WO2019183927A1 - 一种多电池供电的控制方法、装置及无人机 - Google Patents

一种多电池供电的控制方法、装置及无人机 Download PDF

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Publication number
WO2019183927A1
WO2019183927A1 PCT/CN2018/081347 CN2018081347W WO2019183927A1 WO 2019183927 A1 WO2019183927 A1 WO 2019183927A1 CN 2018081347 W CN2018081347 W CN 2018081347W WO 2019183927 A1 WO2019183927 A1 WO 2019183927A1
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WIPO (PCT)
Prior art keywords
battery pack
drone
power
working state
location information
Prior art date
Application number
PCT/CN2018/081347
Other languages
English (en)
French (fr)
Inventor
郑德恩
孟祥沾
方文钊
滕翔
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/081347 priority Critical patent/WO2019183927A1/zh
Priority to CN201880010771.5A priority patent/CN110621579A/zh
Publication of WO2019183927A1 publication Critical patent/WO2019183927A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • 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
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—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
    • H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
    • H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
    • H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads

Definitions

  • the present disclosure relates to the field of electronic technologies, and in particular, to a multi-battery power supply control method, device, and drone.
  • the drone During the flight, the drone often flies away from the operator's field of vision. If the drone is not properly operated, the drone may lose control and fall somewhere. For example, after the bomber is powered off, the entire system is powered off, and the drone is out of control; and, due to the difference in the battery of the drone, there may be a situation in which the air is interrupted, causing the drone to fly. After the drone is powered off, all the information cannot be obtained, and the surface environment is complicated, which increases the difficulty of the drone recovery.
  • One solution is to add an independent positioning communication device. Then, the general drone is equipped with a perfect positioning communication device, and the above-mentioned independent positioning communication device usually only runs for one day, which is a waste of hardware and an increase in cost.
  • the embodiment of the invention discloses a multi-battery power supply control method and device and a drone.
  • the drone When the drone is in an out-of-control state, it can switch to an auxiliary battery for power supply when the main battery of the drone cannot work normally. It helps to realize the search of the drone after the drone is lost, which reduces the cost of finding.
  • an embodiment of the present disclosure provides a multi-battery power supply control method, which is applied to a drone, and the drone includes a first battery pack that can be disassembled from a body of the drone, the first The battery pack is configured to supply power to the drone, and the drone further includes a second battery pack fixed in the body of the drone, the method comprising:
  • the first battery pack If the first battery pack is in a normal working state, use the first battery pack to supply power to at least the alarm device of the first device group of the drone; if the first battery pack is in an abnormal working state, use The second battery pack supplies power to at least the alarm device to indicate the location of the drone.
  • an embodiment of the present disclosure provides a multi-battery powered control device, the device being disposed in a drone, the drone including a first battery pack detachable from a body of the drone, The first battery pack is configured to supply power to the drone, and the drone further includes a second battery pack fixed in the body of the drone, the device comprising:
  • a detector configured to detect whether the drone is in an out-of-control state and an operating state of the first battery pack, wherein the working state of the first battery pack includes a normal working state or an abnormal working state;
  • a controller configured to use the first battery pack as at least an alarm device of the first device group of the drone if the first battery pack is in a normal working state when the drone is in an out-of-control state Powering; if the first battery pack is in an abnormal operating state, the second battery pack is used to power at least the alarm device to indicate the location of the drone.
  • an embodiment of the present disclosure provides a drone, the drone including a first battery pack detachable from a body of the drone, the first battery pack being used for the unmanned Powering the machine, the drone further comprising a second battery pack fixed in the body of the drone, comprising: a memory and a processor, wherein the processor is connected to the memory;
  • the memory is configured to store program instructions
  • the processor is configured to invoke the program instructions stored in the memory to perform the following steps:
  • the first battery pack If the first battery pack is in a normal working state, use the first battery pack to supply power to at least the alarm device of the first device group of the drone; if the first battery pack is in an abnormal working state, use The second battery pack supplies power to at least the alarm device to indicate the location of the drone.
  • an embodiment of the present disclosure provides a computer readable storage medium storing a computer program, when executed by a processor, implementing multi-battery power supply according to the first aspect described above Control Method.
  • the embodiment of the present disclosure can detect the working state of the first battery pack in the drone when the drone is in an out-of-control state, thereby using the first battery pack when the first battery pack is in a normal working state. Charging the alarm device of the first device group of the drone, and when the first battery pack is in an abnormal working state, using the second battery pack to supply power to the alarm device, thereby enabling the drone to be realized.
  • the first battery pack that is, when the main battery fails to work normally, switches to the second battery pack, that is, the auxiliary battery for power supply, which helps to realize the search for the drone after the drone is lost, and increases the drone to find The probability of returning, and reducing the cost of finding.
  • FIG. 1 is a schematic flow chart of a multi-battery power supply control method according to an embodiment of the present disclosure
  • FIG. 2 is a schematic flow chart of another multi-battery power supply control method according to an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of a multi-battery power supply scenario according to an embodiment of the present disclosure
  • FIG. 4 is a schematic diagram of another multi-battery power supply scenario according to an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of still another multi-battery power supply according to an embodiment of the present disclosure.
  • FIG. 6 is a schematic structural diagram of a multi-battery powered control device according to an embodiment of the present disclosure
  • FIG. 7 is a schematic structural view of a drone according to an embodiment of the present disclosure.
  • the embodiment of the present disclosure discloses a multi-battery power supply control method, device, and drone.
  • the multi-battery power supply control method provided in the embodiment of the present disclosure may be controlled by a multi-battery power supply (hereinafter referred to as “control device”. ”)carried out.
  • the control device may be disposed on the drone.
  • the drone may be configured with a pan/tilt, and the control device may be disposed in the pan/tilt.
  • the control device can also be provided in other control devices external to the drone.
  • the multi-battery powered control method can be applied to control the switching of batteries that power the drone.
  • the description of the drone can be applied to any other type of unmanned vehicle, or any other type of movable object.
  • the description of the carrier can be applied to vehicles on land, underground, underwater, surface, aerospace or space.
  • the multi-battery-powered control method can also be applied to other devices, such as a mobile device such as a robot capable of autonomous movement, which is not limited in the embodiment of the present disclosure.
  • the battery pack that powers the drone may have multiple sets (at least two groups), and each set of battery packs may include one or more batteries. Thereby, the drone can be powered by the switching of the battery, so that the drone can be retrieved.
  • the plurality of battery packs may supply power to the same or different devices (devices) in the drone.
  • the drone may include a first device group and a second device group, and is configured with two battery groups, that is, a first battery group and a second battery group, for example, the first battery group is a main battery,
  • the second battery pack is an auxiliary battery, and the first battery pack and the second battery pack may supply power to different (there may be overlapped) devices, such as the first battery pack may be the first device group and the second device
  • the group is powered, and the second battery pack can only supply power to the first device group.
  • powering a battery pack for a device group may refer to powering one or more devices in the device group through one or more batteries in the battery pack.
  • the device included in the first device group and the device included in the second device group are different.
  • the first device group may include a device with lower power consumption, such as power consumption being lower than a first threshold
  • the second device group may include a device with higher power consumption, such as power consumption being higher than a second threshold.
  • the first threshold and the second threshold may be preset, and the second threshold is equal to or higher than the first threshold.
  • the first device and the second device may be set when the drone is shipped from the factory, or obtained by user-defined settings, and the like.
  • the embodiment of the present disclosure is not limited.
  • the multi-battery power supply control method is applied to the drone, and the two battery packs are the first battery pack and the second battery pack, the first battery pack is the main battery, and the second battery pack is auxiliary.
  • the battery is taken as an example, and the control method of the multi-battery power supply is described in detail.
  • the first battery pack that is, the main battery is detachable from the body of the drone
  • the second battery pack that is, the auxiliary battery
  • FIG. 1 is a schematic flowchart of a method for controlling multi-battery power supply according to an embodiment of the present disclosure. As shown in FIG. 1, the multi-battery power supply control method may include the following steps:
  • the working state of the UAV may include a normal flight state, a runaway state, and the like
  • the uncontrolled state of the UAV may refer to a state in which the image transmission signal is not received, and the current location information is not detected.
  • the control device can detect the working state of the drone.
  • the working mode of the UAV can be detected in multiple manners, for example, sending a detection signal to the UAV according to a preset time interval, determining whether the response signal returned by the UAV is received, and receiving the response signal.
  • the response signal determines that the drone is in a normal flight state, and determines that the drone is in an uncontrolled state when the response signal is not received.
  • the alarm indication sent by the electronic device associated with the drone it is determined that the drone is in an out-of-control state, and the like, which is not limited in the embodiment of the present disclosure.
  • the working state of the first battery pack may include a normal working state or an abnormal working state.
  • the normal working state may refer to a state in which the first battery pack is in a "non-power-off” state, that is, a state in which power is output through the first battery pack to supply power to the drone.
  • the abnormal working state may refer to a state in which the first battery pack is in a “power off” state, that is, a state in which the first battery pack cannot supply power to the drone, that is, a state in which the first battery pack does not output power.
  • the first battery pack If the first battery pack is in a normal working state, use the first battery pack to supply power to at least an alarm device of the first device group of the drone.
  • the first device group of the drone includes an alarm device.
  • the control device can determine whether the main battery supplies power to the alarm device of the first device group of the drone by detecting whether the first battery, that is, the main battery is in a normal working state. For example, when the main battery is in a normal working state, power is supplied to the drone (some or all of the devices) through the main battery.
  • the main battery is in an abnormal working state, controlling to supply power to the unmanned aerial vehicle (partial or all of the equipment) through the second battery pack, that is, the auxiliary battery, at this time, switching from the main battery to the auxiliary battery is unmanned Machine power supply.
  • the control device can turn on the alerting device to indicate the location of the drone through the alerting device.
  • the alarm device comprises a light alarm and/or an audible alarm, etc.
  • the light alarm may comprise one or more LEDs, and thus the one or more LEDs may be turned on and the One or more LEDs flash to indicate the location of the drone; and as described, the audible alarm may include one or more speakers (speakers) to enable the sound to be indicated by turning the horn on The location of the drone, and so on, are not listed here.
  • the auxiliary battery may be built in the drone. Further optionally, the auxiliary battery may use a protection device, such as a buffer device, which may be used to prevent the auxiliary battery from falling off the drone, and to prevent the auxiliary battery from being damaged by external influences such as an impact. Thereby ensuring that the auxiliary battery can still operate after the drone falls even at high altitude.
  • the auxiliary battery is a super capacitor. It can be understood that the auxiliary battery can also be a separate capacitor or other suitable power supply device, which is not limited herein.
  • the drone may include a first device group and a second device group, and the main battery may be used to supply power for the first device group and the second device group in the drone, the auxiliary battery may be used for Powering the first device group.
  • the main battery In the normal working state, the main battery outputs power to the first device group and the second device group; in the abnormal working state, the main battery does not output to the outside.
  • the auxiliary battery outputs electrical energy to the first device group. That is, the control device can detect whether the first battery pack, that is, the main battery is working normally, so as to switch to the second battery pack, that is, the auxiliary battery, in time when the main battery fails to work normally, to pass the auxiliary battery into the drone.
  • the first device group is powered, and the first device group can be a device that helps the drone to retrieve, so as to improve the probability that the drone is retrieved. It should be understood that if the control device is provided on a drone, the control device can be powered by an auxiliary battery to ensure that the control device operates normally. Optionally, the control device itself may pre-configure a battery to provide a working power to the control device through a battery disposed in the control device, and the like, which is not limited herein.
  • the device included in the first device group and the second device group may include all devices in the UAV that need to be powered by a battery, or may be part of all the devices, specifically
  • the device is set at the factory, or is obtained by a user-defined setting, which is not limited in the embodiment of the present disclosure.
  • the first device group may include only an alarm device, and may also include an alarm device and other devices.
  • the first device group may further include one or more of a positioning device and a communication device; and the second device group may include one or more of a flight control device, a power device, and a sensing device. It can be understood that the first device group may also not include a positioning device and a communication device.
  • the positioning device may be used to locate the location of the drone, such as the positioning device may be a GPS; the communication device may be used to support communication with other devices inside or outside the drone, such as the communication
  • the device may be a 4G communication device, a 5G communication device, and/or a Wi-Fi communication device or the like;
  • the flight control device may be used to support flight control of the drone;
  • the power device is used to provide flight power of the drone To support the flight of the drone in the air;
  • the sensing device can be used to acquire environmental information around the drone, such as the sensing device can include a visual sensing device, an ultrasonic sensing device, and the like.
  • the first battery pack can be used. That is, when the main battery is not working (in an abnormal working state), the second battery pack, that is, the auxiliary battery, supplies power to the part of the device with a small power consumption ratio, thereby improving the search success rate and reducing the search cost.
  • the first battery pack when the first battery pack is in a normal working state, the first battery pack may charge the second battery pack, that is, the control device may control charging the second battery pack through the first battery pack. Further, optionally, before the first battery pack charges the second battery pack, the control device may further acquire the remaining power of the second battery pack, and determine whether the remaining power is lower than a preset power threshold; If the preset power threshold is lower than the preset power threshold, the step of charging the first battery pack for the second battery pack is performed.
  • the power threshold may be preset, for example, 60%, 80%, and the like. That is to say, in the embodiment, the main battery can charge the auxiliary battery according to the auxiliary battery power to ensure that the power is sufficient.
  • the control device can detect the working state of the main battery in the drone when the drone is in an out of control state, and use the main battery when the main battery is in a normal working state.
  • the alarm device of the first device group of the drone is powered; when the main battery is in an abnormal working state, the auxiliary battery is used to supply power to the alarm device, so that when the main battery of the drone is unable to work normally Switching to the auxiliary battery for power supply helps to find the UAV after the UAV flies, improves the probability of the UAV being retrieved, and reduces the cost of finding.
  • FIG. 2 is a schematic flowchart diagram of another multi-battery power supply control method according to an embodiment of the present disclosure. As shown in FIG. 2, the multi-battery power supply control method may include the following steps:
  • the drone When the drone is in an out of control state, detecting an operating state of the first battery pack.
  • the working state of the first battery pack may include a normal working state or an abnormal working state.
  • the first battery pack If the first battery pack is in a normal working state, use the first battery pack to supply power to at least an alarm device of the first device group of the drone.
  • step 204-206 can be performed.
  • the control device may also acquire location information of the drone and may transmit the location information to an electronic device associated with the drone.
  • the first device group may include a positioning device and a communication device, and the control device may acquire location information of the UAV through the positioning device, and send the location information to the communication device;
  • the communication device transmits the location information to the electronic device.
  • the electronic device associated with the drone may have one or more, and the association relationship between the electronic device and the drone may be obtained by preset, so that the drone can be sent to the electronic device.
  • the location information is provided so that the relevant user can quickly locate the flying position of the drone, thereby increasing the probability that the drone is retrieved, and recovering the drone in time.
  • control device may further receive a response message returned by the electronic device, for example, the control device may receive, by the communication device, a response message returned by the electronic device for the location information.
  • the response message can be used to indicate that the electronic device has received the location information. That is, the electronic device can receive location information transmitted by the control device through the communication device, and after receiving the location information, return a response message; the control device can receive the response message by using the communication device. In turn, the communication device is turned off or switched to a low power mode to conserve battery power.
  • the electronic device may further return the response message to the control device after determining that the user clicks the location information, that is, after determining that the user views the location information, thereby controlling the device.
  • the communication device can be turned off or switched to a low power mode after confirming that the location information has been read by the associated electronic device. If the location information is not detected by the user within the preset first time range, the electronic device may further send an indication message to the control device indicating that the user does not view the location information, and the control device may further The electronic device sends the location information again, or sends the location information to other associated electronic devices. For example, when there are multiple associated electronic devices, the priority of the multiple electronic devices may be preset, and then controlled.
  • the device may send the location information to the electronic device according to the priority from high to low, until the response message of the electronic device is received.
  • the control device may further send the location information to the electronic device through the communication device, or to other associations.
  • the electronic device transmits the location information until a response message of the device is received, and then the communication device is turned off or switched to a low power mode.
  • the communication device in the low power mode may be switched back to the normal working mode by using a trigger signal, so as to The associated electronic device communicates to increase the probability of the drone being retrieved and the reliability of the search.
  • the control device may also control to turn off the positioning device or switch to a low power mode. For example, after the drone loses control, the control device can turn off the positioning device (such as GPS) after acquiring the location information of the last drone, or switch the positioning device to a low power mode to save the battery. Electricity.
  • the positioning device in the low power mode may be switched back to the normal working mode by using a trigger signal, so as to acquire the unmanned again.
  • the position of the machine to increase the probability of the drone being retrieved and the reliability of the search.
  • step 206 may be performed first, then step 205 may be performed, or steps 205 and 206 may be performed simultaneously, etc., which are not enumerated here. Further, in other embodiments, only some of the steps 205 and 206 may be performed, and details are not described herein.
  • the first device group includes an alarm device, a positioning device, and a communication device
  • the second device group includes a flight control device, a power device, and a sensing device.
  • the first battery pack When the drone is in a normal flight state, the first battery pack is in a normal working state. As shown in FIG. 3, the first battery pack, that is, the main battery, may be the first device group and the second device.
  • the device group is powered. When the drone is in an out of control state, the operating state of the first battery pack is detected. If the first battery pack is in a normal working state, the first battery pack is used as the first device group of the drone to supply power to the alarm device, the positioning device and the communication device of the drone, as shown in FIG. .
  • the first battery pack may supply power to the power device, the flight control device, and the sensing device; or the power device, the flight control device, and the sensing device may be in a closed or low power mode to save the first battery. Group power. If the first battery pack is in an abnormal working state, the first battery pack does not work, and the second battery pack, that is, the auxiliary battery, can supply power to the alarm device, the positioning device, and the communication device, as shown in FIG. 5.
  • the second battery pack that is, the auxiliary battery
  • the second battery pack can supply power to the alarm device, the positioning device, and the communication device
  • the second battery pack can supply power to the power device, the flight control device, and the sensing device; or
  • the power unit, flight control device, and sensing device can be in a closed or low power mode to save power in the second battery pack.
  • the control device may control to close the positioning device or The operating mode of the positioning device is switched to a low power mode to further save battery power.
  • the control device may control to turn off the communication device or operate the communication device. Switch to low power mode to further save battery power.
  • the positioning device or the communication device in the low power mode may be returned to the normal working mode by the trigger signal, so as to perform the acquiring the position information of the drone as in steps 204 and 205, and sending to the The electronic device associated with the drone, and receiving a response message returned by the electronic device for the location information, etc., to improve the probability of the drone being retrieved and the reliability of the search.
  • the control device detects the working state of the first battery in the drone, that is, the main battery, and then the first battery pack is in a normal working state. And using the first battery pack to supply power to the first device group of the drone; when the first battery pack is in an abnormal working state, using the second battery pack, that is, the auxiliary battery is the first device Group power supply.
  • switch to the auxiliary battery to supply power so that the main battery is powered off after the main battery is powered off.
  • the part of the device can be used to indicate the position of the drone, which helps to realize the search of the drone after the drone is out of control, increases the probability that the drone is found, and reduces the search cost.
  • FIG. 6 is a schematic structural diagram of a multi-battery powered control device according to an embodiment of the present disclosure.
  • the control device may be disposed in a drone, the drone includes a first battery pack detachable from a body of the drone, and the first battery pack is used to be the drone Powered, the drone further includes a second battery pack fixed in the body of the drone.
  • the control device 600 of the embodiment of the present disclosure may include a detector 601 and a controller 602. The detector 601 is configured to detect whether the drone is in an out of control state and an operating state of the first battery pack.
  • the working state of the drone includes a normal flight state, a runaway state, and the like
  • the uncontrolled state of the drone includes, for example, receiving no image transmission signal, detecting current location information, and the like.
  • the working state of the first battery pack includes a normal working state or an abnormal working state.
  • the detector 601 can detect the working state of the drone in various manners, for example, detecting the sending of the detecting signal to the drone according to the preset time interval, determining whether the response signal returned by the drone is received, and Receiving the response signal, determining that the drone is in a normal flight state, determining that the drone is in an out-of-control state when the response signal is not received; and, if receiving the alarm indication sent by the electronic device associated with the drone, It is determined that the drone is in an uncontrolled state, and the like, and the embodiment of the present disclosure is not limited.
  • the control device 600 further includes a controller 602, configured to: when the unmanned aerial vehicle is in an out-of-control state, if the first battery pack is in a normal working state, using the first battery pack is at least The alarm device of the first device group of the drone is powered; when the first battery pack is in an abnormal working state, the second battery pack is used to supply power to at least the alarm device to indicate the drone position.
  • a controller 602 configured to: when the unmanned aerial vehicle is in an out-of-control state, if the first battery pack is in a normal working state, using the first battery pack is at least The alarm device of the first device group of the drone is powered; when the first battery pack is in an abnormal working state, the second battery pack is used to supply power to at least the alarm device to indicate the drone position.
  • the drone further includes a second device group
  • the first battery pack In the normal working state, the first battery pack outputs power to the first device group and the second device group;
  • the first battery pack does not output power to the outside, and the second battery pack supplies power to the first device group.
  • the first device group further includes one or more of a positioning device and a communication device.
  • controller 602 is further configured to charge the second battery pack by the first battery pack when the first battery pack is in a normal working state.
  • the detector 601 is further configured to obtain a remaining power of the second battery group, and determine whether the remaining power is lower than a preset power threshold;
  • the controller 602 is specifically configured to charge the second battery pack by the first battery pack when the remaining power is lower than the preset power threshold.
  • the first device group includes a positioning device and a communication device
  • the positioning device is configured to acquire location information of the drone and send the location information to the communication device;
  • the communication device is configured to acquire location information of the drone and send the information to an electronic device associated with the drone.
  • the controller 602 can acquire the location information of the UAV through the positioning device and send the location information to the communication device, so that the controller 602 can send the location information of the UAV to the The electronic device associated with the drone.
  • the communication device is further configured to receive a response message that is returned by the electronic device for the location information, where the response message is used to indicate that the electronic device has received the location information;
  • the controller 602 can also be used to shut down the communication device or switch the working mode of the through device to a low power mode.
  • the controller 602 is further configured to receive, by the communication device, a response message returned by the electronic device for the location information, thereby turning off the communication device or switching an operation mode of the communication device to low power consumption. mode.
  • the controller 602 is further configured to: after acquiring the location information of the UAV by the positioning device, and sending the location information to the communication device, turning off the positioning device or the positioning device The working mode is switched to the low power mode.
  • the alerting device may include one or more of a light alarm and an audible alarm.
  • the second battery pack may be provided with a protection device built in the drone.
  • the second device group may include at least one of a flight control device, a power device, and a sensing device.
  • modules in the embodiments of the present disclosure is schematic, and only one logical function is divided, and other implementation manners may be used.
  • the functional modules in the embodiments of the present disclosure may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional units.
  • control device may implement some or all of the steps performed by the control device in the multi-battery power supply control method in the foregoing embodiment shown in FIG. 1 to FIG. 5 through the above module.
  • embodiments of the present disclosure are device embodiments corresponding to the method embodiments, and the description of the method embodiments is also applicable to the embodiments of the present disclosure.
  • FIG. 7 is a schematic structural diagram of a drone according to an embodiment of the present disclosure.
  • the drone 700 includes a memory 701 and a processor 702, and the memory 701 is connected to the processor 702.
  • the memory 701 may include a volatile memory; the memory 701 may also include a non-volatile memory; the memory 701 may also include a combination of the above types of memory.
  • the processor 702 can be a central processing unit (CPU).
  • the processor 702 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. Specifically, for example, it may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the processor 702 can perform the corresponding functions of the control device in the foregoing embodiment, and details are not described herein.
  • the drone 700 includes a first battery pack 703 that is detachable from a fuselage of the drone, the first battery pack is used to supply power to the drone, and the drone further includes a solid A second battery pack 704 is disposed in the body of the drone.
  • the drone also includes a first device group 705.
  • the memory 701 is configured to store program instructions. When the program instructions are executed, the processor 702 may call the program instructions stored in the memory 701 for performing the following steps:
  • the first battery pack is in a normal working state, use the first battery pack to supply power to at least the alarm device of the first device group of the drone; if the first battery pack is in an abnormal working state, use The second battery pack of the drone powers at least the alarm device to indicate the position of the drone.
  • the drone further includes a second device group 706;
  • the first battery pack In the normal working state, the first battery pack outputs power to the first device group and the second device group;
  • the first battery pack does not output power to the outside, and the second battery pack supplies power to the first device group.
  • the first device group includes one or more of a positioning device and a communication device.
  • processor 702 also invokes program instructions stored in the memory 701 for performing the following steps:
  • the second battery pack is charged by the first battery pack.
  • processor 702 also invokes program instructions stored in the memory 701 for performing the following steps:
  • the first battery pack acquires the remaining power of the second battery pack, and determines whether the remaining power is lower than a preset power threshold
  • the step of charging the first battery pack for the second battery pack is performed.
  • the first device group includes a positioning device and a communication device
  • processor 702 also invokes program instructions stored in the memory 701 for performing the following steps:
  • the communication device is invoked to transmit location information of the drone to an electronic device associated with the drone.
  • processor 702 also invokes program instructions stored in the memory 701 for performing the following steps:
  • the communication device is turned off or the operating mode of the communication device is switched to a low power mode.
  • processor 702 also invokes program instructions stored in the memory 701 for performing the following steps:
  • the positioning device After the positioning device acquires the location information of the UAV and sends the location information to the communication device, the positioning device is turned off or the operation mode of the positioning device is switched to a low power consumption mode.
  • the alerting device comprises one or more of a light alarm and an audible alarm.
  • the second battery pack is provided with a protection device built in the drone.
  • the second device group includes at least one of a flight control device, a power device, and a sensing device.
  • the drone can detect the working state of the first battery pack, that is, the main battery, when the drone is in an out-of-control state, and then use the first battery pack when it is in a normal working state.
  • the first battery pack supplies power to at least the alarm device of the first device group of the drone, and when the first battery pack is in an abnormal working state, the second battery pack, that is, the auxiliary battery is used as the alarm.
  • the device is powered, so that the alarm can be timely when the drone is out of control, which helps to find the UAV after the UAV flies, improves the probability of the UAV being retrieved, and reduces the search. cost.
  • FIGS. 1 and 2 are also provided in an embodiment of the present disclosure.
  • a computer readable storage medium storing a computer program that, when executed by a processor, implements the embodiments of the present disclosure in FIGS. 1 and 2
  • the control process of the control device and the drone of the embodiment of the present disclosure shown in FIG. 6 or FIG. 7 can also be implemented, and details are not described herein again.
  • the computer readable storage medium may be an internal storage unit of the device described in any of the preceding embodiments, such as a hard disk or a memory of the device.
  • the computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a smart memory card (SMC), and a secure digital (SD) card. , Flash Card, etc.
  • the computer readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer readable storage medium is for storing the computer program and other programs and data required by the terminal.
  • the computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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Abstract

一种多电池供电的控制方法、装置及无人机。其中，多电池供电的控制方法包括：当无人机处于失控状态时，检测第一电池组即主电池的工作状态（101），工作状态包括正常工作状态或非正常工作状态；如果第一电池组处于正常工作状态，使用第一电池组至少为无人机的第一设备组的告警装置供电（102）；如果第一电池组处于非正常工作状态，使用第二电池组即辅助电池至少为告警装置供电（103）。采用该多电池供电的控制方法，能够在无人机的主电池无法正常工作时切换至辅助电池进行供电，有助于在无人机飞丢后实现对无人机的查找，增加了无人机找回的概率，并且降低了查找成本。

Description

一种多电池供电的控制方法、装置及无人机 技术领域
本公开涉及电子技术领域，尤其涉及一种多电池供电的控制方法、装置及无人机。
背景技术
无人机在飞行过程中，经常会飞离操作者的视野范围，如果操作不当，无人机有可能失去控制掉落在某处。例如炸机后，整个系统断电，无人机失去控制；又如由于无人机电池的差异，可能出现空中断电的情况，导致无人机飞丢。无人机断电飞丢之后，一切信息无法获取，再加之地表环境复杂，增加了无人机找回的难度。
由于无人机失控时的位置与最终落地位置往往并不一致，如果无人机内置的定位装置与通信装置不能正常工作，很难获取无人机的确切位置。一种解决方案是增加一个独立的定位通信装置。然后，一般无人机都配备有完善的定位通信装置，并且上述独立定位通信装置通常只能运行一天，既是对硬件的浪费，同时也增加了成本。
发明内容
本发明实施例公开了一种多电池供电的控制方法、装置及无人机，当所述无人机处于失控状态时，能够在无人机的主电池无法正常工作时切换至辅助电池进行供电，有助于在无人机飞丢后实现对所述无人机的查找，降低了查找成本。
第一方面，本公开实施例提供了一种多电池供电的控制方法，应用于无人机，所述无人机包括能够相对无人机的机身拆卸的第一电池组，所述第一电池组用于为所述无人机供电，所述无人机还包括固设于无人机机身内的第二电池组，所述方法包括：
当所述无人机处于失控状态时，检测所述第一电池组的工作状态，所述工 作状态包括正常工作状态或非正常工作状态；
如果所述第一电池组处于正常工作状态，使用所述第一电池组至少为所述无人机的第一设备组的告警装置供电；如果所述第一电池组处于非正常工作状态，使用所述第二电池组至少为所述告警装置供电，以指示所述无人机的位置。
第二方面，本公开实施例提供了一种多电池供电的控制装置，所述装置设置于无人机中，所述无人机包括能够相对无人机的机身拆卸的第一电池组，所述第一电池组用于为所述无人机供电，所述无人机还包括固设于无人机机身内的第二电池组，所述装置包括：
检测器，用于检测所述无人机是否处于失控状态以及第一电池组的工作状态，其中，所述第一电池组的工作状态包括正常工作状态或非正常工作状态；
控制器，用于当所述无人机处于失控状态时，如果所述第一电池组处于正常工作状态，使用所述第一电池组至少为所述无人机的第一设备组的告警装置供电；如果所述第一电池组处于非正常工作状态，使用所述第二电池组至少为所述告警装置供电，以指示无人机的位置。
第三方面，本公开实施例提供了一种无人机，所述无人机包括能够相对无人机的机身拆卸的第一电池组，所述第一电池组用于为所述无人机供电，所述无人机还包括固设于无人机机身内的第二电池组，包括：存储器和处理器，所述处理器和所述存储器连接；
所述存储器，用于存储程序指令；
所述处理器，用于调用所述存储器存储的程序指令执行如下步骤：
当所述无人机处于失控状态时，检测所述第一电池组的工作状态，所述工作状态包括正常工作状态或非正常工作状态；
如果所述第一电池组处于正常工作状态，使用所述第一电池组至少为所述无人机的第一设备组的告警装置供电；如果所述第一电池组处于非正常工作状态，使用所述第二电池组至少为所述告警装置供电，以指示所述无人机的位置。
第四方面，本公开实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如上述第一方面的多电池供电的控制方法。
本公开实施例能够在无人机处于失控状态时，通过检测无人机中的第一电 池组的工作状态，进而在所述第一电池组处于正常工作状态时，使用所述第一电池组为所述无人机的第一设备组的告警装置供电，并在所述第一电池组处于非正常工作状态时，使用第二电池组为所述告警装置供电，从而能够实现在无人机的第一电池组即主电池无法正常工作时切换至第二电池组即辅助电池进行供电，有助于在无人机飞丢后实现对所述无人机的查找，增加了无人机找回的概率，并且降低了查找成本。
附图说明
为了更清楚地说明本公开实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本公开实施例的一种多电池供电的控制方法的流程示意图；
图2是本公开实施例的另一种多电池供电的控制方法的流程示意图；
图3是本公开实施例的一种多电池供电的场景示意图；
图4是本公开实施例的另一种多电池供电的场景示意图；
图5是本公开实施例的又一种多电池供电的场景示意图；
图6是本公开实施例的一种多电池供电的控制装置的结构示意图；
图7是本公开实施例的一种无人机的结构示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，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，都属于本公开保护的范围。
下面结合附图，对本公开的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本公开实施例公开了一种多电池供电的控制方法、装置及无人机，本公开实施例中提供的多电池供电的控制方法可以由一种多电池供电的控制装置(下 面简称“控制装置”)执行。所述控制装置可以设置在无人机上，例如，所述无人机可配置有云台，所述控制装置可以设置于所述云台中。或者，所述控制装置也可以设置于无人机外部的其他控制设备中。所述多电池供电的控制方法可以应用于控制为无人机供电的电池的切换。对无人机的描述可适用于任何其它类型的无人载运工具，或者任何其它类型的可移动物体。对载运工具的描述可适用于陆地、地下、水下、水面、航空或者太空的载运工具。在其他实施例中，所述多电池供电的控制方法也可以应用于其他设备，如能够自主移动的机器人等可移动设备上，本公开实施例不做限定。
在本公开实施例中，为无人机进行供电的电池组可以有多组(至少两组)，每组电池组可包括一个或多个电池。从而能够通过电池的切换实现为无人机供电，以便于无人机被找回。可选地，所述多组电池组可以为无人机中相同或不同的设备(装置)进行供电。例如，所述无人机中可包括第一设备组和第二设备组，并配置有两组电池组，即第一电池组和第二电池组，比如所述第一电池组为主电池，第二电池组为辅助电池，所述第一电池组和第二电池组可以为不同(可以存在重叠)的设备供电，如所述第一电池组可以为所述第一设备组和第二设备组供电，第二电池组可以仅为第一设备组供电。应理解，在本公开实施例中，电池组为设备组供电可以是指通过电池组中的一个或多个电池为设备组中的一个或多个设备供电。
其中，所述第一设备组包括的设备和第二设备组包括的设备不同。例如，所述第一设备组可以包括功耗较低的设备，如功耗低于第一阈值；第二设备组可以包括功耗较高的设备，如功耗高于第二阈值。所述第一阈值和第二阈值可以预先设置得到，且第二阈值等于或高于第一阈值。又如，所述第一设备和第二设备可以在无人机出厂时设置得到，或者由用户自定义设置得到，等等。对于所述第一设备组和第二设备组的划分方式，本公开实施例不做限定。
下面以所述多电池供电的控制方法应用于无人机，无人机中配置两组电池组即第一电池组和第二电池组，第一电池组为主电池，第二电池组为辅助电池为例，对所述多电池供电的控制方法进行详细说明。其中，所述第一电池组即主电池相对无人机的机身可拆卸，所述第二电池组即辅助电池固设于无人机机身内。请参见图1，图1是本公开实施例提供的一种多电池供电的控制方法的 流程示意图。如图1所示，所述多电池供电的控制方法可以包括以下步骤：
101、当所述无人机处于失控状态时，检测第一电池组的工作状态。
本公开实施例中，所述无人机的工作状态可包括正常飞行状态、失控状态等等，所述无人机的失控状态可以指接收不到图传信号、检测不到当前位置信息等状态。进一步地，控制装置可检测所述无人机的工作状态。具体地，所述无人机的工作状态的检测方式可以有多种，比如按照预设时间间隔向无人机发送探测信号，判断是否接收到无人机返回的响应信号，并可在接收到所述响应信号时确定无人机处于正常飞行状态，在未接收到所述响应信号时确定无人机处于失控状态。可选地，也可在接收到与无人机关联的电子设备发送的告警指示时，确定该无人机处于失控状态，等等，本公开实施例不做限定。
进一步地，所述第一电池组的工作状态可包括正常工作状态或非正常工作状态。所述正常工作状态可以是指第一电池组处于“非断电”状态，即通过第一电池组输出电能，为无人机供电的状态。所述非正常工作状态可以是指所述第一电池组处于“断电”状态，即所述第一电池组不能为无人机供电的状态，即第一电池组不输出电能的状态。
102、如果所述第一电池组处于正常工作状态，使用所述第一电池组至少为所述无人机的第一设备组的告警装置供电。
103、如果所述第一电池组处于非正常工作状态，使用第二电池组至少为所述告警装置供电，以指示无人机的位置。
其中，无人机的第一设备组包括告警装置。具体的，控制装置可以通过检测第一电池组即主电池是否处于正常工作状态，从而判断主电池是否为所述无人机的第一设备组的告警装置供电。例如，在所述主电池处于正常工作状态时，控制通过所述主电池为无人机(中的部分或全部设备)进行供电。在所述主电池处于非正常工作状态时，控制通过第二电池组即辅助电池为所述无人机(中的部分或全部设备)进行供电，此时从主电池切换到辅助电池为无人机供电。
当所述无人机处于失控状态时，比如在无人机飞丢后，控制装置可开启所述告警装置，以通过所述告警装置指示所述无人机的位置。其中，所述告警装置包括灯光报警器和/或声音报警器等等，比如所述灯光报警器可以包括一个或多个LED，进而可以通过开启所述一个或多个LED，并可控制所述一个或 多个LED闪烁，来指示所述无人机的位置；又如所述声音报警器可包括一个或多个喇叭(扬声器)，从而能够通过开启所述喇叭，发出声音，来指示所述无人机的位置，等等，此处不一一列举。
可选地，所述辅助电池可内置于所述无人机中。进一步可选地，所述辅助电池可使用保护装置，例如缓冲装置，所述保护装置可用于防止所述辅助电池脱落于所述无人机，以及避免所述辅助电池受到如冲击等外界损害，从而确保所述无人机即使高空坠落之后，所述辅助电池依然可以工作。优选地，所述辅助电池为超级电容。可以理解，所述辅助电池也可以为分离式电容或其他适合的供电设备，此处不做限定。
可选地，所述无人机可包括第一设备组和第二设备组，所述主电池可用于为无人机中的第一设备组和第二设备组供电，所述辅助电池可用于为所述第一设备组供电。在所述正常工作状态下，所述主电池向外输出电能，为所述第一设备组和所述第二设备组供电；在所述非正常工作状态下，所述主电池不向外输出电能，所述辅助电池向外输出电能，为所述第一设备组供电。也就是说，控制装置可以检测第一电池组即主电池是否正常工作，以便于在主电池无法正常工作时，及时地切换到第二电池组即辅助电池，以通过辅助电池为无人机中的第一设备组供电，所述第一设备组可以为有助于无人机找回的设备，以便于提升无人机被找回的概率。应理解，如果所述控制装置设置于无人机上，所述控制装置可以通过辅助电池进行供电，以确保所述控制装置正常工作。可选地，所述控制装置自身可以预先配置电池，以通过配置于所述控制装置中的电池为所述控制装置提供工作电量，等等，本申请不做限定。
可选地，所述第一设备组和第二设备组包括的设备可以包括无人机中需要电池供电才能运行的所有设备，也可以为所述所有设备中的部分设备，具体可在无人机出厂时设置得到，或者由用户自定义设置得到，本公开实施例不做限定。所述第一设备组可以仅包括告警装置，也可以包括告警装置以及其他装置。
例如，所述第一设备组还可包括定位装置、通信装置中的一种或多种；所述第二设备组可包括飞行控制装置、动力装置、感知装置中的一种或多种。可以理解，所述第一设备组也可以不包括定位装置和通信装置。所述定位装置可以用于定位所述无人机的位置，比如所述定位装置可以为GPS；所述通信装置 可以用于支持与无人机内部或外部的其他设备进行通信，比如所述通信装置可以为4G通信装置、5G通信装置和/或Wi-Fi通信装置等等；所述飞行控制装置可以用于支持无人机的飞行控制；所述动力装置用于提供无人机的飞行动力，以支持无人机在空中的飞行；所述感知装置可用于获取无人机周围的环境信息，比如所述感知装置可包括视觉传感装置、超声波传感装置等等。由于无人机上的飞行控制装置、动力装置、感知装置等通常占据了功耗的绝大部分，而用于定位、通信等设备只占很小的功耗比例，因此，可以在第一电池组即主电池不工作(处于非正常工作状态)时，通过第二电池组即辅助电池为功耗比例较小的这部分设备供电，以提升查找成功率，降低查找成本。
可选地，所述第一电池组处于正常工作状态时，所述第一电池组可以为所述第二电池组充电，即控制装置可控制通过第一电池组为第二电池组充电。进一步可选地，所述第一电池组为所述第二电池组充电之前，控制装置还可获取所述第二电池组的剩余电量，并判断所述剩余电量是否低于预设电量阈值；如果低于所述预设电量阈值，执行所述第一电池组为所述第二电池组充电的步骤。其中，所述电量阈值可以预先设置得到，比如为60％、80％等等。也就是说，本实施例中，主电池可根据辅助电池电量情况，给辅助电池充电，以保证其电量充足。
在本公开实施例中，控制装置能够在无人机处于失控状态时，检测所述无人机中的主电池的工作状态，当所述主电池处于正常工作状态时，使用所述主电池为所述无人机的第一设备组的告警装置供电；当所述主电池处于非正常工作状态时，使用辅助电池为所述告警装置供电，从而实现在无人机的主电池无法正常工作时切换至辅助电池进行供电，有助于在无人机飞丢后实现对所述无人机的查找，提升了无人机被找回的概率，且降低了查找成本。
请参见图2，图2是本公开实施例提供的另一种多电池供电的控制方法的流程示意图。如图2所示，所述多电池供电的控制方法可以包括以下步骤：
201、当所述无人机处于失控状态时，检测第一电池组的工作状态。其中，所述第一电池组的工作状态可包括正常工作状态或非正常工作状态。
202、如果所述第一电池组处于正常工作状态，使用所述第一电池组至少为所述无人机的第一设备组的告警装置供电。
203、如果所述第一电池组处于非正常工作状态，使用第二电池组至少为所述告警装置供电，以指示无人机的位置。进而可执行步骤204-206中的一项或多项。
具体的，所述步骤201-203的描述可参照上述图1所示实施例中步骤101-103的相关描述，此处不赘述。
204、获取所述无人机的位置信息，发送至与所述无人机关联的电子设备。
在本公开实施例中，所述控制装置还可获取无人机的位置信息，并可向与所述无人机关联的电子设备发送所述位置信息。在一种实施例中，所述第一设备组可包括定位装置和通信装置，控制装置可通过所述定位装置获取所述无人机的位置信息，并向通信装置发送所述位置信息；所述通信装置向所述电子设备发送所述位置信息。其中，所述与无人机关联的电子设备可以有一个或多个，所述电子设备与所述无人机的关联关系可通过预先设置得到，从而能够通过向所述电子设备发送无人机的位置信息，以便于相关用户快速定位所述无人机飞丢的位置，进而提升无人机被找回的概率，及时地找回所述无人机。
205、接收所述电子设备针对所述位置信息返回的响应消息，关闭所述通信装置或将所述通信装置的工作模式切换为低功耗模式。
可选地，所述控制装置还可接收所述电子设备返回的响应消息，比如控制装置可通过所述通信装置接收所述电子设备针对所述位置信息返回的响应消息。所述响应消息可用于指示所述电子设备已接收到所述位置信息。也就是说，所述电子设备可接收控制装置通过所述通信装置发送的位置信息，并在接收到所述位置信息之后，返回一个响应消息；控制装置可通过所述通信装置接收所述响应消息，进而关闭所述通信装置或切换为低功耗模式，以节省电池电量。
进一步可选地，电子设备在接收到所述位置信息之后，还可在确定用户点击所述位置信息，即确定用户查看所述位置信息之后，再向控制装置返回所述响应消息，从而控制装置能够在确认所述位置信息已经被关联的电子设备读取后，再关闭通信装置或切换为低功耗模式。如果在预设的第一时间范围内，未检测到用户点击所述位置信息，电子设备还可向控制装置发送一个指示用户未查看所述位置信息的指示消息，控制装置还可通过通信装置向所述电子设备再次发送所述位置信息，或者向其他关联的电子设备发送所述位置信息(比如存 在多个关联的电子设备时，还可预先设置所述多个电子设备的优先级，进而控制装置可根据所述优先级由高到低的顺序向电子设备发送所述位置信息)，直至接收到所述电子设备的响应消息。可选地，如果控制装置在预设的第二时间范围内，未接收到电子设备返回的响应消息，控制装置还可通过通信装置向所述电子设备再次发送所述位置信息，或者向其他关联的电子设备发送所述位置信息，直至接收到设备的响应消息，再关闭所述通信装置或切换为低功耗模式。
进一步可选地，当所述通信装置的工作模式切换为低功耗模式后，可以通过触发信号将所述处于低功耗模式的通信装置重新切换回正常工作模式，以便再次与所述无人机关联的电子设备进行通信，以提升无人机被找回的概率和查找的可靠性。
206、关闭所述定位装置或将所述定位装置的工作模式切换为低功耗模式。
在一种实施例中，在所述定位装置获取所述无人机的位置信息，并发送至所述通信装置之后，控制装置还可控制关闭所述定位装置或切换为低功耗模式。比如，当无人机失控丢失后，控制装置在获取到最后无人机的位置信息之后，即可关闭定位装置(如GPS)，或者将所述定位装置切换为低功耗模式，以节省电池电量。
进一步可选地，当所述定位装置的工作模式切换为低功耗模式后，可以通过触发信号将所述处于低功耗模式的定位装置重新切换回正常工作模式，以便再次获取所述无人机的位置，以提升无人机被找回的概率和查找的可靠性。
应理解，所述步骤205和206的执行顺序不受限制，比如还可先执行步骤206，再执行步骤205，或者所述步骤205和206可以同时执行等等，此处不一一列举。进一步可选地，在其他实施例中，还可以仅执行所述步骤205和206中的部分步骤，此处不赘述。
在一种实施例中，所述第一设备组包括告警装置、定位装置和通信装置，第二设备组包括飞行控制装置、动力装置、感知装置。当所述无人机处于正常飞行状态时，第一电池组处于正常工作状态下，如图3所示，可通过第一电池组即主电池为上述的各装置即第一设备组和第二设备组供电。当所述无人机处于失控状态时，检测所述第一电池组的工作状态。如果第一电池组处于正常工作状态，使用所述第一电池组为所述无人机的第一设备组为所述无人机的告警 装置、定位装置和通信装置供电，如图4所示。此时所述第一电池组可以为所述动力装置、飞行控制装置、感知装置供电；或者，所述动力装置、飞行控制装置、感知装置可以处于关闭或低功耗模式，以节省第一电池组电量。如果第一电池组处于非正常工作状态，第一电池组不工作，此时可通过第二电池组即辅助电池为告警装置、定位装置和通信装置供电，如图5所示。此时，可以通过第二电池组即辅助电池为告警装置、定位装置和通信装置供电，此时所述第二电池组可以为所述动力装置、飞行控制装置、感知装置供电；或者，所述动力装置、飞行控制装置、感知装置可以处于关闭或低功耗模式，以节省第二电池组电量。
进一步可选地，所述无人机失控状态下，例如无人机飞丢状态下，定位装置获取无人机的位置信息并发送给通信装置之后，控制装置可控制关闭所述定位装置或者将所述定位装置的工作模式切换为低功耗模式，以进一步节省电池电量。可选地，通信装置接收到所述无人机的位置信息，并将所述位置信息发送给预先关联的电子设备之后，控制装置可控制关闭所述通信装置或者将所述通信装置的工作模式切换为低功耗模式，以进一步节省电池电量。进一步地，可以通过触发信号将所述处于低功耗模式的定位装置或通信装置重新回到正常工作模式，以便再次执行如步骤204、205的获取所述无人机的位置信息，发送至与所述无人机关联的电子设备，以及接收所述电子设备针对所述位置信息返回的响应消息等操作，以提升无人机被找回的概率和查找的可靠性。
在本公开实施例中，当所述无人机处于失控状态时，控制装置通过检测无人机中的第一电池组即主电池的工作状态，进而在所述第一电池组处于正常工作状态时，使用所述第一电池组为所述无人机的第一设备组供电；在所述第一电池组处于非正常工作状态时，使用第二电池组即辅助电池为所述第一设备组供电。通过获取所述无人机的位置信息并发送至与所述无人机关联的电子设备，同时开启告警装置以指示所述无人机的位置等，从而实现在无人机的主电池无法正常工作时切换至辅助电池进行供电，使得主电池断电之后通过辅助电池为部分设备续电。所述部分设备可用以指示无人机的位置，有助于在无人机失控丢失后实现对所述无人机的查找，增加了无人机被找到的概率，降低了查找成本。
上述方法实施例都是对本申请的多电池供电的控制方法的举例说明，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
请参见图6，图6是本公开实施例提供的一种多电池供电的控制装置的结构示意图。具体的，所述控制装置可设置于无人机中，所述无人机包括能够相对无人机的机身拆卸的第一电池组，所述第一电池组用于为所述无人机供电，所述无人机还包括固设于无人机机身内的第二电池组。如图6所示，本公开实施例的控制装置600可以包括：检测器601和控制器602。其中，所述检测器601用于检测所述无人机是否处于失控状态以及所述第一电池组的工作状态。具体地，所述无人机的工作状态包括正常飞行状态、失控状态等等，所述无人机的失控状态包括诸如接收不到图传信号、检测不到当前位置信息等。所述第一电池组的工作状态包括正常工作状态或非正常工作状态。进一步地，检测器601的检测无人机的工作状态方式可以有多种，比如按照预设时间间隔检测向无人机发送探测信号，判断是否接收到无人机返回的响应信号，并可在接收到该响应信号时确定无人机处于正常飞行状态，在未接收到该响应信号时确定无人机处于失控状态；又如可在接收到与无人机关联的电子设备发送的告警指示时，确定该无人机处于失控状态，等等，本公开实施例不做限定。
所述控制装置600还包括控制器602，所述控制器602用于当所述无人机处于失控状态时，如果所述第一电池组处于正常工作状态，使用所述第一电池组至少为所述无人机的第一设备组的告警装置供电；当所述第一电池组处于非正常工作状态时，使用所述第二电池组至少为所述告警装置供电，以指示无人机的位置。
可选地，所述无人机还包括第二设备组；
所述正常工作状态下，所述第一电池组向外输出电能，为所述第一设备组和所述第二设备组供电；
所述非正常工作状态下，所述第一电池组不向外输出电能，所述第二电池组为所述第一设备组供电。
可选地，所述第一设备组还包括定位装置、通信装置中的一种或多种。
可选地，所述控制器602，还可用于当所述第一电池组处于正常工作状态 时，通过所述第一电池组为所述第二电池组充电。
可选地，所述检测器601，还可用于获取所述第二电池组的剩余电量，并判断所述剩余电量是否低于预设电量阈值；
所述控制器602，可具体用于当所述剩余电量低于所述预设电量阈值时，通过所述第一电池组为所述第二电池组充电。
可选地，所述第一设备组包括定位装置和通信装置；
所述定位装置，用于获取所述无人机的位置信息，并发送至所述通信装置；
所述通信装置，用于获取所述无人机的位置信息，并发送至与所述无人机关联的电子设备。
也就是说，控制器602可通过定位装置获取所述无人机的位置信息并发送至所述通信装置，进而控制器602可通过所述通信装置将所述无人机的位置信息发送至与所述无人机关联的电子设备。
可选地，所述通信装置，还可用于接收所述电子设备针对所述位置信息返回的响应消息，所述响应消息用于指示所述电子设备已接收到所述位置信息；
所述控制器602，还可用于关闭所述通信装置或者将所述通过装置的工作模式切换为低功耗模式。
也就是说，控制器602还可用于通过所述通信装置接收所述电子设备针对所述位置信息返回的响应消息，进而关闭所述通信装置或者将所述通信装置的工作模式切换为低功耗模式。
可选地，所述控制器602，还可用于在通过所述定位装置获取所述无人机的位置信息，并发送至所述通信装置之后，关闭所述定位装置或者将所述定位装置的工作模式切换为低功耗模式。
可选地，所述告警装置可包括灯光报警器与声音报警器中的一种或多种。
可选地，所述第二电池组可设置有保护装置，所述保护装置内置于所述无人机中。
可选地，所述第二设备组可包括飞行控制装置、动力装置、感知装置中的至少一种。
应理解，本公开实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有其他划分方式。本公开实施例中的各功能模块可以集 成在一个处理模块中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
可选地，所述控制装置可通过上述模块实现上述图1至图5所示实施例中的多电池供电的控制方法中控制装置执行的部分或全部步骤。应理解，本公开实施例是对应方法实施例的装置实施例，对方法实施例的描述，也适用于本公开实施例。
请参见图7，图7是本公开实施例提供的一种无人机的结构示意图。具体的，所述无人机700包括：存储器701和处理器702，所述存储器701和处理器702连接。
所述存储器701可以包括易失性存储器(volatile memory)；存储器701也可以包括非易失性存储器(non-volatile memory)；存储器701还可以包括上述种类的存储器的组合。所述处理器702可以是中央处理器(central processing unit，CPU)。所述处理器702还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。具体例如可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)或其任意组合。所述处理器702可以执行上述实施例中控制装置的相应功能，此处不赘述。
具体的，所述无人机700包括能够相对无人机的机身拆卸的第一电池组703，所述第一电池组用于为所述无人机供电，所述无人机还包括固设于无人机机身内的第二电池组704。所述无人机还包括第一设备组705。进一步地，所述存储器701用于存储程序指令，当程序指令被执行时所述处理器702可以调用存储器701中存储的程序指令，用于执行如下步骤：
检测无人机是否处于失控状态；
当所述无人机处于失控状态时，检测所述无人机的第一电池组的工作状态，所述工作状态包括正常工作状态或非正常工作状态；
如果所述第一电池组处于正常工作状态，使用所述第一电池组至少为所述无人机的第一设备组的告警装置供电；如果所述第一电池组处于非正常工作状 态，使用所述无人机的第二电池组至少为所述告警装置供电，以指示无人机的位置。
可选地，所述无人机还包括第二设备组706；
所述正常工作状态下，所述第一电池组向外输出电能，为所述第一设备组和所述第二设备组供电；
所述非正常工作状态下，所述第一电池组不向外输出电能，所述第二电池组为所述第一设备组供电。
可选地，所述第一设备组包括定位装置、通信装置中的一种或多种。
可选地，所述处理器702还调用存储器701中存储的程序指令用于执行如下步骤：
所述第一电池组处于正常工作状态时，通过所述第一电池组为所述第二电池组充电。
可选地，所述处理器702还调用存储器701中存储的程序指令用于执行如下步骤：
所述第一电池组为所述第二电池组充电之前，获取所述第二电池组的剩余电量，并判断所述剩余电量是否低于预设电量阈值；
如果低于所述预设电量阈值，执行所述第一电池组为所述第二电池组充电的步骤。
可选地，所述第一设备组包括定位装置和通信装置；
可选地，所述处理器702还调用存储器701中存储的程序指令用于执行如下步骤：
调用所述定位装置获取所述无人机的位置信息，并发送至所述通信装置；
调用所述通信装置将所述无人机的位置信息发送至与所述无人机关联的电子设备。
可选地，所述处理器702还调用存储器701中存储的程序指令用于执行如下步骤：
调用所述通信装置接收所述电子设备针对所述位置信息返回的响应消息，所述响应消息用于指示所述电子设备已接收到所述位置信息；
关闭所述通信装置或者将所述通信装置的工作模式切换为低功耗模式。
可选地，所述处理器702还调用存储器701中存储的程序指令用于执行如下步骤：
在所述定位装置获取所述无人机的位置信息，并发送至所述通信装置之后，关闭所述定位装置或者将所述定位装置的工作模式切换为低功耗模式。
可选地，所述告警装置包括灯光报警器与声音报警器中的一种或多种。
可选地，所述第二电池组设置有保护装置，所述保护装置内置于所述无人机中。
可选地，所述第二设备组包括飞行控制装置、动力装置、感知装置中的至少一种。
在本公开实施例中，无人机能够在所述无人机处于失控状态时，通过检测第一电池组即主电池的工作状态，进而在所述第一电池组处于正常工作状态时，使用所述第一电池组至少为所述无人机的第一设备组的告警装置供电，并在所述第一电池组处于非正常工作状态时，使用第二电池组即辅助电池为所述告警装置供电，从而能够实现在无人机失控时及时告警，有助于在无人机飞丢后实现对所述无人机的查找，提升了无人机被找回的概率，且降低了查找成本。
所述处理器的具体实现可参考上述图1或图2所对应实施例的多电池供电的控制方法，在此不再赘述。其中，所述无人机的解释如上所述，此处不再赘述。
在本公开的实施例中还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本公开实施例图1、图2所对应实施例中描述的多电池供电的控制方法，也可实现图6或图7所述本公开实施例的控制装置和无人机的控制过程，在此不再赘述。
所述计算机可读存储介质可以是前述任一实施例所述的设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述设备的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述终端所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存 储已经输出或者将要输出的数据。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，所述程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本公开部分实施例而已，当然不能以此来限定本公开之权利范围，因此依本公开权利要求所作的等同变化，仍属本公开所涵盖的范围。

Claims (36)

  1. 一种多电池供电的控制方法，所述方法应用于无人机中，所述无人机包括能够相对无人机的机身拆卸的第一电池组，所述第一电池组用于为所述无人机供电，其特征在于，所述无人机还包括固设于无人机机身内的第二电池组，所述方法包括：
    当所述无人机处于失控状态时，检测所述第一电池组的工作状态，所述工作状态包括正常工作状态或非正常工作状态；
    如果所述第一电池组处于正常工作状态，使用所述第一电池组至少为所述无人机的第一设备组的告警装置供电；如果所述第一电池组处于非正常工作状态，使用所述第二电池组至少为所述告警装置供电，以指示所述无人机的位置。
  2. 根据权利要求1所述的方法，其特征在于，所述无人机还包括第二设备组；
    所述正常工作状态下，所述第一电池组向外输出电能，为所述第一设备组和所述第二设备组供电；
    所述非正常工作状态下，所述第一电池组不向外输出电能，所述第二电池组为所述第一设备组供电。
  3. 根据权利要求2所述的方法，其特征在于，所述第一设备组还包括定位装置、通信装置中的一种或多种。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述方法还包括：
    所述第一电池组处于正常工作状态时，所述第一电池组为所述第二电池组充电。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    所述第一电池组为所述第二电池组充电之前，获取所述第二电池组的剩余电量，并判断所述剩余电量是否低于预设电量阈值；
    如果低于所述预设电量阈值，执行所述第一电池组为所述第二电池组充电的步骤。
  6. 根据权利要求3所述的方法，其特征在于，所述第一设备组包括定位装置和通信装置；
    所述方法还包括：
    所述定位装置获取所述无人机的位置信息，并发送至所述通信装置；
    所述通信装置获取所述无人机的位置信息，并发送至与所述无人机关联的电子设备。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    所述通信装置接收所述电子设备针对所述位置信息返回的响应消息，所述响应消息用于指示所述电子设备已接收到所述位置信息；
    关闭所述通信装置或将所述通信装置的工作模式切换为低功耗模式。
  8. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    在所述定位装置获取所述无人机的位置信息，并发送至所述通信装置之后，关闭所述定位装置或将所述定位装置的工作模式切换为低功耗模式。
  9. 根据权利要求1所述的方法，其特征在于，所述告警装置包括灯光报警器与声音报警器中的一种或多种。
  10. 根据权利要求1所述的方法，其特征在于，所述第二电池组设置有保护装置，所述保护装置内置于所述无人机中。
  11. 根据权利要求10所述的方法，其特征在于，所述第二电池组为超级电容。
  12. 根据权利要求2所述的方法，其特征在于，所述第二设备组包括飞行 控制装置、动力装置、感知装置中的至少一种。
  13. 一种多电池供电的控制装置，所述装置设置于无人机中，所述无人机包括能够相对无人机的机身拆卸的第一电池组，所述第一电池组用于为所述无人机供电，其特征在于，所述无人机还包括固设于无人机机身内的第二电池组，所述装置包括：
    检测器，用于检测所述无人机是否处于失控状态以及第一电池组的工作状态，其中，所述第一电池组的工作状态包括正常工作状态或非正常工作状态；
    控制器，用于当所述无人机处于失控状态时，如果所述第一电池组处于正常工作状态，使用所述第一电池组至少为所述无人机的第一设备组的告警装置供电；如果所述第一电池组处于非正常工作状态，使用所述第二电池组至少为所述告警装置供电，以指示无人机的位置。
  14. 根据权利要求13所述的装置，其特征在于，所述无人机还包括第二设备组；
    所述正常工作状态下，所述第一电池组向外输出电能，为所述第一设备组和所述第二设备组供电；
    所述非正常工作状态下，所述第一电池组不向外输出电能，所述第二电池组为所述第一设备组供电。
  15. 根据权利要求14所述的装置，其特征在于，所述第一设备组还包括定位装置、通信装置中的一种或多种。
  16. 根据权利要求13-15任一项所述的装置，其特征在于，
    所述控制器，还用于当所述第一电池组处于正常工作状态时，通过所述第一电池组为所述第二电池组充电。
  17. 根据权利要求16所述的装置，其特征在于，
    所述检测器，还用于获取所述第二电池组的剩余电量，并判断所述剩余电 量是否低于预设电量阈值；
    所述控制器，具体用于当所述剩余电量低于所述预设电量阈值时，通过所述第一电池组为所述第二电池组充电。
  18. 根据权利要求15所述的装置，其特征在于，所述第一设备组包括定位装置和通信装置；
    所述控制器，还用于通过所述定位装置获取所述无人机的位置信息并发送至所述通信装置；
    所述控制器，还用于通过所述通信装置将所述无人机的位置信息发送至与所述无人机关联的电子设备。
  19. 根据权利要求18所述的装置，其特征在于，
    所述控制器，还用于通过所述通信装置接收所述电子设备针对所述位置信息返回的响应消息，所述响应消息用于指示所述电子设备已接收到所述位置信息；
    所述控制器，还用于关闭所述通信装置或将所述通信装置的工作模式切换为低功耗模式。
  20. 根据权利要求18所述的装置，其特征在于，
    所述控制器，还用于在通过所述定位装置获取所述无人机的位置信息，并发送至所述通信装置之后，关闭所述定位装置或将所述定位装置的工作模式切换为低功耗模式。
  21. 根据权利要求13所述的装置，其特征在于，所述告警装置包括灯光报警器与声音报警器中的一种或多种。
  22. 根据权利要求13所述的装置，其特征在于，所述第二电池组设置有保护装置，所述保护装置内置于所述无人机中。
  23. 根据权利要求22所述的装置，其特征在于，所述第二电池组为超级电容。
  24. 根据权利要求14所述的装置，其特征在于，所述第二设备组包括飞行控制装置、动力装置、感知装置中的至少一种。
  25. 一种无人机，所述无人机包括能够相对无人机的机身拆卸的第一电池组，所述第一电池组用于为所述无人机供电，其特征在于，所述无人机还包括固设于无人机机身内的第二电池组，包括：处理器和存储器，所述处理器和所述存储器连接；
    所述存储器存储有程序指令；
    所述处理器用于调用所述程序指令执行如下步骤：
    当所述无人机处于失控状态时，检测所述第一电池组的工作状态，所述工作状态包括正常工作状态或非正常工作状态；
    如果所述第一电池组处于正常工作状态，使用所述第一电池组至少为所述无人机的第一设备组的告警装置供电；如果所述第一电池组处于非正常工作状态，使用所述第二电池组至少为所述告警装置供电，以指示所述无人机的位置。
  26. 根据权利要求25所述的无人机，其特征在于，所述无人机还包括第二设备组；
    所述正常工作状态下，所述第一电池组向外输出电能，为所述第一设备组和所述第二设备组供电；
    所述非正常工作状态下，所述第一电池组不向外输出电能，所述第二电池组为所述第一设备组供电。
  27. 根据权利要求26所述的无人机，其特征在于，所述第一设备组还包括定位装置、通信装置中的一种或多种。
  28. 根据权利要求25-27任一项所述的无人机，其特征在于，所述处理器 还用于调用存储器中存储的程序指令执行如下步骤：
    所述第一电池组处于正常工作状态时，通过所述第一电池组为所述第二电池组充电。
  29. 根据权利要求28所述的无人机，其特征在于，所述处理器还用于调用存储器中存储的程序指令执行如下步骤：
    所述第一电池组为所述第二电池组充电之前，获取所述第二电池组的剩余电量，并判断所述剩余电量是否低于预设电量阈值；
    如果低于所述预设电量阈值，执行所述第一电池组为所述第二电池组充电的步骤。
  30. 根据权利要求27所述的无人机，其特征在于，所述第一设备组包括定位装置和通信装置；
    所述处理器还用于调用存储器中存储的程序指令执行如下步骤：
    调用所述定位装置获取所述无人机的位置信息，并发送至所述通信装置；
    调用所述通信装置将所述无人机的位置信息发送至与所述无人机关联的电子设备。
  31. 根据权利要求30所述的无人机，其特征在于，所述处理器还用于调用存储器中存储的程序指令执行如下步骤：
    调用所述通信装置接收所述电子设备针对所述位置信息返回的响应消息，所述响应消息用于指示所述电子设备已接收到所述位置信息；
    关闭所述通信装置或将所述通信装置的工作模式切换为低功耗模式。
  32. 根据权利要求30所述的无人机，其特征在于，所述处理器还用于调用存储器中存储的程序指令执行如下步骤：
    在所述定位装置获取所述无人机的位置信息，并发送至所述通信装置之后，关闭所述定位装置或将所述定位装置的工作模式切换为低功耗模式。
  33. 根据权利要求25所述的无人机，其特征在于，所述告警装置包括灯光报警器与声音报警器中的一种或多种。
  34. 根据权利要求25所述的无人机，其特征在于，所述第二电池组设置有保护装置，所述保护装置内置于所述无人机中。
  35. 根据权利要求34所述的无人机，其特征在于，所述第二电池组为超级电容。
  36. 根据权利要求26所述的无人机，其特征在于，所述第二设备组包括飞行控制装置、动力装置、感知装置中的至少一种。
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