WO2019228445A1 - 无人机电池保护方法、装置及存储介质 - Google Patents

无人机电池保护方法、装置及存储介质 Download PDF

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Publication number
WO2019228445A1
WO2019228445A1 PCT/CN2019/089225 CN2019089225W WO2019228445A1 WO 2019228445 A1 WO2019228445 A1 WO 2019228445A1 CN 2019089225 W CN2019089225 W CN 2019089225W WO 2019228445 A1 WO2019228445 A1 WO 2019228445A1
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Prior art keywords
battery
drone
preset time
timer
bootloader
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English (en)
French (fr)
Inventor
刘玉华
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/4401—Bootstrapping
    • G06F9/4406—Loading of operating system
    • 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
    • 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
    • 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

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to a method, a device and a storage medium for protecting an unmanned aerial vehicle battery.
  • the drone will stay in the bootloader stage. Due to the special nature of the bootloader, the bootloader will only exit when the drone completes the upgrade operation, and there is no mechanism for battery protection during the bootloader phase.
  • the battery-powered output will always be turned on, and the battery's LED indicator light will always flash, which is equivalent to the large power consumption in the bootloader stage without any over-discharge protection. In this case, it is easy to cause the battery cell to be continuously discharged. Over-discharge. The over-discharge of the battery cell generally causes damage to the battery cell, and such damage is generally irreversible, which will greatly affect the battery life and safety.
  • the invention provides a UAV battery protection method, device and storage medium, which can prevent the UAV battery from over-discharging at the bootloader stage, thereby ensuring the life of the UAV battery and the safety of the UAV.
  • a first aspect of the present invention provides a drone battery protection method, including:
  • the battery If the battery still runs the bootloader when the first timer reaches a first preset time, the battery enters a low power consumption state.
  • the method further includes:
  • the battery When a first event is detected, the battery re-runs the bootloader and restarts the first timer.
  • the method further includes:
  • the first timer Before the first timer reaches the first preset time, if the drone receives an upgrade instruction, the first timer is cleared to zero.
  • the method further includes:
  • the drone does not complete the upgrade operation corresponding to the upgrade instruction, and the battery enters the low power consumption state.
  • the battery entering a low power consumption state includes:
  • the battery stops supplying power to the drone.
  • the first event includes:
  • the button of the battery is pressed.
  • the method further includes:
  • the method further includes:
  • the drone battery protection method provided by the first aspect of the present invention, when the drone battery starts running the bootloader, the first timer is started, and when the first timer reaches the first preset time, the battery When the bootloader is still running, the battery enters a low-power state. This can prevent the over-discharge of the drone battery during the bootloader stage, thereby ensuring the drone battery life and the safety of the drone, and improving the user experience.
  • a second aspect of the present invention provides a drone battery protection device, including:
  • a detection module configured to start a bootloader when a battery of the drone starts to run, and start a first timer
  • a processing module configured to, if the battery still runs the bootloader when the first timer reaches a first preset time, the battery enters a low power consumption state.
  • the processing module is further configured to, when a first event is detected, the battery re-runs the bootloader and restarts the first timer.
  • the processing module is further configured to, before the first timer reaches the first preset time, if the drone receives an upgrade instruction, A timer is cleared.
  • the processing module is further configured to:
  • the drone does not complete the upgrade operation corresponding to the upgrade instruction, and the battery enters the low power consumption state.
  • the battery entering a low power consumption state includes: the battery stops supplying power to the drone.
  • the first event includes: any key of the drone is pressed, the attitude of the drone is changed, and / or the drone receives Instructions for running the bootloader.
  • the processing module is further configured to receive a preset time indication, where the preset time indication includes the first preset time, and determine the according to the preset time indication.
  • the first preset time is further configured to receive a preset time indication, where the preset time indication includes the first preset time, and determine the according to the preset time indication. The first preset time.
  • the processing module is further configured to determine the first preset time according to a performance parameter of the drone.
  • the drone battery protection device when the drone battery starts running the bootloader, the first timer is started, and when the first timer reaches the first preset time, the battery When the bootloader is still running, the battery enters a low-power state. This can prevent the over-discharge of the drone battery during the bootloader stage, thereby ensuring the drone battery life and the safety of the drone, and improving the user experience.
  • the present invention provides a storage medium having stored thereon a computer program that, when executed by a processor, implements the drone battery protection method according to any one of the first aspects of the present application.
  • the present invention provides a drone, including:
  • a machine arm connected to the fuselage
  • a power unit which is provided on the arm and is used to provide flying power for the drone;
  • a processor provided in the fuselage
  • a memory for storing executable instructions of the processor
  • the processor is configured to execute the drone battery protection method according to any one of the first aspect of the present application via the executable instructions.
  • FIG. 1 is a schematic flowchart of a first embodiment of a drone battery protection method according to the present invention
  • FIG. 2 is a schematic flowchart of a second embodiment of a drone battery protection method according to the present invention.
  • FIG. 3 is a schematic flowchart of a third embodiment of a drone battery protection method according to the present invention.
  • FIG. 4 is a schematic flowchart of a fourth embodiment of a drone battery protection method according to the present invention.
  • FIG. 5 is a schematic flowchart of a first embodiment of a drone battery protection device according to the present invention.
  • FIG. 1 is a schematic flowchart of a first embodiment of a drone battery protection method according to the present invention. As shown in FIG. 1, the drone battery protection method provided in this embodiment includes:
  • the execution subject of the drone battery information recording method in this embodiment may be a main control integrated circuit (IC) chip of the drone battery.
  • the first timer is started immediately.
  • BootLoader can be used to initialize hardware devices and establish memory space maps, thereby bringing the software and hardware environment of the drone to a suitable state.
  • the first timer is immediately started.
  • the first timer may be built in the main control IC chip of the drone battery, and is called when needed.
  • the first timer is created by the main control IC chip of the drone battery each time the drone battery starts running the bootloader.
  • the first timer may be timed in a sequential manner, or may be timed in a countdown manner.
  • the drone battery When the first timer enabled in S101 reaches the first preset time, if the drone battery is still running the bootloader at this time, the drone battery needs to be placed in a low power consumption state. For example, at time t1 when the drone battery runs the bootloader, at t1, the cleared first timer is started, and at time t2 after the two hours have passed, it is determined at this time that if the drone battery is still not Exit the running bootloader, it means that the upgrade operation of the drone may fail and is not completed, then actively control the drone's battery to enter a low power consumption state. Among them, the battery main control IC chip can make the battery of the drone enter a low power consumption state by, for example, sending a status indication to the battery.
  • the battery enters a low power consumption state, which means that the battery stops supplying power to the drone, and the battery itself enters a low power consumption state to reduce its own consumption.
  • the externally powered battery has a normal power supply state and a low power consumption state. In a normal power supply state, power is normally provided to the drone. In a low power consumption state, the battery stops supplying power to the parts of the drone, and the battery By reducing the power consumed by the battery when stopping the external power supply, the battery consumes less power, so as to prevent the battery from being over-discharged due to the unsuccessful upgrade during the bootloader stage, and further guarantee the battery life and safety.
  • the drone battery protection method when the drone battery starts running the bootloader, the first timer is started, and when the first timer reaches the first preset time, the battery still runs the bootloader. , The battery enters a low power consumption state. This can prevent the over-discharge of the drone battery during the bootloader stage, thereby ensuring the drone battery life and the safety of the drone, and improving the user experience.
  • FIG. 2 is a schematic flowchart of a second embodiment of a drone battery protection method according to the present invention.
  • the embodiment shown in FIG. 2 is based on the embodiment shown in FIG. 1, and after S102, it further includes:
  • the drone since the drone will only exit the bootloader operation after the upgrade is successful, and the drone has entered the low power consumption mode through the above steps may affect the normal upgrade. Therefore, after the S102 drone battery enters the low power consumption mode, it is necessary to set a way to restart the battery to run the bootloader, so that the drone can re-run the bootloader when it can be upgraded to perform the normal upgrade. Then, in this embodiment, if a first event is detected, the battery of the drone re-runs the bootloader and restarts the first timer. Wherein, if the first timer is in a timing mode, the first timer may be reset and then restarted.
  • the first event includes: a button of a battery of the drone is pressed.
  • the first event may also be that any key of the drone is pressed, the attitude of the drone is changed, and / or the drone receives the instruction information to run the bootloader.
  • the actual time required for the upgrade process of all the modules of the aircraft can be referred to, and the timeout period is set to 2 hours. If the bootloader stays in the upgrade phase without receiving any instructions about the upgrade for more than 2 hours, the bootloader automatically Enter low-power mode, reserve power, and wait for the next wake-up before starting the upgrade function. In this process, as long as an upgrade-related instruction is received, the timeout timer will be cleared to prevent the battery from turning off and entering low power consumption due to timeout during repeated upgrade retries.
  • FIG. 3 is a schematic flowchart of a third embodiment of a drone battery protection method according to the present invention.
  • the embodiment shown in FIG. 3 is based on the above embodiment, and after S101, it further includes:
  • the embodiments shown in FIG. 1 and FIG. 2 show a processing method in which the drone has not completed the upgrade operation or received the upgrade instruction, and is still running the bootloader after the first timer reaches the first preset time.
  • the upgrade instruction refers to an instruction for instructing the drone battery to enter an upgrade state when the drone upgrades an application program or a system.
  • the first timer is in the timekeeping mode
  • the first preset time is 2 hours
  • an upgrade instruction is received at the time of 1 hour
  • the drone performs the upgrade mode at this time, and the first timer can be reset to zero, Start the second timer.
  • the second timer is assumed to be 30 minutes. If the drone has not completed the upgrade after the second timer expires, it is determined that the upgrade fails and the upgrade cannot be completed normally.
  • the drone battery can also be set to low. Power status.
  • first preset time and the second preset time in the above embodiments can be adjusted.
  • one possible adjustment method is: receiving a preset time indication remotely issued by a drone user or a system maintenance person, the preset time indication includes a first preset time and a second preset time; and then according to the preset time indication The time within determines the first preset time and the second preset time.
  • Performance parameters can include the number of applications upgraded, processor processing speed, and signal strength of the wireless communication network.
  • the drone determines the first preset time based on the multiple application upgrade times added up; or the wireless network data transmission speed of the drone is slower , Then the first preset time setting is doubled according to the transmission speed of the wireless network.
  • FIG. 4 is a schematic flowchart of a fourth embodiment of a drone battery protection method according to the present invention.
  • FIG. 4 shows a more specific implementation manner of the foregoing UAV battery protection method. As shown in Figure 4,
  • the battery power output is turned on, communication is turned on, and the LED indicator light is turned on, and then the first timer expires. If an upgrade instruction is received after this, the timeout of the first timer is cleared and the upgrade process is entered, and after the upgrade, the application program running on the battery is skipped. If the upgrade is not successful, the timeout of continuing to start the first timer is returned. If the first timer does not receive the upgrade instruction within 2 hours of the first preset timeout, the battery power output is turned off, the communication is turned off, and the LED indicator light goes out.
  • the main control IC chip of the drone's battery makes no one The machine battery enters a low power state. When the drone battery enters the low power consumption state, if a key is pressed, the drone battery control IC chip takes the drone battery out of the low power consumption state, and repeatedly turns on the battery power output, communication is turned on, and LED warning light is on.
  • FIG. 5 is a schematic flowchart of a first embodiment of a drone battery protection device according to the present invention.
  • the UAV battery protection device provided in this embodiment includes a detection module 501 and a processing module 502.
  • the detection module 501 is used to start the bootloader when the battery of the drone starts to run, and starts the first timer;
  • the processing module 502 is used to run the bootloader when the first timer reaches the first preset time, and the battery enters the low Power status.
  • the drone battery protection device provided in this embodiment is used to implement the drone electromechanical battery protection method shown in FIG. 1.
  • the implementation manner and the principle are the same, and details are not described again.
  • the processing module 502 is specifically configured to: when a first event is detected, the battery re-runs the bootloader and restarts the first timer.
  • the processing module 502 is specifically configured to clear the first timer to zero if the drone receives the upgrade instruction before the first timer reaches the first preset time.
  • the battery enters a low power consumption state, including: the battery stops supplying power to the drone.
  • the first event includes: a button of the battery is pressed.
  • the processing module 502 is further configured to receive a preset time indication, where the preset time indication includes a first preset time; and determine the first preset time according to the preset time indication.
  • the processing module 502 is further configured to determine a first preset time according to a performance parameter of the drone.
  • the drone battery protection device provided in this embodiment is used to implement the foregoing drone battery protection method.
  • the implementation method is the same as the principle, and details are not described again.
  • the present invention also provides a storage medium on which a computer program is stored.
  • the computer program is executed by a processor, the method for protecting a drone battery according to any one of the foregoing claims is implemented.
  • the invention also provides an unmanned aerial vehicle, which includes a fuselage, an arm connected to the fuselage, a power unit provided on the arm, a processor provided on the fuselage, and a processor for storing the processor. Memory for executing instructions.
  • the power unit usually includes a motor provided on the arm and a propeller driven by the motor to provide power for the drone to fly.
  • the processor is configured to execute the drone battery protection method according to any one of the above embodiments by executing executable instructions.
  • the present invention also provides a drone battery information recording device, including: a memory, a processor, and a computer program.
  • the computer program is stored in the memory, and the processor runs the computer program to execute the foregoing embodiments.
  • the method for protecting a drone battery is not limited to: a processor, and a computer program.
  • the present invention also provides a program product, which includes a computer program (that is, an execution instruction), and the computer program is stored in a readable storage medium.
  • a computer program that is, an execution instruction
  • At least one processor of the encoding device can read the computer program from a readable storage medium, and the at least one processor executes the computer program to cause the encoding device to implement the drone battery protection method provided by the foregoing various embodiments.

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Abstract

本发明提供一种无人机电池保护方法、装置及存储介质。其中方法包括：当无人机的电池开始运行Bootloader时开启第一定时器，在第一定时器到达第一预设时间时电池仍然运行Bootloader，则电池进入低功耗状态。本发明提供的无人机电池保护方法、装置及存储介质，能够防止Bootloader阶段无人机电池的过放，进而保障了无人机电池寿命及无人机的安全，并提升了用户的体验。

Description

无人机电池保护方法、装置及存储介质
相关申请的交叉引用
本申请要求申请号为201810559311X，申请日为2018年6月1日的中国专利申请的优先权，其全部内容通过引用结合于本文。
技术领域
本发明涉及无人机技术领域，尤其涉及一种无人机电池保护方法、装置及存储介质。
背景技术
无人机的电池在升级固件包时，会先进入到启动装载Bootloader阶段，然后在Bootloader中对所需要升级的系统或程序进行升级操作。
在现有技术中，如果因为某些情况导致升级无法成功完成，无人机将一直停留在Bootloader阶段。而由于Bootloader的特殊性，只有当无人机完成升级操作才会退出运行Bootloader，并且在Bootloader阶段没有任何关于电芯保护的机制。使得电池供电输出会一直打开，电池的LED提示灯会一直闪烁，相当于Bootloader阶段会一直有较大的功耗同时并没有任何过放防护，这样的情况下极易导致电芯在一直放电情况下产生过放。而电芯的过放一般会对电芯本身产生损伤，且这种损伤一般是不可逆的，这会极大的影响电池的寿命和安全性。
因此，如何防止在Bootloader阶段无人机电池的过放，以保障无人机电池寿命及无人机的安全，是目前需要亟待解决的技术问题。
发明内容
本发明提供一种无人机电池保护方法、装置及存储介质，能够防止Bootloader阶段无人机电池的过放，从而保障了无人机电池寿命及无人机的安全。
本发明第一方面提供一种无人机电池保护方法，包括：
当无人机的电池开始运行启动装载引导程序(Bootloader)，开启第一定时器；
若所述第一定时器到达第一预设时间时所述电池仍运行所述Bootloader，所述电池进入低功耗状态。
在本发明第一方面一实施例中，该方法还包括：
当检测到第一事件，所述电池重新运行所述Bootloader，并重新开启所述第一定时器。
在本发明第一方面一实施例中，该方法还包括：
在所述第一定时器到达所述第一预设时间之前，若所述无人机接收到升级指令，将所述第一定时器清零。
在本发明第一方面一实施例中，所述将所述第一定时器清零之后，还包括：
开启第二定时器；
若所述第二定时器到达第二预设时间，所述无人机未完成所述升级指令对应的升级操作，所述电池进入所述低功耗状态。
在本发明第一方面一实施例中，所述电池进入低功耗状态，包括：
所述电池停止向所述无人机供电。
在本发明第一方面一实施例中，所述第一事件包括：
所述电池的按键被按下。
在本发明第一方面一实施例中，该方法还包括：
接收预设时间指示，所述预设时间指示包括所述第一预设时间；
根据所述预设时间指示确定所述第一预设时间。
在本发明第一方面一实施例中，还包括：
根据所述无人机的性能参数确定所述第一预设时间。
综上，在本发明第一方面提供的无人机电池保护方法中，当无人机的电池开始运行Bootloader时开启第一定时器，并在第一定时器到达第一预设时间时，电池仍然运行Bootloader，则电池进入低功耗状态。从而能够防止Bootloader阶段无人机电池的过放，进而保障了无人机电池寿命及无人机的安全，并提升了用户的体验。
本发明第二方面提供一种无人机电池保护装置，包括：
检测模块，所述检测模块用于当无人机的电池开始运行启动装载Bootloader，开启第一定时器；
处理模块，所述处理模块用于若所述第一定时器到达第一预设时间时所述电池仍运行所述Bootloader，所述电池进入低功耗状态。
在本发明第二方面一实施例中，所述处理模块还用于当检测到第一事件，所述电池重新运行所述Bootloader，并重新开启所述第一定时器。
在本发明第二方面一实施例中，所述处理模块还用于在所述第一定时器到达所述第一预设时间之前，若所述无人机接收到升级指令，将所述第一定时器清零。
在本发明第二方面一实施例中，所述处理模块还用于，
开启第二定时器；
若所述第二定时器到达第二预设时间，所述无人机未完成所述升级指令对应的升级操作，所述电池进入所述低功耗状态。
在本发明第二方面一实施例中，所述电池进入低功耗状态，包括：所述电池停止向所述无人机供电。
在本发明第二方面一实施例中，所述第一事件包括：所述无人机的任意按键被按下、所述无人机的姿态发生改变和/或所述无人机的接收到运行所述Bootloader的指示信息。
在本发明第二方面一实施例中，所述处理模块还用于，接收预设时间指示，所述预设时间指示包括所述第一预设时间；根据所述预设时间指示确定所述第一预设时间。
在本发明第二方面一实施例中，所述处理模块还用于，根据所述无人机的性能参数确定所述第一预设时间。
综上，在本发明第二方面提供的无人机电池保护装置中，当无人机的电池开始运行Bootloader时开启第一定时器，并在第一定时器到达第一预设时间时，电池仍然运行Bootloader，则电池进入低功耗状态。从而能够防止Bootloader阶段无人机电池的过放，进而保障了无人机电池寿命及无人机的安全，并提升了用户的体验。
第三方面，本发明提供一种存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如本申请第一方面任一所述的无人机电池保 护方法。
第四方面，本发明提供一种无人机，包括：
机身；
机臂，与所述机身相连；
动力装置，设于所述机臂，用于给所述无人机提供飞行的动力；
处理器，设于所述机身；以及
存储器，用于存储所述处理器的可执行指令；
其中，所述处理器配置为经由所述可执行指令来执行如本申请第一方面任一所述的无人机电池保护方法。
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简单地介绍，显而易见地，下面描述中的附图仅仅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性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明无人机电池保护方法实施例一的流程示意图；
图2为本发明无人机电池保护方法实施例二的流程示意图；
图3为本发明无人机电池保护方法实施例三的流程示意图；
图4为本发明无人机电池保护方法实施例四的流程示意图；
图5为本发明无人机电池保护装置实施例一的流程示意图。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。下面以具体地实施例对本发明的技术方案进行详细说明。下面的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例不再赘述。
具体实施方式
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，所描述的实施例仅仅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做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。
本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例例如能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
下面以具体地实施例对本发明的技术方案进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例不再赘述。
图1为本发明无人机电池保护方法实施例一的流程示意图。如图1所示，本实施例提供的无人机电池保护方法包括：
S101：当无人机的电池开始运行启动装载Bootloader，开启第一定时器；
具体地，本实施例中的无人机电池信息记录方法的执行主体可以是无人机的电池的主控集成电路(Integrated Circuit，IC)芯片。在S101中，在无人机的电池开始运行引导程序(Bootloader)，则立即开启第一定时器。其中，BootLoader可以用于初始化硬件设备、建立内存空间映射图，从而将无人机的软硬件环境带到一个合适状态。当无人机开始运行Bootloader并准备在Bootloader环境下进行应用程序的升级，此时立即启动第一定时器。
可选地，第一定时器可以是无人机电池的主控IC芯片中内置的，需要时进行调用。或者，第一定时器由无人机电池的主控IC芯片在每次无人机电池开始运行Bootloader时创建。第一定时器可以以顺序计时的方式计时，或者以倒计时的方式进行计时。
S102：若第一定时器到达第一预设时间时电池仍运行Bootloader，电池进入低功耗状态。
其中，当S101中开启的第一定时器到达第一预设时间时，如果在此时若无人机的电池仍然在运行Bootloader，则需要将无人机的电池置于低功耗状态。例如：上述在无人机电池运行Bootloader的时刻t1，在t1时则开启已清零的第一定时器，并在计时到达两小时结束后的t2时刻，此时判断若无人机电池仍然没有退出在运行的Bootloader，则说明无人机的升级操作可能出现故障未完成，则主动控制使无人机的电池进入低功耗状态。其中，电池主控IC芯片可以通过例如向电池发送状态指示的方式使得无人机的电池进入低功耗状态。
可选地，电池进入低功耗状态，指电池停止向无人机供电，电池自身会进入低功耗状态，以减少自身消耗。例如：向外供电的电池存在正常供电状态和低功耗状态，在正常供电状态正常向无人机提供供电，在低功耗状态时，电池停止向无人机各部件的供电输出，并且电池通过减少在停止向外供电时电池自身消耗的功率，使得电池消耗更少的电量，以此来防范在Bootloader阶段因为升级不成功可能导致的电池过放，进一步保障电池寿命及其安全性。
综上，本实施例提供的无人机电池保护方法中，当无人机的电池开始运行Bootloader时开启第一定时器，并在第一定时器到达第一预设时间时，电池仍然运行Bootloader，则电池进入低功耗状态。从而能够防止Bootloader阶段无人机电池的过放，进而保障了无人机电池寿命及无人机的安全，并提升了用户的体验。
图2为本发明无人机电池保护方法实施例二的流程示意图。如图2所示的实施例在图1所示实施例的基础上，S102之后还包括：
S103：当检测到第一事件，电池重新运行Bootloader，并重新开启第一定时器。
具体地，由于无人机只有在升级成功之后才会退出Bootloader的运行，而通过上述步骤已经使无人机进入了低功耗模式可能影响正常升级。因此在S102无人机电池进入低功耗模式之后，需要设置重新唤醒电池运行Bootloader的方式，使得无人机在可以升级时重新运行Bootloader以正常 进行升级。则在本实施例中，若检测到第一事件，则无人机的电池重新运行Bootloader并重新开启第一定时器。其中，第一定时器如果是计时模式可以对第一定时器进行清零后进行重新开启操作。
可选地，第一事件包括：无人机的电池的按键被按下。或者，第一事件还可以是无人机的任意按键被按下、无人机的姿态发生改变和/或无人机的接收到运行Bootloader的指示信息。
综上，本实施例中可以参考飞机所有模块升级过程所需要的实际时间，将超时时限设置为2小时，如果Bootloader停留在升级阶段同时没有收到任何关于升级的指令超过2小时，Bootloader就自动进入低功耗模式，保留电量，等待下次被唤醒时再开始升级功能。在此过程中只要有收到升级有关的指令，那么就会清零超时计时，避免电池在反复的升级重试中因为超时而关电进入低功耗。
图3为本发明无人机电池保护方法实施例三的流程示意图。如图3所示的实施例在上述实施例的基础上，S101之后还包括：
S201：在第一定时器到达第一预设时间之前，若无人机接收到升级指令，将第一定时器清零。
S202：开启第二定时器；
S203：若第二定时器到达第二预设时间，无人机未完成升级指令对应的升级操作，电池进入低功耗状态。
具体地，图1和图2所示的实施例示出了当第一定时器到达第一预设时间之后，无人机还没有完成升级操作或者没有收到升级指令，还在运行Bootloader的处理方法。其中，升级指令指无人机在升级应用程序或者系统时，用于指示无人机电池进入升级状态的指令。
而如果在第一预设时间内虽然接收到了升级指令已经开始升级，但是由于升级本身的问题导致升级没有成功，则需要设置第二定时器来对升级动作本身的时间进行判断。
例如：第一定时器为计时模式，第一预设时间为2小时，在1小时的时刻收到了升级指令，则此时无人机进行升级模式，可以对第一定时器进行清零，同时开启第二定时器。第二定时器假设为30分钟，若第二定时器在30分钟到时后，无人机仍然没有完成升级，则判定升级出现故障无法正常完成 升级，也可以将无人机的电池置于低功耗状态。
进一步地，在上述各实施例中的第一预设时间和第二预设时间均可进行调整。
其中，一种可能的调整方式为：接收无人机用户或者系统维护人员远程发布的预设时间指示，预设时间指示包括第一预设时间和第二预设时间；随后根据预设时间指示内的时间确定第一预设时间和第二预设时间。
另一种可能的调整方式为：根据无人机性能参数确定第一预设时间。性能参数可以包括升级的应用数目、处理器处理速度以及无线通信网络的信号强度等。
例如：如果无人机同时处理多个应用程序的升级，则无人机根据多个应用程序升级时间相加确定第一预设时间；或者无人机所处的无线网络数据传输的速度较慢，则根据无线网络的传输速度将第一预设时间设置加倍。
图4为本发明无人机电池保护方法实施例四的流程示意图。图4示出了上述无人机电池保护方法一种更为具体的实现方式。如图4所示，
当无人机开始运行进入Bootloader后，开启电池的供电输出、通信开启并LED提示灯打开，随后开始第一定时器的超时计时。如果在此之后收到升级指令，则第一定时器的超时计时清零并进入升级过程，在升级之后跳转至运行电池的应用程序。如果没有升级成功则返回继续开启第一定时器的超时计时。若第一定时器在第一预设时间的超时计时2小时都没有收到升级指令，则关闭电池供电输出、通信关闭并LED提示灯熄灭，无人机的电池的主控IC芯片使无人机电池进入低功耗状态。当无人机电池进入低功耗状态后，如果有按键按下时，则无人机的电池主控IC芯片使无人机电池退出低功耗状态，并重复开启电池供电输出、通信开启并LED提示灯打开。
图5为本发明无人机电池保护装置实施例一的流程示意图。如图5所示，本实施例提供的无人机电池保护装置包括：检测模块501和处理模块502。其中，检测模块501用于当无人机的电池开始运行启动装载Bootloader，开启第一定时器；处理模块502用于若第一定时器到达第一预设时间时电池仍运行Bootloader，电池进入低功耗状态。
本实施例提供的无人机电池保护装置，用于实现图1所示的无人机电 池保护方法，其实现方式与原理相同，不再赘述。
可选地，处理模块502具体用于，当检测到第一事件，电池重新运行Bootloader，并重新开启第一定时器。
可选地，处理模块502具体用于，在第一定时器到达第一预设时间之前，若无人机接收到升级指令，将第一定时器清零。
可选地，电池进入低功耗状态，包括：电池停止向无人机供电。
可选地，第一事件包括：电池的按键被按下。
可选地，处理模块502还用于，接收预设时间指示，预设时间指示包括第一预设时间；根据预设时间指示确定第一预设时间。
可选地，处理模块502还用于根据无人机的性能参数确定第一预设时间。
本实施例提供的无人机电池保护装置，用于实现前述无人机电池保护方法，其实现方式与原理相同，不再赘述。
本发明还提供一种存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现权利要求上述实施例中任一项的无人机电池保护方法。
本发明还提供一种无人机，包括：机身、与所述机身相连的机臂、设于所述机臂的动力装置、设于机身的处理器以及用于存储处理器的可执行指令的存储器。动力装置通常包括设于机臂的电机和由电机驱动旋转的螺旋桨，用于给所述无人机提供飞行的动力。
其中，处理器配置为经由执行可执行指令来执行上述实施例中任一项的无人机电池保护方法。
本发明还提供一种无人机电池信息记录设备，包括：存储器、处理器及计算机程序，所述计算机程序存储在所述存储器中，所述处理器运行所述计算机程序执行上述各实施例中所述的无人机电池保护方法。
本发明还提供一种程序产品，该程序产品包括计算机程序(即执行指令)，该计算机程序存储在可读存储介质中。编码设备的至少一个处理器可以从可读存储介质读取该计算机程序，至少一个处理器执行该计算机程序使得编码设备实施前述的各种实施方式提供的无人机电池保护方法。
本领域普通技术人员可以理解：实现上述各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，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。以上所述，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。
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 (11)

  1. 一种无人机电池保护方法，其特征在于，包括：
    当无人机的电池开始运行启动装载引导程序(Bootloader)时，开启第一定时器；
    若所述第一定时器到达第一预设时间时，所述电池仍运行所述Bootloader，所述电池进入低功耗状态。
  2. 根据权利要求1所述的方法，其特征在于，该方法还包括：
    当检测到第一事件，所述电池重新运行所述Bootloader，并重新开启所述第一定时器。
  3. 根据权利要求2所述的方法，其特征在于，该方法还包括：
    在所述第一定时器到达所述第一预设时间之前，若所述无人机接收到升级指令，将所述第一定时器清零。
  4. 根据权利要求3所述的方法，其特征在于，所述将所述第一定时器清零之后，还包括：
    开启第二定时器；
    若所述第二定时器到达第二预设时间，所述无人机未完成所述升级指令对应的升级操作，所述电池进入所述低功耗状态。
  5. 根据权利要求1-3任一项所述的方法，其特征在于，所述电池进入低功耗状态，包括：
    所述电池停止向所述无人机供电。
  6. 根据权利要求2所述的方法，其特征在于，所述第一事件包括：
    所述电池的按键被按下。
  7. 根据权利要求1所述的方法，其特征在于，该方法还包括：
    接收预设时间指示，所述预设时间指示包括所述第一预设时间；
    根据所述预设时间指示确定所述第一预设时间。
  8. 根据权利要求1所述的方法，其特征在于，还包括：
    根据所述无人机的性能参数确定所述第一预设时间。
  9. 一种无人机电池保护装置，其特征在于，包括：
    检测模块，所述检测模块用于当无人机的电池开始运行启动装载Bootloader，开启第一定时器；
    处理模块，所述处理模块用于若所述第一定时器到达第一预设时间时所述电池仍运行所述Bootloader，所述电池进入低功耗状态。
  10. 一种存储介质，其上存储有计算机程序，其特征在于，
    所述计算机程序被处理器执行时实现权利要求1-8任一项所述的无人机电池保护方法。
  11. 一种无人机，其特征在于，包括：
    机身；
    机臂，与所述机身相连；
    动力装置，设于所述机臂，用于给所述无人机提供飞行的动力；
    处理器，设于所述机身；以及，
    存储器，用于存储所述处理器的可执行指令；
    其中，所述处理器配置为经由执行所述可执行指令来执行权利要求1-8任一项所述的无人机电池保护方法。
PCT/CN2019/089225 2018-06-01 2019-05-30 无人机电池保护方法、装置及存储介质 Ceased WO2019228445A1 (zh)

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