoring unit
800: SOC estimation means
900: communication unit

Claims (3)

In the battery pack charge status monitoring device considering the temperature and air pressure according to the flight altitude of the drone,
A battery pack 100 providing power to various control devices and driving devices of the drone;
A battery information storage unit 200 for storing discharge capacity information for each air temperature during a drone flight, discharge capacity information for each atmospheric pressure during a drone flight, and initial SOC information;
Atmospheric thermometer 300 for measuring the air temperature during a drone flight and providing the measured air temperature information to the monitoring unit 700;
A flight altimeter 400 for measuring drone flight altitude and providing the measured flight altitude information to the monitoring unit 700;
An atmospheric pressure meter 500 for measuring atmospheric pressure when flying a drone and providing the measured atmospheric pressure information to the monitoring unit 700;
A current measuring system 600 for measuring current information of the battery pack 100 and providing the measured current information to the monitoring unit 700;
Monitoring unit 700 periodically collects atmospheric temperature information, flight altitude information, atmospheric pressure information, and current information measured from the atmospheric thermometer 300, flight altimeter 400, atmospheric pressure gauge 500, and current measuring instrument 600 Wow;
Using the air temperature information, flight altitude information, atmospheric pressure information, and current information, the charging state of the battery pack 100 when the drone flight altitude is elevated and the charging state of the battery pack 100 when the drone flight altitude is increased to maintenance. And a SOC estimating unit 800 for estimating the charging state of the battery pack 100 when maintaining the flight altitude of the drone; and a battery pack charging state monitoring device considering temperature and air pressure according to the flight altitude of the drone.
According to claim 1,
The SOC estimation means 800,
If the flight altitude information obtained from the monitoring unit 700 is an increase in the flight altitude, the initial SOC information stored in the battery information storage unit 200 is extracted, and the current atmospheric temperature information and atmospheric pressure information from the monitoring unit 700 To extract, extract the current atmospheric temperature information and discharge capacity information matched to the atmospheric pressure information from the battery information storage unit 200, extract current information from the battery information storage unit 200, and accumulate the current amount Calculate the accumulated current amount, and calculate the charging status monitoring value by substituting the extracted initial SOC information, discharge capacity information, and accumulated accumulated current amount information into Equation 1 below to charge the battery pack 100 when the drone flight altitude increases. SOC estimator for flight altitude increase (810) for monitoring,

When flight altitude information obtained from the monitoring unit 700 is switched from ascending to maintenance, the charging state monitoring value calculated by the SOC estimator 810 for estimating the flight altitude is extracted, and from the monitoring unit 700 Extracting current atmospheric temperature information and atmospheric pressure information, extracting discharge capacity information matching the extracted current atmospheric temperature information and atmospheric pressure information from the battery information storage unit 200, and current from the battery information storage unit 200 The information is extracted to accumulate the amount of current, and the accumulated amount of current is calculated, and the charged state monitoring value and discharge capacity information and the accumulated amount of current calculated by the SOC estimator 810 for the extracted flight elevation are substituted into Equation 2 below. Flight mode switching for monitoring the charging status of the battery pack 100 when the drone flight altitude is switched from rising to maintenance by calculating the charging status monitoring value SOC estimation (820),

When the flight altitude information obtained from the monitoring unit 700 maintains the flight altitude, the charging state monitoring value calculated by the SOC estimator 820 for flight mode conversion is extracted, and the monitoring unit 700 ) Extracts the current atmospheric temperature information and atmospheric pressure information, extracts the extracted current atmospheric temperature information and the discharge capacity information matched to the atmospheric pressure information from the battery information storage unit 200, and the battery information storage unit 200 The current information is extracted from the current amount to accumulate the current amount to calculate the accumulated current amount. By calculating the charging state monitoring value by substituting the flight altitude maintenance SOC estimator 830 for monitoring the charging state of the battery pack 100 according to the drone flight altitude maintenance. Battery pack charge status monitoring device considering the temperature and air pressure according to the flight altitude of the drone, characterized in that it comprises.

(Equation 1)
(SOC _before : calculated charge status monitoring value when the drone flight altitude rises, SOC _ini : initial SOC information stored in the battery information storage unit 200 before the drone starts, Cn _before : discharge according to atmospheric temperature and atmospheric pressure when the drone flight altitude rises Capacity information, i: current amount)

(Equation 2)
(SOC _after : Charge level monitoring value calculated when the flight altitude is increased to maintenance, SOC _before : Charge level monitoring value calculated when the drone flight altitude is elevated, Cn _after : Waiting when the flight altitude is increased to maintenance Discharge capacity information according to temperature and atmospheric pressure, i: current amount)

(Equation 3)
(SOC _after ': Charge state monitoring value calculated when flight altitude is maintained, SOC _after : Charge state monitoring value calculated when the flight altitude is increased to maintenance, Cn _after ': At atmospheric temperature and atmospheric pressure at the time of flight altitude maintenance. Discharge capacity information, i: current amount)
According to claim 1,
Further comprising; a communication unit 900 for transmitting the charge state information of the battery pack 100 to the outside,
The battery pack 100 is a 'lithium ion battery' is applied to the battery pack charging status monitoring device in consideration of temperature and air pressure according to the flight altitude of the drone, characterized in that.

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