WO2020107563A1 - 负载控制电路及可移动平台 - Google Patents

负载控制电路及可移动平台 Download PDF

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Publication number
WO2020107563A1
WO2020107563A1 PCT/CN2018/122017 CN2018122017W WO2020107563A1 WO 2020107563 A1 WO2020107563 A1 WO 2020107563A1 CN 2018122017 W CN2018122017 W CN 2018122017W WO 2020107563 A1 WO2020107563 A1 WO 2020107563A1
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WO
WIPO (PCT)
Prior art keywords
power
target load
interface
movable platform
load
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PCT/CN2018/122017
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English (en)
French (fr)
Inventor
戴明峻
丁鹏
周琦
王一皿
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880068953.8A priority Critical patent/CN111433706A/zh
Publication of WO2020107563A1 publication Critical patent/WO2020107563A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
    • G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
    • G05F1/66—Regulating electric power
    • G05F1/67—Regulating electric power to the maximum power available from a generator, e.g. from solar cell

Definitions

  • This application relates to the field of electronic technology, in particular to load control circuits and movable platforms.
  • Mobile platforms such as unmanned aerial vehicles or unmanned vehicles can mount different loads through the gimbal, such as cameras or lidars, to achieve corresponding operations in different scenarios.
  • Different loads may have different power requirements. If the power output to the load is too high or too low, the load will not work properly. Therefore, how to be compatible with the power supply requirements of multiple loads is a technical problem that needs to be solved urgently.
  • Embodiments of the present application provide a load control circuit and a movable platform, which can reduce hardware cost and structural layout difficulty when compatible with the power supply requirements of multiple loads.
  • a first aspect of the embodiments of the present application discloses a load control circuit.
  • the load control circuit is applied to a movable platform.
  • the load control circuit includes a communication interface and a power interface;
  • the communication interface connects the mobile platform and a target load, and the communication interface is used to receive power request information sent by the target load;
  • the power interface connects the movable platform and the target load, and the power interface is used to control the power output to the target load according to the power request information.
  • a second aspect of the embodiments of the present application discloses a movable platform, including the load control circuit described in the first aspect.
  • the communication interface receives the power request information sent by the target load, and the power interface controls the power output to the target load according to the power request information, which can reduce the hardware cost and structural layout when compatible with the power supply requirements of multiple loads Difficulty.
  • FIG. 1 is an application scenario diagram of a mobile platform disclosed in an embodiment of the present application
  • FIG. 2 is an application scenario diagram of another movable platform provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a load control circuit disclosed in an embodiment of the present application.
  • FIG. 4 is a schematic diagram of another load control circuit disclosed in an embodiment of the present application.
  • FIG. 5 is a schematic circuit diagram of an isolation chip disclosed in an embodiment of the present application.
  • the embodiment of the present application proposes a load control circuit, which can be applied to a mobile platform, and is mainly used to meet the power supply requirements of multiple loads.
  • the mobile platform here includes mobile devices controlled by wireless communication, which may be manned or unmanned, flying or ground, large or small, such as unmanned aerial vehicles, unmanned vehicles, mobile robots or
  • the load may include a gimbal, and the gimbal may mount a camera or a measuring device, and the measuring device may include a laser radar or a millimeter wave radar.
  • the load may also include searchlights, megaphones and other available loads, which are not limited here.
  • the mobile platform 10 can mount at least one load, for example, the mobile platform can mount at least one cloud platform, and different cameras can be mounted on different cloud platforms Or measuring device.
  • the aircraft supports dual and overhead PTZs, that is, the aircraft is equipped with three PTZs, namely PTZ 101, PTZ 102, and PTZ 103, of which PTZ 102 and The gimbal 103 is mounted under the aircraft, the gimbal 101 is mounted above the aircraft, and a camera or a measuring device is mounted on the gimbal, which can realize shooting at different angles or measurement in different directions.
  • any camera or measurement device can be mounted on different gimbals in different application scenarios.
  • a wide-angle camera can be mounted on a gimbal.
  • a lidar can be mounted on the gimbal.
  • the mobile platform outputs fixed power to the load no matter what type of load is mounted on the mobile platform, the output power will not match the power required by the load If the output power of the mobile platform is too large or too small, it will affect the performance of the load.
  • a multi-line laser radar is mounted on the gimbal, and the multi-line laser radar has a high power requirement. If the power output from the movable platform to the multi-line laser radar is lower than the power required by the multi-line laser radar, the multi-line laser radar The radar will not function properly.
  • a camera is mounted on the gimbal, and the power requirement of the camera is low. If the power output from the movable platform to the camera is higher than the power required by the camera, the power consumption is high and resources are wasted. It can be seen that the traditional load control circuit is not compatible with the power supply requirements of multiple loads.
  • the communication interface can receive the power request information sent by the target load, and the power interface can control the power output to the target load according to the power request information. For example, when the power required by the target load is high, the mobile platform can request the mobile platform to The target load outputs higher power; when the target load requires lower power, the mobile platform can be requested to output lower power to the target load.
  • the embodiments of the present application are compatible with the power supply requirements of multiple loads, and do not need to provide interfaces for loads with different power supply requirements, which can reduce hardware costs and structural layout difficulties.
  • FIG. 3 is a load control circuit provided by an embodiment of the present application.
  • the load control circuit shown in FIG. 3 may be specifically applied to a mobile platform.
  • the load control circuit may include a communication interface 301 and a power interface 302.
  • the communication interface 301 connects the mobile platform and the target load, and the communication interface 301 is used to receive power request information sent by the target load.
  • the power interface 302 connects the movable platform and the target load.
  • the power interface 302 is used to control the power output to the target load according to the power request information.
  • the communication interface may be a CAN port.
  • the communication interface 301 may establish a wired communication connection or a wireless communication connection between the movable platform and the target load.
  • the wired communication connection can also be a universal serial bus (Universal Serial Bus, USB) data cable or a network cable.
  • the wireless communication connection may be a WIFI connection, a Bluetooth connection, an infrared connection, a Near Field Communication (NFC) connection, or a data network connection.
  • the target load can be one or more loads.
  • the load control circuit may further include an in-situ detection interface 403, and the in-situ detection interface 403 is used to detect whether the target platform is mounted on the movable platform. For example, when a camera or a measuring device is mounted on the gimbal, the presence detection interface 403 may determine that the target load is mounted on the movable platform.
  • the presence detection interface 403 is specifically used to determine that a target load is mounted on the movable platform when the voltage of the presence detection interface 403 is a low voltage.
  • the power interface stops supplying power.
  • the power interface 402 stops supplying power.
  • the power supply to the target load is cut off to avoid damage caused by conductive foreign objects falling into the in-situ detection interface or the interface short circuit. The embodiment of the present application can improve the movable platform Security, and reduce unnecessary power consumption.
  • the power interface 402 is specifically used to control the power output to the target load according to the power request information to the power requested by the power request information.
  • the mobile platform can build an H-bridge drive circuit through a MOS driver chip and a MOS tube device, and output a voltage of a specified power through PWM control.
  • the power interface 402 can control the power output to the target load to be 48W, and if the power request information requests the mobile platform to output 34W of power, the power interface 402 can control to the target The output power of the load is 34W.
  • the load control circuit may further include a power request detection interface 404, which connects the movable platform and the target load, and a power supply interface 402, which is specifically used to locate the power request detection interface 404 based on the power request information.
  • the number of low voltage pins controls the power output to the target load. For example, if the number of pins of the power request detection interface 404 at low voltage is one, the power demand corresponding to the target load is 48W; if the number of pins of the power request detection interface 404 at low voltage is two, it corresponds to the power demand of the target load 56W.
  • the power output to the target load is controlled to the power requested by the power request information.
  • the embodiment of the present application controls the power output to the target load according to the power request information and the number of pins of the power request detection interface 404 at a low voltage, and implements a dual redundant design for the power output control of the target load. If only the power request information of the target load is received, and the pin of the power request detection interface 404 is not pulled down, the target load cannot receive the corresponding power request response, which avoids the target load from sending wrong power request information Pressure burned load equipment.
  • the power interface 402 is specifically used to control the power output to the target load to be the maximum output power that can be supported by the mobile platform.
  • the maximum output power may be, for example, 96W, and those skilled in the art can set the maximum output power that the mobile platform can support according to actual needs.
  • the power interface 402 before the communication interface 401 receives the power request information sent by the target load, the power interface 402 outputs the first power to the target load, and the first power is the default output power provided by the mobile platform for the target load.
  • the default output power may be the power required by a load with a lower power requirement, for example, 48W.
  • the target load may be initialized by self-test. After the self-test is initialized, the target load can decide whether to send power request information to the mobile platform according to the target load application scenario, and then the communication interface 401 can receive the power request information sent by the target load. For example, if the target load is a camera, the power interface 402 outputs the first power to the target load. Since the power requirement of the camera is low and the first power is sufficient to maintain the normal operation of the camera, the target load may not send power request information to the movable platform. For another example, if the target load is a measurement device, the power interface 402 outputs the first power to the target load.
  • the target load can be sent to the mobile platform Power request information to request the mobile platform to increase the power output to the target load. For another example, after the power interface 402 increases the power output to the target load, if the target load is switched from the surveying and mapping scene to the aerial photography scene, the power demand of the target load in the aerial photography scene is lower than that in the surveying and mapping scene.
  • the load may send power request information to the mobile platform to request the mobile platform to reduce the power output to the target load.
  • the power interface 402 controls the power output to the target load, specifically for switching the power output to the target load from the first power to the second power, and the second power is the power requested by the power request information.
  • the power interface 402 may change the power output to the target load by the first The power is switched to the second power, and the second power is smaller than the first power. For another example, according to its actual situation, the target load determines that more power is required than the first power. After the communication interface 401 receives the power request information sent by the target load, the power interface 402 may change the power output to the target load by One power is switched to the second power, and the second power is greater than the first power.
  • the power interface 402 is specifically used to control the output voltage of the pins of the power interface according to the power request information to control the power output to the target load.
  • the power interface 402 is specifically used to control the output voltage of the pins of the power interface according to the power request information to control the power output to the target load.
  • the number of target loads configured by the mobile platform is one or more.
  • the mobile platform is configured with one or more PTZs, and any PTZ can mount different types of cameras or measurement devices in different application scenarios.
  • the movable platform is configured with multiple pan-tilts, different pan-tilts can mount different types of cameras or measuring devices, and the number of pan-tilts with cameras or measuring devices can be one or more.
  • the mobile platform when the mobile platform is configured with multiple loads, the mobile platform may also be configured with multiple power management devices, and the number of power management devices is the same as the number of configurable loads.
  • the mobile platform can output power to the target load through the power management device.
  • each power management device may initialize the parameters of the power management device.
  • the movable platform is an unmanned aerial vehicle, unmanned vehicle, mobile robot, or handheld device
  • the target load includes a gimbal
  • the gimbal is mounted with a camera or a measuring device
  • the measuring device includes a laser radar or a millimeter wave radar .
  • the communication interface 401 may receive another power request message sent by the target load.
  • the further power request message is sent when the target load detects that the mobile platform does not respond to the power request message within a preset time period.
  • the target load may retransmit the information, for example, re-send the power request information to the mobile platform to avoid information loss To improve the reliability of power request information.
  • the communication interface 401 may send prompt information to the target load, where the prompt information is used to notify the target load that the power request has failed.
  • the communication interface 401 may notify the target load that the power request has failed, and the power interface 402 will not adjust the power output to the target load , It can protect the whole power supply system of the mobile platform.
  • the mobile platform before the power interface 402 controls the power output to the target load according to the power request information, the mobile platform can authenticate the target load according to the power request information. If the authentication is passed, the power interface 402 can use the power Request information to control the power output to the target load; if the authentication fails, the mobile platform can isolate the communication interface, for example, do not respond to the information sent by the target load, or refuse to receive the information sent by the target load. In the embodiment of the present application, after the identity authentication of the target load is passed, the power output to the target load is controlled according to the power request information, which can improve the security of the mobile platform.
  • the mobile platform can authenticate the target load according to the power request information by acquiring the PTZ information carried in the power request information, and comparing the PTZ information with the PTZ information in the first database In comparison, when the gimbal information is the same as the gimbal information in the first database, it is determined that the authentication is passed.
  • the PTZ information can be the type of PTZ.
  • the mobile platform can authenticate the target load according to the power request information by acquiring the identification information about the target load carried in the power request information, and comparing the identification information with the preset database The identification information is compared, and when the identification information is the same as the identification information in the preset database, it is determined that the authentication is passed.
  • the identification information may be a product serial number (Serial Number, SN) or load name.
  • the load control circuit may further include a power request detection interface 404, which connects the mobile platform and the target load, and the power request detection interface 404 is used to identify the power request information to determine the power request The information is used to request the mobile platform to control the power output to the target load.
  • the power request detection interface can parse and filter the information sent by the target load. If the information sent by the target load is recognized to request the mobile platform to control the power output to the target load, the power interface can respond to the The power request information can be filtered to increase the response speed of the power request information.
  • the mobile platform may decrypt the power request information by a preset decryption algorithm to obtain the decrypted power request information, and then the power interface 402 According to the decrypted power request information, control the power output to the target load.
  • the mobile platform can decrypt the power request information through a preset decryption algorithm. If the decryption is successful, the mobile platform can extract the relevant fields in the power request information. If the relevant field is "on", the power interface 402 can control the output The second power or the maximum output power that the mobile platform can support.
  • the power interface 402 can switch the power output to the target load from the current power to the target power, for example, the current power is the second power or the maximum output power that the mobile platform can support, then the power interface 402 The power output by the target load can be switched to the first power. If the relevant field is "48W”, the output power to the target load is 48W.
  • the embodiments of the present application can ensure the security during the information transmission process through the encryption mechanism and the corresponding decryption mechanism.
  • the mobile platform can authenticate the target load according to the power request information. If the authentication is passed, the power request detection interface 404 can perform the power request information Parsing and filtering. When the power request information is recognized to request the mobile platform to control the power output to the target load, the mobile platform can decrypt and verify the power request information. If the verification is successful, the power interface 402 can use the power The request information controls the power output to the target load.
  • the communication interface can receive the power request information sent by the target load, and the power interface can control the power output to the target load according to the power request information to be compatible with the power supply requirements of multiple loads, and does not need to be
  • the load provides interfaces separately, which can reduce hardware cost and structural layout difficulty.
  • An embodiment of the present invention also provides a movable platform including a load control circuit.
  • the load control circuit includes a communication interface and a power interface.
  • the communication interface connects the movable platform and the target load.
  • the communication interface is used to receive power request information sent by the target load.
  • the power interface connects the movable platform and the target load.
  • the power interface is used according to the power.
  • the request information controls the power output to the target load.
  • the load control circuit further includes an in-situ detection interface, and the in-situ detection interface is used to detect whether a target load is mounted on the movable platform.
  • the in-situ detection interface is specifically used to determine that a target load is mounted on the movable platform when the voltage of the in-situ detection interface is low.
  • the power interface stops supplying power.
  • the power supply interface is specifically used to control the power output to the target load according to the power request information to the power requested by the power request information.
  • the load control circuit further includes a power request detection interface; the power request detection interface connects the movable platform and the target load, and the power supply interface is specifically used to control the number of pins at a low voltage according to the power request information and the power request detection interface to control The power output to the target load.
  • the power output to the target load is controlled to be the power requested by the power request information.
  • the power interface is specifically used to control the power output to the target load to be the maximum output power that the mobile platform can support.
  • the power supply interface outputs the first power to the target load, where the first power is the default output power provided by the movable platform for the target load.
  • the power interface controls the power output to the target load, which is specifically used to switch the power output to the target load from the first power to the second power, and the second power is the power requested by the power request information.
  • the power interface is specifically used to control the output voltage of the pins of the power interface according to the power request information to control the power output to the target load.
  • the number of target loads configured on the movable platform is one or more.
  • the movable platform is an unmanned aerial vehicle, an unmanned vehicle, a mobile robot, or a handheld device.
  • the target load includes a gimbal, and the gimbal is mounted with a camera or a measuring device, and the measuring device includes a laser radar or a millimeter wave radar.
  • the movable platform is further configured with a control chip and an isolation chip, and the isolation chip is connected between the control chip and the communication interface to protect the control chip.
  • an isolation chip may be added to the mobile platform.
  • the isolation chip may be U608 or U610, and the isolation chip is connected between the control chip and the communication interface In order to prevent the large current or load damage or short circuit that may be generated after the load is connected to affect the control chip in the mobile platform, thereby ensuring the system stability of the mobile platform.
  • the program may be stored in a computer-readable storage medium, and the storage medium may include: Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

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Abstract

一种负载控制电路及可移动平台，其中负载控制电路应用于可移动平台，负载控制电路包括通信接口(301)以及电源接口(302)，通信接口(301)连接可移动平台与目标负载，通信接口(301)用于接收目标负载发送的功率请求信息，电源接口(302)连接可移动平台与目标负载，电源接口(302)用于根据功率请求信息控制向目标负载输出的功率。所述负载控制电路可在兼容多种不同功率需求的负载的情况下，减小硬件成本和结构布局难度。

Description

负载控制电路及可移动平台 技术领域
本申请涉及电子技术领域，尤其涉及负载控制电路及可移动平台。
背景技术
无人机或者无人汽车等可移动平台可通过云台挂载不同的负载，例如摄像机或激光雷达，以在不同场景下实现相应的操作。不同的负载对功率的需求可能不尽相同，对该负载输出的功率过高或过低，将会导致该负载无法正常工作。因此，如何兼容多种负载的供电需求是当前亟需解决的技术问题。
发明内容
本申请实施例提供一种负载控制电路及可移动平台，可在兼容多种负载的供电需求的情况下，减小硬件成本和结构布局难度。
本申请实施例第一方面公开了一种负载控制电路，所述负载控制电路应用于可移动平台，所述负载控制电路包括通信接口以及电源接口；
所述通信接口连接所述可移动平台与目标负载，所述通信接口用于接收所述目标负载发送的功率请求信息；
所述电源接口连接所述可移动平台与所述目标负载，所述电源接口用于根据所述功率请求信息控制向所述目标负载输出的功率。
本申请实施例第二方面公开了一种可移动平台，包括第一方面所述的负载控制电路。
本申请实施例中通信接口接收目标负载发送的功率请求信息，电源接口根据功率请求信息控制向目标负载输出的功率，可在兼容多种负载的供电需求的情况下，减小硬件成本和结构布局难度。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例公开的一种可移动平台的应用场景图；
图2为本申请实施例提供的另一种可移动平台的应用场景图
图3是本申请实施例公开的一种负载控制电路的示意图；
图4是本申请实施例公开的另一种负载控制电路的示意图；
图5是本申请实施例公开的一种隔离芯片的电路示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，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，都属于本申请保护的范围。
本申请实施例中提出一种负载控制电路，可以应用于可移动平台中，主要用于兼容多种负载的供电需求。此处可移动平台包括通过无线通信进行控制的移动设备，可以为载人的或非载人的，飞行的或地面的，大型的或小型的，例如无人飞行器、无人汽车、移动机器人或手持设备等，负载可以包括云台，该云台可挂载摄像机或测量装置等，测量装置可以包括激光雷达或毫米波雷达等。此外，负载还可以包括探照灯，喊话器等其他可用负载，此处并不作限制。
以图1所示的可移动平台的应用场景图为例，该可移动平台10可以挂载至少一个负载，例如可移动平台可以挂载至少一个云台，在不同云台上可以挂载不同摄像机或测量装置。以可移动平台为飞行器为例，该飞行器支持双云台和上置云台，即该飞行器挂载有三个云台，分别为云台101、云台102以及云台103，其中云台102和云台103挂载在飞行器的下方，云台101挂载在飞行器的上方，云台上挂载有摄像机或测量装置，可实现 不同角度的拍摄或者不同方位的测量。
以图2所示的可移动平台的应用场景图为例，任一云台上可以在不同应用场景挂载不同摄像机或测量装置。例如在航拍场景，可以在某一云台上挂载广角相机。又如在测绘场景，可以在该云台上挂载激光雷达等。
其中，不同负载对功率的需求不尽相同，如果无论可移动平台挂载何种类型的负载，可移动平台均对该负载输出固定功率，则输出的功率将无法与该负载所需功率相匹配，可移动平台输出的功率过大或者过小将影响负载的性能。例如云台上挂载有多线激光雷达，多线激光雷达对功率需求较高，如果可移动平台向该多线激光雷达输出的功率低于多线激光雷达所需功率，则该多线激光雷达将无法正常运转。又如云台上挂载有摄像机，摄像机对功率需求较低，如果可移动平台向该摄像机输出的功率高于摄像机所需功率，导致功耗较高，浪费资源。由此可见，传统的负载控制电路无法兼容多种负载的供电需求。
本申请实施例中通信接口可以接收目标负载发送的功率请求信息，电源接口可以根据功率请求信息，控制向目标负载输出的功率，例如目标负载所需功率较高时，可以请求可移动平台向该目标负载输出较高功率；目标负载所需功率较低时，可以请求可移动平台向该目标负载输出较低功率。本申请实施例可兼容多种负载的供电需求，并且不需要为不同供电需求的负载分别提供接口，可以减小硬件成本和结构布局难度。
请参见图3，为本申请实施例提供的一种负载控制电路，图3所示的负载控制电路，具体可以应用于可移动平台中。
在一种实现方式中，负载控制电路可以包括通信接口301以及电源接口302。通信接口301连接可移动平台与目标负载，通信接口301用于接收目标负载发送的功率请求信息。电源接口302连接可移动平台与目标负载，电源接口302用于根据功率请求信息控制向目标负载输出的功率。其中，例如，通信接口可以为CAN口。通信接口301可以建立可移动平台与目标负载之间的有线通信连接或者无线通信连接。有线通信连接还可以为通用串行总线(Universal Serial Bus，USB)数据线或者网线等。无线通信连接可以为WIFI连接、蓝牙连接、红外线连接、近距离无线通信技术(Near Field Communication，NFC)连接或者数据网络连接等。目标负载 可以为一个或者多个负载。
在一种实现方式中，如图4所示，负载控制电路还可以包括在位检测接口403，在位检测接口403用于检测可移动平台是否挂载有目标负载。例如，在通过云台挂载有摄像机或测量装置时，在位检测接口403可以确定可移动平台挂载有目标负载。
在一种实现方式中，在位检测接口403，具体用于在在位检测接口403的电压为低电压时，确定可移动平台挂载有目标负载。
在一种实现方式中，在在位检测接口403确定可移动平台未挂载有目标负载时，电源接口停止供电。
具体实现中，当在位检测接口403检测到可移动平台未挂载摄像机或测量装置时，电源接口402停止供电。本申请实施例在未挂载目标负载的情况下，切断对目标负载的供电，可避免有导电的异物掉入在位检测接口或者接口短路导致的损坏，本申请实施例可提高可移动平台的安全性，且降低不必要的功耗。
在一种实现方式中，电源接口402，具体用于根据功率请求信息控制向目标负载输出的功率为功率请求信息所请求的功率。
具体实现中，可移动平台可以通过MOS驱动芯片和MOS管器件搭建H桥驱动电路，通过PWM控制输出指定功率的电压。例如功率请求信息请求可移动平台输出48W的功率时，电源接口402可以控制向目标负载输出的功率为48W，又如功率请求信息请求可移动平台输出34W的功率时，电源接口402可以控制向目标负载输出的功率为34W。
在一种实现方式中，负载控制电路还可以包括功率请求检测接口404，功率请求检测接口404连接可移动平台与目标负载，电源接口402，具体用于根据功率请求信息与功率请求检测接口404处于低电压的引脚数量，控制向目标负载输出的功率。例如，功率请求检测接口404处于低电压的引脚数量为一个，则对应目标负载的功率需求为48W；功率请求检测接口404处于低电压的引脚数量为两个，则对应目标负载的功率需求为56W。
在一种实现方式中，当功率请求信息与功率请求检测接口404处于低电压的引脚数量相匹配时，控制向目标负载输出的功率为功率请求信息所请求的功率。
本申请实施例根据功率请求信息与功率请求检测接口404处于低电压的引脚数量，控制向目标负载输出的功率，对目标负载的功率输出控制进行了双冗余设计。如果只接收到了目标负载的功率请求信息，而功率请求检测接口404的引脚没有拉低，则目标负载无法得到对应的功率请求响应，避免了目标负载发送错误的功率请求信息，而导致的过压烧毁负载设备的情况。
在一种实现方式中，电源接口402，具体用于控制向目标负载输出的功率为可移动平台可支持的最大输出功率。最大输出功率例如可以是96W，本领域技术人员可根据实际需求对可移动平台可支持的最大输出功率进行设定。
在一种实现方式中，在通信接口401接收目标负载发送的功率请求信息之前，电源接口402向目标负载输出第一功率，第一功率为可移动平台为目标负载提供的默认输出功率。其中，默认输出功率可以为功率需求较低的负载所需求的功率，例如48W。
在一种实现方式中，电源接口402向目标负载输出第一功率之后，目标负载可以进行自检初始化。在自检初始化之后，目标负载可以根据目标负载的应用场景决定是否需要向可移动平台发送功率请求信息，进而通信接口401可以接收目标负载发送的功率请求信息。例如，目标负载为摄像机，电源接口402向目标负载输出第一功率，由于摄像机对功率需求较低，第一功率足以维持摄像机的正常运转，则目标负载可以不向可移动平台发送功率请求信息。又如，目标负载为测量装置，电源接口402向目标负载输出第一功率，由于测量装置对功率需求较高，第一功率不足以维持测量装置的正常运转，则目标负载可以向可移动平台发送功率请求信息，以请求可移动平台增大对目标负载输出的功率。又如，电源接口402增大对目标负载输出的功率之后，若目标负载由测绘场景切换至航拍场景，目标负载在航拍场景中对功率的需求低于在测绘场景中对功率的需求，则目标负载可以向可移动平台发送功率请求信息，以请求可移动平台减小对目标负载输出的功率。
在一种实现方式中，电源接口402控制向目标负载输出的功率，具体用于将向目标负载输出的功率由第一功率切换为第二功率，第二功率为功 率请求信息所请求的功率。
例如，目标负载根据自身的实际情况，确定需要比第一功率更小的功率，则通信接口401接收到目标负载发送的功率请求信息之后，电源接口402可以将向目标负载输出的功率由第一功率切换为第二功率，第二功率小于第一功率。又如，目标负载根据自身的实际情况，确定需要比第一功率更大的功率，则通信接口401接收到目标负载发送的功率请求信息之后，电源接口402可以将向目标负载输出的功率由第一功率切换为第二功率，第二功率大于第一功率。
在一种实现方式中，电源接口402，具体用于根据功率请求信息控制电源接口的引脚的输出电压，以控制向目标负载输出的功率。通过控制电源接口的引脚的输出电压控制向目标负载输出的功率，可以采用单个电源接口满足不同目标负载的供电需求，并且不需要为不同的目标负载分别配置电源接口，减小了硬件成本和结构布局难度。
在一种实现方式中，可移动平台配置的目标负载的数量为一个或者多个。例如，可移动平台配置有一个或者多个云台，任一云台可在不同应用场景挂载不同类型的摄像机或者测量装置。又如，可移动平台配置有多个云台，不同云台可挂载不同类型的摄像机或者测量装置，挂载有摄像机或者测量装置的云台的数量可以为一个或者多个。
在一种实现方式中，在可移动平台配置有多个负载的情况下，可移动平台还可以配置多个电源管理器件，电源管理器件的数量和可配置的负载的数量相同。可移动平台可以通过电源管理器件向目标负载输出功率。
在一种实现方式中，可移动平台启动之后，各个电源管理器件可以对该电源管理器件的参数进行初始化。
在一种实现方式中，可移动平台为无人飞行器、无人汽车、移动机器人或手持设备，目标负载包括云台，云台挂载有摄像机或测量装置，测量装置包括激光雷达或毫米波雷达。
在一种实现方式中，通信接口401可以接收目标负载发送的又一功率请求信息，又一功率请求信息是目标负载检测到可移动平台在预设时间段内未响应功率请求信息时发送的。本申请实施例中，如果可移动平台在预设时间段内未响应目标负载发送的功率请求信息，目标负载可以进行信息 重发，例如重新向可移动平台发送上述功率请求信息，可避免信息丢失，提高功率请求信息的可靠性。
在一种实现方式中，在目标负载发送的功率请求信息的数量大于预设数量阈值时，通信接口401可以向目标负载发送提示信息，提示信息用于向目标负载提示功率请求失败。本申请实施例中，如果目标负载连续多次向可移动平台发送的功率请求信息均未得到响应，通信接口401可以向目标负载提示功率请求失败，电源接口402不会调整向目标负载输出的功率，可保护可移动平台的整机供电系统。
在一种实现方式中，在电源接口402根据功率请求信息，控制向目标负载输出的功率之前，可移动平台可以根据功率请求信息对目标负载进行身份认证，如果认证通过，电源接口402可以根据功率请求信息，控制向目标负载输出的功率；如果认证未通过，可移动平台可以隔离通信接口，例如对目标负载发送的信息不进行响应，或者拒绝接收目标负载发送的信息等。本申请实施例在对目标负载进行身份认证通过之后，根据功率请求信息，控制向目标负载输出的功率，可提高可移动平台的安全性。
在一种实现方式中，可移动平台根据功率请求信息对目标负载进行身份认证的方式可以为：获取功率请求信息所携带的云台信息，将云台信息与第一数据库中的云台信息进行比较，在云台信息与第一数据库中的云台信息相同时，确定认证通过。其中，云台信息可以为云台类型等。
在一种实现方式中，可移动平台根据功率请求信息对目标负载进行身份认证的方式可以为：获取所述功率请求信息所携带的关于目标负载的标识信息，将标识信息与预设数据库中的标识信息进行比较，在标识信息与预设数据库中的标识信息相同时，确定认证通过。其中，标识信息可以为产品序列号(Serial Number，SN)或者负载名称等。
在一种实现方式中，负载控制电路还可以包括功率请求检测接口404，功率请求检测接口404连接可移动平台与目标负载，功率请求检测接口404用于对功率请求信息进行识别，以确定功率请求信息用于请求可移动平台控制向目标负载输出的功率。本申请实施例中，功率请求检测接口可以对目标负载发送的信息进行解析和过滤，如果识别到目标负载发送的信息用于请求可移动平台控制向目标负载输出的功率，则电源接口可以响应 该功率请求信息，通过过滤可提高功率请求信息的响应速度。
在一种实现方式中，如果功率请求信息是通过预设加密算法进行加密得到的，可移动平台可以通过预设解密算法对功率请求信息进行解密，得到解密后的功率请求信息，进而电源接口402根据解密后的功率请求信息，控制向目标负载输出的功率。例如，可移动平台可以通过预设解密算法对功率请求信息进行解密，如果解密成功，可移动平台可以提取功率请求信息中的相关字段，如果相关字段为“打开”，则电源接口402可以控制输出第二功率或者可移动平台可支持的最大输出功率。如果相关字段为“切换”，则电源接口402可以向目标负载输出的功率由当前功率切换为目标功率，例如当前功率为第二功率或者可移动平台可支持的最大输出功率，则电源接口402向目标负载输出的功率可以切换为第一功率。如果相关字段为“48W”，则向目标负载输出的功率为48W。
本申请实施例通过加密机制和相应的解密机制，可保证信息传输过程中的安全性。
在一种实现方式中，通信接口401接收目标负载发送的功率请求信息之后，可移动平台可以根据功率请求信息对目标负载进行身份认证，如果认证通过，功率请求检测接口404可以对功率请求信息进行解析和过滤，在识别到功率请求信息用于请求可移动平台控制向目标负载输出的功率时，可移动平台可以对功率请求信息进行解密和校验，如果校验成功，电源接口402可以根据功率请求信息控制向目标负载输出的功率。
本申请实施例中通信接口可以接收目标负载发送的功率请求信息，电源接口可以根据功率请求信息，控制向目标负载输出的功率，以兼容多种负载的供电需求，并且不需要为不同供电需求的负载分别提供接口，可以减小硬件成本和结构布局难度。
本发明实施例还提供了一种可移动平台，该可移动平台包括负载控制电路。
该负载控制电路包括通信接口以及电源接口，通信接口连接可移动平台与目标负载，通信接口用于接收目标负载发送的功率请求信息；电源接口连接可移动平台与目标负载，电源接口用于根据功率请求信息控制向目标负载输出的功率。
可选的，负载控制电路还包括在位检测接口，在位检测接口用于检测可移动平台是否挂载有目标负载。
可选的，在位检测接口，具体用于在在位检测接口的电压为低电压时，确定可移动平台挂载有目标负载。
可选的，在在位检测接口确定可移动平台未挂载有目标负载时，电源接口停止供电。
可选的，电源接口，具体用于根据功率请求信息控制向目标负载输出的功率为功率请求信息所请求的功率。
可选的，负载控制电路还包括功率请求检测接口；功率请求检测接口连接可移动平台与目标负载，电源接口，具体用于根据功率请求信息与功率请求检测接口处于低电压的引脚数量，控制向目标负载输出的功率。
可选的，当功率请求信息与功率请求检测接口处于低电压的引脚数量相匹配时，控制向目标负载输出的功率为功率请求信息所请求的功率。
可选的，电源接口，具体用于控制向目标负载输出的功率为可移动平台可支持的最大输出功率。
可选的，在通信接口接收目标负载发送的功率请求信息之前，电源接口向目标负载输出第一功率，第一功率为可移动平台为目标负载提供的默认输出功率。
可选的，电源接口控制向目标负载输出的功率，具体用于将向目标负载输出的功率由第一功率切换为第二功率，第二功率为功率请求信息所请求的功率。
可选的，电源接口，具体用于根据功率请求信息控制电源接口的引脚的输出电压，以控制向目标负载输出的功率。
可选的，可移动平台配置的目标负载的数量为一个或者多个。
可选的，可移动平台为无人飞行器、无人汽车、移动机器人或手持设备，目标负载包括云台，云台挂载有摄像机或测量装置，测量装置包括激光雷达或毫米波雷达。
可选的，可移动平台还配置有控制芯片和隔离芯片，隔离芯片连接于控制芯片与通信接口之间，以对所述控制芯片起到保护作用。
在一种实现方式中，可以在可移动平台中增加隔离芯片，以图5所示的隔离芯片的电路示意图为例，隔离芯片可以为U608或者U610，隔离芯片连接于控制芯片与通信接口之间，以防止负载接入后可能产生的大电流或负载损坏、短路对可移动平台中的控制芯片造成影响，从而保证可移动平台的系统稳定性。
需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某一些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。
以上对本申请实施例所提供的一种负载控制电路及可移动平台进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (27)

  1. 一种负载控制电路，其特征在于，所述负载控制电路应用于可移动平台，所述负载控制电路包括通信接口以及电源接口；
    所述通信接口连接所述可移动平台与目标负载，所述通信接口用于接收所述目标负载发送的功率请求信息；
    所述电源接口连接所述可移动平台与所述目标负载，所述电源接口用于根据所述功率请求信息控制向所述目标负载输出的功率。
  2. 如权利要求1所述的电路，其特征在于，所述负载控制电路还包括在位检测接口，所述在位检测接口用于检测所述可移动平台是否挂载有所述目标负载。
  3. 如权利要求2所述的电路，其特征在于，所述在位检测接口，具体用于在所述在位检测接口的电压为低电压时，确定所述可移动平台挂载有所述目标负载。
  4. 如权利要求2所述的电路，其特征在于，在所述在位检测接口确定所述可移动平台未挂载有所述目标负载时，所述电源接口停止供电。
  5. 如权利要求1所述的电路，其特征在于，所述电源接口，具体用于根据所述功率请求信息控制向所述目标负载输出的功率为所述功率请求信息所请求的功率。
  6. 如权利要求1所述的电路，其特征在于，所述负载控制电路还包括功率请求检测接口；
    所述功率请求检测接口连接所述可移动平台与所述目标负载，所述电源接口，具体用于根据所述功率请求信息与所述功率请求检测接口处于低 电压的引脚数量，控制向所述目标负载输出的功率。
  7. 如权利要求6所述的电路，其特征在于，当所述功率请求信息与所述功率请求检测接口处于低电压的引脚数量相匹配时，控制向所述目标负载输出的功率为所述功率请求信息所请求的功率。
  8. 如权利要求1所述的电路，其特征在于，所述电源接口，具体用于控制向所述目标负载输出的功率为所述可移动平台可支持的最大输出功率。
  9. 如权利要求1所述的电路，其特征在于，在所述通信接口接收所述目标负载发送的功率请求信息之前，所述电源接口向所述目标负载输出第一功率，所述第一功率为所述可移动平台为所述目标负载提供的默认输出功率。
  10. 如权利要求9所述的电路，其特征在于，所述电源接口控制向所述目标负载输出的功率，具体用于将向所述目标负载输出的功率由所述第一功率切换为第二功率，所述第二功率为所述功率请求信息所请求的功率。
  11. 如权利要求1所述的电路，其特征在于，所述电源接口，具体用于根据所述功率请求信息控制所述电源接口的引脚的输出电压，以控制向所述目标负载输出的功率。
  12. 如权利要求1所述的电路，其特征在于，所述可移动平台配置的所述目标负载的数量为一个或者多个。
  13. 如权利要求1所述的电路，其特征在于，所述可移动平台为无人 飞行器、无人汽车、移动机器人或手持设备，所述目标负载包括云台，所述云台挂载有摄像机或测量装置，所述测量装置包括激光雷达或毫米波雷达。
  14. 一种可移动平台，其特征在于，所述可移动平台包括负载控制电路，所述负载控制电路包括通信接口以及电源接口；
    所述通信接口连接所述可移动平台与目标负载，所述通信接口用于接收所述目标负载发送的功率请求信息；
    所述电源接口连接所述可移动平台与所述目标负载，所述电源接口用于根据所述功率请求信息控制向所述目标负载输出的功率。
  15. 如权利要求14所述的可移动平台，其特征在于，所述负载控制电路还包括在位检测接口，所述在位检测接口用于检测所述可移动平台是否挂载有所述目标负载。
  16. 如权利要求15所述的可移动平台，其特征在于，所述在位检测接口，具体用于在所述在位检测接口的电压为低电压时，确定所述可移动平台挂载有所述目标负载。
  17. 如权利要求15所述的可移动平台，其特征在于，在所述在位检测接口确定所述可移动平台未挂载有所述目标负载时，所述电源接口停止供电。
  18. 如权利要求14所述的可移动平台，其特征在于，所述电源接口，具体用于根据所述功率请求信息控制向所述目标负载输出的功率为所述功率请求信息所请求的功率。
  19. 如权利要求14所述的可移动平台，其特征在于，所述负载控制电路还包括功率请求检测接口；
    所述功率请求检测接口连接所述可移动平台与所述目标负载，所述电源接口，具体用于根据所述功率请求信息与所述功率请求检测接口处于低电压的引脚数量，控制向所述目标负载输出的功率。
  20. 如权利要求19所述的可移动平台，其特征在于，当所述功率请求信息与所述功率请求检测接口处于低电压的引脚数量相匹配时，控制向所述目标负载输出的功率为所述功率请求信息所请求的功率。
  21. 如权利要求14所述的可移动平台，其特征在于，所述电源接口，具体用于控制向所述目标负载输出的功率为所述可移动平台可支持的最大输出功率。
  22. 如权利要求14所述的可移动平台，其特征在于，在所述通信接口接收所述目标负载发送的功率请求信息之前，所述电源接口向所述目标负载输出第一功率，所述第一功率为所述可移动平台为所述目标负载提供的默认输出功率。
  23. 如权利要求22所述的可移动平台，其特征在于，所述电源接口控制向所述目标负载输出的功率，具体用于将向所述目标负载输出的功率由所述第一功率切换为第二功率，所述第二功率为所述功率请求信息所请求的功率。
  24. 如权利要求14所述的可移动平台，其特征在于，所述电源接口，具体用于根据所述功率请求信息控制所述电源接口的引脚的输出电压，以控制向所述目标负载输出的功率。
  25. 如权利要求14所述的可移动平台，其特征在于，所述可移动平台配置的所述目标负载的数量为一个或者多个。
  26. 如权利要求14所述的可移动平台，其特征在于，所述可移动平台为无人飞行器、无人汽车、移动机器人或手持设备，所述目标负载包括云台，所述云台挂载有摄像机或测量装置，所述测量装置包括激光雷达或毫米波雷达。
  27. 如权利要求14-26任一项所述的可移动平台，其特征在于，所述可移动平台还配置有控制芯片和隔离芯片，所述隔离芯片连接于所述控制芯片与所述通信接口之间，以对所述控制芯片起到保护作用。
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