WO2019228446A1 - 无人机电池信息记录方法、装置及存储介质 - Google Patents

无人机电池信息记录方法、装置及存储介质 Download PDF

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Publication number
WO2019228446A1
WO2019228446A1 PCT/CN2019/089229 CN2019089229W WO2019228446A1 WO 2019228446 A1 WO2019228446 A1 WO 2019228446A1 CN 2019089229 W CN2019089229 W CN 2019089229W WO 2019228446 A1 WO2019228446 A1 WO 2019228446A1
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Prior art keywords
drone
battery
storage space
information
state information
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PCT/CN2019/089229
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English (en)
French (fr)
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刘玉华
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深圳市道通智能航空技术有限公司
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Publication of WO2019228446A1 publication Critical patent/WO2019228446A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/30—Monitoring
    • G06F11/34—Recording or statistical evaluation of computer activity, e.g. of down time, of input/output operation ; Recording or statistical evaluation of user activity, e.g. usability assessment
    • G06F11/3466—Performance evaluation by tracing or monitoring
    • G06F11/3476—Data logging
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/26—Power supply means, e.g. regulation thereof
    • G06F1/28—Supervision thereof, e.g. detecting power-supply failure by out of limits supervision

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  • the present invention relates to the technical field of drones, and in particular, to a method, a device, and a storage medium for recording information of a drone battery.
  • military aircraft and civil aviation aircraft carry black boxes during the flight, that is, flight data recorders. It is used to record various important data of the aircraft in flight, so that when the aircraft has an accident, it can analyze the situation of the aircraft at the time, which is convenient for the accident investigation and on-site restoration.
  • UAVs also have data recording methods similar to aircraft black boxes.
  • the drone records various states of the drone in real time through a flight control integrated circuit (IC) chip, generates a log file, and stores the log file in a Secure Digital Memory (SD) card.
  • IC flight control integrated circuit
  • SD Secure Digital Memory
  • the related staff can analyze the status of the drone through the drone operation log file recorded in the SD card.
  • the existing technology since the log files of the drone are acquired by the flight control IC chip and recorded in the SD card, when the battery of the drone fails, the flight control IC chip and the SD card cannot work normally due to power failure, and then Will cause the log file to be saved normally. Once an abnormality occurs for investigation, the related staff cannot determine the failure of the drone battery based on the log file. Therefore, in the prior art, the recording mode of the drone status cannot cover all abnormal situations, and in particular, the efficiency of the drone battery information recording is low.
  • the invention provides a UAV battery information recording method, device and storage medium, which makes the UAV state recording more comprehensive and improves the UAV battery information recording efficiency.
  • a first aspect of the present invention provides a method for recording information of a drone battery, including:
  • the first status information includes battery information of the drone
  • the first state information is stored in a first storage space, and when the drone is in an abnormal state, a battery of the drone keeps supplying power to the first storage space.
  • the first storage space is a flash memory in a main control integrated circuit IC chip of the battery.
  • the abnormal state includes at least one of the following:
  • the flight control IC chip of the drone is abnormal, the flight control IC chip of the drone is powered off, the battery charging process of the drone is abnormal, and the battery storage process of the drone is abnormal.
  • the first state information further includes an index number, wherein the index number is used to identify the first state information.
  • the method further includes:
  • An index number of the first state information is determined according to an index number of the second state information stored in the first storage space last time.
  • the method further includes:
  • An index number of the second state information is obtained from a second storage space, where the second storage space is a random access memory RAM in a main control IC chip of the battery.
  • the method further includes:
  • the storing the first state information in a first storage space includes:
  • the acquiring the first state information of the drone includes:
  • the first state information of the drone is acquired every first preset time interval.
  • the drone battery information recording method provided in the first aspect of the present application, after acquiring the first status information including the drone battery information, the first status information is stored in the first storage space.
  • the battery of the drone maintains normal power supply to the first storage space when the drone is in an abnormal state.
  • the drone battery recording method provided in the first aspect of the present application enables the abnormality caused by the battery of the drone to be recorded, thereby making the recording of the status of the drone more comprehensive and improving the recording of the battery information of the drone. effectiveness.
  • a second aspect of the present invention provides a drone battery recording device, including:
  • An acquisition module configured to acquire first status information of the drone, where the first status information includes battery information of the drone;
  • a storage module configured to store the first state information in a first storage space, wherein when the drone is in an abnormal state, a battery of the drone keeps storing the first storage Space powered.
  • the first storage space is a flash memory Flash in a main control integrated circuit IC chip of the battery.
  • the abnormal state includes at least one or more of the following:
  • the flight control IC chip of the drone is abnormal, the flight control IC chip of the drone is powered off, the battery charging process of the drone is abnormal, and the battery storage process of the drone is abnormal.
  • the first state information further includes an index number, and the index number is used to identify the first state information.
  • the obtaining module is further configured to:
  • An index number of the first state information is determined according to an index number of the second state information stored in the first storage space last time.
  • the obtaining module is specifically configured to:
  • An index number of the second state information is obtained from a second storage space, where the second storage space is a random access memory RAM in a main control IC chip of the battery.
  • the obtaining module is further configured to determine whether the index number of the second status information is reliable, and if it is not reliable, traverse all status information stored in the first storage space The index number of the second status information.
  • the storage module is specifically configured to, if the amount of status information stored in the first storage space is greater than a preset threshold, determine the first stored in the first storage space.
  • the acquiring module is specifically configured to acquire the first state information of the drone, including:
  • the first state information of the drone is acquired every first preset time interval.
  • the drone battery information recording device provided in the second aspect of the present application, after obtaining the first status information including the drone battery information through the acquisition module, the first status information is stored in the first storage space through the storage module. in. Among them, the battery of the drone maintains normal power supply to the first storage space when the drone is in an abnormal state.
  • the drone battery recording device provided in the second aspect of the present application enables the abnormality caused by the battery of the drone to be recorded, thereby making the recording of the status of the drone more comprehensive and improving the recording of the battery information of the drone. effectiveness.
  • the present invention provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the drone battery information recording method according to any one of the first aspects of the present application is implemented.
  • 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 information recording 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 information recording method according to the present invention
  • FIG. 2 is a schematic flowchart of a second embodiment of a method for recording battery information of a drone according to the present invention
  • FIG. 3 is a schematic structural diagram of a first embodiment of a drone battery information recording device according to the present invention.
  • FIG. 1 is a schematic flowchart of a first embodiment of a method for recording battery information of a drone according to the present invention. As shown in FIG. 1, the drone battery information recording method provided in this embodiment includes:
  • S101 Acquire first status information of the drone, where the first status information includes battery information of the drone.
  • 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 state of the drone is obtained by real-time monitoring to obtain the state of the drone, and the first state information includes at least battery information of the drone.
  • the battery information of the drone may include, for example, battery-related parameters such as battery power, battery power, battery temperature, and temperature of the battery main control IC chip.
  • the first status information in this step may include only the battery information of the drone, or the first status information may include other status information of the drone in addition to the battery information of the drone, such as flight status, Environmental status and status information of the hardware of the drone.
  • step S101 may specifically include: acquiring first state information of the drone every first preset time interval.
  • the first preset time can also be based on the status of the drone or accept the user's setting. For example, when the drone is in the flight state, the status information of the drone is obtained every 1 second; when the drone is in the stationary state, the status information of the drone is obtained every 2 seconds. Or, when the battery level of the drone is lower than a fixed value, the status information of the drone is acquired every 5 seconds.
  • S102 Store the first state information to the first storage space, wherein when the drone is in an abnormal state, the battery of the drone keeps supplying power to the first storage space.
  • the first state information including the battery status obtained in S101 is stored in a first storage space, where the first storage space may be set as a storage space that is constantly powered when the drone is abnormal. Therefore, when the drone is in an abnormal state, especially an abnormal state caused by a battery, it can still maintain the power supply to the first storage space even when the drone is powered off, and will include the battery's abnormal traditional first state.
  • the information is written into the first storage space.
  • the first storage space is a flash memory in the main control IC chip of the battery of the drone.
  • the main control IC chip of the drone battery can still maintain the working state when the drone battery is abnormally powered externally, and the flash in the main control IC chip is nonvolatile and will not be lost after power failure.
  • the first state information is stored in the Flash to ensure the reliability and stability of the storage.
  • the first storage space is a space specifically reserved in the Flash in the battery control IC chip for storing status information, and the first storage space is not used for storing other information except status information.
  • the first storage space is an arbitrary space in the flash in the battery control IC chip. Each time the status information needs to be stored, the free space of the flash is judged, the status information is stored in the free space, and the storage location is recorded. For reading.
  • the above-mentioned abnormal state of the drone includes at least one or more of the following: the drone's flight control IC chip is abnormal, the drone's flight control IC chip is powered off, and the drone's battery is charged The process is abnormal and the battery storage process of the drone is abnormal.
  • the drone battery information recording method provided in this embodiment enables the abnormality caused by the battery of the drone to also be recorded, thereby making the recording of the status of the drone more comprehensive and improving the information on the drone battery information. Recording efficiency. Even without a valid reference for the flight control log, there is still data to check.
  • the drone battery information recording method of this embodiment records data that may be related to battery abnormalities in a reliable and stable manner through the flash in the battery control IC chip in the limited storage space of the drone, even if it is When the battery restarts or loses power, the data can be stored stably, providing good data support for problem analysis and troubleshooting, and also providing important support for further ensuring the stability and safety of the battery, thereby ensuring that the drone is in use. Reliability and safety.
  • the flash storage space of the main control IC chip of the drone battery is limited, the space needs to be reasonably allocated and utilized according to demand.
  • the following embodiment proposes a way to store state information in Flash by using a resource-saving way.
  • An index number is first set for each first state information stored in the first storage space.
  • Each state information is provided with an index number for identification and indexing, so that the state information stored in the first storage space can determine the order and time of storage by the index number therein.
  • the first state information index acquired at the first time is 1 and the second state information index acquired at the second time is 2.
  • the method further includes: acquiring the second state information stored in the first storage space last time; and determining an index of the first state information according to an index number of the second state information. number. For example, the latest second status information stored in the first storage space at the third time is obtained as the second status information, and the index number of the second status information is 2. Thus, the index of the second status information is obtained by Add one to determine the index number of the first status information to be 3.
  • a special second storage space may be opened in the first storage space, that is, the random access memory (RAM) of the battery main control IC, for storing the latest stored data in the first storage space.
  • the index number of the status information of a storage space. Then obtaining the index number of the second status information may be implemented by the following steps: obtaining the index number of the second status information from the second storage space.
  • the RAM is volatile during power failure, the data stored in the RAM will be lost after the battery is powered off. If the index number of the second status information in the RAM is obtained at this time, the data recording may be chaotic. Then, in the above embodiment, after obtaining the index number of the second status information, it is also judged whether the index number of the second status information is reliable. If it is not reliable, the index numbers of all status information stored in the first storage space are traversed to confirm Index number of the second status information. The method for determining whether it is reliable can be to store a check code, password, or key in the second storage space. If the acquired data cannot prove that the index number is unreliable through verification or decryption, the first storage is traversed. The index number of all status information in the space. For example, the index numbers of the three status information stored in the first storage space are 2, 3, and 4, respectively. After traversing the three status information, it is determined that the latest index number is 4, and then the index number of the next stored status information is 5.
  • the earliest status information stored therein may be determined according to the index number of the status information stored in the first storage space, and the first status information is stored in the location where the status information is located after the status information is deleted. Wherein, if the quantity of status information stored in the first storage space is greater than a preset threshold, the third status information stored in the first storage space is determined earliest; the first status information is stored in a location where the third status information is located.
  • the first storage space stores three state information with the index numbers of 2, 3, and 4, then after traversing the three state information, it is determined that the index number of the state information stored earlier is 2, and the index number is 2. After the status information is deleted, the latest status information with the index number 5 is stored in the first storage space where the original status information with the index number 2 is located.
  • this embodiment provides a method for recording battery information of an unmanned aerial vehicle.
  • log recording on the battery side, even without a valid reference of the flight control log, data can be checked.
  • this method makes it easier and more reliable to obtain the time sequence of the data record in the acquisition of the log, facilitates data analysis and problem finding, and performs the index number and write address in RAM.
  • Temporary storage and special marks improve the efficiency of program operation and ensure the reliability of log records. Therefore, this method is of great significance for improving the convenience and reliability of UAV battery problem analysis.
  • the drone battery information recording method provided in this embodiment can be described by using TI's MSP430 series ICs used for batteries.
  • the flash needs to be erased before writing, and the minimum unit for erasing is the sector (the sector size is 512 bytes), and the minimum unit for writing is the byte (that is, 1 byte).
  • the log storage space can only be planned with the sector as the smallest unit. If the data to be stored is high in real-time and the data volume is large, then a relatively large number of sectors are used. Storage. If the real-time performance of the data to be stored is not so high and the amount of data is small, then relatively few sectors can be used for storage, so that limited storage resources can be reasonably allocated and utilized.
  • the size of 2 sectors (1K bytes) is allocated to record the battery safety status, and the size of 4 sectors (2K bytes) is used to record data during flight.
  • Battery safety status such as short circuit, over current, etc., occur less frequently.
  • the allocation of 2 sectors is completely sufficient, and the data during flight is updated because of the high frequency and large amount of data. Therefore, 4 sectors are used for comparison. Suitable.
  • the data frame size is a number that is divisible by the sector size.
  • the size is set to 8 bytes (the 8 byte data frame is the first state information in the above embodiment), that is, a sector can hold at least 64 pieces of data.
  • the definition of the data frame format of 8 bytes is shown in Table 1.
  • the first 1 to 2 bytes of each data frame is an index number, which can be expressed in the range of 0 to 65535. It is sufficient for the limited space resources of the MSP430 series.
  • the main function of the index number is to facilitate data search and distinguish data. Sequence of records. Because in the process of log recording, the allocated sectors are repeatedly used, and the allocated sectors will be cyclically erased in order, that is, after all the sectors have been written, they will be erased from the first sector. Write. In this way, if you only look at the data according to the write address, you cannot distinguish the sequence of data write, which is not easy to analyze and use. Therefore, the function of index number will be added to better distinguish the data in time.
  • the index number of each piece of data is incremented by 1 based on the index number of the previous data frame in the order of the write address, so that after reading the data record, it can be sorted according to the size of the index number.
  • the largest index number indicates the latest The data.
  • the total length of time can also be used to know which data record occurred at which point in time, making the analysis of the data more convenient and more referable.
  • FIG. 2 is a schematic flowchart of a second embodiment of a drone battery information recording method according to the present invention.
  • the embodiment shown in FIG. 2 combines the methods in the foregoing embodiments.
  • Addr indicates the address where the battery information is stored in RAM
  • Index indicates the index number of the latest written battery information stored in RAM
  • the parameter M is added to determine whether the obtained index number is reliable.
  • M indicates the Special mark
  • S is the index number
  • Addr_Start indicates the start address of the allocated record area
  • Addr_End indicates the end address of the allocated record area.
  • the drone when the drone records the battery information, it acquires the parameter M, the address Addr storing the battery information, and the address Index storing the index number. Due to the volatile nature of the RAM, it is necessary to determine whether the parameter M is reliable. If it is determined that M can reliably believe that the obtained address is available, record the 8-byte drone battery information at the address indicated by Addr, then add the address indicated by Addr +8 and the index number Index + 1 indicated by Index Index, according to the updated Addr Parameter M is updated with Index for subsequent judgment. If it is determined that M is unreliable, the obtained address is considered to be unavailable. It is necessary to traverse all sectors that may store battery information, determine the Addr and Index of the latest recorded battery information, and update M.
  • Addr is placed at the beginning of the allocated area space for storing the battery information, and the information of the sector where the Addr address is located is erased, and the latest information is recorded in Within the erased sector. If it is determined that Addr is less than Addr_End, it means that the allocated area space for storing battery information is not full, and new battery information can be directly stored.
  • Addr can be directly divided by 512 at this time, it means that the amount of data stored is just at the boundary of the sector. At this time, the previously stored information in this sector must also be erased, and the new information should be recorded in the erased Within the sector.
  • FIG. 3 is a schematic structural diagram of a first embodiment of a drone battery information recording device according to the present invention.
  • the drone battery information recording device provided in this embodiment includes an acquisition module 301 and a storage module 302.
  • the acquisition module 301 is configured to acquire the first status information of the drone, and the first status information includes the battery information of the drone;
  • the storage module 302 is configured to store the first status information in the first storage space.
  • the battery of the drone keeps supplying power to the first storage space.
  • the drone battery information recording device provided in this embodiment may be used to execute the drone battery information recording method shown in FIG. 1.
  • the implementation manner and the principle are the same, and details are not described again.
  • the first storage space is a flash memory Flash in a main control integrated circuit IC chip of the battery.
  • the abnormal state includes at least one or more of the following: the drone flight control IC chip is abnormal, the drone flight control IC chip is powered off, and the drone battery charging process Abnormal and abnormal battery storage process of drone.
  • the first state information further includes an index number, and the index number is used to identify the first state information.
  • the obtaining module 301 is further configured to obtain the second status information that was stored in the first storage space last time;
  • the index number of the first state information is determined according to the index number of the second state information.
  • the obtaining module 301 is specifically configured to obtain an index number of the second status information from the second storage space, where the second storage space is a RAM of a main control IC chip of the battery;
  • the second status information is determined according to the index number of the second status information.
  • the obtaining module 301 is specifically configured to determine whether the index number of the second status information is reliable. If it is not reliable, it traverses the index numbers of all status information stored in the first storage space to confirm the first Index number of the second status information.
  • the storage module 302 is specifically configured to determine the third status information stored in the first storage space at the earliest if the amount of status information stored in the first storage space is greater than a preset threshold;
  • the first state information is stored in a position where the third state information is located.
  • the obtaining module is specifically configured to obtain first state information of the drone every first preset time interval.
  • the drone battery information recording device provided in this embodiment is used to implement the foregoing drone battery information recording method.
  • the implementation manner and the principle are the same, 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 recording a drone battery information according to any one of the embodiments of the claims is implemented.
  • the invention also provides an unmanned aerial vehicle, comprising: a fuselage, a boom connected to the fuselage, a power unit provided on the boom, a processor provided on the fuselage, and a storage processor Executable instruction memory.
  • the power unit includes a motor provided on the arm and a propeller driven by the motor, and the power unit is used to provide flying power for the UAV.
  • the processor is configured to execute the drone battery information recording method of any of the above-mentioned embodiments via 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 UAV battery information recording method is described in detail below.
  • 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 may 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 information recording method provided by the foregoing various embodiments.
  • a person of ordinary skill in the art may understand that all or part of the steps of implementing the foregoing method embodiments may be implemented by a program instructing related hardware.
  • the aforementioned program may be stored in a computer-readable storage medium.
  • the steps including the foregoing method embodiments are performed; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disc.

Abstract

一种无人机电池信息记录方法、装置及存储介质。其中方法包括：获取包括无人机电池信息的第一状态信息后（S101），将第一状态信息存储至第一存储空间中，其中，无人机的电池在无人机处于异常状态时保持对第一存储空间的正常供电（S102）。该无人机电池信息记录方法、装置及存储介质，使得无人机由电池引起的异常也能够被记录，从而使得对无人机状态的记录更加全面，提高了对无人机电池信息的记录效率。

Description

无人机电池信息记录方法、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201810559304X，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信息记录方法、装置及存储介质。
背景技术
目前，军用飞机以及民航飞机在飞行过程中都会携带黑匣子，即飞行数据记录仪。用于记录飞机在飞行中的各种重要数据，以便在飞机出现事故时能对飞机当时出现问题的情况进行分析，便于事故追查和现场还原。
现有技术中，无人机也存在类似飞机黑匣子的数据记录方式。具体地，无人机通过飞行控制集成电路(Integrated Circuit，IC)芯片实时记录无人机运行时的各种状态，生成日志文件并将日志文件存储到安全数码(Secure Digital Memory，SD)卡中。当无人机出现异常时，相关工作人员可以通过SD卡中记录的无人机运行日志文件对无人机的状态进行分析。
采用现有技术，由于无人机的日志文件是飞行控制IC芯片获取并记录在SD卡中，当无人机的电池出现故障，飞行控制IC芯片和SD卡因掉电而无法正常工作，进而会导致日志文件无法正常保存。一旦出现异常进行排查时，相关工作人员无法根据日志文件确定无人机电池的故障。因此，现有技术中对于无人机状态的记录方式并不能覆盖所有异常情况，尤其对无人机电池信息记录的效率较低。
发明内容
本发明提供一种无人机电池信息记录方法、装置及存储介质，使得对 无人机状态的记录更为全面，提高了对无人机电池信息的记录效率。
本发明第一方面提供一种无人机电池信息记录方法，包括：
获取无人机的第一状态信息，其中，所述第一状态信息包括所述无人机的电池信息；
将所述第一状态信息存储至第一存储空间，其中，当所述无人机处于异常状态时，所述无人机的电池保持对所述第一存储空间供电。
在本发明第一方面一实施例中，所述第一存储空间为所述电池的主控集成电路IC芯片内的闪存Flash。
在本发明第一方面一实施例中，所述异常状态至少包括以下中的至少一种：
所述无人机的飞行控制IC芯片异常、所述无人机的飞行控制IC芯片掉电、所述无人机的电池充电过程异常和所述无人机的电池仓储过程异常。
在本发明第一方面一实施例中，所述第一状态信息还包括索引号，其中，所述索引号用于标识所述第一状态信息。
在本发明第一方面一实施例中，该方法还包括：
获取上一次存入所述第一存储空间的第二状态信息；
根据上一次存入所述第一存储空间的第二状态信息的索引号，确定所述第一状态信息的索引号。
在本发明第一方面一实施例中，该方法还包括：
从第二存储空间中获取所述第二状态信息的索引号，其中，所述第二存储空间为所述电池的主控IC芯片内的随机存取存储器RAM。
在本发明第一方面一实施例中，该方法还包括：
判断所述第二状态信息的索引号是否可靠，若不可靠，则遍历所述第一存储空间中存储的所有状态信息的索引号，确认所述第二状态信息的索引号。
在本发明第一方面一实施例中，所述将所述第一状态信息存储至第一存储空间，包括：
若所述第一存储空间中存储的状态信息的数量大于预设阈值，确定最早存入所述第一存储空间的第三状态信息；
将所述第一状态信息存入所述第三状态信息所在的位置。
在本发明第一方面一实施例中，所述获取无人机的第一状态信息，包括：
每间隔第一预设时间获取所述无人机的第一状态信息。
综上，本申请第一方面提供的无人机电池信息记录方法中，获取包括无人机电池信息的第一状态信息后，将第一状态信息存储至第一存储空间中。其中，无人机的电池在无人机处于异常状态时保持对第一存储空间的正常供电。本申请第一方面提供的无人机电池记录方法，使得无人机由电池引起的异常也能够被记录，从而使得对无人机状态的记录更加全面，提高了对无人机电池信息的记录效率。
本发明第二方面提供一种无人机电池记录装置，包括：
获取模块，所述获取模块用于获取无人机的第一状态信息，所述第一状态信息包括所述无人机的电池信息；
存储模块，所述存储模块用于将所述第一状态信息存储至第一存储空间，其中，当所述无人机处于异常状态时，所述无人机的电池保持对所述第一存储空间供电。
在本发明第二方面一实施例中，所述第一存储空间为所述电池的主控集成电路IC芯片内的闪存Flash。
在本发明第二方面一实施例中，所述异常状态至少包括以下的一种或多种：
所述无人机的飞行控制IC芯片异常、所述无人机的飞行控制IC芯片掉电、所述无人机的电池充电过程异常和所述无人机的电池仓储过程异常。
在本发明第二方面一实施例中，所述第一状态信息还包括索引号，所述索引号用于标识所述第一状态信息。
在本发明第二方面一实施例中，所述获取模块还用于，
根据上一次存入所述第一存储空间的第二状态信息的索引号确定所述第一状态信息的索引号。
在本发明第二方面一实施例中，所述获取模块具体用于，
从第二存储空间中获取所述第二状态信息的索引号，其中，所述第二存储空间为所述电池的主控IC芯片内的随机存取存储器RAM。
在本发明第二方面一实施例中，所述获取模块还用于，判断所述第二状态信息的索引号是否可靠，若不可靠，则遍历所述第一存储空间中存储的所有状态信息的索引号，确认所述第二状态信息的索引号。
在本发明第二方面一实施例中，所述存储模块具体用于，若所述第一存储空间中存储的状态信息的数量大于预设阈值，确定最早存入所述第一存储空间的第三状态信息；
将所述第一状态信息存入所述第三状态信息所在的位置。
在本发明第二方面一实施例中，所述获取模块具体用于，所述获取无人机的第一状态信息，包括：
每间隔第一预设时间获取所述无人机的第一状态信息。
综上，本申请第二方面提供的无人机电池信息记录装置中，通过获取模块获取包括无人机电池信息的第一状态信息后，通过存储模块将第一状态信息存储至第一存储空间中。其中，无人机的电池在无人机处于异常状态时保持对第一存储空间的正常供电。本申请第二方面提供的无人机电池记录装置，使得无人机由电池引起的异常也能够被记录，从而使得对无人机状态的记录更加全面，提高了对无人机电池信息的记录效率。
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信息记录方法。
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信息记录方法。
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信息记录方法实施例一的流程示意图；
图2为本发明无人机电池信息记录方法实施例二的流程示意图；
图3为本发明无人机电池信息记录装置实施例一的结构示意图。
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信息记录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信息记录方法包括：
S101：获取无人机的第一状态信息，第一状态信息包括无人机的电池信息。
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，实时监测获取无人机状态得到无人机的第一状态信息，第一状态信息至少包括无人机的电池信息。无人机的电池信息可以包括例如：电池电量、电池功率、电池温度、电池主控IC芯片的温度等电池相关的参数。可选地，本步骤中的第一状态信息可以仅包括无人机的电池信息，或者，第一状态信息除了无人机的电池信息还包括无人机的其他状态信息，例如：飞行状态、环境状态和无人机各硬件的状态信息。
可选地，步骤S101具体可以包括：每间隔第一预设时间获取无人机的第一状态信息。并且第一预设时间也可以根据无人机的状态或者接受用户的设置。例如：在无人机处于飞行状态时，每隔1秒获取一次无人机的状态信息；在无人机处于静止状态时，每隔2秒获取一次无人机的状态信息。或者，当无人机的电池电量低于固定值时，每隔5秒获取一次无人机的状态信息。
S102：将第一状态信息存储至第一存储空间，其中，当无人机处于异常状态时，无人机的电池保持对第一存储空间供电。
具体地，在S102中，将S101中获取的包含电池状态的第一状态信息存储至第一存储空间内，其中，第一存储空间可以设置为无人机异常时不断电的存储空间。因此，在无人机处于异常状态尤其是电池导致的异常状态时，还是能够在即使无人机掉电的情况下，保持对第一存储空间的供电，并将包含电池异常传统的第一状态信息写入第一存储空间内。
例如：第一存储空间为无人机的电池的主控IC芯片内的闪存Flash。其中，由于无人机电池的主控IC芯片在无人机电池对外供电异常时，仍然能够保持得电的工作状态，并且由于主控IC芯片内的Flash具有掉电不丢失的非易失性，将第一状态信息存储至Flash内可保证存储的可靠与稳定。
可选地，第一存储空间为电池主控IC芯片内的Flash中专门开辟出用于存储状态信息的空间，该第一存储空间不用于存储除了状态信息之外的其他信息。或者，第一存储空间为电池主控IC芯片内的Flash中的任意空 间，在每次需要存储状态信息时对Flash的空闲空间进行判断，将状态信息存入该空闲空间，并记录存储的位置以供读取。
可选地，上述的无人机出现的异常状态至少包括以下的一种或多种：无人机的飞行控制IC芯片异常、无人机的飞行控制IC芯片掉电、无人机的电池充电过程异常和无人机的电池仓储过程异常。
综上，本实施例提供的无人机电池信息记录方法使得无人机由电池引起的异常也能够被记录，从而使得对无人机状态的记录更加全面，提高了对无人机电池信息的记录效率。即使没有飞控日志的有效参考，也能有数据可查。
同时，本实施例的无人机电池信息记录方法在无人机有限的存储空间内，通过电池主控IC芯片内的Flash将可能与电池异常有关的数据通过可靠稳定的方式记录下来，即使是电池发生重启或者掉电也可以将数据稳定的保存，对问题的分析和排查提供良好的数据支持，也为进一步保证电池的稳定性和安全性提供重要的支撑，进而保证无人机在使用中的可靠性和安全性。
进一步地，在上述实施例中，由于无人机电池的主控IC芯片的Flash的存储空间有限，需要根据需求合理分配和利用空间。以下实施例提出一种采用节省资源的方式，在Flash中存储状态信息的方式。
其中，为每个存入第一存储空间的第一状态信息首先设置索引号。每个状态信息均设置用于标识及索引的索引号，使得存入第一存储空间的状态信息都能够通过其中的索引号确定存入的顺序及时间。例如：在第一时间获取的第一状态信息索引号为1，在第二时间获取的第二状态信息索引号为2。
进一步地，在S101获取无人机的第一状态信息之前，还包括：获取上一次存入第一存储空间的第二状态信息；并根据第二状态信息的索引号确定第一状态信息的索引号。例如：在第三时间获取最新的上一次存入第一存储空间的第二状态信息为第二状态信息，并得到第二状态信息的索引号为2，由此通过将第二状态信息的索引号加一，确定第一状态信息的索引号为3。
可选地，在上述实施例中，可以在第一存储空间即电池主控IC的随 机存取存储器(Random access memory，RAM)中开辟一专门的第二存储空间，用于存储最新存入第一存储空间的状态信息的索引号。则获取第二状态信息的索引号可以通过如下步骤实现：从第二存储空间中获取第二状态信息的索引号。
但是，由于RAM具有掉电易失性，当电池掉电后RAM中存储的数据将丢失，如果此时获取RAM中的第二状态信息的索引号会导致数据记录混乱。则在上述实施例中，获取第二状态信息的索引号之后，还判断第二状态信息的索引号是否可靠，若不可靠，则遍历第一存储空间中存储的所有状态信息的索引号，确认第二状态信息的索引号。其中，判断是否可靠的方式可以通过在第二存储空间中存入校验码、密码或密钥的方式，如果获取的数据不能通过校验或解密证明该索引号不可靠，则遍历第一存储空间中的所有状态信息的索引号。例如：第一存储空间存储有三个状态信息的索引号分别为2，3，4，则遍历三个状态信息后确定最新的索引号为4，进而确定下一个存入的状态信息的索引号为5。
进一步地，在上述实施例中，由于第一存储空间的资源有限，在将第一状态信息存入第一存储空间时，需要覆盖之前的状态信息。具体地，可以根据第一存储空间中存储的状态信息的索引号确定最早存入其中的状态信息，并将该状态信息删除后将第一状态信息存入该状态信息所在的位置。其中，若第一存储空间中存储的状态信息的数量大于预设阈值，确定最早存入第一存储空间的第三状态信息；将第一状态信息存入第三状态信息所在的位置。例如：第一存储空间存储有三个状态信息的索引号分别为2，3，4，则遍历三个状态信息后确定早存入其中的状态信息的索引号为2，则将索引号为2的状态信息删除后，将索引号为5的最新的状态信息存入第一存储空间中原索引号为2的状态信息所在的位置。
综上，本实施例提供一种无人机电池信息记录方法中，通过在电池端进行日志记录，即使没有飞控日志的有效参考，也能有数据可查。同时，本方法通过在数据记录时加入索引号，使得在日志的获取上可以更加便捷可靠的得到数据记录的时间顺序，便于数据分析和问题查找，并且针对索引号和写入地址在RAM中进行暂存和特殊标记，提高了程序运行效率，也保证了日志记录的可靠性。所以，本方法对于提高无人机电池问题分析 的便捷性和可靠性方面有着重要的意义。
具体地，本实施例提供的无人机电池信息记录方法，可以以电池所用到的TI的MSP430系列IC进行说明。
其中，对于MSP430系列IC而言，其Flash需要先擦除再写入，而擦除的最小单位为扇区(扇区大小为512bytes)，写入的最小单位为字节(即1bytes)，考虑到这一特性，为了便于操作，日志的存储空间只能以扇区为最小单位来进行规划，如果需要存储的数据实时性较高，数据量较大，那么就采用相对较多的扇区来存储，如果所需存储的数据实时性要求不那么高，数据量较小，那么就可以采用相对较少的扇区来进行存储，使得有限的存储资源得到合理的分配利用。例如，对电池的安全状态和飞行时数据进行记录，就分配2个扇区(1K bytes)的大小来记录电池安全状态，用4个扇区(2K bytes)的大小来记录飞行时的数据，电池安全状态例如短路、过流等等，这些情况发生的较少，2个扇区的分配完全够用，而飞行时的数据，因为更新频率高，数据量大，因此采用4个扇区比较合适。
也因为资源有限，本方法会尽可能的压缩数据存储所占的空间，同时也保证存储空间的完整利用，因此数据帧大小取值为扇区大小能整除的数，将每次存储的数据帧大小定为8bytes(该8bytes大小的数据帧即为上述实施例中的第一状态信息)，即一个扇区至少能保存64条数据。同时，对于8bytes大小的数据帧格式定义如表1所示。
表1
Figure PCTCN2019089229-appb-000001
其中，每一数据帧的第1～2byte为索引号，可表示的范围为0～65535，对于MSP430系列有限的空间资源来说已足够使用，索引号主要的作用是便于数据查找，便于区分数据记录的先后顺序。因为在日志记录的过程中，反复利用所分配的扇区，所分配的扇区会被按照顺序循环擦写，即当所有的扇区都写完了以后，又会从第一个扇区开始擦写，这样，如果仅仅按照写入地址来看数据的话，无法区分数据写入的先后，不便于分析使用，所以会加入索引号的功能，来更好的对数据在时间上做出区分。
每条数据的索引号会按照写入地址的顺序在上一个数据帧索引号的 基础上累加1，这样在读出数据记录后就可以按照索引号的大小来进行排序，最大的索引号表示最新的数据。当索引号根据定时器来更新时，还可以比较精确的统计数据记录的准确时间，例如在飞行的时候，电池每1s更新一次索引号，并记录下相关飞行数据，这样不仅能读出电池飞行的总时长，还能知道哪一次的数据记录发生在哪个时间点，使得数据的分析更加的便捷，可参考性更强。
但对于数据的累加记录上，还存在一个问题，就是每次写入一条新数据，必须要知道之前上一条写入的地址是多少，才能在它的基础上累计记录，但如果每次都对所有扇区进行索引，来读出最大的索引号，从而判断之前写入的地址是多少，工作效率不高，那么考虑每次记录的时候把最新写入地址在RAM中用一个变量存储起来，这样每次读取和更新这个变量就好，但是如果万一电池保护板因为某些情况，完全掉电，那么这个变量的值就会丢失，再读取这个变量的值就会不可靠，会导致数据记录混乱。因此，为了解决这个问题，需要引入一个合理的方法来存取写入地址，在RAM中分配一个专用的区域，来存储最新的写入地址，并在该区域上标记上跟写入地址动态相关的特殊值(如果发生掉电，该区域会是随机值)，每次读取特殊值查看可靠性，该写入地址可靠则直接使用，如果不可靠那么遍历一次该日志所有扇区，获取到最新的索引号并读取到最新的写入地址，再次写入该RAM区域，同时更新特殊值标记。这样在大部分情况下只需要从RAM区域中直接获取最新的写入地址，万一该地址不可靠时，只需要遍历一次该日志所有扇区，就可以得到最新的写入地址。提高代码效率的同时保证数据写入的可靠性。
可选地，图2为本发明无人机电池信息记录方法实施例二的流程示意图。如图2所示的实施例中结合了上述各实施例中的方法。其中Addr表示RAM中存储写入电池信息的地址，Index表示RAM中存储的最新写入的电池信息的索引号，通过加入参数M来确定所获取的索引号是否可靠，以M表示RAM区域中的特殊标记，S为索引号，Addr_Start表示所分配记录区域的起始地址，Addr_End表示所分配记录区域的结束地址。
具体地，无人机在电池信息记录时，获取参数M、存储电池信息的地址Addr和存储索引号的地址Index。由于RAM的易失性，需要判断参数 M是否可靠。若判断M可靠认为获取的地址可用，将8bytes的无人机电池信息记录在Addr指示的地址后，将Addr指示的地址+8并将索引Index指示的索引号Index+1，根据更新后的Addr和Index更新参数M以备后续判断。而若判断M不可靠则认为获取的地址不可用，需要遍历所有可能存储电池信息的扇区，确定最新记录的电池信息的Addr、Index并更新M。当判断M可靠并记录最新的电池信息后，若记录后的Addr大于Addr_End，即分配的用于存储电池信息的区域空间小于8byte而不够存储下一个大小为8bytes的数据帧(该8bytes大小的数据帧即为上述实施例中的第一状态信息)，则将Addr置于分配的用于存储电池信息的区域空间的起点处，并擦除Addr地址所在扇区的信息，将最新的信息记录在被擦除的扇区内。而若判断Addr小于Addr_End，说明被分配的用于存储电池信息的区域空间尚未用满，可以直接存入新的电池信息。此外，若此时Addr可以直接被512整除，说明到存储的数据量刚好扇区的边界，此时也需擦除该扇区内原先存储的信息，并将新的信息记录在被擦除的扇区内。
图3为本发明无人机电池信息记录装置实施例一的结构示意图。如图3所示，本实施例提供的无人机电池信息记录装置包括：获取模块301和存储模块302。其中，获取模块301用于获取无人机的第一状态信息，第一状态信息包括无人机的电池信息；存储模块302用于将第一状态信息存储至第一存储空间，其中，当无人机处于异常状态时，无人机的电池保持对第一存储空间供电。
本实施例提供的无人机电池信息记录装置可用于执行图1所示的无人机电池信息记录方法，其实现方式与原理相同，不再赘述。
可选地，在上述实施例中，第一存储空间为电池的主控集成电路IC芯片内的闪存Flash。
可选地，在上述实施例中，异常状态至少包括以下的一种或多种：无人机的飞行控制IC芯片异常、无人机的飞行控制IC芯片掉电、无人机的电池充电过程异常和无人机的电池仓储过程异常。
可选地，在上述实施例中，第一状态信息还包括索引号，索引号用于标识第一状态信息。
可选地，在上述实施例中，获取模块301还用于获取上一次存入第一 存储空间的第二状态信息；
根据第二状态信息的索引号确定第一状态信息的索引号。
可选地，在上述实施例中，获取模块301具体用于，从第二存储空间中获取第二状态信息的索引号，其中，第二存储空间为电池的主控IC芯片的RAM；
根据第二状态信息的索引号确定第二状态信息。
可选地，在上述实施例中，获取模块301具体用于，判断第二状态信息的索引号是否可靠，若不可靠，则遍历第一存储空间中存储的所有状态信息的索引号，确认第二状态信息的索引号。
可选地，在上述实施例中，存储模块302具体用于，若第一存储空间中存储的状态信息的数量大于预设阈值，确定最早存入第一存储空间的第三状态信息；
将第一状态信息存入第三状态信息所在的位置。
可选地，在上述实施例中，所述获取模块具体用于，每间隔第一预设时间获取无人机的第一状态信息。
本实施例提供的无人机电池信息记录装置，用于实现前述无人机电池信息记录方法，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信息记录方法。
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、设于所述机身的处理器以及用于存储处理器的可执行指令存储器。动力装置包括设于机臂的电机和由电机驱动旋转的螺旋桨，动力装置用于给所述无人机提供飞行的动力。
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信息记录方法。
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信息记录方法。
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信息记录方法。
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。
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 (12)

  1. 一种无人机电池信息记录方法，其特征在于，包括：
    获取无人机的第一状态信息，其中，所述第一状态信息包括所述无人机的电池信息；
    将所述第一状态信息存储至第一存储空间，其中，当所述无人机处于异常状态时，所述无人机的电池保持对所述第一存储空间供电。
  2. 根据权利要求1所述的方法，其特征在于，
    所述第一存储空间为所述电池的主控集成电路IC芯片内的闪存Flash。
  3. 根据权利要求2所述的方法，其特征在于，所述异常状态至少包括以下中的至少一种：
    所述无人机的飞行控制IC芯片异常、所述无人机的飞行控制IC芯片掉电、所述无人机的电池充电过程异常和所述无人机的电池仓储过程异常。
  4. 根据权利要求2或3所述的方法，其特征在于，
    所述第一状态信息还包括索引号，其中，所述索引号用于标识所述第一状态信息。
  5. 根据权利要求4所述的方法，其特征在于，该方法还包括：
    获取上一次存入所述第一存储空间的第二状态信息；
    根据上一次存入所述第一存储空间的第二状态信息的索引号，确定所述第一状态信息的索引号。
  6. 根据权利要求5所述的方法，其特征在于，该方法还包括：
    从第二存储空间中获取所述第二状态信息的索引号，其中，所述第二存储空间为所述电池的主控IC芯片内的随机存取存储器RAM。
  7. 根据权利要求6所述的方法，其特征在于，该方法还包括：
    判断所述第二状态信息的索引号是否可靠；
    若不可靠，则遍历所述第一存储空间中存储的所有状态信息的索引号，确认所述第二状态信息的索引号。
  8. 根据权利要求4-7任一项所述的方法，其特征在于，所述将所述第一状态信息存储至第一存储空间，包括：
    若所述第一存储空间中存储的状态信息的数量大于预设阈值，确定最早存入所述第一存储空间的第三状态信息；
    将所述第一状态信息存入所述第三状态信息所在的位置。
  9. 根据权利要求1所述的方法，其特征在于，所述获取无人机的第一状态信息，包括：
    每间隔第一预设时间获取所述无人机的第一状态信息。
  10. 一种无人机电池信息记录装置，其特征在于，包括：
    获取模块，所述获取模块用于获取无人机的第一状态信息，所述第一状态信息包括所述无人机的电池信息；
    存储模块，所述存储模块用于将所述第一状态信息存储至第一存储空间，其中，当所述无人机处于异常状态时，所述无人机的电池保持对所述第一存储空间供电。
  11. 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1-9任一项所述的无人机电池信息记录方法。
  12. 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1-9任一项所述的无人机电池信息记录方法。
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