WO2018205166A1 - 无人飞行器的充电控制方法、系统和无人飞行器 - Google Patents

无人飞行器的充电控制方法、系统和无人飞行器 Download PDF

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Publication number
WO2018205166A1
WO2018205166A1 PCT/CN2017/083769 CN2017083769W WO2018205166A1 WO 2018205166 A1 WO2018205166 A1 WO 2018205166A1 CN 2017083769 W CN2017083769 W CN 2017083769W WO 2018205166 A1 WO2018205166 A1 WO 2018205166A1
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WO
WIPO (PCT)
Prior art keywords
power supply
battery
aerial vehicle
unmanned aerial
uav
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/083769
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English (en)
French (fr)
Inventor
郑大阳
龚如
王文韬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2017/083769 priority Critical patent/WO2018205166A1/zh
Priority to CN201780006035.8A priority patent/CN108702008A/zh
Publication of WO2018205166A1 publication Critical patent/WO2018205166A1/zh
Priority to US16/678,863 priority patent/US20200094979A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/37—Charging when not in flight
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/44—Methods for charging or discharging
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J11/00—Circuit arrangements for providing service supply to auxiliaries of stations in which electric power is generated, distributed or converted
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/40—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries characterised by the exchange of charge or discharge related data
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/865—Battery or charger load switching, e.g. concurrent charging and load supply
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/90—Regulation of charging or discharging current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
    • H02J9/005—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting using a power saving mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D2221/00—Electric power distribution systems onboard aircraft
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • Embodiments of the present invention relate to the field of drone technology, and in particular, to a charging control method, system, and an unmanned aerial vehicle of an unmanned aerial vehicle.
  • the battery on the UAV has a limited storage capacity, and generally provides an unmanned aerial vehicle for 20-30 minutes of operation.
  • the portable charging treasure can be used to charge the battery of the unmanned aerial vehicle.
  • the unmanned aerial vehicle is placed in a confined space of the charging treasure for charging, but during the charging process, the unmanned aerial vehicle generates heat, which affects the charging efficiency.
  • Embodiments of the present invention provide a charging control method and system for an unmanned aerial vehicle and an unmanned aerial vehicle for improving charging efficiency.
  • an embodiment of the present invention provides a charging control method for an unmanned aerial vehicle, including:
  • the battery of the unmanned aerial vehicle is electrically connected to the external power supply of the unmanned aerial vehicle;
  • the battery is controlled for charging.
  • the method further includes maintaining the battery to conduct power to a power supply circuit of the UAV control system of the UAV.
  • the method further includes controlling the drone control system to enter a low power sleep mode.
  • the method further includes: detecting that the battery is disconnected from the external power supply; and turning on the power supply circuit of the battery to the power supply load .
  • an electronic switch is disposed between the battery and the power supply load.
  • the disconnecting the power supply circuit of the battery to the power supply load in the UAV includes: controlling the electronic switch to be turned off.
  • the electronic switch is the MOS tube or solid state relay.
  • the power supply load includes at least one of the following: a pan/tilt, a camera, an ESC, a distance sensor, and a positioning sensor.
  • the external power supply is a charging treasure.
  • the disconnecting the power supply circuit of the battery to the power supply load in the UAV includes: disconnecting the battery pair when detecting that the UAV is in a power on state A power supply circuit for a power supply load in the unmanned aerial vehicle.
  • the disconnecting the power supply circuit of the battery to the power supply load in the unmanned aerial vehicle comprises: controlling the unmanned aerial vehicle when detecting that the unmanned aerial vehicle is in a shutdown state Switching from the off state to the on state; and disconnecting the battery from the power supply circuit of the power supply load in the unmanned aerial vehicle.
  • an embodiment of the present invention provides an unmanned aerial vehicle, including: a battery, a drone control system, and a power supply load; the drone control system is connected to the battery, and the power supply load is connected to the battery .
  • the UAV control system is configured to, when detecting that the battery is electrically connected to an external power supply, disconnect the power supply circuit of the battery to the power supply load, and control the battery to be charged.
  • the UAV control system is further configured to maintain the battery to conduct power to the power supply circuit of the UAV control system during charging of the battery.
  • the UAV control system is further configured to: control the UAV control system to enter a low power sleep mode.
  • the UAV control system is further configured to: detect that the battery is disconnected from the external power supply; and turn on the power supply circuit of the battery to the power supply load .
  • an electronic switch is disposed between the battery and the power supply load; the drone control system is communicatively coupled to the electronic switch.
  • the UAV control system is further configured to control opening and closing of the electronic switch.
  • the electronic switch is the MOS tube or solid state relay.
  • the power supply load includes at least one of the following: a pan/tilt, a camera, ESC, distance sensor, positioning sensor.
  • the UAV control system is specifically configured to: when detecting that the UAV is in a power-on state, disconnect the battery to supply power to the power supply load in the UAV Circuit.
  • the UAV control system is specifically configured to: when detecting that the UAV is in a shutdown state, control the UAV to be switched from a shutdown state to a power-on state; and disconnect a power supply circuit of the battery to a power supply load in the unmanned aerial vehicle.
  • an embodiment of the present invention provides a charging control system for an unmanned aerial vehicle, including the unmanned aerial vehicle and the external power supply according to any one of the embodiments of the present invention.
  • the external power supply is configured to charge a battery of the unmanned aerial vehicle.
  • the external power supply is a charging treasure.
  • an embodiment of the present invention provides a computer readable storage medium, when an instruction in a storage medium is executed by a processor of an unmanned aerial vehicle, enabling the unmanned aerial vehicle to perform the first aspect described in the embodiment of the present application.
  • the charging control method, system and unmanned aerial vehicle of the unmanned aerial vehicle provided by the embodiments of the present invention disconnect the battery pair by detecting when the battery of the unmanned aerial vehicle is electrically connected to the external power supply of the unmanned aerial vehicle
  • the power supply circuit of the power supply load in the human aircraft controls the battery for charging, thereby improving the charging efficiency of the battery, reducing the heat generated during the charging process of the battery, and improving the charging safety of the battery.
  • FIG. 1 is a flowchart of a charging control method for an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 1 of the present invention.
  • FIG. 3 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 2 of the present invention.
  • FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 3 of the present invention.
  • FIG. 5 is a schematic structural diagram of a charging control system for an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a charging control system for an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 1 is a flowchart of a charging control method for an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 1 , the method in this embodiment may include:
  • the battery of the UAV is electrically connected to the external power supply of the UAV
  • the external power supply can be, for example, a charging treasure
  • the charging treasure can be referred to the prior art dedicated to the UAV.
  • the charging treasure scheme will not be described here.
  • the battery of the unmanned aerial vehicle is electrically connected to the charging treasure.
  • the communication interface of the battery is electrically connected with the communication interface of the charging treasure.
  • the battery of the human aircraft is electrically connected to the charging treasure, that is, when the communication interface of the battery is electrically connected with the communication interface of the charging treasure, the battery is connected with the charging treasure, and when the communication interface of the battery is not electrically connected with the communication interface of the charging treasure , indicating that the battery is not connected to the charging treasure.
  • the battery of the unmanned aerial vehicle is electrically connected to the external power supply of the unmanned aerial vehicle, this indicates that the external power supply is to charge the battery, and then the embodiment disconnects the power supply circuit of the battery to the power supply load in the unmanned aerial vehicle, thus The battery does not supply power to the power supply, which saves battery power.
  • the battery is controlled to be charged.
  • the charging efficiency of the battery is improved. Moreover, if the battery supplies power to the power supply load, heat is generated in the process of consuming power from the power supply load, and heat is generated in the sealed space of the charging treasure, causing the battery charging environment temperature to be too high and causing damage to the battery charging process. , therefore, during the charging process of the battery, In this embodiment, the control battery no longer supplies power to the power supply load, reduces the generated heat, and improves the charging safety of the battery.
  • the power supply circuit of the battery to the power supply load in the unmanned aerial vehicle is disconnected, and the battery is controlled. Charging, thereby improving the charging efficiency of the battery, reducing the heat generated during the charging process of the battery, and improving the charging safety of the battery.
  • S104 may also be performed.
  • the present embodiment keeps the battery pair.
  • the power supply circuit of the UAV control system of the human aircraft is turned on, that is, the power supply circuit of the UAV control system is not disconnected, so that the UAV control system can still operate normally, so as to ensure the charging of the UAV control system in the battery.
  • the battery can be controlled during the process to avoid accidents.
  • the UAV control system is also controlled to perform a low power sleep mode, so that although the battery supplies power to the UAV control system
  • the drone control system consumes very little power in the low-power sleep mode, further improving the charging efficiency of the battery.
  • the method in this embodiment may further include S105 and S106:
  • the power supply circuit of the power supply load in the unmanned aerial vehicle is turned on in the embodiment, so that the power supply load can be normally operated. Line to meet the normal operation requirements of the UAV.
  • an electronic switch is provided between the battery of the UAV and the power supply load of the UAV.
  • the electronic switch can be used to control the conduction and disconnection of the battery to the power supply circuit of the power supply load.
  • One possible implementation manner of the above S102 is to control the electronic switch to be disconnected. That is, after detecting that the battery of the UAV is electrically connected to the external power supply of the UAV, the electronic switch is controlled to be disconnected, so that the battery is disconnected from the power supply circuit of the power supply load, and therefore, the battery cannot be unmanned to the UAV.
  • the power supply load provides electrical energy.
  • One possible implementation of the above S106 is to control the electronic switch to close. That is, after detecting that the electrical connection between the battery of the unmanned aerial vehicle and the unmanned aerial vehicle is disconnected, the electronic switch is controlled to be closed, so that the battery is electrically connected to the power supply circuit of the power supply load, and therefore, the battery can supply power to the power supply load of the unmanned aerial vehicle. .
  • the electronic switch described above may be a MOS tube or a solid state relay.
  • the power supply load may include at least one of the following: a pan/tilt, a camera, an ESC, a distance sensor, and a positioning sensor.
  • the power supply load in this embodiment is not limited thereto, and may include other circuits that consume power in the unmanned aerial vehicle.
  • the distance sensor may be a radar, a binocular sensor, a monocular sensor, an infrared sensor, an ultrasonic sensor, or the like.
  • the positioning sensor may be an Inertial Measurement Unit (IMU), a Global Positioning System (GPS), a compass, or the like.
  • IMU Inertial Measurement Unit
  • GPS Global Positioning System
  • compass or the like.
  • the unmanned aerial vehicle is turned on before the battery of the unmanned aerial vehicle is electrically connected to the external power supply, and the power supply circuit of the power supply load of the unmanned aerial vehicle is turned on when the unmanned aerial vehicle is powered on. of. Therefore, after detecting that the battery of the unmanned aerial vehicle is electrically connected to the external power supply, detecting whether the unmanned aerial vehicle is in the power-on state, if it is detected that the unmanned aerial vehicle is in the power-on state, it indicates that the power supply circuit of the battery to the power supply load is turned on. Then, this embodiment disconnects the battery from the power supply circuit of the power supply load.
  • the battery when the unmanned aerial vehicle is powered on, the battery is also conductive to the power supply circuit of the UAV control system of the unmanned aerial vehicle.
  • the battery When the unmanned aerial vehicle is detected to be powered on, the battery is maintained to the drone control system. The power supply circuit continues to conduct.
  • the unmanned aircraft is unmanned before the battery of the unmanned aerial vehicle is electrically connected to the external power supply.
  • the device is in the off state, and when the unmanned aerial vehicle is in the off state, the power supply circuit of the battery to the power supply load of the unmanned aerial vehicle is disconnected. Therefore, after detecting that the battery of the unmanned aerial vehicle is electrically connected to the external power supply, detecting whether the unmanned aerial vehicle is in the power-on state or the power-off state, if the unmanned aerial vehicle is detected to be in the shutdown state, in order to ensure the charging process of the battery Control, this embodiment also controls the unmanned aerial vehicle to switch from the off state to the on state.
  • the battery In the on state, the battery is electrically connected to the power supply circuit of the power supply load, and then the power supply circuit of the battery to the power supply load is disconnected in this embodiment. .
  • the battery is also conductive to the power supply circuit of the UAV control system of the UAV, and then the embodiment maintains the battery to continue the power supply circuit of the UAV control system. Turn on.
  • the above solution of the embodiment can make the UAV enter a low-power state and improve the charging efficiency of the battery. Improves the charging safety of the battery.
  • the unmanned aerial vehicle 10 of the present embodiment includes: a battery 11, a drone control system 12, and a power supply load 13;
  • the human machine control system 12 is connected to the battery 11, and the power supply load 13 is connected to the battery 11.
  • the UAV control system 12 is configured to disconnect the power supply circuit of the battery 11 to the power supply load 13 and control the battery 11 to charge when detecting that the battery 11 is electrically connected to an external power supply. .
  • the UAV control system 12 is further configured to keep the battery 11 conductive to the power supply circuit of the UAV control system 12 during charging of the battery 11.
  • the UAV control system 12 is further configured to: control the UAV control system 12 to enter a low power sleep mode.
  • the UAV control system 12 is further configured to: detect that the battery 11 is disconnected from the external power supply; and turn on the power supply circuit of the battery 11 to the power supply load 13 .
  • the UAV control system 12 is specifically configured to: when detecting that the UAV 10 is in a power-on state, disconnect the power supply circuit of the battery 11 to the power supply load 13.
  • the UAV control system 12 is configured to: when the UAV 10 is detected to be in a shutdown state, control the UAV 10 to be switched from a power-off state to a power-on state; And the power supply circuit of the battery 11 to the power supply load 13 is disconnected.
  • the unmanned aerial vehicle of the present embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principle and technical effects thereof are similar, and details are not described herein again.
  • FIG. 3 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 2 of the present invention.
  • the UAV of the present embodiment is based on the embodiment shown in FIG. 2, and the battery 11 and the power supply load are
  • An electronic switch 14 is provided between 13; the drone control system 12 is communicatively coupled to the electronic switch 14.
  • the UAV control system 12 is further configured to control the opening and closing of the electronic switch 14.
  • the electronic switch 14 is the MOS tube.
  • the electronic switch 14 is a MOS tube
  • a schematic structural view of the unmanned aerial vehicle of the present embodiment is shown in FIG.
  • the electronic switch 14 is a solid state relay.
  • the power supply load 13 includes at least one of the following: a pan/tilt, a camera, an ESC, a distance sensor, and a positioning sensor.
  • the unmanned aerial vehicle of the present embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principle and technical effects thereof are similar, and details are not described herein again.
  • the unmanned aerial vehicle 10 in the above embodiments further includes a rack, a power system, and the like, which are not shown, and the battery 11 is disposed in a battery compartment of the rack of the unmanned aerial vehicle 10.
  • FIG. 5 is a schematic structural diagram of a charging control system for an unmanned aerial vehicle according to an embodiment of the present invention.
  • the charging control system of this embodiment may include: an unmanned aerial vehicle 10 and an external power supply 20, the external A power supply 20 is provided for charging the battery 11 of the unmanned aerial vehicle 10.
  • the unmanned aerial vehicle 10 can adopt the structure of the embodiment shown in any of FIG. 2 to FIG. 4, and correspondingly, the technical solution of the foregoing method embodiment of the present invention can be executed, and the implementation principle and the technical effect are similar. Narration.
  • the external power supply 20 can be a charging treasure, such as a charging treasure dedicated to an unmanned aerial vehicle.
  • the charging diagram of the UAV 10 in the external power supply 20 that is the charging treasure is as shown in FIG. 6.
  • ROM Read-Only Memory
  • RAM Random Access Memory

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  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
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  • Emergency Management (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

本发明实施例提供一种无人飞行器的充电控制方法、系统和无人飞行器，此方法包括：检测到无人飞行器的电池电连接到无人飞行器的外部供电源；断开所述电池对所述无人飞行器中的供电负载的供电电路；控制所述电池进行充电。在电池的充电过程中降低了电池的电量消耗，从而提高了电池的充电效率，降低了电池充电过程中产生的热量，提高了电池的充电安全性。

Description

无人飞行器的充电控制方法、系统和无人飞行器 技术领域
本发明实施例涉及无人机技术领域，尤其涉及一种无人飞行器的充电控制方法、系统和无人飞行器。
背景技术
目前的无人飞行器通过其上承载的电池来提供电能，以助于无人飞行器上电工作。但是目前，无人飞行器上的电池的蓄电能力有限，一般能提供无人飞行器工作20-30分钟的电量。为了保证无人飞行器能长时间持续工作，可以采用便携式的充电宝对无人飞行器的电池进行工作现场充电。目前，是将无人飞行器置于充电宝的密闭空间内进行充电，但是，在充电过程中，无人飞行器会产生热量，影响充电效率。
发明内容
本发明实施例提供一种无人飞行器的充电控制方法、系统和无人飞行器，用于提高充电效率。
第一方面，本发明实施例提供一种无人飞行器的充电控制方法，包括：
检测到无人飞行器的电池电连接到无人飞行器的外部供电源；
断开所述电池对所述无人飞行器中的供电负载的供电电路；
控制所述电池进行充电。
在一种可能的设计中，所述方法还包括：保持所述电池对所述无人飞行器的无人机控制系统的供电电路导通。
在一种可能的设计中，所述方法还包括：控制所述无人机控制系统进入低功耗休眠模式。
在一种可能的设计中，所述控制所述电池进行充电之后，还包括：检测到所述电池与所述外部供电源断开电连接；导通所述电池对所述供电负载的供电电路。
在一种可能的设计中，所述电池与所述供电负载之间设置有电子开关。 所述断开所述电池对所述无人飞行器中的供电负载的供电电路，包括：控制所述电子开关断开。
在一种可能的设计中，所述电子开关为所述MOS管或者固态继电器。
在一种可能的设计中，所述供电负载包括以下至少一种：云台、相机、电调、距离传感器、定位传感器。
在一种可能的设计中，所述外部供电源为充电宝。
在一种可能的设计中，所述断开所述电池对所述无人飞行器中的供电负载的供电电路，包括：在检测到所述无人飞行器处于开机状态时，断开所述电池对所述无人飞行器中的供电负载的供电电路。
在一种可能的设计中，所述断开所述电池对所述无人飞行器中的供电负载的供电电路，包括：在检测到所述无人飞行器处于关机状态时，控制所述无人飞行器由关机状态切换至开机状态；并断开所述电池对所述无人飞行器中的供电负载的供电电路。
第二方面，本发明实施例提供一种无人飞行器，包括：电池、无人机控制系统、供电负载；所述无人机控制系统与所述电池连接，所述供电负载与所述电池连接。所述无人机控制系统，用于在检测到所述电池电连接到外部供电源时，断开所述电池对所述供电负载的供电电路，并且控制所述电池进行充电。
在一种可能的设计中，所述无人机控制系统还用于，在所述电池的充电过程中，保持所述电池对所述无人机控制系统的供电电路导通。
在一种可能的设计中，所述无人机控制系统，还用于：控制所述无人机控制系统进入低功耗休眠模式。
在一种可能的设计中，所述无人机控制系统，还用于：检测到所述电池与所述外部供电源断开电连接；以及导通所述电池对所述供电负载的供电电路。
在一种可能的设计中，所述电池与所述供电负载之间设置有电子开关；所述无人机控制系统与所述电子开关通信连接。所述无人机控制系统，还用于控制所述电子开关的断开和闭合。
在一种可能的设计中，所述电子开关为所述MOS管或者固态继电器。
在一种可能的设计中，所述供电负载包括以下至少一种：云台、相机、 电调、距离传感器、定位传感器。
在一种可能的设计中，所述无人机控制系统，具体用于：在检测到所述无人飞行器处于开机状态时，断开所述电池对所述无人飞行器中的供电负载的供电电路。
在一种可能的设计中，所述无人机控制系统，具体用于：在检测到所述无人飞行器处于关机状态时，控制所述无人飞行器由关机状态切换至开机状态；并断开所述电池对所述无人飞行器中的供电负载的供电电路。
第三方面，本发明实施例提供一种无人飞行器的充电控制系统，包括第一方面本发明实施例任一所述的无人飞行器和外部供电源。所述外部供电源，用于对所述无人飞行器的电池进行充电。
在一种可能的设计中，所述外部供电源为充电宝。
第四方面，本发明实施例提供一种计算机可读存储介质，当存储介质中的指令由无人飞行器的处理器执行时，使得无人飞行器能够执行第一方面本申请实施例所述的无人飞行器的充电控制方法。
本发明实施例提供的无人飞行器的充电控制方法、系统和无人飞行器，通过在检测到无人飞行器的电池电连接到无人飞行器的外部供电源时，断开所述电池对所述无人飞行器中的供电负载的供电电路，并控制所述电池进行充电，从而提高了电池的充电效率，降低了电池充电过程中产生的热量，提高了电池的充电安全性。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明一实施例提供的无人飞行器的充电控制方法的流程图；
图2为本发明实施例一提供的无人飞行器的结构示意图；
图3为本发明实施例二提供的无人飞行器的结构示意图；
图4为本发明实施例三提供的无人飞行器的结构示意图；
图5为本发明一实施例提供的无人飞行器的充电控制系统的结构示意 图；
图6为本发明另一实施例提供的无人飞行器的充电控制系统的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
图1为本发明一实施例提供的无人飞行器的充电控制方法的流程图，如图1所示，本实施例的方法可以包括：
S101、检测到无人飞行器的电池电连接到无人飞行器的外部供电源。
S102、断开所述电池对所述无人飞行器中的供电负载的供电电路。
S103、控制所述电池进行充电。
本实施例中，可以检测到无人飞行器的电池是否电连接到无人飞行器的外部供电源，该外部供电源例如可以为充电宝，该充电宝可以参见现有技术中的专用于无人飞行器的充电宝的方案，此处不再赘述。无人飞行器的电池电连接到充电宝，例如可以是，电池的通信接口与充电宝的通信接口电连通，此时可以通过检测电池的通信接口是否与充电宝的通信接口电连接，来确定无人飞行器的电池是否电连接到充电宝，即在电池的通信接口与充电宝的通信接口电连接时，说明电池与充电宝电连接，在电池的通信接口未与充电宝的通信接口电连接时，说明电池未与充电宝电连接。在检测到无人飞行器的电池电连接到无人飞行器的外部供电源，这说明外部供电源要对电池充电，然后本实施例断开电池对无人飞行器中的供电负载的供电电路，这样使得电池不对供电负载进行供电，这样可以节省电池中电量的消耗。而本实施例还控制电池进行充电，由于供电负载不再消耗电池的电量，这样会提高电池的充电效率。而且如果电池对供电负载进行供电，由于供电负载消耗电能的过程中会产生热量，在充电宝的密闭空间中会产生热量聚集，造成电池的充电环境温度过高而对电池的充电过程带来危害，因此，在电池的充电过程中， 本实施例控制电池不再对供电负载进行供电，降低产生的热量，提高了电池的充电安全。
本实施例中，通过在检测到无人飞行器的电池电连接到无人飞行器的外部供电源时，断开所述电池对所述无人飞行器中的供电负载的供电电路，并控制所述电池进行充电，从而提高了电池的充电效率，降低了电池充电过程中产生的热量，提高了电池的充电安全性。
可选地，本实施例在执行S101之后，还可以执行S104。
S104、保持所述电池对所述无人飞行器的无人机控制系统的供电电路导通。
本实施例中，虽然在检测到无人飞行器的电池电连接到无人飞行器的外部供电供，并断开电池对无人飞行器中的供电负载的供电电路，但是，本实施例保持电池对无人飞行器的无人机控制系统的供电电路导通，即不断开电池对无人机控制系统的供电电路，使得无人机控制系统仍能正常运行，这样保证无人机控制系统在电池的充电过程中可以对电池进行控制，避免发出意外。
需要说明的是，S104与S102和S103的执行顺序不分先后。
可选地，在保持电池对无人飞行器的无人机控制系统的供电电路导通的情况下，还控制无人机控制系统进行低功耗休眠模式，使得虽然电池给无人机控制系统供电，但是无人机控制系统在低功耗休眠模式下耗电量非常小，进一步提高了电池的充电效率。
可选地，本实施例的方法还可以包括S105和S106：
S105、检测到所述电池与所述外部供电源断开电连接。
S106、导通所述电池对所述供电负载的供电电路。
本实施例中，在断开电池对无人飞行器中的供电负载的供电电路之后，还可以继续检测电池与外部供电源是否电连接，例如：通过检测电池的通信接口是否与外部供电源的通信接口电连接，来确定电池是否与外部供电源是否电连接，在检测到电池的通信接口未与外部供电源的通信接口电连接时，确定电池与外部供电源断开电连接，此时外部供电源未对电池进行充电，因此，消耗电池中的电量不会存在对充电效率产生影响的情况，然后本实施例导通电池对无人飞行器中的供电负载的供电电路，使得供电负载可以正常运 行，以满足无人飞行器的正常运行要求。
可选地，无人飞行器的电池与无人飞行器的供电负载之间设置有电子开关。通过电子开关可以控制电池对供电负载的供电电路的导通与断开。
上述S102的一种可行的实现方式为：控制该电子开关断开。即，在检测到无人飞行器的电池电连接到无人飞行器的外部供电源后，控制该电子开关断开，使得电池对该供电负载的供电电路断开，因此，电池无法向无人飞行器的供电负载提供电能。
上述S106的一种可行的实现方式为：控制该电子开关闭合。即在检测到无人飞行器的电池与无人飞行器的电连接断开后，控制该电子开关闭合，使得电池对供电负载的供电电路导通，因此，电池可向无人飞行器的供电负载提供电能。
可选地，上述的电子开关可以为MOS管，或者，固态继电器。
可选地，上述的供电负载可以包括以下至少一种：云台、相机、电调、距离传感器、定位传感器。本实施例中的供电负载不限于此，还可以包括无人飞行器中消耗电量的其它电路。
其中，上述的距离传感器可以是雷达、双目传感器、单目传感器、红外传感器、超声波传感器等。
其中，上述的定位传感器可以是惯性测量单元(Inertial measurement unit，IMU)、全球定位系统(Global Positioning System，GPS)、指南针等。
下面针对无人飞行器的电池充电时的两种应用情况，对上述实施例进行说明。
第一种情况中，在无人飞行器的电池电连接到外部供电源前，无人飞行器处于开机状态，在无人飞行器处于开机状态下，电池对无人飞行器的供电负载的供电电路是导通的。因此，在检测到无人飞行器的电池电连接到外部供电源后，检测无人飞行器是否处于开机状态下，若检测到无人飞行器处于开机状态下，说明电池对供电负载的供电电路是导通的，然后本实施例断开电池对供电负载的供电电路。另外，在无人飞行器处于开机状态下，电池对无人飞行器的无人机控制系统的供电电路也是导通的，在检测到无人飞行器处于开机状态下，保持该电池对无人机控制系统的供电电路的继续导通。
在第二情况中，在无人飞行器的电池电连接到外部供电源前，无人飞行 器处于关机状态，在无人飞行器处于关机状态下，电池对无人飞行器的供电负载的供电电路是断开的。因此，在检测到无人飞行器的电池电连接到外部供电源后，检测无人飞行器处于开机状态下还是关机状态下，若检测到无人飞行器处于关机状态下，为了保证对电池充电过程中的控制，本实施例还要控制无人飞行器从关机状态切换为开机状态，在开机状态下，电池对供电负载的供电电路是导通的，然后本实施例再断开电池对供电负载的供电电路。另外，在无人飞行器切换为开机状态下后，电池对无人飞行器的无人机控制系统的供电电路也是导通的，然后本实施例保持该电池对无人机控制系统的供电电路的继续导通。
因此，无论无人飞行器处于开关状态还是关机状态，在用外部供电源对无人飞行器进行充电时，本实施例的上述方案均可使得无人飞行器进入低功耗状态，提高了电池的充电效率，提高了电池的充电安全性。
图2为本发明实施例一提供的无人飞行器的结构示意图，如图2所示，本实施例的无人飞行器10包括：电池11、无人机控制系统12和供电负载13；所述无人机控制系统12与所述电池11连接，所述供电负载13与所述电池11连接。
所述无人机控制系统12，用于在检测到所述电池11电连接到外部供电源时，断开所述电池11对所述供电负载13的供电电路，并且控制所述电池11进行充电。
可选地，所述无人机控制系统12还用于，在所述电池11的充电过程中，保持所述电池11对所述无人机控制系统12的供电电路导通。
可选地，所述无人机控制系统12，还用于：控制所述无人机控制系统12进入低功耗休眠模式。
可选地，所述无人机控制系统12，还用于：检测到所述电池11与所述外部供电源断开电连接；以及导通所述电池11对所述供电负载13的供电电路。
可选地，所述无人机控制系统12，具体用于：在检测到所述无人飞行器10处于开机状态时，断开所述电池11对所述供电负载13的供电电路。
可选地，所述无人机控制系统12，具体用于：在检测到所述无人飞行器10处于关机状态时，控制所述无人飞行器10由关机状态切换至开机状态； 并断开所述电池11对所述供电负载13的供电电路。
本实施例的无人飞行器，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
图3为本发明实施例二提供的无人飞行器的结构示意图，如图3所示，本实施例的无人飞行器在图2所示实施例的基础上，所述电池11与所述供电负载13之间设置有电子开关14；所述无人机控制系统12与所述电子开关14通信连接。
所述无人机控制系统12，还用于控制所述电子开关14的断开和闭合。
可选地，所述电子开关14为所述MOS管。在电子开关14为MOS管时，本实施例的无人飞行器的一种结构示意图如图4所示。
可选地，所述电子开关14为固态继电器。
可选地，所述供电负载13包括以下至少一种：云台、相机、电调、距离传感器、定位传感器。
本实施例的无人飞行器，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
其中，上述各实施例中的无人飞行器10还包括机架和动力系统等，图中未示出，上述电池11设置在无人飞行器10的机架的电池仓中。
图5为本发明一实施例提供的无人飞行器的充电控制系统的结构示意图，如图5所示，本实施例的充电控制系统可以包括：无人飞行器10和外部供电源20，所述外部供电源20，用于对所述无人飞行器10的电池11进行充电。其中，无人飞行器10可以采用图2～图4任一所示实施例的结构，其对应地，可以执行本发明上述方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
可选地外部供电源20可以是充电宝，例如专用于无人飞行器的充电宝。其中，无人飞行器10在是充电宝的外部供电源20中的充电示意图如图6所示。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器 (Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (21)

  1. 一种无人飞行器的充电控制方法，其特征在于，包括：
    检测到无人飞行器的电池电连接到无人飞行器的外部供电源；
    断开所述电池对所述无人飞行器中的供电负载的供电电路；
    控制所述电池进行充电。
  2. 根据权利要求1所述的方法，其特征在于，还包括：
    保持所述电池对所述无人飞行器的无人机控制系统的供电电路导通。
  3. 根据权利要求2所述的方法，其特征在于，还包括：
    控制所述无人机控制系统进入低功耗休眠模式。
  4. 根据权利要求1-3任意一项所述的方法，其特征在于，所述控制所述电池进行充电之后，还包括：
    检测到所述电池与所述外部供电源断开电连接；
    导通所述电池对所述供电负载的供电电路。
  5. 根据权利要求1-4任意一项所述的方法，其特征在于，所述电池与所述供电负载之间设置有电子开关；
    所述断开所述电池对所述无人飞行器中的供电负载的供电电路，包括：
    控制所述电子开关断开。
  6. 根据权利要求5所述的方法，其特征在于，所述电子开关为所述MOS管或者固态继电器。
  7. 根据权利要求1-6任意一项所述的方法，其特征在于，所述供电负载包括以下至少一种：云台、相机、电调、距离传感器、定位传感器。
  8. 根据权利要求1-7任意一项所述的方法，其特征在于，所述外部供电源为充电宝。
  9. 根据权利要求1-8任意一项所述的方法，其特征在于，所述断开所述电池对所述无人飞行器中的供电负载的供电电路，包括：
    在检测到所述无人飞行器处于开机状态时，断开所述电池对所述无人飞行器中的供电负载的供电电路。
  10. 根据权利要求1-8任意一项所述的方法，其特征在于，所述断开所述电池对所述无人飞行器中的供电负载的供电电路，包括：
    在检测到所述无人飞行器处于关机状态时，控制所述无人飞行器由关机 状态切换至开机状态；
    断开所述电池对所述无人飞行器中的供电负载的供电电路。
  11. 一种无人飞行器，其特征在于，包括：电池、无人机控制系统、供电负载；所述无人机控制系统与所述电池连接，所述供电负载与所述电池连接；
    所述无人机控制系统，用于在检测到所述电池电连接到外部供电源时，断开所述电池对所述供电负载的供电电路，并且控制所述电池进行充电。
  12. 根据权利要求11所述的无人飞行器，其特征在于，所述无人机控制系统还用于，在所述电池的充电过程中，保持所述电池对所述无人机控制系统的供电电路导通。
  13. 根据权利要求12所述的无人飞行器，其特征在于，所述无人机控制系统，还用于：控制所述无人机控制系统进入低功耗休眠模式。
  14. 根据权利要求11-13任意一项所述的无人飞行器，其特征在于，所述无人机控制系统，还用于：检测到所述电池与所述外部供电源断开电连接；以及导通所述电池对所述供电负载的供电电路。
  15. 根据权利要求11-14任意一项所述的无人飞行器，其特征在于，所述电池与所述供电负载之间设置有电子开关；所述无人机控制系统与所述电子开关通信连接；
    所述无人机控制系统，还用于控制所述电子开关的断开和闭合。
  16. 根据权利要求15所述的无人飞行器，其特征在于，所述电子开关为所述MOS管或者固态继电器。
  17. 根据权利要求11-16任意一项所述的无人飞行器，其特征在于，所述供电负载包括以下至少一种：云台、相机、电调、距离传感器、定位传感器。
  18. 根据权利要求11-17任意一项所述的无人飞行器，其特征在于，所述无人机控制系统，具体用于：在检测到所述无人飞行器处于开机状态时，断开所述电池对所述无人飞行器中的供电负载的供电电路。
  19. 根据权利要求11-17任意一项所述的无人飞行器，其特征在于，所述无人机控制系统，具体用于：在检测到所述无人飞行器处于关机状态时，控制所述无人飞行器由关机状态切换至开机状态；并断开所述电池对所述无 人飞行器中的供电负载的供电电路。
  20. 一种无人飞行器的充电控制系统，其特征在于，包括权利要求11-19任意一项所述的无人飞行器和外部供电源；
    所述外部供电源，用于对所述无人飞行器的电池进行充电。
  21. 根据权利要求20所述的系统，其特征在于，所述外部供电源为充电宝。
PCT/CN2017/083769 2017-05-10 2017-05-10 无人飞行器的充电控制方法、系统和无人飞行器 Ceased WO2018205166A1 (zh)

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