KR20210014830A - Drone battery management method and apparatus performing the same - Google Patents

Abstract

Embodiments can provide technology for stable operation of a drone, efficient use of energy, and effective battery life management in a drone battery management system. Disclosed are a drone battery management method and an apparatus for performing the same. According to an embodiment of the present invention, a drone battery management method comprises the steps of: receiving drone information including battery information, driving information, and control information of a drone; generating a driving method of the drone based on the drone information; and controlling the drone based on the driving method.

Description

Drone battery management method and device for performing it {DRONE BATTERY MANAGEMENT METHOD AND APPARATUS PERFORMING THE SAME}

The following embodiments relate to a drone battery management method and an apparatus for performing the same.

Unmanned Aerial Vehicle (UAV), unmanned aerial vehicle or drone means an airplane that is not aboard a pilot. It can be controlled remotely from the ground, but it can also fly autonomously in an automatic or semi-automatic format according to a pre-programmed route. In addition, ground control equipment (GCS: Ground Control Station/System), communication equipment (data link), and support equipments can be used for aircraft that carry out missions according to their own environmental judgments equipped with artificial intelligence. .

Battery Management System (BMS) is a system that manages the battery by protecting the rechargeable battery from operating outside the safe area, monitoring its condition, calculating auxiliary data to report that data, and controlling the battery operating environment. Means.

BMS (Battery Management System) can be applied so that the drone's battery can be used efficiently. However, if the drone database is not built in advance or the environment changes suddenly during operation, the calculation for the function of the BMS linked to the drone is performed with low accuracy, and thus it is not effective.

The embodiments may provide a stable operation of a drone, efficient use of energy, and effective battery life management technology in a drone battery management system.

A drone battery management method according to an embodiment includes receiving drone information including battery information, driving information, and control information of a drone, generating a driving method of the drone based on the drone information, and the And controlling the drone based on a driving method.

The battery information may include at least one or more of voltage, current, temperature, and internal resistance of a battery of the drone.

The driving information may include at least one of a current, voltage, temperature, and rotation speed of a motor included in a driver of the drone.

The control information may include at least one of a target position of the drone, a target speed, a target posture, a target path, and a target thrust of the driver.

The generating may include calculating a state of charge (SOC) and a state of health (SOH) of the battery based on the battery information, and the drone information, the state of charge, and the Calculating a driving time and path limiting factor of the drone based on a healthy state, and calculating a limitation of a current applied to a driver of the drone based on the drone information, the charging state, and the healthy state. And calculating a driving limiting factor of a driver of the drone and an actual thrust correction coefficient relative to a target based on the drone information, the charging state, and the healthy state, and the driving time, path limiting factor, and current It may include generating the driving method based on the limitation, the driving limitation factor, and the actual thrust correction factor relative to the target.

The controlling may include setting a path of the drone based on the driving method, controlling a battery of the drone based on the driving method, and controlling the flight of the drone based on the driving method. It may include the step of.

The controlling of the battery may include performing at least one of cell balancing, cell switching, and abnormal state correction of the battery based on the driving method.

The drone battery management method provides the user with information on the drone, the state of charge, the state of health, the available driving time, the path limiting factor, the limiting factor of the current, the driving limiting factor, an actual thrust correction factor compared to the target, and It may further include providing at least one or more of the driving methods.

The drone battery management method includes the drone information, the charging state, the healthy state, the driving time, the path limiting factor, the current limitation, the driving limiting factor, the actual thrust correction factor compared to the target, and the driving The method may further include storing at least one or more of the methods.

A drone battery management apparatus according to an embodiment includes a communication device for receiving drone information including battery information, driving information, and control information of a drone, a memory including instructions, and a processor for executing the instructions, When the instructions are executed by the processor, the processor generates a driving method of the drone based on the drone information, and controls the drone based on the driving method.

The battery information may include at least one or more of voltage, current, temperature, and internal resistance of a battery of the drone.

The driving information may include at least one of a current, voltage, temperature, and rotation speed of a motor included in a driver of the drone.

The control information may include at least one of a target position of the drone, a target speed, a target posture, a target path, and a target thrust of each driving unit.

The processor calculates a state of charge (SOC) and a state of health (SOH) of the battery based on the battery information, and based on the drone information, the charge state, and the health state To calculate the driving possible time and path limiting factor of the drone, calculate the limit of the current applied to the driver of the drone based on the drone information, the charging state, and the healthy state, and the drone information, the Based on the state of charge and the state of health, the driving limiting factor of the drone of the drone and the actual thrust correction factor compared to the target are calculated, and the driving time, path limiting factor, current limiting, driving limiting factor, and target comparison The driving method may be generated based on the actual thrust correction coefficient.

The processor may set a path of the drone based on the driving method, control a battery of the drone based on the driving method, and control flight of the drone based on the driving method.

The processor may perform at least one of cell balancing, cell switching, and abnormal state correction of the battery based on the driving method.

The communicator provides the user with the drone information, the charging state, the healthy state, the driving time, the path limiting factor, the current limitation, the driving limiting factor, the actual thrust correction coefficient relative to the target, and the driving method. At least one or more of them may be transmitted.

The processor may include the collected information, the state of charge, the state of health, the driveable time, the path limiting factor, the limiting of the current, the driving limiting factor, the actual thrust correction coefficient relative to the target, and the driving method. At least one or more may be stored in the memory.

1 is a block diagram of a drone operation system according to an embodiment.
2 is a block diagram of the flight resource management system shown in FIG. 1.
FIG. 3 is a block diagram illustrating a drone control operation of the flight resource management system shown in FIG. 1.
FIG. 4 is a block diagram illustrating a battery control operation of the flight resource management system shown in FIG. 1.
5A to 5E are views for explaining in detail each configuration of the flight resource management system shown in FIG. 2.
6A to 6C are diagrams for specifically explaining each configuration of the drone shown in FIG. 1.
7 is a diagram illustrating an example of the drone shown in FIG. 1.
8 is a graph showing a relationship between a change in wind intensity and energy consumption of a drone.

Hereinafter, exemplary embodiments will be described in detail with reference to the accompanying drawings. However, since various changes may be made to the embodiments, the scope of the rights of the patent application is not limited or limited by these embodiments. It should be understood that all changes, equivalents, or substitutes to the embodiments are included in the scope of the rights.

The terms used in the examples are used for illustrative purposes only and should not be interpreted as limiting. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

Terms such as first or second may be used to describe various components, but the components should not be limited by terms. The terms are only for the purpose of distinguishing one component from other components, for example, without departing from the scope of rights according to the concept of the embodiment, the first component may be named as the second component, and similarly The second component may also be referred to as a first component.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiment belongs. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

In addition, in the description with reference to the accompanying drawings, the same reference numerals are assigned to the same components regardless of the reference numerals, and redundant descriptions thereof will be omitted. In describing the embodiments, when it is determined that a detailed description of related known technologies may unnecessarily obscure the subject matter of the embodiments, the detailed description thereof will be omitted.

In the present specification, a module may mean hardware capable of performing functions and operations according to each name described in the specification, or may mean a computer program code capable of performing specific functions and operations. Or, it may refer to an electronic recording medium, for example, a processor or a microprocessor in which a computer program code capable of performing a specific function and operation is mounted.

In other words, the module may mean a functional and/or structural combination of hardware for performing the technical idea of the present invention and/or software for driving the hardware.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, the scope of the patent application is not limited or limited by these embodiments.

1 is a block diagram of a drone operation system according to an embodiment, and FIG. 2 is a block diagram of the flight resource management system shown in FIG. 1.

The drone operation system may include a flight resource management system (FRMS) 10, a drone 20, a battery 30, and a user interface 40.

The flight resource management system 10 acquires information on the drone 20 and the battery 30 and reflects it in the battery management system to perform stable operation of the drone, efficient use of energy, and effective battery life management. .

For example, the flight resource management system 10 additionally acquires information such as motor current, voltage, temperature, and number of revolutions of the driver 610 of the drone 20, and provides information on the battery 30 and the drone. By using the information on the driver 610 of (20), it is possible to effectively provide the battery life management of the drone 20.

In the case of a conventional drone operation system, the route calculated by the flight control logic or FCS (Flight Control System) was able to derive the flight route by considering only the remaining battery capacity and determine the flight status, and only provide information such as time and remaining amount to the user. Could

The flight resource management system 10 may provide a more efficient resource management method than the existing one by performing two-way communication with the drone 20.

The flight resource management system 10 may acquire the state of the drone 20 in real time, and generate an optimized path for the drone 20 based on this. For example, the flight resource management system 10 may receive a previously set target path, and may reset the target path to an optimized path based on information of the drone 20 acquired in real time.

The flight resource management system 10 may control the drone 20 based on the optimized path. For example, the flight resource management system 10 may deliver the restrictions of the drone 20 based on the optimization path. That is, the flight resource management system 10 may control driving of flight resource-related hardware such as battery cell control and motor output control to optimize flight resources.

In addition, the flight resource management system 10 may estimate the drag factor in the starting direction using the ground speed compared to the motor thrust input of the drone 20. The flight resource management system 10 may also estimate the speed of the forward/backward wind during flight of the drone 20 based on the drag element in the maneuvering direction.

The battery 30 may provide energy or power for driving the drone 20. That is, the drone 20 can be driven using the energy of the battery 30. The battery 30 may be composed of a lithium-based secondary battery in units of a plurality of cells. In FIG. 1, the battery 30 is shown to be implemented outside of the drone 20, but may be implemented inside, and may be detachable from the drone 20.

The flight resource management system 10 may include a drone battery management device 100 and a sensor measuring device 500.

The sensor measuring instrument 500 may measure battery information of the battery 30 by using a sensor and may measure driving information of the drone driver 610. For example, the sensor measuring instrument 500 may measure the voltage, current, temperature, and internal resistance of the battery 30, and measure the current, voltage, temperature, and rotation speed of the motor included in the driver 610 can do.

The sensor measuring device 500 may transmit battery information and driving information of the drone 20 to the drone battery management apparatus 100.

The drone battery management device 100 can be attached to the drone 20. For example, the drone battery management device 100 may be implemented by being embedded in the drone 20, and may be implemented as an IoT device, a machine-type communication device, or a portable electronic device.

Portable electronic devices include a laptop computer, a mobile phone, a smart phone, a tablet PC, a mobile internet device (MID), a personal digital assistant (PDA), an enterprise digital assistant (EDA). ), digital still camera, digital video camera, portable multimedia player (PMP), personal navigation device or portable navigation device (PND), handheld game console, e-book (e-book), can be implemented as a smart device (smart device). For example, the smart device may be implemented as a smart watch or a smart band.

The drone battery management apparatus 100 may include a communicator 200, a memory 300, and a processor 400.

The communicator 200 may transmit and receive information with the drone 20 and communicate with a user interface 40 provided to a user. For example, the communicator 200 may receive battery information and driving information of the drone 20 from the sensor measuring unit 500. In addition, the communicator 200 may receive control information of the drone 20 from the drone 20 and/or the user interface 40.

The memory 300 may store instructions (or programs) executable by the processor 400. For example, the instructions may include instructions for executing an operation of the processor 400 and/or an operation of each component of the processor 400.

The processor 400 may process data stored in the memory 300. The processor 400 may execute computer-readable code (eg, software) stored in the memory 300 and instructions induced by the processor 400.

The processor 400 may be a data processing device implemented in hardware having a circuit having a physical structure for executing desired operations. For example, desired operations may include code or instructions included in a program.

For example, a data processing device implemented in hardware is a microprocessor, a central processing unit, a processor core, a multi-core processor, and a multiprocessor. , Application-Specific Integrated Circuit (ASIC), and Field Programmable Gate Array (FPGA).

The processor 400 may generate a driving method of the drone 20 based on battery information, driving information, and control information of the drone 20 received by the communicator 200. Also, the processor 400 may control the drone 20 based on a driving method.

For example, the processor 400 may operate as an operation module 510, a control module 530, and a storage module 550.

The calculation module 510 derives a state of charge (SOC) and a state of health (SOH) of the battery 30 from the battery information of the battery 30, and the derived state of charge (SOC), The optimal driving method and/or driving time for the battery 30 and/or the drone 20 may be calculated based on the healthy state (SOH) and control information.

The control module 530 may control the battery 30 based on an optimal driving method and may control the operation of the drone 20. For example, the control module 530 may perform cell balancing, cell switching, and abnormal state correction control for the battery 30, and may control driving restrictions of the drone driver.

The storage module 550 stores the state of the battery 30, the state of the drone 20, a control input for the battery 30 and the drone 20, and the like, and stores the previous battery 30 history in a nonvolatile memory ( 300).

The drone 20 is an unmanned aerial vehicle controlled by a wireless remote control device or its own program control device. The drone 20 may include a driver 610, a path guide 630, and a flight controller 650.

The driver 610 may further include a plurality of propellers that are rotatably mounted to provide lift to the aircraft, a motor that rotates the propeller, and an electric speed controller (ESC).

The path guidance device 630 may generate path information such as a target position, speed, and attitude of the drone 20 according to the path guidance law, and may provide path information to the flight controller 650 and the flight resource management system 10. .

The flight controller 650 uses the target (eg, path information) determined from the path induction device 630 to determine the driving information of the driver 610, for example, the target thrust (number of revolutions) of the driver 610 according to the control law. It can be provided to the driver 610 and the flight resource management system 10.

The user interface 40 may receive and display information about the states of the drone 20 and the battery 30. The user interface 40 may be implemented in a remote controller capable of remotely controlling the drone 20 or a user device capable of communicating with the drone 20 and/or the drone battery management apparatus 100.

FIG. 3 is a block diagram illustrating a drone control operation of the flight resource management system illustrated in FIG. 1, and FIG. 4 is a block diagram illustrating a battery control operation of the flight resource management system illustrated in FIG. 1.

The flight resource management system (FRMS) 10 may measure and/or receive information related to the operation of the drone 20, and control the drone 20 based on the information related to the operation.

The communicator 200 may acquire path information of the drone 20 from the path guidance device 630 and may acquire driving information from the flight controller 650.

The communicator 200 may obtain driving information of the driver 610 and battery information of the battery 30 from the sensor meter 500.

The communicator 200 may communicate with a user interface 40 provided to a user. For example, the communicator 200 may provide information on the state of the drone 20 and the battery 30 to the user interface 40 so that the user can set a mission that the drone 20 can perform.

The calculation module 510 may generate a driving method of the drone 20 based on battery information, driving information, and control information obtained from each component of the battery 30 and the drone 20.

The calculation module 510 may calculate a state of charge (SOC), a state of health (SOH), a charge capacity, and/or a total energy consumption rate of the battery 30 based on the battery information.

The calculation module 510 may calculate the thrust and/or energy consumption rate of each driver 610 of the drone 30 based on the driving information.

In addition, the calculation module 510 may compare the control information and the thrust and/or energy consumption rate of the driver 610 to calculate a coefficient for compensating the actual thrust compared to the target. That is, the calculation module 510 may calculate a compensation coefficient that compensates for a difference between the target thrust included in the control information and the actual thrust measurement value of the driver 610.

The compensation factor is fed back to the flight controller 650 of the drone 20 to ensure the output of the driver 610 of the same performance regardless of the state of the battery (such as the state of charge (SOC)), so that the drone 20 is stable. It can help in operation.

The calculation module 510 compares battery information (eg, energy consumption rate and remaining battery capacity, etc.) and driving information (eg, voltage, current, and energy consumption rate) of the driver 610 Drive limiting factors such as maximum thrust and/or maximum change in number of revolutions can be calculated.

The driving limiting element may include a matter that is fed back to the flight controller 650 or directly limits the current of the driver 610 so that the drone 20 can perform only possible maneuvers in the current battery state. Accordingly, the flight resource management system 10 may provide stable operation of the drone 20 and management of the battery 30 healthy state (SOH) based on the driving limiting factor.

The calculation module 510 may compare the energy consumption rate of the driver 610, the energy consumption rate of the battery 30, and the energy remaining amount information of the battery 30 to calculate a driving time and/or a driving distance in real time.

For example, the calculation module 510 reflects the increase or decrease in the energy consumption rate even in a situation where the operating environment of the drone 20 changes and the energy consumption rate rapidly increases and decreases, to determine the driving time and/or the driving distance of the drone 20. Can be calculated.

A path limiting element including a driving time and/or a driving distance, etc. may be fed back to the path guide 630 to help efficient path management.

That is, the control module 530 may control the drone 20 based on the generated driving method. For example, the control module 530 may control the creation of a path of the drone 20 by transmitting a driving time and a path limiting factor to the path guidance device 630.

In addition, the control module 530 may control the flight of the drone 20 by transmitting the maximum thrust of each driver 610, a driving limiting factor, and an actual thrust correction coefficient relative to the target to the flight controller 650.

The control module 530 may directly limit the current of each driver 610 of the drone 20 to control the drone 20.

The control module 530 may control the battery 30 based on a driving method. For example, the control module 530 may detect an abnormal state of the battery 30 based on the battery information.

In addition, the control module 530 may correct cell balancing, cell switching, and an abnormal state of the battery 30 based on the battery information.

The control module 530 may calculate a new route corresponding to a driving time and/or a distance, and effectively manage the route of the drone 20 by canceling a route that cannot be performed in a current state.

The control module 530 manages the path of the drone 20, thereby preventing excessive battery consumption and thus efficiently managing the battery 30.

The storage module 550 includes battery information (eg, voltage, current, temperature, and internal resistance), driving information (eg, current, voltage, temperature, and number of revolutions of the motor included in the driver 610). ), and control information (for example, a target position, a target speed, a target posture, a target path, and a target thrust of the actuator 610), and a driving method derived based on the information (eg, a driveable path, A driveable time, a thrust correction factor, and an optimal path, etc.) may be stored in the nonvolatile memory 300.

Overall, the flight resource management system 10 is attached to the drone 20 and can stably operate the drone 20 through battery management linked with path guidance and flight control information, and provides an efficient energy use method of energy. Can provide.

In addition, the flight resource management system 10 can extend the life of the battery through data management and cell balancing related to charging and discharging, and through the flight control linkage during operation of the drone 20, the energy Information such as consumption rate and remaining flight time can be updated with high accuracy.

5A to 5E are diagrams for specifically explaining each configuration of the flight resource management system shown in FIG. 2.

The sensor instrument 500 may measure battery voltage, current, temperature, and internal resistance using a sensor. In addition, the sensor measuring instrument 500 may measure the motor current, voltage, temperature, and rotation speed of the driver 610 of the drone 20 using a sensor.

The communicator 200 may receive information related to flight control and path guidance from the drone 30. In addition, the communicator 200 may transmit information related to the battery 300 and the drone 20 to a user through a user interface.

The calculation module 510 may derive a state of charge (SOC), a charge capacity, and a sound state (SOH) from the battery information measured from the sensor measuring device 500. In addition, the calculation module 501 may calculate an optimal drone driving method and driving time based on the derived battery information and information such as a control input and a path received from the drone 20.

The control module 530 may perform cell balancing, correction of an abnormal state, and cell switching of the battery 30. In addition, the control module 530 may perform control, such as limiting the driver 610 of the drone 20.

The storage module 550 may store a state of the battery 30, a state of the drone 20, and a control input for the battery 30 and the drone 20 in the memory 300. Further, the storage module 550 may store a previous battery history in the nonvolatile memory 300.

6A to 6C are diagrams for specifically explaining each configuration of the drone shown in FIG. 1, and FIG. 7 is a diagram illustrating an example of the drone shown in FIG. 1.

The actuator 610 includes a plurality of propellers that are rotatably mounted on the drone 20 to provide lift to the aircraft. Further, the driver 610 includes a motor for rotating the propeller and an Electronic Speed Control (ESC).

The path guide 630 may determine a target position, speed, and posture of the drone 20 according to the path guidance law. The path guidance device 630 may provide path information to the flight resource management system 10.

The flight controller 650 may determine the operation of the driver 610 of the drone 20 according to a control rule based on the target determined by the path guidance device 630. In addition, the flight controller 650 may provide flight control information to the flight resource management system 10.

8 is a graph showing a relationship between a change in wind intensity and energy consumption of a drone.

It can be seen through the graph of FIG. 8 that energy consumed by the drone 20 increases as the wind strength increases in the flight of the drone 20. In other words, energy consumption can increase or decrease according to changes in the situation during flight, and in order to efficiently use energy and manage the life of the battery, it is necessary to respond to changes in the situation in real time.

The flight resource management system 10 can perform two-way communication with the drone 20 in real time, so that information according to environmental changes can be continuously transmitted and received, and an optimal drone driving method can be provided based on real-time information. .

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

The software may include a computer program, code, instructions, or a combination of one or more of these, configuring the processing unit to behave as desired or processed independently or collectively. You can command the device. Software and/or data may be interpreted by a processing device or to provide instructions or data to a processing device, of any type of machine, component, physical device, virtual equipment, computer storage medium or device. , Or may be permanently or temporarily embodyed in a transmitted signal wave. The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

As described above, although the embodiments have been described by the limited drawings, a person of ordinary skill in the art can apply various technical modifications and variations based on the above. For example, the described techniques are performed in a different order from the described method, and/or components such as a system, structure, device, circuit, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments and claims and equivalents fall within the scope of the following claims.

Claims (18)

Receiving drone information including battery information, driving information, and control information of the drone;
Generating a method of driving the drone based on the drone information; And
Controlling the drone based on the driving method
Drone battery management method comprising a.
The method of claim 1,
The battery information,
Drone battery management method comprising at least one or more of voltage, current, temperature, and internal resistance of the battery of the drone.
The method of claim 1,
The driving information,
A drone battery management method comprising at least one of current, voltage, temperature, and rotation speed of a motor included in the driver of the drone.
The method of claim 1,
The control information,
A drone battery management method comprising at least one of a target position of the drone, a target speed, a target posture, a target path, and a target thrust of a driver.
The method of claim 1,
The generating step,
Calculating a state of charge (SOC) and a state of health (SOH) of the battery based on the battery information
Calculating a driving possible time and path limiting factor of the drone based on the drone information, the charging state, and the healthy state;
Calculating a limitation of a current applied to a driver of the drone based on the drone information, the state of charge, and the state of health;
Calculating a driving limiting factor of a driver of the drone and an actual thrust correction coefficient relative to a target based on the drone information, the charging state, and the healthy state; And
Generating the driving method based on the driveable time, path limiting factor, current limiting factor, driving limiting factor, and an actual thrust correction factor against a target
Drone battery management method comprising a.
The method of claim 1,
The controlling step,
Setting a path of the drone based on the driving method;
Controlling a battery of the drone based on the driving method; And
Controlling the flight of the drone based on the driving method
Drone battery management method comprising a.
The method of claim 6,
The step of controlling the battery,
Performing at least one of cell balancing, cell switching, and abnormal state correction of the battery based on the driving method
Drone battery management method comprising a.
The method of claim 1,
At least one or more of the drone information, the charging state, the healthy state, the driving time, the path limiting factor, the current limiting, the driving limiting factor, the actual thrust correction factor compared to the target, and the driving method. Steps to provide
Drone battery management method further comprising a.
The method of claim 1,
Stores at least one or more of the drone information, the charging state, the healthy state, the driving available time, the path limiting factor, the current limiting factor, the driving limiting factor, the actual thrust correction coefficient compared to the target, and the driving method. Steps to
Drone battery management method further comprising a.
A communicator for receiving drone information including battery information, driving information, and control information of the drone;
A memory containing instructions; And
A processor for executing the instructions
Including,
When the instructions are executed by the processor, the processor,
Generating a driving method of the drone based on the drone information, and controlling the drone based on the driving method
Drone battery management device.
The method of claim 10,
The battery information,
A drone battery management device comprising at least one of voltage, current, temperature, and internal resistance of the drone's battery.
The method of claim 10,
The driving information,
A drone battery management device comprising at least one of current, voltage, temperature, and rotation speed of a motor included in the driver of the drone.
The method of claim 10,
The control information,
A drone battery management apparatus comprising at least one of a target position of the drone, a target speed, a target posture, a target path, and a target thrust of each driving unit.
The method of claim 10,
The processor,
Based on the battery information, a state of charge (SOC) and a state of health (SOH) of the battery are calculated, and based on the drone information, the state of charge, and the health state, Calculate a driveable time and path limiting factor, calculate a limit of the current applied to the driver of the drone based on the drone information, the charging state, and the healthy state, the drone information, the charging state, and Based on the healthy state, the driving limiting factor of the drone of the drone and the actual thrust correction factor relative to the target are calculated, and the driving time, the path limiting factor, the current limiting factor, the driving limiting factor, and the actual thrust correction factor against the target are calculated. To generate the driving method based on
Drone battery management device.
The method of claim 10,
The processor,
Setting the path of the drone based on the driving method, controlling the battery of the drone based on the driving method, and controlling the flight of the drone based on the driving method
Drone battery management device.
The method of claim 15,
The processor,
Performing at least one of cell balancing, cell switching, and abnormal state correction of the battery based on the driving method
Drone battery management device.
The method of claim 10,
The communicator,
At least one or more of the drone information, the charging state, the healthy state, the driving time, the path limiting factor, the current limiting, the driving limiting factor, the actual thrust correction factor compared to the target, and the driving method. To send
Battery management device.
The method of claim 10,
The processor,
At least one or more of the collected information, the state of charge, the state of health, the available driving time, the path limiting factor, the limiting of the current, the driving limiting factor, the actual thrust correction factor compared to the target, and the driving method To store in the memory
Drone battery management device.

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