WO2020107253A1 - 一种电源控制方法、设备、移动平台及存储介质 - Google Patents

一种电源控制方法、设备、移动平台及存储介质 Download PDF

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Publication number
WO2020107253A1
WO2020107253A1 PCT/CN2018/117886 CN2018117886W WO2020107253A1 WO 2020107253 A1 WO2020107253 A1 WO 2020107253A1 CN 2018117886 W CN2018117886 W CN 2018117886W WO 2020107253 A1 WO2020107253 A1 WO 2020107253A1
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WIPO (PCT)
Prior art keywords
module
power
power supply
mobile platform
instruction
Prior art date
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Ceased
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PCT/CN2018/117886
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English (en)
French (fr)
Inventor
王钧玉
陈汉平
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201880065572.4A priority Critical patent/CN111226372A/zh
Priority to PCT/CN2018/117886 priority patent/WO2020107253A1/zh
Publication of WO2020107253A1 publication Critical patent/WO2020107253A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
    • H02J9/04—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
    • H02J9/04—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 invention relates to the technical field of control, in particular to a power supply control method, equipment, mobile platform and storage medium.
  • Embodiments of the present invention provide a power supply control method, device, mobile platform, and storage medium, which can realize automatic control of a power supply, meet the user's automation and intelligent needs for power supply control, and improve the efficiency and effectiveness of firmware upgrades.
  • an embodiment of the present invention provides a power supply control method, in which the mobile platform includes a power supply module, the power supply module includes a first type power supply module and a second type power supply module, and the method includes:
  • the restart instruction is used to control to shut down the first type power module and then restart the first type power module.
  • an embodiment of the present invention provides a power control device, including a memory and a processor;
  • the memory is used to store program instructions
  • the processor is used to call the program instruction, and when the program instruction is executed, it is used to perform the following operations:
  • the restart instruction is used to control to shut down the first type power module and then restart the first type power module.
  • an embodiment of the present invention provides a mobile platform, including:
  • the power supply module is used to control the power supply of the mobile platform, wherein the power supply module includes a first type power supply module and a second type power supply module;
  • Control module used to upgrade the firmware of the mobile platform
  • a processor configured to detect a current power supply related parameter of the mobile platform when receiving a power off restart instruction; if the power supply related parameter satisfies a power off restart condition, send a shutdown instruction to the second type power module, The shutdown instruction is used to control the shutdown of the second-type power module; if the successful response message returned by the second-type power module in response to the shutdown instruction is received, it is determined that the second-type power module is successfully shut down.
  • the first-type power module sends a restart instruction; wherein, the restart instruction is used to control the first-type power module to be restarted after the first-type power module is turned off.
  • an embodiment of the present invention provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, implements the power supply control method described in the first aspect above.
  • the power supply control device when it receives the power-off restart instruction, if it is detected that the power-supply-related parameter satisfies the power-off restart condition, it may send a shutdown instruction to the second-type power supply module.
  • the second type power module responds to the response success message returned by the shutdown instruction, and may send a restart instruction to the first type power module.
  • FIG. 1 is a schematic flowchart of a power supply control method provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of another power supply control method provided by an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a power supply control device according to an embodiment of the present invention.
  • the power supply control method provided in the embodiment of the present invention may be executed by a mobile platform, and the mobile platform includes a power supply module and a control module.
  • the power supply module includes a first type power supply module and a second type power supply module, wherein the power supply module is used to control the power supply of the mobile platform, and the control module is used to control the power of the mobile platform Firmware upgrade control.
  • the mobile platform may include mobile terminal devices with multiple power supply devices (such as smart batteries) such as drones, unmanned vehicles, and unmanned boats; of course, in other embodiments, all The mobile platform may also be other mobile terminal devices equipped with multiple power supply devices. The following uses a drone with two types of power modules as an example to schematically illustrate the power control method provided by the embodiment of the present invention.
  • the power supply control method provided in the embodiment of the present invention may be executed by a drone, and the drone may include a power supply module and a control module, and the power supply module includes a first type power module and a second type power module.
  • the power supply module is used to control the power supply of the drone (such as a battery restart operation), and the control module is used to control the upgrade of the entire firmware of the drone.
  • the first type power module may be a main power module (such as a main battery), and the second type power module may be an auxiliary power module (such as a secondary battery).
  • the control module of the drone may send a power-off restart instruction to the power supply module, and after receiving the power-off restart instruction sent by the control module of the drone, the power supply module may determine Describe whether the current power supply related parameters of the UAV meet the power-off restart condition.
  • the power supply-related parameters include the module identifier carried by the power-off restart instruction received by the drone; in some embodiments, the power-supply related parameters include the drone reception The data segment carried by the received power-off restart instruction; in some embodiments, the power supply-related parameter includes the current position of the drone; in some embodiments, the power-supply related parameter includes the movement The state of the platform's motor.
  • the power supply module may determine whether the module identifier carried by the power-off restart instruction received by the drone is Match the identifier of the control module that sent the power-off restart command; and determine whether the data segment carried by the power-off restart command received by the drone is consistent with the preset data format; and determine that the unmanned Whether the current position of the machine is on the ground; and judging whether the state of the motor of the mobile platform is in a rotating state. Only when all the four judgment conditions are satisfied, the power supply module of the drone can execute the power-off restart command sent by the control module.
  • the power supply modules of the computer will fail to restart after power failure, which will cause the firmware upgrade to fail.
  • the power off and restart operations of the drone are strictly required in this way to ensure the successful power off and restart of the drone, and to prevent damage to the drone caused by the false trigger operation.
  • the preset data format is a magic number, where the magic number means that the content of a few bytes is fixed (either intentionally filled, or so it is).
  • the data segment carried by the power-off restart command received by the drone that is consistent with the preset data format may include the format shown in Table 1.
  • the power supply module may send a shutdown instruction to the second type power supply module of the power supply module and wait for the second type Answer from the power module. If the power supply module does not receive a response from the second type power module within a preset time range, the power supply module may re-send a shutdown instruction to the second type power module until the second power module is received The successful response information returned by the power supply module of the same type, thereby determining that the power supply module of the second type is successfully turned off.
  • the second type of power module is a No. 2 smart battery (that is, a secondary battery)
  • the power supply module of the drone receives the power-off restart command sent by the control module, and determines that the power supply-related parameters satisfy the power-off Under the restart condition, the power supply module can send a shutdown instruction to the No. 2 smart battery and wait for the No. 2 smart battery's response. If the power supply module does not receive a response from the No. 2 smart battery within a preset time range, it may re-send a shutdown instruction to the No. 2 smart battery until the response returned by the No. 2 smart battery is successfully received Information, it can be determined that the No. 2 smart battery is successfully turned off.
  • the power supply module may send a restart instruction to the first-type power module according to a preset delay time and/or a preset frequency. If the power supply module receives a response success message returned by the first-type power module in response to the restart instruction within a preset time range, it may be determined that the first-type power module restarts successfully.
  • the power supply module may delay 1s to send a restart instruction to the No. 1 smart battery. If the power supply module receives a response success message returned by the smart battery No. 1 in response to the restart instruction within a preset time range, it may be determined that the smart battery No. 1 restarts successfully.
  • the power supply module may send a power-on instruction to the second-type power module, and wait for a response from the second-type power module. If the power supply module does not receive the successful response information returned by the second-type power module within a preset time range, it may re-send a start-up instruction to the second-type power module until the second-type power module is received Message of successful response.
  • the first type power module is a No. 1 smart battery (ie, main battery) and the second type power module is a No. 2 smart battery (ie, secondary battery)
  • the power supply module may send a start-up instruction to the No. 2 smart battery, and wait for a reply from the No. 2 smart battery. If the power supply module does not receive the successful response information returned by the No. 2 smart battery within a preset time range, it may re-send the power-on command to the No. 2 smart battery until the successful response of the No. 2 smart battery is received information.
  • FIG. 1 is a schematic flowchart of a power control method provided by an embodiment of the present invention.
  • the method may be executed by a power control device, where the power control device may be provided on a mobile platform, and the mobile The platform may include a power supply module, and the power supply module may include a first type power module and a second type power module.
  • the method in the embodiment of the present invention includes the following steps.
  • the power supply control device may detect the current power supply related parameter of the mobile platform when receiving the power failure restart instruction.
  • the mobile platform further includes a control module, and the control module is used to upgrade and control the firmware of the mobile platform.
  • the power-off restart instruction is sent by the control module.
  • the power supply-related parameters include the module identifier carried by the power-off restart instruction received by the mobile platform, and the power-supply related parameters include the power-off restart instruction received by the mobile platform And the power supply related parameters include the current position of the mobile platform, and the power supply related parameters include the state of the mobile platform's motor.
  • the power supply control device may receive the power-off restart instruction sent by the control module of the mobile platform, and upon receiving the power-off restart instruction, detect the module identifier carried by the power-off restart instruction, and Detecting the data segment carried by the power-off restart instruction, and detecting the current position of the mobile platform, and detecting the state of the motor of the mobile platform.
  • the control module of the drone may send a power-off restart instruction to the power supply module, and after receiving the power-off restart instruction returned by the control module, the power supply module of the power control device may detect the current status of the drone Power supply related parameters.
  • the power supply control device may send a shutdown instruction to the second type power supply module, at In some embodiments, the shutdown instruction is used to control the shutdown of the second type power module.
  • the power control device may also send a successful response message to the control module of the mobile platform; and, to other modules of the mobile platform Send a power off command.
  • the drone includes a first type power module and a second type power module, wherein the first type power module is a No. 1 smart battery, and the second type The power supply module is a No. 2 smart battery.
  • the power supply control device may control the power supply module to send a successful response message to the control module of the drone
  • the other modules of the UAV send a power-off instruction.
  • the power control device may send a shutdown instruction to the No. 2 smart battery of the drone to control the No. 2 intelligent battery to be turned off.
  • the power control device may determine that the second-type power module has been successfully turned off and send a message to the first type The power module sends a restart command.
  • the restart instruction is used to control to turn off the first-type power module before restarting the first-type power module.
  • the No. 2 smart battery when the No. 2 smart battery turns off the power in response to the shutdown instruction, it may return a response success message to the power control device.
  • the power control device receives the After responding to the success message, it can be determined that the No. 2 smart battery is successfully turned off, and a restart instruction is sent to the No. 1 smart battery to control the No. 1 smart battery to be turned off and then the No. 1 smart battery is restarted.
  • the power control device may send a restart instruction to the first-type power module according to a preset delay time after receiving a successful response message returned by the second-type power module in response to the shutdown instruction.
  • the power control device may send a restart instruction to the first-type power module according to a preset frequency after receiving a successful response message returned by the second-type power module in response to the shutdown instruction.
  • the power control device may send the first type to the first type according to a preset delay time and a preset frequency after receiving a successful response message returned by the second type power module in response to the shutdown instruction
  • the power module sends a restart command.
  • the power supply control device when the power supply control device receives the power-off restart instruction, if it detects that the current power supply-related parameters of the mobile platform meet the power-off restart condition, it may send a shutdown instruction to the second type power module, If the successful response message returned by the second-type power module in response to the shutdown instruction is received, it can be determined that the second-type power module is successfully turned off, and a restart instruction is sent to the first-type power module.
  • the automatic power off and restart operation of the multi-power module mobile platform is realized, which meets the user's need for automation and intelligence of power control, improves the efficiency and effectiveness of firmware upgrade, and improves the user experience.
  • FIG. 2 is a schematic flowchart of another power supply control method provided by an embodiment of the present invention.
  • the method may be executed by a power supply control device, and the specific explanation of the power supply control device is as described above.
  • the difference between the embodiment of the present invention and the embodiment described in FIG. 1 above is that the embodiment of the present invention is a schematic illustration of a detailed implementation process of how to control a power supply according to a restart condition of a breakpoint.
  • S201 When receiving the power-off restart instruction, detect whether the current power supply-related parameters of the mobile platform meet the power-off restart condition.
  • the power supply control device may receive the power-off restart instruction sent by the control module, and upon receiving the power-off restart instruction, detect whether the current power supply-related parameters of the mobile platform meet the power-off restart condition.
  • the power supply-related parameter includes a module identifier carried in the power-off restart instruction received by the mobile platform, and the power control device may receive the power-off restart instruction sent by the control module. Detecting whether the module identifier carried by the power-off restart instruction matches the identifier of the control module that sent the power-off restart instruction, and if the module identifier carried by the power-off restart instruction is detected and the control module Matches the IDs, it can be determined that the power supply-related parameters meet the sub-conditions for module identification in the power-off restart condition.
  • the module identifier carried by the power-off restart instruction is 1, and if the control module identifier is 1, the power supply control device is detecting whether the module identifier carried by the power-off restart instruction is the same as the When the identifiers of the control modules match, it can be detected that the module identifier carried in the power failure restart instruction is 1 and the identifier 1 of the control module matches, and it can be determined that the power supply related parameter meets the power failure restart condition The sub-conditions for module identification in.
  • the power supply-related parameter includes a data segment carried by the power-off restart instruction received by the mobile platform.
  • the power control device may Detecting whether the data segment carried by the power-off restart instruction is consistent with the preset data format, and if the detection result is yes, it can be determined that the power supply-related parameter satisfies the sub-conditions of the data format in the power-off restart condition.
  • the preset data format is a magic number, and the explanation of the magic number is as described above and will not be repeated here.
  • the power control device detects that the data segment carried by the power-off restart command received by the drone is a magic number, it may be determined that the power supply-related parameters meet The sub-condition for the data format in the power-off restart condition.
  • the power supply-related parameters include the current location of the mobile platform
  • the power control device may obtain the current location information of the mobile platform after receiving the power-off restart command sent by the control module And detect whether the current position of the mobile platform is on the ground according to the current position information of the mobile platform. If it is detected that the current position of the mobile platform is on the ground, it may be determined that the power supply-related parameter satisfies the position sub-condition in the power-off restart condition.
  • the power supply-related parameters include the state of the motor of the mobile platform
  • the power control device may detect the power of the motor of the mobile platform after receiving the power-off restart command sent by the control module Whether the state is rotating. If it is detected that the state of the motor of the mobile platform is in the rotating state, it may be determined that the power supply-related parameter satisfies the sub-condition for the motor in the power-off restart condition.
  • the power control device detects that the state of the motor of the drone is rotating after receiving the power-off restart command sent by the control module, it may be It is determined that the power supply-related parameters of the drone satisfy the sub-conditions for the motor in the power-off restart condition.
  • the power control device may determine whether the motor is in the rotating state by detecting the voltage of the mobile platform. If it is detected that the voltage of the mobile platform is greater than a preset threshold, it may be determined that the motor of the mobile platform is in a rotating state.
  • a motor switch that controls the rotation of the motor may be provided on the mobile platform, and when the power control device detects whether the state of the motor of the mobile platform is in the rotating state, it may detect whether the The opening operation of the motor switch determines whether the motor is in a rotating state.
  • the motor switch may include a switch button or a switch button, which is not specifically limited in the embodiment of the present invention.
  • the opening operation for the motor switch may include a pressing operation, a clicking operation, a sliding operation, etc., which is not specifically limited in the embodiments of the present invention.
  • the power supply association can be determined The parameter meets the power-off restart condition.
  • the power control device can control the power supply
  • the module sends a response failure message to the control module in response to the power-off restart instruction.
  • the response failure information is used to instruct the control module to resend the power-off restart instruction.
  • This embodiment of the present invention can avoid damage to the mobile platform due to error-free operation by detecting whether the power supply-related parameter satisfies the power-off restart condition, so as to improve the effectiveness of firmware upgrade.
  • the power control device may send a successful response message to the control module of the mobile platform and send power-off to other modules of the mobile platform instruction. Specific embodiments are as described above, and will not be repeated here.
  • S203 Send a shutdown instruction to the second type power module, where the shutdown instruction is used to control the shutdown of the second type power module.
  • the power control device may send a shutdown instruction to the second-type power module, where the shutdown instruction is used to control the shutdown of the The second type of power module.
  • the power control device may determine that the second-type power module has been successfully turned off and send a message to the first type The power module sends a restart command.
  • the restart instruction is used to control to turn off the first-type power module before restarting the first-type power module. Specific embodiments and examples are as described above, and are not repeated here.
  • the power supply control device sends a restart instruction to the first-type power supply module
  • a response success message returned by the first-type power supply module in response to the restart instruction it may be determined that the The first-type power module restarts successfully, and sends a start-up instruction to the second-type power module; wherein the start-up instruction is used to control the second-type power module to be turned on.
  • the power supply control device when it receives the power-off restart instruction, if it detects that the current power supply-related parameters of the mobile platform meet the power-off restart condition, it may send a successful response message to the control module of the mobile platform, and Send a power-off instruction to other modules of the mobile platform, and send a shutdown instruction to the second type power module. If the successful response information returned by the second-type power module in response to the shutdown instruction is received, a restart instruction may be sent to the first-type power module. If a response success message returned by the first-type power module in response to the restart instruction is received, it may be determined that the first-type power module restarts successfully, and a power-on instruction is sent to the second-type power module.
  • the automatic power-off and restart operation of the multi-power module mobile platform is realized, which meets the user's need for automation and intelligence of power control, improves the efficiency and effectiveness of firmware upgrade, and improves the user experience.
  • FIG. 3 is a schematic structural diagram of a power control device according to an embodiment of the present invention.
  • the power control device includes: a memory 301, a processor 302, and a data interface 303.
  • the memory 301 may include a volatile memory (volatile memory); the memory 301 may also include a non-volatile memory (non-volatile memory); the memory 301 may also include a combination of the foregoing types of memories.
  • the processor 302 may be a central processing unit (central processing unit, CPU).
  • the processor 302 may further include a hardware power control device.
  • the above hardware power supply control device may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • FPGA field programmable logic gate array
  • the memory 301 is used to store program instructions.
  • the processor 302 may call the program instructions stored in the memory 301 to perform the following steps:
  • the restart instruction is used to control to shut down the first type power module and then restart the first type power module.
  • the mobile platform further includes a control module, and the control module is used to upgrade and control the firmware of the mobile platform.
  • the power supply association parameter includes a module identifier carried by the power off and restart instruction received by the mobile platform, and when the module identifier matches the control module identifier, it is determined that the power supply association parameter satisfies all Describe the sub-conditions for module identification in the power-off restart condition.
  • the power supply related parameter includes a data segment carried by the power off and restart instruction received by the mobile platform, and when the data segment is consistent with a preset data format, it is determined that the power supply related parameter satisfies the power off The sub-condition for the data format in the electric restart condition.
  • the power supply-related parameter includes the current position of the mobile platform, and when the current position is on the ground, it is determined that the power-supply related parameter satisfies the sub-condition of the power-off restart condition.
  • the power supply related parameter includes the state of the motor of the mobile platform, and when the state of the motor is in the rotating state, it is determined that the power supply related parameter satisfies the sub-condition for the motor in the power-off restart condition.
  • processor 302 is also used to:
  • the power supply module sends a response failure message to the control module in response to the power-off restart instruction.
  • the preset data format is a magic number.
  • the first type power module is a main power module
  • the second type power module is an auxiliary power module
  • the processor 302 sends a shutdown instruction to the second type power module, it is also used to:
  • the processor 302 sends a restart instruction to the first type power module, it is specifically used to:
  • a restart instruction is sent to the first-type power module according to a preset delay time.
  • the processor 302 sends a restart instruction to the first type power module, it is specifically used to:
  • a restart instruction is sent to the first-type power module according to a preset frequency.
  • the processor 302 sends a restart instruction to the first type power module, it is also used to:
  • the power-on instruction is used to control the power-on module of the second type.
  • the power supply control device may detect the current power supply-related parameters of the mobile platform when receiving the power-off restart instruction, and if the power-supply related parameters satisfy the power-off restart condition, then The power supply module of the second type sends a shutdown instruction, and if the successful response information returned by the power supply module of the second type in response to the shutdown instruction is received, it can be determined that the shutdown of the power supply module of the second type is successful and the The module sends a restart command.
  • the automatic power off and restart operation of the multi-power module mobile platform is realized, which meets the user's need for automation and intelligence of power control, improves the efficiency and effectiveness of firmware upgrade, and improves the user experience.
  • An embodiment of the present invention also provides a mobile platform, including: a power supply module, the power supply module includes a first type power supply module and a second type power supply module for controlling the power supply of the mobile platform; the control module is used for The firmware of the mobile platform is upgraded and controlled; the processor is configured to detect the current power supply-related parameters of the mobile platform when the power-off restart instruction is received; The power supply module of the second type sends a shutdown instruction, and the shutdown instruction is used to control the shutdown of the power supply module of the second category; if successful response information returned by the power supply module of the second category in response to the shutdown instruction is received, the first The second type power supply module is successfully shut down, and a restart instruction is sent to the first type power supply module; wherein, the restart instruction is used to control the first type power supply module to be restarted after the first type power supply module is turned off.
  • the mobile platform further includes a control module, and the control module is used to upgrade and control the firmware of the mobile platform.
  • the power supply association parameter includes a module identifier carried by the power off and restart instruction received by the mobile platform, and when the module identifier matches the control module identifier, it is determined that the power supply association parameter satisfies all Describe the sub-conditions for module identification in the power-off restart condition.
  • the power supply related parameter includes a data segment carried by the power off and restart instruction received by the mobile platform, and when the data segment is consistent with a preset data format, it is determined that the power supply related parameter satisfies the power off The sub-condition for the data format in the electric restart condition.
  • the power supply related parameter includes the current position of the mobile platform, and when the current position is on the ground, it is determined that the power supply related parameter satisfies the sub-condition for the position in the power-off restart condition.
  • the power supply related parameter includes the state of the motor of the mobile platform, and when the state of the motor is in the rotating state, it is determined that the power supply related parameter satisfies the sub-condition for the motor in the power-off restart condition.
  • processor is also used to:
  • the power supply module sends a response failure message to the control module in response to the power-off restart instruction.
  • the preset data format is a magic number.
  • the first type power module is a main power module
  • the second type power module is an auxiliary power module
  • the processor sends a shutdown instruction to the second type power module, it is also used to:
  • the processor sends a restart instruction to the first type power module, it is specifically used to:
  • a restart instruction is sent to the first-type power module according to a preset delay time.
  • the processor sends a restart instruction to the first type power module, it is specifically used to:
  • a restart instruction is sent to the first-type power module according to a preset frequency.
  • the processor sends a restart instruction to the first type power module, it is also used to:
  • the power-on instruction is used to control the power-on module of the second type.
  • the power supply control device may detect the current power supply-related parameters of the mobile platform when receiving the power-off restart instruction, and if the power-supply related parameters satisfy the power-off restart condition, then The power supply module of the second type sends a shutdown instruction, and if the successful response information returned by the power supply module of the second type in response to the shutdown instruction is received, it can be determined that the shutdown of the power supply module of the second type is successful, and the power supply of the first type is sent to The module sends a restart command.
  • the automatic power off and restart operation of the multi-power module mobile platform is realized, which meets the user's need for automation and intelligence of power control, improves the efficiency and effectiveness of firmware upgrade, and improves the user experience.
  • a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the power supply control method described in the embodiment of the present invention is implemented. The method will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device according to any one of the foregoing 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, for example, a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), and a secure digital (SD) card , Flash 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 used to store the computer program and other programs and data required by the device.
  • the computer-readable storage medium may also be used to temporarily store data that has been or will be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

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Abstract

一种电源控制方法、设备、移动平台及存储介质，其中，所述移动平台包括供电模块，所述供电模块包括第一类电源模块和第二类电源模块，该方法包括：在接收到断电重启指令时，检测所述移动平台当前的供电关联参数(S101)；如果所述供电关联参数满足断电重启条件，则向所述第二类电源模块发送关闭指令(S102)；若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则确定所述第二类电源模块关闭成功，向所述第一类电源模块发送重启指令(S103)。通过这种方式，对多电源模块移动平台的自动断电重启操作，满足了用户对电源控制的自动化和智能化需求，提高了固件升级的效率和有效性，提升了用户体验。

Description

一种电源控制方法、设备、移动平台及存储介质 技术领域
本发明涉及控制技术领域，尤其涉及一种电源控制方法、设备、移动平台及存储介质。
背景技术
随着社会的不断发展，人们对移动平台(如无人机)的使用需求越来越多，为了增加对移动平台的使用时间，目前越来越多的移动平台通过设置多个供电装置来解决整个问题。然而，这种方式在对移动平台进行升级时，需要用户手动升级，用户体验差，升级失败率高。因此如何更快速和有效地对移动平台进行升级成为研究的重点。
发明内容
本发明实施例提供了一种电源控制方法、设备、移动平台及存储介质，可实现对电源的自动化控制，满足用户对电源控制的自动化和智能化需求，以提高固件升级的效率和有效性。
第一方面，本发明实施例提供了一种电源控制方法，应所述移动平台包括供电模块，所述供电模块包括第一类电源模块和第二类电源模块，所述方法包括：
在接收到断电重启指令时，检测所述移动平台当前的供电关联参数；
如果所述供电关联参数满足断电重启条件，则向所述第二类电源模块发送关闭指令，所述关闭指令用于控制关闭所述第二类电源模块；
若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则确定所述第二类电源模块关闭成功，向所述第一类电源模块发送重启指令；
其中，所述重启指令用于控制关闭所述第一类电源模块后再重启所述第一类电源模块。
第二方面，本发明实施例提供了一种电源控制设备，包括存储器和处理器；
所述存储器，用于存储程序指令；
所述处理器，用于调用所述程序指令，当所述程序指令被执行时，用于执 行以下操作：
在接收到断电重启指令时，检测移动平台当前的供电关联参数；
如果所述供电关联参数满足断电重启条件，则向第二类电源模块发送关闭指令，所述关闭指令用于控制关闭所述第二类电源模块；
若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则确定所述第二类电源模块关闭成功，向第一类电源模块发送重启指令；
其中，所述重启指令用于控制关闭所述第一类电源模块后再重启所述第一类电源模块。
第三方面，本发明实施例提供了一种移动平台，包括：
供电模块，用于对移动平台的电源进行控制，其中，所述供电模块包括第一类电源模块和第二类电源模块；
控制模块，用于对移动平台的固件进行升级控制；
处理器，用于在接收到断电重启指令时，检测所述移动平台当前的供电关联参数；如果所述供电关联参数满足断电重启条件，则向所述第二类电源模块发送关闭指令，所述关闭指令用于控制关闭所述第二类电源模块；若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则确定所述第二类电源模块关闭成功，向所述第一类电源模块发送重启指令；其中，所述重启指令用于控制关闭所述第一类电源模块后再重启所述第一类电源模块。
第四方面，本发明实施例提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行时实现如上述第一方面所述的电源控制方法。
本发明实施例中，电源控制设备在接收到断电重启指令时，如果检测到所述供电关联参数满足断电重启条件，则可以向所述第二类电源模块发送关闭指令，若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则可以向所述第一类电源模块发送重启指令。通过这种实施方式，实现了对多电源模块移动平台的自动断电重启操作，满足了用户对电源控制的自动化和智能化需求，提高了固件升级的效率和有效性，提升了用户体验。
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的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种电源控制方法的流程示意图；
图2是本发明实施例提供的另一种电源控制方法的流程示意图；
图3是本发明实施例提供的一种电源控制设备的结构示意图。
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作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明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。
本发明实施例中提供的电源控制方法可以由一种移动平台执行，所述移动平台包括供电模块和控制模块。在某些实施例中，所述供电模块包括第一类电源模块和第二类电源模块，其中，所述供电模块用于对移动平台的电源进行控制，所述控制模块用于对移动平台的固件进行升级控制。在某些实施例中，所述移动平台可以包括无人机、无人汽车、无人船等具有多个电源设备(如智能电池)的可移动的终端设备；当然在其他实施例中，所述可移动平台还可以是其他装有多个电源设备的可移动的终端设备。下面以具有两类电源模块的无人机为例对本发明实施例提供的电源控制方法进行示意性说明。
本发明实施例中提供的电源控制方法可以由无人机执行，所述无人机可以包括供电模块和控制模块，所述供电模块包括第一类电源模块和第二类电源模块。在某些实施例中，所述供电模块用于对无人机的电源进行控制(如电池重启操作)，所述控制模块用于控制对无人机的整机固件进行升级控制。在某些实施例中，所述第一类电源模块可以为主电源模块(如主电池)，所述第二类电源模块可以为辅电源模块(如副电池)。
在一个实施例中，所述无人机的控制模块可以向供电模块发送断电重启指令，所述供电模块在接收到无人机的控制模块发送的所述断电重启指令之后， 可以判断所述无人机当前的供电关联参数是否满足断电重启条件。在某些实施例中，所述供电关联参数包括所述无人机接收到的断电重启指令所携带的模块标识；在某些实施例中，所述供电关联参数包括所述无人机接收到的断电重启指令所携带的数据段；在某些实施例中，所述供电关联参数包括所述无人机的当前位置；在某些实施例中，所述供电关联参数包括所述移动平台的电机的状态。
在一个实施例中，所述供电模块在判断所述无人机当前的供电关联参数是否满足断电重启条件时，可以判断所述无人机接收到的断电重启指令所携带的模块标识是否与发送所述断电重启指令的控制模块的标识相匹配；以及判断所述无人机接收到的断电重启指令所携带的数据段是否与预设的数据格式一致；以及判断所述无人机的当前位置是否处于地面；以及判断所述移动平台的电机的状态是否处于转动状态。只有在所述四个判断条件均满足的情况下，无人机的供电模块才能执行所述控制模块发送的断电重启指令，如果所述四个判断条件中有任意一个不满足，则无人机的供电模块都会断电重启失败，从而导致固件升级失败。本发明实施例通过这种实施方式对无人机的断电重启操作进行严格要求，以确保无人机断电重启成功，并防止误触发操作对无人机造成的损害。
在某些实施例中，所述预设的数据格式为魔数，其中，所述魔数是指几个字节的内容是固定的(或是有意填充，或是本就如此)。在某些实施例中，所述无人机接收到的断电重启指令所携带与预设的数据格式一致的数据段可以包括如表1所示的格式。
在一个实施例中，所述供电模块在判断出所述供电关联参数满足所述断电重启条件之后，可以向所述供电模块的第二类电源模块发送关闭指令，并等待所述第二类电源模块的应答。如果所述供电模块在预设时间范围内没有接收到所述第二类电源模块的应答，则所述供电模块可以重新向所述第二类电源模块发送关闭指令，直到接收到所述第二类电源模块返回的应答成功信息，从而确定所述第二类电源模块关闭成功。
例如，假设所述第二类电源模块为2号智能电池(即副电池)，如果无人机的供电模块接收到控制模块发送的断电重启指令，且判断出所述供电关联参数满足断电重启条件，则供电模块可以向2号智能电池发送关闭指令，并等待2号智能电池的应答。如果所述供电模块在预设时间范围内没有接收到所述2 号智能电池的应答，则可以重新向所述2号智能电池发送关闭指令，直到接收到所述2号智能电池返回的应答成功信息，则可以确定所述2号智能电池关闭成功。
表1
Figure PCTCN2018117886-appb-000001
在一个实施例中，在确定所述第二类电源模块关闭成功之后，所述供电模块可以根据预设的延迟时间和/或预设频率向第一类电源模块发送重启指令。如果供电模块在预设时间范围内接收到所述第一类电源模块响应所述重启指令返回的应答成功消息，则可以确定所述第一类电源模块重启成功。
例如，假设所述第一类电源模块为1号智能电池(即主电池)，所述第二类电源模块为2号智能电池(即副电池)，所述预设的延迟时间为1s，则在确定所述2号智能电池关闭成功之后，所述供电模块可以延时1s向1号智能电池发送重启指令。如果供电模块在预设时间范围内接收到所述1号智能电池响应所述重启指令返回的应答成功消息，则可以确定所述1号智能电池重启成功。
在一个实施例中，在确定所述第一类电源模块重启成功之后，所述供电模 块可以向所述第二类电源模块发送开机指令，并等待所述第二类电源模块的应答。如果供电模块在预设时间范围内没有接收到所述第二类电源模块返回的应答成功信息，则可以重新向所述第二类电源模块发送开机指令，直到接收到所述第二类电源模块的应答成功信息。
例如，假设所述第一类电源模块为1号智能电池(即主电池)，所述第二类电源模块为2号智能电池(即副电池)，在确定所述1号智能电池重启成功之后，所述供电模块可以向所述2号智能电池发送开机指令，并等待所述2号智能电池的应答。如果供电模块在预设时间范围内没有接收到所述2号智能电池返回的应答成功信息，则可以重新向所述2号智能电池发送开机指令，直到接收到所述2号智能电池的应答成功信息。
下面结合附图对本发明实施例提供的电源控制方法进行示意性说明。
请参见图1，图1是本发明实施例提供的一种电源控制方法的流程示意图，所述方法可以由电源控制设备执行，其中，所述电源控制设备可以设置在移动平台上，所述移动平台可以包括供电模块，所述供电模块可以包括第一类电源模块和第二类电源模块。具体地，本发明实施例的所述方法包括如下步骤。
S101：在接收到断电重启指令时，检测移动平台当前的供电关联参数。
本发明实施例中，电源控制设备在接收到断电重启指令时，可以检测所述移动平台当前的供电关联参数。在某些实施例中，所述移动平台还包括控制模块，所述控制模块用于对移动平台的固件进行升级控制。在某些实施例中，所述断电重启指令是所述控制模块发送的。
在某些实施例中，所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的模块标识，以及所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的数据段，以及所述供电关联参数包括所述移动平台的当前位置，以及所述供电关联参数包括所述移动平台的电机的状态。
在一些实施例中，所述电源控制设备可以接收移动平台的控制模块发送的断电重启指令，并在在接收到断电重启指令时，检测所述断电重启指令所携带的模块标识，以及检测所述断电重启指令所携带的数据段，以及检测所述移动平台的当前位置，以及检测所述移动平台的电机的状态。
例如，假设所述移动平台为无人机，如果所述无人机需要对固件进行升级， 且固件升级后需要重启所述无人机才有效，则所述无人机在对固件进行升级之后，所述无人机的控制模块可以向供电模块发送断电重启指令，所述电源控制设备的供电模块在接收到所述控制模块返回的断电重启指令之后，可以检测所述无人机当前的供电关联参数。
S102：如果所述供电关联参数满足断电重启条件，则向第二类电源模块发送关闭指令。
本发明实施例中，如果所述电源控制设备检测到所述无人机当前的供电关联参数满足断电重启条件，则所述电源控制设备可以向所述第二类电源模块发送关闭指令，在某些实施例中，所述关闭指令用于控制关闭所述第二类电源模块。
在一个实施例中，所述电源控制设备在向所述第二类电源模块发送关闭指令之前，还可以向所述移动平台的控制模块发送应答成功信息；以及，向所述移动平台的其他模块发送断电指令。
例如，假设所述移动平台为无人机，所述无人机包括第一类电源模块和第二类电源模块，其中，所述第一类电源模块为1号智能电池，所述第二类电源模块为2号智能电池，如果检测到所述供电关联参数满足断电重启条件，则所述电源控制设备可以控制所述供电模块向所述无人机的控制模块发送应答成功信息，并向所述无人机的其他模块发送断电指令。在向其他模块发送断电指令之后，所述电源控制设备可以向所述无人机的2号智能电池发送关闭指令，以控制关闭所述2号智能电池。
S103：若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则确定所述第二类电源模块关闭成功，向所述第一类电源模块发送重启指令。
本发明实施例中，电源控制设备若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则可以确定所述第二类电源模块关闭成功，并向所述第一类电源模块发送重启指令。在某些实施例中，所述重启指令用于控制关闭所述第一类电源模块后再重启所述第一类电源模块。
沿用上述例子举例，当所述2号智能电池在响应所述关闭指令关闭电源之后，可以向所述电源控制设备返回应答成功信息，所述电源控制设备在接收到所述2号智能电池返回的应答成功信息之后，可以确定所述2号智能电池关闭 成功，并向1号智能电池发送重启指令，以控制关闭所述1号智能电池后再重启所述1号智能电池。
在一个实施例中，电源控制设备可以在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设的延迟时间向所述第一类电源模块发送重启指令。
在一个实施例中，电源控制设备可以在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设频率向所述第一类电源模块发送重启指令。
在一个实施例中，所述电源控制设备可以在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设的延迟时间和预设频率向所述第一类电源模块发送重启指令。
本发明实施例中，所述电源控制设备在接收到断电重启指令时，如果检测到所述移动平台当前的供电关联参数满足断电重启条件，则可以向第二类电源模块发送关闭指令，若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则可以确定所述第二类电源模块关闭成功，并向第一类电源模块发送重启指令。通过这种实施方式，实现了对多电源模块移动平台的自动断电重启操作，满足了用户对电源控制的自动化和智能化需求，提高了固件升级的效率和有效性，提升了用户体验。
请参见图2，图2是本发明实施例提供的另一种电源控制方法的流程示意图，所述方法可以由电源控制设备执行，其中，所述电源控制设备的具体解释如前所述。本发明实施例与上述图1所述实施例的区别在于，本发明实施例是对如何根据断点重启条件对电源进行控制的详细实施过程的示意性说明。
S201：在接收到断电重启指令时，检测移动平台当前的供电关联参数是否满足断电重启条件。
本发明实施例中，所述电源控制设备可以接收控制模块发送的断电重启指令，并在接收到所述断电重启指令时，检测移动平台当前的供电关联参数是否满足断电重启条件。
在一个实施例中，所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的模块标识，所述电源控制设备在接收到所述控制模块发送的断电 重启指令之后，可以检测所述断电重启指令所携带的模块标识是否与发送所述断电重启指令的所述控制模块的标识相匹配，如果检测到所述断电重启指令所携带的模块标识与所述控制模块的标识相匹配，则可以确定所述供电关联参数满足所述断电重启条件中对模块标识的子条件。
例如，假设所述断电重启指令所携带的模块标识为1，如果所述控制模块的标识为1，则所述电源控制设备在检测所述断电重启指令所携带的模块标识是否与所述控制模块的标识相匹配时，可以检测到所述断电重启指令所携带的模块标识为1与所述控制模块的标识1相匹配，则可以确定所述供电关联参数满足所述断电重启条件中对模块标识的子条件。
在一个实施例中，所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的数据段，所述电源控制设备在接收到所述控制模块发送的断电重启指令之后，可以检测所述断电重启指令所携带的数据段是否与预设的数据格式一致，如果检测结果为是，则可以确定所述供电关联参数满足所述断电重启条件中对数据格式的子条件。在某些实施例中，所述预设的数据格式为魔数，所述魔数的解释如前所述，此处不再赘述。
例如，假设所述移动平台为无人机，如果所述电源控制设备检测到所述无人机接收到的断电重启指令所携带的数据段为魔数，则可以确定所述供电关联参数满足所述断电重启条件中对数据格式的子条件。
在一个实施例中，所述供电关联参数包括所述移动平台的当前位置，所述电源控制设备在接收到所述控制模块发送的断电重启指令之后，可以获取所述移动平台当前的位置信息，并根据所述移动平台当前的位置信息，检测所述移动平台的当前位置是否处于地面。如果检测到所述移动平台的当前位置处于地面，则可以确定所述供电关联参数满足所述断电重启条件中对位置的子条件。
在一个实施例中，所述供电关联参数包括所述移动平台的电机的状态，所述电源控制设备在接收到所述控制模块发送的断电重启指令之后，可以检测所述移动平台的电机的状态是否处于转动状态。如果检测到所述移动平台的电机的状态处于转动状态，则可以确定所述供电关联参数满足所述断电重启条件中对电机的子条件。
例如，假设所述移动平台为无人机，如果所述电源控制设备在接收到所述控制模块发送的断电重启指令之后，检测到所述无人机的电机的状态处于转动 状态，则可以确定所述无人机的供电关联参数满足所述断电重启条件中对电机的子条件。
在一个实施例中，所述电源控制设备在检测所述移动平台的电机的状态是否处于转动状态时，可以通过检测所述移动平台的电压来确定所述电机是否处于转动状态。如果检测到所述移动平台的电压大于预设阈值，则可以确定所述移动平台的电机处于转动状态。
在一个实施例中，所述移动平台上可以设置控制电机转动的电机开关，所述电源控制设备在检测所述移动平台的电机的状态是否处于转动状态时，可以通过检测是否接收到针对所述电机开关的开启操作，来确定所述电机是否处于转动状态。在某些实施例中，所述电机开关可以包括开关按钮或开关按键，本发明实施例不做具体限定。在某些实施例中，所述针对电机开关的开启操作可以包括按压操作、点击操作、滑动操作等，本发明实施例不做具体限定。
在一个实施例中，当检测到所述供电关联参数满足所述断电重启条件中对模块标识的子条件；以及，所述供电关联参数满足所述断电重启条件中对数据格式的子条件；以及，所述供电关联参数满足所述断电重启条件中对位置的子条件；以及，所述供电关联参数满足所述断电重启条件中对电机的子条件，则可以确定所述供电关联参数满足所述断电重启条件。
在一个实施例中，如果检测到所述断电重启指令所携带的模块标识与所述移动平台的控制模块的标识不匹配；或者，如果检测到所述断电重启指令所携带的数据段与预设的数据格式不一致；或者，如果检测到所述移动平台的当前位置不处于地面；或者，如果检测到所述移动平台的电机的状态不处于转动状态，则所述电源控制设备可以控制供电模块响应所述断电重启指令向所述控制模块发送应答失败信息。在某些实施例中，所述应答失败信息用于指示所述控制模块重新发送所述断电重启指令。
本发明实施例通过检测所述供电关联参数是否满足断电重启条件这种实施方式，可以避免由于免误操作导致对移动平台的损坏，以提高固件升级的有效性。
S202：如果检测结果为是，则向移动平台的控制模块发送应答成功信息，并向所述移动平台的其他模块发送断电指令。
本发明实施例中，所述电源控制设备在检测到所述供电关联参数满足断电 重启条件之后，可以向移动平台的控制模块发送应答成功信息，并向所述移动平台的其他模块发送断电指令。具体实施例如前所述，此处不再赘述。
S203：向第二类电源模块发送关闭指令，所述关闭指令用于控制关闭所述第二类电源模块。
本发明实施例中，向所述移动平台的其他模块发送断电指令之后，所述电源控制设备可以向所述第二类电源模块发送关闭指令，其中，所述关闭指令用于控制关闭所述第二类电源模块。
S204：若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则确定所述第二类电源模块关闭成功，向所述第一类电源模块发送重启指令。
本发明实施例中，电源控制设备若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则可以确定所述第二类电源模块关闭成功，并向所述第一类电源模块发送重启指令。在某些实施例中，所述重启指令用于控制关闭所述第一类电源模块后再重启所述第一类电源模块。具体实施例及举例如前所述，此处不再赘述。
S205：如果接收到所述第一类电源模块响应所述重启指令返回的应答成功消息，则确定所述第一类电源模块重启成功，向所述第二类电源模块发送开机指令。
本发明实施例中，所述电源控制设备向所述第一类电源模块发送重启指令之后，如果接收到所述第一类电源模块响应所述重启指令返回的应答成功消息，则可以确定所述第一类电源模块重启成功，并向所述第二类电源模块发送开机指令；其中，所述开机指令用于控制开启所述第二类电源模块。
本发明实施例中，所述电源控制设备在接收到断电重启指令时，如果检测到移动平台当前的供电关联参数满足断电重启条件，则可以向移动平台的控制模块发送应答成功信息，并向所述移动平台的其他模块发送断电指令，以及向所述第二类电源模块发送关闭指令。若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则可以向所述第一类电源模块发送重启指令。如果接收到所述第一类电源模块响应所述重启指令返回的应答成功消息，则可以确定所述第一类电源模块重启成功，并向所述第二类电源模块发送开机指令。通过这种实施方式，实现了对多电源模块移动平台的自动断电重启操作，满足 了用户对电源控制的自动化和智能化需求，提高了固件升级的效率和有效性，提升了用户体验。
请参见图3，图3是本发明实施例提供的一种电源控制设备的结构示意图。具体的，所述电源控制设备包括：存储器301、处理器302以及数据接口303。
所述存储器301可以包括易失性存储器(volatile memory)；存储器301也可以包括非易失性存储器(non-volatile memory)；存储器301还可以包括上述种类的存储器的组合。所述处理器302可以是中央处理器(central processing unit，CPU)。所述处理器302还可以进一步包括硬件电源控制设备。上述硬件电源控制设备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。
进一步地，所述存储器301用于存储程序指令，当程序指令被执行时所述处理器302可以调用存储器301中存储的程序指令，用于执行如下步骤：
在接收到断电重启指令时，检测所述移动平台当前的供电关联参数；
如果所述供电关联参数满足断电重启条件，则向所述第二类电源模块发送关闭指令，所述关闭指令用于控制关闭所述第二类电源模块；
若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则确定所述第二类电源模块关闭成功，向所述第一类电源模块发送重启指令；
其中，所述重启指令用于控制关闭所述第一类电源模块后再重启所述第一类电源模块。
进一步地，所述移动平台还包括控制模块，所述控制模块用于对移动平台的固件进行升级控制。
进一步地，所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的模块标识，在所述模块标识与所述控制模块的标识相匹配时，确定所述供电关联参数满足所述断电重启条件中对模块标识的子条件。
进一步地，所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的数据段，在所述数据段与预设的数据格式一致时，确定所述供电关联参数满足所述断电重启条件中对数据格式的子条件。
进一步地，所述供电关联参数包括所述移动平台的当前位置，在所述当前位置处于地面时，确定所述供电关联参数满足所述断电重启条件中对位置的子条件。
进一步地，所述供电关联参数包括所述移动平台的电机的状态，在所述电机的状态处于转动状态时，确定所述供电关联参数满足所述断电重启条件中对电机的子条件。
进一步地，所述处理器302，还用于：
如果检测到所述断电重启指令所携带的模块标识与所述移动平台的控制模块的标识不匹配；或者，
如果检测到所述断电重启指令所携带的数据段与预设的数据格式不一致；或者，
如果检测到所述移动平台的当前位置不处于地面；或者，
如果检测到所述移动平台的电机的状态不处于转动状态，则所述供电模块响应所述断电重启指令向所述控制模块发送应答失败信息。
进一步地，所述预设的数据格式为魔数。
进一步地，所述第一类电源模块为主电源模块，所述第二类电源为辅电源模块。
进一步地，所述处理器302向所述第二类电源模块发送关闭指令之前，还用于：
向所述移动平台的控制模块发送应答成功信息；以及，
向所述移动平台的其他模块发送断电指令。
进一步地，所述处理器302向所述第一类电源模块发送重启指令时，具体用于：
在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设的延迟时间向所述第一类电源模块发送重启指令。
进一步地，所述处理器302向所述第一类电源模块发送重启指令时，具体用于：
在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设频率向所述第一类电源模块发送重启指令。
进一步地，所述处理器302向所述第一类电源模块发送重启指令之后，还 用于：
如果接收到所述第一类电源模块响应所述重启指令返回的应答成功消息，则确定所述第一类电源模块重启成功，向所述第二类电源模块发送开机指令；
其中，所述开机指令用于控制开启所述第二类电源模块。
本发明实施例中，所述电源控制设备在接收到断电重启指令时，可以检测所述移动平台当前的供电关联参数，如果所述供电关联参数满足断电重启条件，则可以向所述第二类电源模块发送关闭指令，若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则可以确定所述第二类电源模块关闭成功，并向所述第一类电源模块发送重启指令。通过这种实施方式，实现了对多电源模块移动平台的自动断电重启操作，满足了用户对电源控制的自动化和智能化需求，提高了固件升级的效率和有效性，提升了用户体验。
本发明实施例还提供了一种移动平台，包括：供电模块，所述供电模块包括第一类电源模块和第二类电源模块，用于对移动平台的电源进行控制；控制模块，用于对移动平台的固件进行升级控制；处理器，用于在接收到断电重启指令时，检测所述移动平台当前的供电关联参数；如果所述供电关联参数满足断电重启条件，则向所述第二类电源模块发送关闭指令，所述关闭指令用于控制关闭所述第二类电源模块；若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则确定所述第二类电源模块关闭成功，向所述第一类电源模块发送重启指令；其中，所述重启指令用于控制关闭所述第一类电源模块后再重启所述第一类电源模块。
进一步地，所述移动平台还包括控制模块，所述控制模块用于对移动平台的固件进行升级控制。
进一步地，所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的模块标识，在所述模块标识与所述控制模块的标识相匹配时，确定所述供电关联参数满足所述断电重启条件中对模块标识的子条件。
进一步地，所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的数据段，在所述数据段与预设的数据格式一致时，确定所述供电关联参数满足所述断电重启条件中对数据格式的子条件。
进一步地，所述供电关联参数包括所述移动平台的当前位置，在所述当前 位置处于地面时，确定所述供电关联参数满足所述断电重启条件中对位置的子条件。
进一步地，所述供电关联参数包括所述移动平台的电机的状态，在所述电机的状态处于转动状态时，确定所述供电关联参数满足所述断电重启条件中对电机的子条件。
进一步地，所述处理器，还用于：
如果检测到所述断电重启指令所携带的模块标识与所述移动平台的控制模块的标识不匹配；或者，
如果检测到所述断电重启指令所携带的数据段与预设的数据格式不一致；或者，
如果检测到所述移动平台的当前位置不处于地面；或者，
如果检测到所述移动平台的电机的状态不处于转动状态，则所述供电模块响应所述断电重启指令向所述控制模块发送应答失败信息。
进一步地，所述预设的数据格式为魔数。
进一步地，所述第一类电源模块为主电源模块，所述第二类电源为辅电源模块。
进一步地，所述处理器向所述第二类电源模块发送关闭指令之前，还用于：
向所述移动平台的控制模块发送应答成功信息；以及，
向所述移动平台的其他模块发送断电指令。
进一步地，所述处理器向所述第一类电源模块发送重启指令时，具体用于：
在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设的延迟时间向所述第一类电源模块发送重启指令。
进一步地，所述处理器向所述第一类电源模块发送重启指令时，具体用于：
在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设频率向所述第一类电源模块发送重启指令。
进一步地，所述处理器向所述第一类电源模块发送重启指令之后，还用于：
如果接收到所述第一类电源模块响应所述重启指令返回的应答成功消息，则确定所述第一类电源模块重启成功，向所述第二类电源模块发送开机指令；
其中，所述开机指令用于控制开启所述第二类电源模块。
本发明实施例中，所述电源控制设备在接收到断电重启指令时，可以检测 所述移动平台当前的供电关联参数，如果所述供电关联参数满足断电重启条件，则可以向所述第二类电源模块发送关闭指令，若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则可以确定所述第二类电源模块关闭成功，并向所述第一类电源模块发送重启指令。通过这种实施方式，实现了对多电源模块移动平台的自动断电重启操作，满足了用户对电源控制的自动化和智能化需求，提高了固件升级的效率和有效性，提升了用户体验。
在本发明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发明实施例中描述的电源控制方法方式，在此不再赘述。
所述计算机可读存储介质可以是前述任一项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设备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，该程序在执行时，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发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (40)

  1. 一种电源控制方法，其特征在于，应用于移动平台，所述移动平台包括供电模块，所述供电模块包括第一类电源模块和第二类电源模块，所述方法包括：
    在接收到断电重启指令时，检测所述移动平台当前的供电关联参数；
    如果所述供电关联参数满足断电重启条件，则向所述第二类电源模块发送关闭指令，所述关闭指令用于控制关闭所述第二类电源模块；
    若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则确定所述第二类电源模块关闭成功，向所述第一类电源模块发送重启指令；
    其中，所述重启指令用于控制关闭所述第一类电源模块后再重启所述第一类电源模块。
  2. 根据权利要求1所述的方法，其特征在于，所述移动平台还包括控制模块，所述控制模块用于对移动平台的固件进行升级控制。
  3. 根据权利要求2所述的方法，其特征在于，
    所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的模块标识，在所述模块标识与所述控制模块的标识相匹配时，确定所述供电关联参数满足所述断电重启条件中对模块标识的子条件。
  4. 根据权利要求1所述的方法，其特征在于，
    所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的数据段，在所述数据段与预设的数据格式一致时，确定所述供电关联参数满足所述断电重启条件中对数据格式的子条件。
  5. 根据权利要求1所述的方法，其特征在于，
    所述供电关联参数包括所述移动平台的当前位置，在所述当前位置处于地面时，确定所述供电关联参数满足所述断电重启条件中对位置的子条件。
  6. 根据权利要求1所述的方法，其特征在于，
    所述供电关联参数包括所述移动平台的电机的状态，在所述电机的状态处于转动状态时，确定所述供电关联参数满足所述断电重启条件中对电机的子条件。
  7. 根据权利要求3-6任一项所述的方法，其特征在于，所述方法还包括：
    如果检测到所述断电重启指令所携带的模块标识与所述移动平台的控制模块的标识不匹配；或者，
    如果检测到所述断电重启指令所携带的数据段与预设的数据格式不一致；或者，
    如果检测到所述移动平台的当前位置不处于地面；或者，
    如果检测到所述移动平台的电机的状态不处于转动状态，则所述供电模块响应所述断电重启指令向所述控制模块发送应答失败信息。
  8. 根据权利要求4所述的方法，其特征在于，所述预设的数据格式为魔数。
  9. 根据权利要求1所述的方法，其特征在于，所述第一类电源模块为主电源模块，所述第二类电源为辅电源模块。
  10. 根据权利要求1所述的方法，其特征在于，所述向所述第二类电源模块发送关闭指令之前，还包括：
    向所述移动平台的控制模块发送应答成功信息；以及，
    向所述移动平台的其他模块发送断电指令。
  11. 根据权利要求1所述的方法，其特征在于，所述向所述第一类电源模块发送重启指令，包括：
    在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设的延迟时间向所述第一类电源模块发送重启指令。
  12. 根据权利要求1所述的方法，其特征在于，所述向所述第一类电源模块发送重启指令，包括：
    在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设频率向所述第一类电源模块发送重启指令。
  13. 根据权利要求11或12所述的方法，其特征在于，所述向所述第一类电源模块发送重启指令之后，还包括：
    如果接收到所述第一类电源模块响应所述重启指令返回的应答成功消息，则确定所述第一类电源模块重启成功，向所述第二类电源模块发送开机指令；
    其中，所述开机指令用于控制开启所述第二类电源模块。
  14. 一种电源控制设备，其特征在于，包括：处理器和存储器；
    所述存储器，用于存储程序指令；
    所述处理器，执行所述存储器存储的程序指令，当程序指令被执行时，所述处理器用于执行如下步骤：
    在接收到断电重启指令时，检测移动平台当前的供电关联参数；
    如果所述供电关联参数满足断电重启条件，则向第二类电源模块发送关闭指令，所述关闭指令用于控制关闭所述第二类电源模块；
    若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则确定所述第二类电源模块关闭成功，向第一类电源模块发送重启指令；
    其中，所述重启指令用于控制关闭所述第一类电源模块后再重启所述第一类电源模块。
  15. 根据权利要求14所述的设备，其特征在于，所述移动平台还包括控制模块，所述控制模块用于对移动平台的固件进行升级控制。
  16. 根据权利要求15所述的设备，其特征在于，
    所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的模块标识，在所述模块标识与所述控制模块的标识相匹配时，确定所述供电关联参数满足所述断电重启条件中对模块标识的子条件。
  17. 根据权利要求14所述的设备，其特征在于，
    所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的数据段，在所述数据段与预设的数据格式一致时，确定所述供电关联参数满足所述断电重启条件中对数据格式的子条件。
  18. 根据权利要求14所述的设备，其特征在于，
    所述供电关联参数包括所述移动平台的当前位置，在所述当前位置处于地面时，确定所述供电关联参数满足所述断电重启条件中对位置的子条件。
  19. 根据权利要求14所述的设备，其特征在于，
    所述供电关联参数包括所述移动平台的电机的状态，在所述电机的状态处于转动状态时，确定所述供电关联参数满足所述断电重启条件中对电机的子条件。
  20. 根据权利要求16-19任一项所述的设备，其特征在于，所述处理器还用于：
    如果检测到所述断电重启指令所携带的模块标识与所述移动平台的控制模块的标识不匹配；或者，
    如果检测到所述断电重启指令所携带的数据段与预设的数据格式不一致；或者，
    如果检测到所述移动平台的当前位置不处于地面；或者，
    如果检测到所述移动平台的电机的状态不处于转动状态，则所述供电模块响应所述断电重启指令向所述控制模块发送应答失败信息。
  21. 根据权利要求17所述的设备，其特征在于，所述预设的数据格式为魔数。
  22. 根据权利要求14所述的设备，其特征在于，所述第一类电源模块为主电源模块，所述第二类电源为辅电源模块。
  23. 根据权利要求14所述的设备，其特征在于，所述处理器向所述第二类电源模块发送关闭指令之前，还用于：
    向所述移动平台的控制模块发送应答成功信息；以及，
    向所述移动平台的其他模块发送断电指令。
  24. 根据权利要求14所述的设备，其特征在于，所述处理器向所述第一类电源模块发送重启指令时，具体用于：
    在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设的延迟时间向所述第一类电源模块发送重启指令。
  25. 根据权利要求14所述的设备，其特征在于，所述处理器向所述第一类电源模块发送重启指令时，具体用于：
    在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设频率向所述第一类电源模块发送重启指令。
  26. 根据权利要求24或25所述的设备，其特征在于，所述处理器向所述第一类电源模块发送重启指令之后，还用于：
    如果接收到所述第一类电源模块响应所述重启指令返回的应答成功消息，则确定所述第一类电源模块重启成功，向所述第二类电源模块发送开机指令；
    其中，所述开机指令用于控制开启所述第二类电源模块。
  27. 一种移动平台，其特征在于，包括：
    供电模块，用于对移动平台的电源进行控制，其中，所述供电模块包括第一类电源模块和第二类电源模块；
    控制模块，用于对移动平台的固件进行升级控制；
    处理器，用于在接收到断电重启指令时，检测所述移动平台当前的供电关联参数；如果所述供电关联参数满足断电重启条件，则向所述第二类电源模块发送关闭指令，所述关闭指令用于控制关闭所述第二类电源模块；若接收到所述第二类电源模块响应所述关闭指令返回的应答成功信息，则确定所述第二类 电源模块关闭成功，向所述第一类电源模块发送重启指令；其中，所述重启指令用于控制关闭所述第一类电源模块后再重启所述第一类电源模块。
  28. 根据权利要求27所述的移动平台，其特征在于，所述移动平台还包括控制模块，所述控制模块用于对移动平台的固件进行升级控制。
  29. 根据权利要求28所述的移动平台，其特征在于，
    所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的模块标识，在所述模块标识与所述控制模块的标识相匹配时，确定所述供电关联参数满足所述断电重启条件中对模块标识的子条件。
  30. 根据权利要求27所述的移动平台，其特征在于，
    所述供电关联参数包括所述移动平台接收到的断电重启指令所携带的数据段，在所述数据段与预设的数据格式一致时，确定所述供电关联参数满足所述断电重启条件中对数据格式的子条件。
  31. 根据权利要求27所述的移动平台，其特征在于，
    所述供电关联参数包括所述移动平台的当前位置，在所述当前位置处于地面时，确定所述供电关联参数满足所述断电重启条件中对位置的子条件。
  32. 根据权利要求27所述的移动平台，其特征在于，
    所述供电关联参数包括所述移动平台的电机的状态，在所述电机的状态处于转动状态时，确定所述供电关联参数满足所述断电重启条件中对电机的子条件。
  33. 根据权利要求29-32任一项所述的移动平台，其特征在于，所述处理器还用于：
    如果检测到所述断电重启指令所携带的模块标识与所述移动平台的控制模块的标识不匹配；或者，
    如果检测到所述断电重启指令所携带的数据段与预设的数据格式不一致； 或者，
    如果检测到所述移动平台的当前位置不处于地面；或者，
    如果检测到所述移动平台的电机的状态不处于转动状态，则所述供电模块响应所述断电重启指令向所述控制模块发送应答失败信息。
  34. 根据权利要求30所述的移动平台，其特征在于，所述预设的数据格式为魔数。
  35. 根据权利要求27所述的移动平台，其特征在于，所述第一类电源模块为主电源模块，所述第二类电源为辅电源模块。
  36. 根据权利要求27所述的移动平台，其特征在于，所述处理器向所述第二类电源模块发送关闭指令之前，还用于：
    向所述移动平台的控制模块发送应答成功信息；以及，
    向所述移动平台的其他模块发送断电指令。
  37. 根据权利要求27所述的移动平台，其特征在于，所述处理器向所述第一类电源模块发送重启指令时，具体用于：
    在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设的延迟时间向所述第一类电源模块发送重启指令。
  38. 根据权利要求27所述的移动平台，其特征在于，所述处理器向所述第一类电源模块发送重启指令时，具体用于：
    在接收到所述第二类电源模块响应所述关闭指令返回的应答成功消息之后，根据预设频率向所述第一类电源模块发送重启指令。
  39. 根据权利要求37或38所述的移动平台，其特征在于，所述处理器向所述第一类电源模块发送重启指令之后，还用于：
    如果接收到所述第一类电源模块响应所述重启指令返回的应答成功消息，则确定所述第一类电源模块重启成功，向所述第二类电源模块发送开机指令；
    其中，所述开机指令用于控制开启所述第二类电源模块。
  40. 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，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至13任一项所述方法。
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