WO2021087780A1

WO2021087780A1 - Flight control method, power supply method, system and unmanned aerial vehicle

Info

Publication number: WO2021087780A1
Application number: PCT/CN2019/115819
Authority: WO
Inventors: 张彩辉
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2021-05-14
Also published as: CN112292315A

Abstract

A flight control method, comprising: a supply voltage of a power source (11) is acquired (step 301); if the supply voltage of the power source (11) satisfies a reference voltage range, a second power source (B) currently supplies power to a load circuit (12) to control an unmanned aerial vehicle to execute a safety operation (step 302); and if the supply voltage of the power source (11) does not satisfy the reference voltage range, a first power source (A) currently supplies power to the load circuit (12). Further provided are a power supply method, a flight control system and an unmanned aerial vehicle. The flight control method improves the safety of the unmanned aerial vehicle.

Description

Flight control method, power supply method, system and unmanned aerial vehicle

Technical field

This application relates to the technical field of unmanned aerial vehicles, in particular to a flight control method, a power supply method, a system and an unmanned aerial vehicle.

Background technique

In recent years, with the development of science and technology, the application of unmanned aerial vehicles has become more and more extensive.

Generally, the unmanned aerial vehicle uses a power source for power supply, and the power source can provide electric energy for the unmanned aerial vehicle to support the unmanned aerial vehicle to complete the flight operation requirements. Specifically, the power supply can provide electric energy for the motor of the unmanned aerial vehicle, so that the motor can drive the propeller installed on the motor to rotate, so that the unmanned aerial vehicle can fly. However, during the flight of the unmanned aerial vehicle, due to various reasons, the power supply cannot provide electric power to the unmanned aerial vehicle.

During the flight of the unmanned aerial vehicle, when the power supply cannot continue to provide electric energy for the unmanned aerial vehicle, the unmanned aerial vehicle will fall to the ground due to the motor's inability to continue to drive the propeller, thereby causing damage to the unmanned aerial vehicle.

Summary of the invention

The embodiments of the application provide a flight control method, a power supply method, a system, and an unmanned aerial vehicle, which are used to solve the problem that when the power supply cannot continue to provide electric energy for the unmanned aerial vehicle during the flight of the unmanned aerial vehicle in the prior art, the motor cannot Continuing to drive the propeller to rotate will cause the unmanned aerial vehicle to fall to the ground, thereby causing the problem of damage to the unmanned aerial vehicle.

In a first aspect, an embodiment of the present application provides a flight control method applied to an unmanned aerial vehicle, the unmanned aerial vehicle including a power supply and a load circuit, the power supply can supply power to the load circuit; the power supply includes a first power supply , A second power supply, the first power supply and the second power supply are electrically connected to the load circuit, the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply, To supply power to the load circuit, the method includes:

Obtaining the power supply voltage of the power supply;

If the power supply voltage of the power supply meets the reference voltage range, the second power supply is currently supplying power to the load circuit and controls the UAV to perform safe operations;

Wherein, if the power supply voltage of the power supply does not meet the reference voltage range, the first power supply is currently supplying power to the load circuit.

In a second aspect, an embodiment of the present application provides a flight control method applied to an unmanned aerial vehicle. The unmanned aerial vehicle includes a power supply and a load circuit, the power supply can supply power to the load circuit; the power supply includes a first power supply , A second power supply, the first power supply and the second power supply are electrically connected to the load circuit, the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply, To supply power to the load circuit, the method includes:

Determine whether the preset conditions are met;

If the preset condition is met, the second power source is currently supplying power to the load circuit and controls the UAV to perform safe operations;

Wherein, if the preset condition is not met, the first power source is currently supplying power to the load circuit.

In a third aspect, an embodiment of the present application provides a power supply method, which is applied to a control circuit, the control circuit is used to control a power supply system, and the power supply system includes: a first power supply circuit for electrically connecting a load circuit and a first power supply circuit. A power supply is used to supply power to the load circuit through the first power supply; a second power supply circuit is used to electrically connect between the load circuit and a second power supply, so that the second power supply serves as the The load circuit supplies power; the method includes:

Acquiring an electrical signal on the second power supply circuit;

If the electrical signal satisfies the reference electrical signal range, the second power supply circuit is controlled to be in a formally conductive state so that the second power source supplies power to the load circuit; otherwise, the second power supply circuit is controlled to be in the pre-set state. The on state, so that the first power supply continues to supply power to the load circuit.

In a fourth aspect, an embodiment of the present application provides a flight control system applied to an unmanned aerial vehicle, the flight control system including: a power supply, a load circuit, and a controller;

The power source can supply power to the load circuit; the power source includes a first power source and a second power source, the first power source and the second power source are electrically connected to the load circuit, and the output voltage of the first power source Or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power to the load circuit,

The controller is configured to obtain the power supply voltage of the power supply; and, if the power supply voltage of the power supply meets a reference voltage range, the second power supply is currently supplying power to the load circuit to control the unmanned aerial vehicle Perform safe operations;

In a fifth aspect, an embodiment of the present application provides a flight control system applied to an unmanned aerial vehicle, the flight control system including: a power supply, a load circuit, and a controller;

The power source can supply power to the load circuit; the power source includes a first power source and a second power source, the first power source and the second power source are electrically connected to the load circuit, and the output voltage of the first power source Or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power to the load circuit;

The controller is configured to determine whether a preset condition is satisfied; and, if the preset condition is satisfied, the second power source is currently supplying power to the load circuit, and controls the unmanned aerial vehicle to perform safe operations;

In a sixth aspect, an embodiment of the present application provides a power supply system, including: a power supply system and a control circuit, the control circuit is electrically connected to the power supply system, and is used to control the power supply system; the power supply system includes The first power supply circuit and the second electric circuit;

The first power supply circuit is configured to be electrically connected between a load circuit and a first power source, so as to supply power to the load circuit through the first power source;

The second power supply circuit is configured to be electrically connected between the load circuit and a second power source to supply power to the load circuit through the second power source; the method includes:

The control circuit is used to obtain the electrical signal on the second power supply circuit; and, if the electrical signal satisfies the reference electrical signal range, control the second power supply circuit to be in a formally conducting state, so that the The second power supply supplies power to the load circuit; otherwise, the second power supply circuit is controlled to be in a pre-conduction state, so that the first power supply continues to supply power to the load circuit.

In a seventh aspect, an embodiment of the present application provides an unmanned aerial vehicle, including: the flight control system described in the fourth aspect and the power supply system described in the sixth aspect.

In an eighth aspect, an embodiment of the present application provides an unmanned aerial vehicle, including: the flight control system described in the fifth aspect and the power supply system described in the sixth aspect.

In a ninth aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, the at least one piece of code can be executed by a computer to control the The computer executes the method described in any one of the above-mentioned first aspects.

In a tenth aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, the at least one piece of code can be executed by a computer to control all The computer executes the method described in any one of the above second aspects.

In an eleventh aspect, an embodiment of the present application provides a computer program, when the computer program is executed by a computer, it is used to implement the method described in any one of the above-mentioned first aspects.

In a twelfth aspect, an embodiment of the present application provides a computer program, when the computer program is executed by a computer, it is used to implement the method described in any one of the above second aspects.

The embodiments of the present application provide a flight control method, a power supply method, a system, and an unmanned aerial vehicle. By obtaining the power supply voltage of the power supply, if the power supply voltage of the power supply meets the reference voltage range, the second power supply is currently Supply power to the load circuit and control the UAV to perform safe operations, so that the UAV can be controlled to perform safe operations when the power supply voltage meets the reference voltage range. Because the power supply voltage does not meet the reference voltage range, it can be Indicates that the first power supply is currently supplying power to the load circuit, and the supply voltage of the power supply meets the reference voltage range can indicate that the second power supply is currently supplying power to the load circuit, so the supply voltage of the power supply meets the reference voltage range can indicate the first power supply There is an abnormality. Because the abnormality of the first power supply will affect the safety of the UAV, it is helpful to further improve the UAV's safety by controlling the UAV to perform safe operations when the power supply voltage of the power supply meets the reference voltage range. safety.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

1A-1C are schematic diagrams of application scenarios of the flight control method provided by the embodiments of this application;

2 is a schematic flowchart of a flight control method provided by an embodiment of this application;

FIG. 3 is a schematic flowchart of a flight control method provided by another embodiment of this application;

4 is a schematic flowchart of a flight control method provided by another embodiment of this application;

FIG. 5 is a schematic flowchart of a power supply method provided by another embodiment of this application;

Fig. 6 is a schematic structural diagram of a flight control system provided by an embodiment of the application;

FIG. 7 is a schematic structural diagram of a flight control system provided by another embodiment of the application;

FIG. 8 is a schematic diagram of a circuit principle of a power supply control system provided by an embodiment of the application;

9 is a schematic diagram of the circuit principle of the isolated power supply module in the power supply control system provided by an embodiment of the application;

FIG. 10 is a schematic diagram of a movable platform provided by an embodiment of this application.

FIG. 11 is a schematic diagram of a charging circuit provided by an embodiment of the application;

FIG. 12 is a schematic diagram of a movable platform provided by another embodiment of this application;

FIG. 13 is a schematic structural diagram of a power protection circuit board provided by an embodiment of the application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flight control method provided by the embodiments of the present application can be applied to any unmanned aerial vehicle that can support at least two power sources to independently supply power to the load circuit. As shown in Figure 1A, the UAV includes a power supply 11 and a load circuit 12. The power supply 11 can supply power to the load circuit 12; the power supply 11 includes a first power supply A and a second power supply B. The second power source B is electrically connected to the load circuit, and the output voltage of the first power source A or the second power source B can be used as the power supply voltage of the power source to supply power to the load circuit 12. Specifically, as shown in FIG. 1B, the output voltage of the first power supply A is used as the power supply voltage of the power supply 11, and the output voltage of the second power supply B is not used as the power supply voltage of the power supply 11. The first power supply A supplies power to the load circuit 12; or, as shown in FIG. 1C, the output voltage of the second power supply B is used as the power supply voltage of the power supply, and the output power of the first power supply A is not used as the power supply voltage. The power supply voltage of the power supply 11 is supplied by the second power supply B to the load circuit 12.

One or more components of the UAV can be powered by a power source. For example, the entire UAV can be powered by the power source or only the propulsion unit, controller, communication unit, inertial measurement unit (IMU), and/or other sensors can be powered by the power source. The power source may include lithium ion batteries, alkaline batteries, nickel cadmium batteries, lead acid batteries, or nickel metal hydride batteries. The power source can be a disposable battery or a rechargeable battery. The life of the battery (ie, the amount of time that can be supplied to the UAV before it needs to be recharged) can be changed; the life can be at least 1 minute, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 45 minutes, 1 hour, 2 Hours, 3 hours, 4 hours, 5 hours or 10 hours. The power supply lifetime can have a duration greater than or equal to any value described herein. The duration of the power supply life can fall within a range that falls between any two values described herein.

The power supply can be connected to the unmanned aerial vehicle through an electrical connection to supply power to the unmanned aerial vehicle. Any description of the power source herein can be applied to one or more batteries. Any description of the power source may apply to the battery pack, and vice versa, where the battery pack may include one or more batteries. The power supply can be connected in serial, parallel or any combination. The electrical connection between the unmanned aerial vehicle and the battery or the electrical connection between the components of the unmanned aerial vehicle and the battery can be provided. The electrical contacts of the battery can contact the electrical contacts of the UAV. The body of the unmanned aerial vehicle may have a recessed area for surrounding the battery.

The embodiments of the present application can be used in various fields of unmanned aerial vehicles, for example, the field of agricultural plant protection, the field of industrial surveying, the field of emergency and disaster relief, and the field of daily consumption. In the field of agricultural plant protection, agricultural plant protection drones can be used for planting, pollination, fertilization, spraying, etc., freeing farmers from heavy plant protection operations, which is conducive to large-scale production; secondly, the drone is small in size and convenient for transfer. And transportation; again, it is not restricted by terrain conditions and has good applicability. Due to the large cultivated area of crops, the operation time is relatively long when agricultural plant protection drones are used for spraying. By using the flight control method provided by the embodiments of the present application, when the first power supply is normal, the first power supply supplies power to the load circuit, and when the first power supply is abnormal, the second power supply supplies power to the load circuit. The problem that the unmanned aerial vehicle loses power due to the abnormality of the first power source can be avoided, and the safety of the unmanned aerial vehicle is improved. This way of redundantly setting the power supply can effectively solve the bombing problem caused by the use of a single power supply for the unmanned aerial vehicle.

In some embodiments, the volume of the second battery may be smaller than that of the second battery. For example, the weight of the second battery is 2/3 to 1/20 of the weight of the first battery. In some embodiments, the weight of the second battery is the first battery. Battery 1/2, 3/1, 1/4, 1/5, 1/6, 1/7, 1/8, 1/9, 1/10, 1/11, 1/12, 1/13, 1/14, 1/15, 1/16, 1/17, 1/18, 1/19, 1/20. Thereby reducing the weight of the fuselage and improving the energy efficiency of the power supply.

In some embodiments, the first power source can be discharged at a high rate, such as 9C, 8.5C, 8C, 7.5C, 7C, 6.5C, 6C, 5.5C, 5C, etc. The first power supply can also be charged at a high rate, for example, 3C, 3.5C, 4C, 4.5C, 5C, 5.5C, 6C, etc., to achieve high rate charging, reduce charging time, and meet operating requirements with one charge. The second power supply can discharge at a high rate, and the discharge rate can reach 20-100C. Optionally, the discharge rate can be 20C, 25C, 30C, 35C, 40C, 45C, 50C, 55C, 60C, 65C, 70C, 75C, 80C , 85C, 90C, 95C, 100C.

In some embodiments, the capacity of the second power source may be 1Ah to 5Ah, and optionally, the capacity of the second power source is 2Ah.

In some embodiments, the first power source may include a plurality of battery cells, for example, the main battery may include 14 battery cells. The second power source may include a plurality of battery cells, for example, the main battery may include 12 battery cells. The number of cells of the second power supply can be equal to the number of cells of the first power supply to form a dual power supply system. The number of cells of the second power supply can also be less than the number of cells of the first power supply, so that the weight of the second power supply is much lighter than the weight of the first power supply.

In some embodiments, the discharge power of the first power source and the second power source may be the same to ensure that when the second power source supplies power to the unmanned aerial vehicle, it provides normal power output for the unmanned aerial vehicle to ensure the normal operation of the unmanned aerial vehicle. The discharge power of the first power supply and the second power supply may be different. For example, the discharge power of the second power supply is lower than the discharge power of the first power supply, so that when the second power supply supplies power to the UAV, it can provide normal power for the UAV. The power output ensures the normal operation of the unmanned aerial vehicle.

In some embodiments, the first power supply and the second power supply have low heat generation and low temperature rise. By providing tabs with a certain width and thickness, the internal resistance of the tabs is smaller, thereby reducing the heat generation of the power supply and making the power easier to dissipate heat. For example, the width of the tab is 35mm±1.5mm, and the thickness of the tab is 0.4mm±0.02mm.

In some embodiments, the tolerable charging temperature of the power supply is relatively high, for example, the tolerable charging temperature is 50-70°C, optionally, the tolerable temperature is 55°C. By designing the battery protection circuit board, the battery protection circuit is equipped with a conductive current flow structure, so that part of the conductive path is realized on the metal structure, which improves the current flow capacity of the battery protection circuit board and can significantly improve the power supply's withstandability Charging temperature.

In some embodiments, the number of charging and discharging cycles of the power supply is relatively high, for example, 600 times or more, thereby reducing operating costs.

It should be noted that in the embodiments of the present application, the power supply 11 refers to any type of device that can convert other forms of energy into electrical energy and supply the load circuit 12 to use. Exemplarily, the power supply may include batteries, such as dry batteries, lead storage batteries, lithium battery. Among them, the battery included in the first power supply can be, for example, an intelligent flight battery. The intelligent flight battery has a large capacity of 18000mAh, supports 3.5C charging and 9C discharge, and can meet the needs of one flight after 16 minutes of charging. The battery generates less heat and has a battery charge and discharge cycle. Advantages such as many times.

Exemplarily, the power supply range of the first power supply A and the power supply range of the second power supply B may be the same. Therefore, it is possible to avoid the need for hardware adaptation to different power supply ranges due to the different power supply ranges of the first power supply and the second power supply, which is beneficial to simplify the hardware implementation.

Exemplarily, the power supply range of the first power source A and the power supply range of the second power source B may be different. As a result, the power supply voltage of the power supply is related to the switching between the first power supply A and the second power supply B, so that the control related to the power supply to the load can be completed according to the power supply voltage of the voltage.

Exemplarily, the power supply range of the first power supply A is a first voltage range, and the power supply range of the second power supply B is a second voltage range, the first voltage range is different from the second voltage range, and the first voltage The highest value of the range is greater than the highest value of the second voltage range. The highest value of the first voltage range is greater than the highest value of the second voltage range to realize that the power supply range of the first power supply A is different from the power supply range of the second power supply B, and because the two power supplies are connected in parallel, the power supply with high output voltage is used as power supply The power supply, therefore, the highest value of the first voltage range is greater than the highest value of the second voltage range, which is beneficial to simplify the hardware implementation of preferentially consuming the electric energy of the first power supply A. In addition, as a power supply continues to output electrical energy, the output voltage of the power supply will decrease. The highest value of the first voltage range is greater than the highest value of the second voltage range. When the first power supply is switched to the second power supply, the power supply The output voltage of 11 can comply with the law of continuously decreasing, which facilitates the related control of switching between the first power source A and the second power source B based on the output voltage of the power source 11.

Exemplarily, the output power of the second power source B and the output power of the first power source A may be the same. With the same output power of the second power source B and the first power source A, it can be ensured that the power provided to the load circuit remains unchanged when the first power source is switched to the second power source, and the power provided to the load circuit due to the switching of the power source is avoided. Problems caused by changes.

Exemplarily, the discharge rate of the second power source B may be greater than the discharge rate of the first power source A. Since the discharge rate of the power supply is inversely proportional to the capacity of the power supply and directly proportional to the discharge current of the power supply, when the output power of the second power supply and the first power supply are constant, the discharge rate of the second power supply is greater than that of the first power supply. Multiplier, so that the capacity requirement for the second power supply can be less than the capacity requirement for the first power supply, and since the capacity of the power supply is positively correlated with the volume of the power supply, the volume of the second power supply can be reduced, thereby reducing the weight of the second power supply. Reduce the load of unmanned aerial vehicles.

Exemplarily, when the first power supply A is normal, the load circuit 12 can be powered by the first power supply A, and when the first power supply A is abnormal, the second power supply B can be used for the load circuit. The load circuit 12 supplies power, that is, the first power source A may be the main power source, and the second power source B may be used as the backup power source of the first power source. Exemplarily, the abnormal situation of the first power supply A may include a scenario where the first power supply A cannot continue to provide power to the UAV due to various reasons, for example, the output voltage of the first power supply A is equal to 0, and another example is the first power supply A. The output voltage of the power source A is greater than 0 but less than the output voltage of the second power source B. For another example, the output voltage of the first power source A is greater than the output voltage of the second power source but less than the voltage threshold.

By using the first power supply to supply power to the load circuit when the first power supply is normal, and the second power supply to supply power to the load circuit when the first power supply is abnormal, the problem of the unmanned aerial vehicle losing power due to the abnormality of the first power supply can be avoided. , Improve the safety of unmanned aerial vehicles. On this basis, the flight control method provided by the present application realizes the condition that the preset conditions are met by the second power supply B supplying power to the load circuit if the preset conditions are met, and the unmanned aerial vehicle is controlled to perform safe operations. The unmanned aerial vehicle is controlled to perform safe operations, which further improves the safety of the unmanned aerial vehicle.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

FIG. 2 is a schematic flowchart of a flight control method provided by an embodiment of this application. The execution subject of this embodiment may be the unmanned aerial vehicle shown in FIG. 1, and specifically may be the controller of the unmanned aerial vehicle. As shown in Figure 2, the method of this embodiment may include:

Step 201: Determine whether a preset condition is met.

In this step, the preset condition may specifically be a condition related to whether the power supply to the load circuit is the first power source or the second power source. The preset condition may satisfy the following characteristics: when the preset condition is satisfied, it may indicate that the power supply to the load circuit is the second power source, and when the preset condition is not satisfied, it may indicate that the power supply to the load circuit is the first power source. The preset conditions can be flexibly implemented based on this feature.

Exemplarily, the satisfying the preset condition may include: the power source currently in communication is the second power source; or, the power supply voltage of the power source satisfies a reference voltage range.

Exemplarily, in a scenario where it can communicate with a power source, satisfying a preset condition may include that the power source currently in communication is the second power source. Specifically, when the currently communicating power source is the second power source, it may indicate that the preset condition is satisfied, and when the currently communicating power source is the first power source, it may indicate that the preset condition is not satisfied. By satisfying the preset conditions including the power supply currently in communication as the second power supply, the realization method of power supply to the load circuit represented by the power supply currently in communication is realized. Since it can communicate with the power supply under normal circumstances, it is advantageous for applicability .

Exemplarily, in a scenario where the voltage range of the first power supply is different from the voltage range of the second power supply, satisfying the preset condition may include that the power supply range of the power supply meets the reference voltage range. Specifically, when the power supply voltage of the power supply meets the reference voltage range, it may indicate that the preset condition is satisfied, and when the power supply voltage of the power supply does not meet the reference voltage range, it may indicate that the preset condition is not satisfied. By meeting the preset conditions, the power supply voltage of the power supply meets the reference voltage range, and the relationship between the power supply voltage and the reference voltage range represents the realization of the power supply to the load circuit. Because the power supply voltage of the power supply can easily pass through the hardware circuit Obtained, and the reliability and stability are very high, so it is helpful to improve the reliability and stability.

Wherein, the reference voltage range can be flexibly implemented according to the voltage range of the first power supply and the voltage range of the second power supply. Exemplarily, when the highest value of the first voltage range is greater than the highest value of the second voltage range, the reference voltage range may correspond to the power supply range of the second power supply.

Step 202: If the preset condition is met, the second power supply is currently supplying power to the load circuit, and controls the UAV to perform safe operations.

In this step, meeting the preset condition may indicate that the second power source is currently supplying power to the load circuit, and at this time, the UAV needs to be controlled to perform safe operations. Failure to meet the preset condition may indicate that the first power source is currently supplying power to the load circuit, and the unmanned aerial vehicle may not be controlled to perform safe operations at this time.

Wherein, the safe operation refers to any type of operation that can improve the safety of the unmanned aerial vehicle when the first power source is abnormal, and can be implemented flexibly according to requirements. Exemplarily, the safe operation includes at least one of the following: landing, prohibiting continued ascent, and prohibiting continued shooting.

Exemplarily, in a scenario where the unmanned aerial vehicle performs automatic flight operations, or the user controls the unmanned aerial vehicle to perform flight operations through the control terminal of the unmanned aerial vehicle, through safe operations including landing, it is possible to control the unmanned aerial vehicle when the preset conditions are met. The landing of the aircraft enables the unmanned aircraft to land safely when the first power source is abnormal and the second power source supplies power to the load circuit, thereby improving the safety of the unmanned aircraft. Moreover, by controlling the landing of the unmanned aerial vehicle, the requirement for the capacity of the second power source can be reduced, so that the second power source can be as small and light as possible, which is beneficial to reducing the load of the unmanned aerial vehicle during flight.

Exemplarily, in a scenario where the UAV needs to increase its height relative to the ground, by prohibiting its continued ascent, it is possible to limit the UAV's height relative to the ground when the preset conditions are met, so that the UAV can be The first power source is abnormal, and the second power source does not rise to a higher altitude when the load circuit is powered by the second power source, thereby improving the safety of the unmanned aerial vehicle.

Exemplarily, during the aerial photography operation of the unmanned aerial vehicle, since the shooting consumes a lot of power, the power consumption of the power supply can be reduced by prohibiting the continued shooting, and the time that the second power supply can support the flight of the unmanned aerial vehicle can be extended, thereby increasing Improve the safety of unmanned aerial vehicles.

Exemplarily, the prohibition of continuing shooting may include: prohibiting image transmission and/or prohibiting the user from controlling photographing or video recording. That is, when the preset conditions are met, the user can be allowed to control the UAV to take pictures or video, but the UAV's image transmission function is prohibited, which realizes the prohibition of image transmission on the basis of ensuring that the user can control the UAV to take pictures or video. Minimize the power consumption; alternatively, you can allow the image transmission function but prohibit the user from controlling the UAV to take or record video, so as to ensure that the user can obtain the aerial perspective image through the image transmission to reduce the power consumption as much as possible by prohibiting photography or video; Alternatively, users can be prohibited from controlling the UAV to take photos or videos, and the image transmission function can be prohibited, thereby minimizing the power consumption due to shooting.

In this embodiment, by determining whether a preset condition is met, if the preset condition is met, the second power source is currently supplying power to the load circuit, and the UAV is controlled to perform safe operations, so that the If the conditions are met, the UAV is controlled to perform safe operations. Because the preset conditions are not met, it can mean that the first power supply is currently supplying power to the load circuit, and meeting the preset conditions can mean that the second power supply is currently supplying power to the load circuit. Therefore, meeting the preset conditions can indicate that there is an abnormality in the first power supply. Since the abnormality of the first power supply will affect the safety of the unmanned aerial vehicle, by controlling the unmanned aerial vehicle to perform safe operations when the preset conditions are met, there is It is beneficial to further improve the safety of unmanned aerial vehicles.

FIG. 3 is a schematic flow chart of a flight control method provided by another embodiment of the application. Based on the embodiment shown in FIG. 2, this embodiment mainly describes the preset conditions including the power supply voltage of the power supply satisfying the reference voltage range. Optional implementation. As shown in FIG. 3, the method of this embodiment may include:

Step 301: Obtain the power supply voltage of the power supply.

In this step, the power supply voltage of the power supply refers to the power supply voltage of the power supply directed to the load circuit, and may specifically be the power supply voltage of the first power supply or the power supply voltage of the second power supply. The specific method for obtaining the power supply voltage of the power supply is not limited in this application. For example, the power supply voltage of the power supply can be detected by a voltage detection circuit electrically connected to the power supply and the controller, and the further controller can detect the power supply voltage according to the voltage. The detection result of the circuit obtains the power supply voltage.

Step 302: If the power supply voltage of the power source meets the reference voltage range, the second power source is currently supplying power to the load circuit, and controls the UAV to perform a safe operation.

In this step, the power supply voltage of the power supply meeting the reference voltage range may indicate that the second power supply is currently supplying power to the load circuit, and the UAV needs to be controlled to perform safe operations at this time. If the power supply voltage of the power supply does not meet the reference voltage range, it may indicate that the first power supply is currently supplying power to the load circuit, and the unmanned aerial vehicle may not be controlled to perform safe operations at this time.

Exemplarily, in a case where the power supply range of the second power supply corresponds, the reference voltage range may be the same as the power supply range of the second power supply. In this way, the output voltage of the power supply is in the power supply range of the second power supply, which means that the second power supply is currently supplying power to the load circuit, and the output voltage of the power supply is outside the power supply range of the second power supply, which means that the first power supply is currently in the power supply range. The load circuit supplies power. Since the output voltage of a power supply is usually the highest voltage corresponding to the full state of the power supply, and drops to the lowest voltage corresponding to the discharged state of the power supply, the reference voltage range is the same as the power supply range of the second power supply. The relationship between the power supply voltage of the power supply and the reference voltage range indicates the power supply that is supplying power to the load circuit, which is also beneficial to facilitate implementation.

Exemplarily, the first voltage range may partially overlap with the second voltage range. By partially overlapping the first voltage range and the second voltage range, it is possible to avoid problems caused by large changes in the output voltage of the power supply to the load circuit when the first power supply is switched to the second power supply to supply power to the load circuit. In addition, by partially overlapping the first voltage range and the second voltage range, the second power supply can supply power to the load circuit under the abnormal condition that the remaining power of the first power supply is low, and control the unmanned aerial vehicle to perform safe operations, avoiding The problem that the remaining power of a power supply is too low poses a threat to the safety of the unmanned aerial vehicle, which is conducive to improving the safety of the unmanned aerial vehicle.

Exemplarily, if the power supply voltage of the power supply always does not meet the reference voltage range, it is determined that the first power supply is currently supplying power to the load circuit, and the power supply voltage of the power supply corresponds to the voltage output by the first power supply . It is realized that the power supply voltage from the power supply always does not meet the reference voltage range, indicating that the first power supply does not have an abnormality, that is, only when the power supply voltage of the power supply always does not meet the reference voltage range, it is determined that the first power supply is currently supplying power to the load circuit. Therefore, it can be realized that no safe operation is performed when it is ensured that there is no abnormality in the first power source.

Exemplarily, if the power supply voltage of the power supply meets the reference voltage range, it is determined that the second power supply is currently supplying power to the load circuit, and the power supply voltage of the power supply corresponds to the first power supply or the second power supply. The output voltage of the power supply. It is realized that the power supply voltage of the power supply meets the reference voltage range, which indicates that the first power supply is abnormal, that is, once the power supply voltage of the power supply meets the reference voltage range, it can be determined that the second power supply is currently supplying power to the load circuit.

There can be two specific situations: one is that the second power supply supplies power to the load circuit, and the output voltage of the second power supply meets the reference voltage range. At this time, the first power supply no longer supplies power to the load circuit, and the first power supply has an abnormality. Therefore, it is necessary to control the UAV to perform safe operations; the other is that the first power supply supplies power to the load circuit, but the output voltage of the first power supply meets the reference voltage due to abnormalities such as low power or output voltage jump Range, although the first power supply is supplying power to the load link at this time, because the first power supply is already abnormal, the UAV can also be controlled to perform safe operations.

By determining that the second power supply is currently supplying power to the load circuit if the power supply voltage of the power supply meets the reference voltage range, the abnormality of the first power supply can be effectively detected, so that the abnormality of the first power supply can be executed in time Safe operation is conducive to improving the safety of unmanned aerial vehicles.

Exemplarily, the branch where the first power source is located is connected in parallel with the branch where the second power source is located, and if the voltage output by the first power source meets the reference voltage range, it is determined that the second power source is currently The load circuit supplies power. Therefore, it can be determined that the second power supply is currently supplying power to the load circuit by the voltage output by the first power supply satisfying the reference voltage range.

Exemplarily, the reference voltage range is lower than the output voltage of the first power supply in a fully charged state. Because the reference voltage range is lower than the output voltage of the first power supply in a fully charged state, the highest value of the second voltage range can be smaller than the highest value of the first voltage range.

In this embodiment, by obtaining the power supply voltage of the power supply, if the power supply voltage of the power supply meets the reference voltage range, the second power supply is currently supplying power to the load circuit and controls the UAV to perform safe operations It realizes that the UAV is controlled to perform safe operation when the power supply voltage of the power supply meets the reference voltage range. Since the power supply voltage of the power supply does not meet the reference voltage range, it can indicate that the first power supply is currently supplying power to the load circuit, and the power supply The power supply voltage meeting the reference voltage range can indicate that the second power supply is currently supplying power to the load circuit. Therefore, the power supply voltage meeting the reference voltage range can indicate that the first power supply is abnormal. The abnormality of the first power supply will affect the safety of the UAV. Therefore, by controlling the unmanned aerial vehicle to perform safe operations when the power supply voltage of the power supply meets the reference voltage range, it is beneficial to further improve the safety of the unmanned aerial vehicle. In addition, because the power supply voltage of the power supply is easily obtained through the hardware circuit, and the reliability and stability are very high, it is beneficial to improve the reliability and stability.

Fig. 4 is a schematic flow chart of a flight control method provided by another embodiment of the application. Based on the above-mentioned embodiment, this embodiment mainly describes an alternative implementation of controlling the unmanned aerial vehicle to perform safe operations. As shown in Figure 4, the method of this embodiment may include:

Step 401: Determine whether a preset condition is met.

It should be noted that step 401 is similar to step 201, and will not be repeated here.

Step 402: If the preset condition is met, the second power supply is currently supplying power to the load circuit, adjust the flight status parameters of the UAV, and control the UAV to execute according to the flight status parameters. Safe operation.

In this step, for the specific content of the preset conditions, reference may be made to the relevant descriptions of the foregoing embodiments, and details are not described herein again.

When the preset conditions are met, the flight state parameters of the unmanned aerial vehicle are adjusted, and the unmanned aerial vehicle is controlled to perform safe operations according to the adjusted flight state parameters. Wherein, the flight state parameter can be used to control the flight state of the unmanned aerial vehicle. Illustratively, the flight state parameter includes one or more of the following: acceleration, speed, angular velocity, or height relative to the ground. By adjusting the flight status parameters of the UAV when the preset conditions are met, and controlling the UAV to perform safe operations according to the adjusted flight status parameters, the flight status of the UAV can be adjusted in time when the first power supply is abnormal. To ensure the safety of unmanned aerial vehicles.

Exemplarily, the adjusting the flight state parameters of the unmanned aerial vehicle may specifically include: adjusting the flight state parameters of the unmanned aerial vehicle according to a target safety strategy to control the unmanned aerial vehicle to perform safe operations. Among them, the target security strategy can be flexibly implemented according to security requirements.

Exemplarily, the method of this embodiment may further include: determining the target security policy according to a preset security policy. Specifically, when the number of the preset security policies is one, the preset security policy can be used as the target security policy to adjust the flight status parameters of the unmanned aerial vehicle; when the number of the preset security policies is more At this time, one of the multiple preset safety strategies can be selected as the target safety strategy for adjusting the flight status parameters of the unmanned aerial vehicle.

Wherein, the preset security strategy can be flexibly implemented according to different security requirements. Exemplarily, the preset safety strategy includes at least one of the following: a vertical landing strategy, a landing strategy according to a predetermined flight path, or a home-point landing strategy. The vertical landing strategy refers to controlling the UAV to land vertically to the ground. A landing strategy based on a predetermined flight path refers to controlling the unmanned aerial vehicle to land on the ground according to a predetermined flight path. The predetermined flight path can be determined according to the current position of the unmanned aerial vehicle and the destination position, which can be the same as the current position of the unmanned aerial vehicle. Or the current position of the corresponding control terminal of the unmanned aerial vehicle is related, which can be specifically set by the user or automatically determined by the unmanned aerial vehicle. The home point landing strategy refers to controlling the UAV to land to the home point. The home point may be the take-off point of the UAV, or other locations other than the take-off point may be used as the home point according to user settings.

Exemplarily, the determining the target safety strategy according to the preset safety strategy may specifically include: selecting the unmanned aerial vehicle when the distance between the home-return point of the unmanned aerial vehicle is greater than a distance threshold The vertical landing strategy serves as the target safety strategy. When the distance between the UAV and its home point is greater than the distance threshold, the flight status parameters of the UAV can be adjusted according to the vertical landing strategy, which can avoid the home point being too far away from the current position of the UAV, causing the second power source The problem of not being able to provide sufficient power support for returning to the home point for landing, and reducing the capacity requirements for the second power source.

Exemplarily, the determining the target safety strategy according to the preset safety strategy may specifically include: when the distance between the unmanned aerial vehicle and the home point of the unmanned aerial vehicle is less than a distance threshold, selecting the The landing strategy at the home point is used as the target safety strategy. It is realized that when the distance between the UAV and its home point is less than the distance threshold, the flight status parameters of the UAV are adjusted according to the home point landing strategy. Since the home point is usually a location that is convenient for the UAV to land, it can avoid The influence of ground factors on the landing of unmanned aerial vehicles is conducive to improving the safety of landing.

Exemplarily, the determining the target safety strategy according to the preset safety strategy may specifically include: when the distance between the unmanned aerial vehicle and the home point of the unmanned aerial vehicle is greater than a distance threshold, selecting according to a predetermined The flight path landing strategy is used as the target safety strategy. It is realized that when the distance between the UAV and its home point is greater than the distance threshold, the flight status parameters of the UAV are adjusted according to the predetermined flight path landing strategy, which can prevent the home point from being too far away from the current position of the UAV, causing the first 2. The problem that the power source cannot provide enough power to support the return home to the home point landing.

Exemplarily, the determining the target security policy according to the preset security policy may specifically include: obtaining a user setting instruction sent by the control terminal of the UAV, and determining the corresponding preset security policy according to the user setting instruction Let the landing strategy be the target safety strategy. It realizes the selection of the target security strategy according to the user's setting, so that the user can independently select the security strategy based on the control of the unmanned aerial vehicle to perform the safe operation according to their own needs, which is conducive to improving the user's experience.

Exemplarily, in the process of controlling the unmanned aerial vehicle to perform safe operations according to the flight state parameters, the method of this embodiment may further include: obtaining a flight control instruction sent by the control terminal of the unmanned aerial vehicle, so The flight control instruction is used to control the flight state of the unmanned aerial vehicle; when the flight control instruction is not used to control the flight height of the unmanned aerial vehicle, the flight state parameter is adjusted according to the flight control instruction. Specifically, when the flight control command sent by the control terminal is used to control the flight height of the unmanned aerial vehicle, it does not respond to the flight control command; when the flight control command sent by the control terminal is not used to control the flight height of the unmanned aerial vehicle, Respond to the flight control command. It realizes the ability to allow the user to control other flight status parameters other than the flight altitude of the unmanned aerial vehicle, which can not only prevent the unmanned aerial vehicle from continuing to rise due to the user's control, but also allow the user to control the landing point of the unmanned aerial vehicle. Being able to grasp the ground conditions, so by allowing users to control the UAV's landing electricity, it is helpful to improve the safety of landing.

In this embodiment, by determining whether a preset condition is met, if the preset condition is met, the second power source is currently supplying power to the load circuit, adjusting the flight status parameters of the unmanned aerial vehicle, and according to the flight The status parameter controls the unmanned aerial vehicle to perform safe operations, so that when the first power source is abnormal, the flight status of the unmanned aerial vehicle can be adjusted in time to ensure the safety of the unmanned aerial vehicle.

On the basis of the method embodiments shown in Figures 2 to 4, optionally, the controlling the unmanned aerial vehicle to perform safe operations may further include: obtaining a flight control instruction sent by the control terminal of the unmanned aerial vehicle, The flight control instruction is used to control the flight state of the unmanned aerial vehicle; it does not respond to the flight control instruction. By not responding to the flight control instructions sent by the control terminal, it is possible to avoid the influence of the user's control on the safety operation process of the unmanned aerial vehicle.

Exemplarily, the not responding to the flight control instruction may specifically include: not responding to the flight control instruction when the flight control instruction is used to control the flight height of the unmanned aerial vehicle. It realizes the ability to allow the user to control other flight status parameters other than the flight altitude of the unmanned aerial vehicle, which can not only prevent the unmanned aerial vehicle from continuing to rise due to the user's control, but also allow the user to control the landing point of the unmanned aerial vehicle. Being able to grasp the ground conditions, so by allowing users to control the UAV's landing electricity, it is helpful to improve the safety of landing.

Exemplarily, the controlling the unmanned aerial vehicle to perform a safe operation may specifically include: if the unmanned aerial vehicle is currently performing the safe operation, controlling the unmanned aerial vehicle to continue to perform the safe operation. Therefore, it is possible to avoid triggering the control for the unmanned aerial vehicle to perform the safe operation again when the preset conditions are met and the unmanned aerial vehicle is controlled to perform the safe operation, which is beneficial to ensure the continuity of the unmanned aerial vehicle to perform the safe operation.

On the basis of the method embodiments shown in Figures 2 to 4, optionally, when the second power supply is controlled to supply power to the load circuit, a prompt message is sent to the control terminal of the UAV, so that all The control terminal outputs prompt information to the user, and the prompt information is used to prompt the unmanned aerial vehicle to perform safety operations. By sending a reminder message to the control terminal of the unmanned aerial vehicle, the control terminal can output to the user prompt information for prompting the unmanned aerial vehicle to perform safe operations according to the reminder message, so that the user can learn the current status of the unmanned aerial vehicle and avoid The user mistakenly believes that the unmanned aerial vehicle is uncontrolled, which improves the user experience.

For the first power supply A and the second power supply B in the method embodiments shown in FIGS. 2 to 4, the power supply method shown in FIG. 5 may be used to control the first power supply or the second power supply to supply power to the load circuit. The power supply method can be applied to a control circuit. The control circuit is used to control a power supply system. The power supply system includes a first power supply circuit for electrically connecting between a load circuit and a first power supply. The load circuit supplies power; a second power supply circuit is used to electrically connect between the load circuit and a second power source to supply power to the load circuit through the second power source; as shown in FIG. 5, the method includes:

Step 501: Obtain an electrical signal on the second power supply circuit.

Wherein, the electrical signal includes a voltage signal or a current signal. Exemplarily, the electrical signal on the second power supply circuit can be obtained through a signal detection circuit electrically connected to the second power supply circuit.

Step 502: If the electrical signal satisfies the reference electrical signal range, control the second power supply circuit to be in a formally conducting state, so that the second power supply supplies power to the load circuit; otherwise, control the second power supply circuit The circuit is in a pre-conduction state, so that the first power supply continues to supply power to the load circuit.

Wherein, the second power supply circuit being in the pre-conduction state should be understood as: the second power supply circuit is turned on but the second power supply does not supply power to the outside. The reason for this phenomenon lies in the fact that when the first power supply is powered, due to the hardware properties of the circuit itself, even if the second power supply circuit is turned on, the second power supply still cannot supply power, but the prerequisite is the power supply voltage of the first power supply. Must be greater than or equal to the supply voltage of the second power supply.

The fact that the second power supply circuit is in the formally conducting state should be understood as the second power supply capable of supplying power to the load circuit.

The electrical signal meeting the reference electrical signal range may indicate that the first power supply is abnormal, and the second power supply needs to supply power to the load circuit, and the electrical signal does not meet the reference electrical signal range may indicate that the first power supply is not abnormal, and the first power supply does not need to be abnormal. The second power supply supplies power to the load circuit. The reference signal range can be flexibly realized according to the needs of the hardware circuit characteristics.

In this embodiment, by acquiring the electrical signal on the second power supply circuit, if the electrical signal satisfies the reference electrical signal range, the second power supply circuit is controlled to be in the formally conducting state so that the second power supply supplies power to the load circuit, otherwise the second power supply circuit is controlled. The second power supply circuit is in the pre-conduction state, so that the first power supply continues to supply power to the load circuit, so that the control circuit can control the first power supply to supply power to the load circuit when the first power supply is normal, and can control the power supply when the first power supply is abnormal. The second power supply supplies power to the load circuit, which can avoid the problem of the unmanned aerial vehicle losing power due to the abnormality of the first power supply, thereby improving the safety of the unmanned aerial vehicle.

Based on the above-mentioned embodiment shown in FIG. 5, optionally, the control circuit includes a first switch circuit for electrically connecting to the second power supply circuit. Correspondingly, the controlling the second power supply circuit to be in the pre-conduction state may specifically include: controlling the first switch circuit to pre-conduct the second power supply circuit when the first power supply is supplied, so that all The second power supply circuit is in a pre-conduction state. By controlling the first switch circuit to pre-turn on the second power supply circuit when the first power supply is supplying power, the second power supply can supply power to the load circuit when the first power supply is abnormal at the beginning of the first power supply to the load circuit. Avoid the abnormal scenario where the first power supply supplies power to the load circuit abnormally, but the second power supply cannot continue to supply power to the load circuit because the second power supply circuit is not pre-turned on, which further improves the safety of the unmanned aerial vehicle.

Exemplarily, the first switch circuit includes: a first unidirectional conduction element and a first switch. Wherein, the conduction direction of the first unidirectional conduction element is opposite to the current flow direction of the second power supply. The first switch is connected in parallel with the first unidirectional conduction element. Correspondingly, the controlling the first switch circuit to pre-turn on the second power supply circuit when the first power supply is supplied may specifically include: controlling the first switch to be connected when the first power supply is supplied. State to pre-turn on the second power supply circuit.

Exemplarily, the first switch circuit includes a first MOS transistor switch circuit.

Exemplarily, the first MOS transistor switch circuit includes an NMOS transistor switch circuit.

Exemplarily, the control circuit may further include a controller; the gate of the first MOS transistor switch circuit is used to electrically connect the controller. Correspondingly, the controlling the first switch to be in a connected state when the first power supply is supplied may specifically include: the controller outputs a second signal when the first power supply is supplied to control the first switch A MOS tube switch circuit is turned on. Thus, the controller can output the second signal to control the second power supply circuit to be in the pre-conduction state.

Exemplarily, the control circuit may include a detection circuit for electrically connecting with the second power supply circuit; the obtaining of the electrical signal on the second power supply circuit may specifically include: the detection circuit detects and obtains The electrical signal on the second power supply circuit. Thus, the detection circuit obtains the electrical signal on the second power supply circuit.

Exemplarily, the control circuit may further include a second switch circuit; if the electrical signal satisfies the reference electrical signal range, controlling the second power supply circuit to be in a formal conduction state may specifically include: the detection The circuit outputs a first signal when the electrical signal meets the reference signal range, so as to control the second switch circuit to turn on the second power supply circuit according to the first signal. Thereby, it is realized that the detection circuit controls the second switch circuit to turn on the second power supply circuit through the first signal when the electrical signal of the second power supply circuit meets the reference signal range. After the second power supply circuit is turned on, the second power supply circuit is turned on. It is in the formally conducting state.

Exemplarily, the second switch circuit may specifically include: a second unidirectional conduction element and a second switch; wherein the conduction direction of the second unidirectional conduction element is the same as the flow direction of the second power supply current, and the second The switch is connected in parallel with the second unidirectional conducting element. Correspondingly, the controlling the second switch circuit to turn on the second power supply circuit according to the first signal may specifically include: controlling the second switch to turn on the second power supply circuit according to the first signal Circuit. Thus, it is realized that the detection circuit controls the second switch of the second switch circuit to turn on the second power supply circuit through the first signal when the electrical signal of the second power supply circuit meets the reference signal range, and after the second power supply circuit is turned on , The second power supply is in the formally conducting state.

Exemplarily, the detection circuit may include: a detection element for electrically connecting to the second power supply circuit; and a signal detection circuit electrically connected to the detection element. Correspondingly, the detection circuit detecting the electrical signal on the second power supply circuit may specifically include: the signal detection circuit detects the electrical signal on the second power supply circuit in the pre-conduction state through the detection element electric signal. Thus, it is realized that the signal detection circuit of the detection circuit detects the electrical signal on the second power supply circuit through the detection element of the detection circuit. Exemplarily, the detection element may be a current detection element, which is used to detect the current signal on the second power supply circuit.

Exemplarily, the detection circuit outputting the first signal when the electrical signal satisfies the reference signal range may specifically include: the signal detection circuit outputting the first signal when the electrical signal is greater than or equal to the reference signal. Thus, it is realized that the signal detection circuit controls the second switch of the second switch circuit to turn on the second power supply circuit through the first signal when the electrical signal of the second power supply circuit meets the reference signal range. After the second power supply circuit is turned on, The second power supply is in a formally conducting state. Wherein, that the electrical signal satisfies the reference signal range includes that the electrical signal is greater than or equal to the reference signal.

It should be noted that, for the specific description of the related circuits in the above-mentioned embodiment of the power supply method, reference may be made to the related descriptions of the embodiments shown in FIG. 8 to FIG. 10, which will not be repeated here. In the power supply method described above, the control circuit is used to implement part of the circuit in the embodiment shown in FIGS. 8-10, and this part of the circuit can realize the function of controlling the first power source or the second power source to supply power to the load circuit.

Fig. 6 is a schematic structural diagram of a flight control system provided by an embodiment of the application, and the flight control system can be applied to an unmanned aerial vehicle. As shown in FIG. 6, the flight control system 600 includes: a power supply 11, a load circuit 12, and a controller 13. The power supply 12 can supply power to the load circuit 13; the power supply includes a first power supply, a second power supply, and a second power supply. A power supply, the first power supply and the second power supply are electrically connected to the load circuit, and the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply, so that the Load circuit power supply;

The controller 13 is configured to obtain the power supply voltage of the power supply; and, if the power supply voltage of the power supply meets the reference voltage range, the second power supply is currently supplying power to the load circuit and controls the unmanned The aircraft performs safe operations;

It should be noted that the controller 13 can be used to implement the technical solutions of the method embodiments shown in FIGS. 2 to 4, and its implementation principles and technical effects are similar to the method embodiments, and will not be repeated here.

FIG. 7 is a schematic structural diagram of a flight control system provided by another embodiment of the application, and the flight control system can be applied to an unmanned aerial vehicle. As shown in FIG. 7, the flight control system 700 includes: a power supply 11, a load circuit 12, and a controller 13;

The power supply 12 can supply power to the load circuit 13; the power supply includes a first power supply and a second power supply. The first power supply and the second power supply are electrically connected to the load circuit. The output voltage or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power to the load circuit;

The controller 13 is configured to determine whether a preset condition is satisfied; and, if the preset condition is satisfied, the second power source is currently supplying power to the load circuit, and controls the UAV to perform safe operations;

It should be noted that the controller 13 can be used to implement the technical solution of the method embodiment shown in FIG. 3, and its implementation principle and technical effect are similar to those of the method embodiment, and will not be repeated here.

An embodiment of the application provides a power supply system, including: a power supply system and a control circuit, the control circuit is electrically connected to the power supply system, and is used to control the power supply system; the power supply system includes a first power supply circuit And the second electrical circuit;

The second power supply circuit is configured to be electrically connected between the load circuit and a second power source, so as to supply power to the load circuit through the second power source;

It should be noted that the control circuit can be used to implement the technical solution of the method embodiment shown in FIG. 5, and its implementation principle and technical effect are similar to the method embodiment, and will not be repeated here.

An embodiment of the present application provides an unmanned aerial vehicle, including: the flight control system described in the embodiment shown in FIG. 6 and the aforementioned power supply system.

An embodiment of the present application provides an unmanned aerial vehicle, including: the flight control system described in the embodiment shown in FIG. 7 and the aforementioned power supply system.

In addition, an embodiment of the present application provides a power supply control circuit, which is used to control a power supply to supply power to a load. There may be multiple power sources, for example, a first power source and a second power source. The above two power supplies can be power supplies of the same specification, or power supplies of different specifications. When the first power supply supplies power to the load circuit, the second power supply circuit is pre-turned on. When the first power supply fails or is out of power, the second power supply can supply power to the outside in time, and the response speed is fast, which improves the prior art Unstable power supply due to untimely switching of power supply.

The power supply control circuit can be used in mobile platforms, such as unmanned aerial vehicles, pan-tilt vehicles, handheld pan-tilts, and robots. By electrically connecting the load circuit of the movable platform and the power supply, when the first power supply fails or is out of power, the power supply is switched in time, so that the operation of the movable platform is more stable.

FIG. 8 shows a schematic diagram of a power supply control circuit provided by an embodiment of the present application. The power supply control circuit includes:

The first power supply circuit 100 is configured to be electrically connected between a load circuit (not shown in the figure) and the first power supply 1 to supply power to the load circuit through the first power supply 1;

The second power supply circuit 200 is configured to be electrically connected to the second power source 2, and the second power supply circuit is configured to be connected in parallel with the first power supply circuit 100 to be connected to the load circuit;

The first switch circuit 3 is configured to be electrically connected to the second power supply circuit 200, and the second power supply circuit 200 is pre-turned on when the first power supply 1 supplies power, so that the second power supply circuit 200 has electric signal;

The detection circuit 4 is configured to detect the electrical signal on the second power supply circuit 200, and output the first signal when the electrical signal meets the requirements; and

The second switch circuit 5 is configured to be electrically connected to the second power supply circuit 200, and turn on the second power supply circuit 200 according to the first signal; when the second switch circuit is turned on, the first The second power supply circuit 200 is in a formally conducting state, so that the second power supply 2 can supply power to the load circuit.

What needs to be added here is that the load circuits of the first power supply circuit 100 and the second power supply circuit 200 in FIG. 8 are the same circuit. The specific circuit diagram of the load circuit is not shown in FIG. 8. The power supply control circuit provided in this embodiment is applied to different devices, and its load circuit will be different, which is not specifically limited herein. The load circuit can be electrically connected between the VCC_SYS terminal and the ground terminal in FIG. 8.

What needs to be added here is: the above-mentioned pre-conduction should be understood as: the second power supply circuit is turned on but the second power supply does not supply power to the outside. The reason for this phenomenon lies in the fact that when the first power supply is powered, due to the hardware properties of the circuit itself, even if the second power supply circuit is turned on, the second power supply still cannot supply power, but the prerequisite is the power supply voltage of the first power supply. Must be greater than or equal to the supply voltage of the second power supply.

In the technical solution provided by this embodiment, the second power supply circuit is pre-conducted when the first power supply is supplied; due to the hardware properties of the circuit itself when the first power supply is supplied, the second power supply circuit is pre-conducted, but the second power supply is not External power supply; due to the mechanism of pre-conducting the second power supply circuit, the second power supply can supply power to the outside in time and the response speed is fast when the first power supply fails or is out of power.

In an achievable technical solution, the first switch circuit 3 may include: a first unidirectional conduction element and a first switch. Wherein, the conduction direction of the first unidirectional conduction element is opposite to the current flow direction of the second power supply. The first switch is connected in parallel with the first unidirectional conduction element, and is used to be in a connected state when the first power supply is powered to pre-turn on the second power supply circuit. The first unidirectional conducting element is an element that only allows current to flow in a single direction. In specific implementation, the first unidirectional conducting element may be a diode. The first switch can be a triode, a MOS tube (metal-oxide-semiconductor field effect transistor), etc. Using MOS tube as a switching element, the voltage drop is small after the turn-on, and the power loss is reduced.

Due to the production process, high-power MOS transistors will have parasitic diodes. When a large instantaneous reverse current is generated in the parasitic diode circuit, it can be derived through the parasitic diode, so that the MOS tube will not be broken down. Therefore, in specific implementation, the first switch circuit 3 may include a first MOS transistor switch circuit Q6. As shown in FIG. 8, the parasitic diode of the first MOS transistor switch circuit Q6 is D2 in FIG. 8. Specifically, the first MOS tube switching circuit includes an NMOS tube (N-channel MOS tube) switching circuit.

Referring to the circuit diagram shown in FIG. 8, when the first switch circuit 3 is a first MOS transistor switch circuit Q6, the drain of the first MOS transistor switch circuit Q6 is electrically connected to the second switch circuit 5; The source of the first MOS transistor switch circuit Q6 is used to electrically connect to the load circuit; the gate of the first MOS transistor switch circuit Q6 is used to electrically connect a controller, and the controller is used to supply power from a first power source. A second signal is output at time to turn on the first MOS transistor switch circuit to pre-turn on the second power supply circuit. The purpose of pre-conduction is: when the first power supply 1 fails or is out of power, the second power supply 2 can supply power to the outside in time, and the response speed is fast; because the second power supply circuit is in the pre-conduction state, once The first power supply circuit cannot provide power to the load circuit, and the second power supply can quickly provide power to the load circuit through the second power supply circuit. The EN1 port in FIG. 8 is electrically connected to the controller to receive the second signal output by the controller.

It should be noted here that the power supply control system provided in this embodiment needs to be applied to specific equipment, such as unmanned aerial vehicles, etc.; therefore, the gate of the first MOS transistor switch circuit Q6 described here is used for electrical connection control The processor may be the CPU, MCU, single-chip microcomputer, etc. on the device, which is not specifically limited in this embodiment.

The electrical signal output by the controller is usually a low-voltage signal (usually called a weak electrical signal), and the electrical signal that enables the first MOS transistor switching circuit to turn on (that is, is transmitted to the gate of the first MOS transistor switching circuit to turn on the first MOS transistor). The electrical signal of the switching circuit must be a high-voltage signal. Therefore, in this embodiment, an element capable of voltage conversion needs to be added between the first MOS transistor switch circuit and the controller. Referring to FIG. 8, a first driving circuit 6 is electrically connected between the gate of the first MOS transistor switch circuit Q6 and the controller (ie, EN1 port); the first driving circuit 6 is used to The second signal drives the first MOS transistor switch circuit to be turned on. Simply understand, the first driving circuit 6 here converts the second signal (such as a high voltage) output by the controller into a high voltage with a higher voltage value to drive the first MOS transistor switch circuit to be turned on. It should be explained here that how the first driving circuit 6 converts the voltage of the second signal depends on the hardware properties of the first MOS transistor switching circuit and the entire circuit design parameters, which is not specifically limited in this embodiment. In addition, the first driving circuit 6 can be implemented by using an existing transformer or other circuits capable of realizing voltage conversion, which is also not specifically limited in this embodiment.

Further, because the electrical energy required for the operation of each component in the load circuit is provided by the first power supply or the second power supply; but the control electrical signal in the circuit (such as the first output of the detection circuit mentioned in this embodiment) The voltage of the electrical signal and the second electrical signal output by the controller) is much smaller than the operating voltage of each element in the second power supply circuit (this is when the second power supply starts to supply external power); therefore, it is also necessary to A first isolation circuit 9 is provided between the gate of a MOS switch circuit Q6 and the controller (ie, the EN1 port in FIG. 8) to isolate the high-voltage side and the low-voltage side of the power supply control system. During specific implementation, the first isolation circuit 9 can directly select an isolation chip having a high-voltage side and a low-voltage side in the isolation circuit in the prior art, which is not specifically limited in this embodiment.

Further, some components in the power supply control system provided in this embodiment, such as the first drive circuit, the first isolation circuit, etc., also need to be connected to the power supply to work. The operating voltage required by this type of component is smaller than the operating voltages of the first power supply and the second power supply. Therefore, an isolated power supply module needs to be provided in the power supply control system to provide the working power VCC_ISO_B for the first drive circuit 6 and the first isolation circuit 9. Specifically, as shown in FIG. 8, the isolated power supply module 10' has a first side end and a second side end that are isolated; the first power supply 1 and the second power supply 2 are electrically connected to the first side end ; The first drive circuit 6 and the first isolation circuit 9 are electrically connected to the second side end.

Further, as shown in FIG. 9, the isolated power supply module includes: a control chip 101 and an isolation transformer 102. Wherein, the control chip 101 is electrically connected to the load circuit; the isolation transformer 102 is electrically connected to the control chip 101; wherein, the isolation transformer 102 has the first side end and the second side end. The first side end of the isolation transformer 102 is electrically connected to the first power source 1 and the second power source 2; the second side end of the isolation transformer 102 is electrically connected to the first drive circuit 6 and First isolation circuit 9.

Further, the second switch circuit Q7 mentioned in this embodiment can be implemented in the following manner. That is, the second switch circuit Q7 includes: a second unidirectional conducting element and a second switch. The conduction direction of the second unidirectional conduction element is the same as that of the second power supply current flow; a second switch, connected in parallel with the second unidirectional conduction element, is used to conduct the The second power supply circuit. The second unidirectional conducting element is an element that only allows current to flow in a single direction. In specific implementation, the second unidirectional conducting element may be a diode. The first switch can be a triode, a MOS tube (metal-oxide-semiconductor field effect transistor), etc.

Similar to the first switch circuit, the second switch circuit may include a second MOS transistor switch circuit Q7. As shown in FIG. 8, the parasitic diode of the second MOS transistor switch circuit Q7 is D1 in the figure. Specifically, the second MOS transistor switch circuit includes an NMOS transistor switch circuit.

In a specific implementation, the first MOS transistor switch circuit Q6 and the second MOS transistor switch circuit Q7 can be connected in parallel with multiple MOS transistor switch circuits, which helps to enhance the current capacity.

It should be noted here that: in the technical solution provided by this embodiment, the second power supply circuit can be pre-turned on when the first switch circuit is turned on. The main reason is: referring to FIG. 8, when the first switch circuit is turned on, the second power supply circuit can be pre-turned on. The switching circuit 5 has the effect of the second unidirectional conduction element or the parasitic diode D1 of the second MOS transistor switching circuit Q7, so that the second power supply circuit is pre-conducted. When the first power supply 1 cannot supply power due to a circuit failure or the power supply voltage is less than the voltage threshold, the power supply voltage of the first power supply 1 will be lower than the voltage of the second power supply 2. At this time, due to the physical characteristics of the circuit itself, The second power supply 2 starts to supply power to the outside, and there is current on the second power supply circuit. At this time, the detection circuit 4 can detect the electrical signal on the second power supply circuit. When the electrical signal (that is, the current) exceeds the set threshold, the detection circuit 4 outputs the first electrical signal; the second switch circuit 5 follows the first electrical signal The signal is on. After the first electrical signal is turned on, the external power supply current of the second power supply 2 is output through the first switch circuit 3 and the second switch circuit 5. Because the voltage drop of the parasitic diode D1 of the first unidirectional conducting element or the second MOS transistor switch circuit Q7 is relatively large, it will cause serious heat generation; therefore, the second switch circuit 5 needs to be turned on. After the second switch circuit 5 is turned on, the second power supply circuit is in a formally conductive state, and the parasitic diode no longer has a voltage drop, so that the voltage drop of the second switch circuit is small, and the loss of power is avoided.

Specifically, referring to FIG. 8, the drain of the second MOS transistor switch circuit Q7 is electrically connected to the first switch circuit 3; the source of the second MOS transistor switch circuit Q7 is connected to the second power supply Electrical 2 is connected; the gate of the second MOS transistor switching circuit Q7 is electrically connected to the detection circuit 4.

Further, as shown in FIG. 8, the detection circuit includes: a current detection element and a detection circuit.

A current-sense element for electrically connecting to the second power supply circuit;

The detection circuit is used to detect the current signal on the second power supply circuit in the pre-conduction state through the current detection element; output the first signal when the current signal is greater than or equal to the reference signal; or, detect The circuit is used for detecting the voltage signal of the current detecting element in the pre-conduction state through the current detecting element; and outputting the first signal when the voltage signal is greater than or equal to a reference voltage.

Once the power supply of the load circuit is switched from the first power supply to the second power supply, the electrical signal of the second power supply circuit will change significantly. The detection circuit can detect the obvious change by detecting the electrical signal of the current-sense element, thereby The first signal is output. Therefore, the second switch circuit turns on the second power supply circuit according to the first signal; when the second switch circuit is turned on, the second power supply circuit is in a formally conductive state, so that the second power supply can be The load circuit supplies power. When the second power supply circuit is in the formally conducting state, the voltage drop of the second switch circuit is very small, which avoids power loss.

In specific implementation, as shown in FIG. 8, the current-sense element is a first resistor R1. The detection circuit can obtain the voltage of the first resistor R1, and compare the voltage value with a reference voltage value according to the voltage value to output the first signal. Alternatively, the current signal on the second power supply circuit in the pre-conduction state is detected by the first resistor R1, and the first signal is output when the current signal is greater than or equal to the reference signal. The resistance value of the first resistor R1 can be selected based on the circuit design requirements, which is not specifically limited in this embodiment. In an achievable technical solution, the detection circuit includes:

The operational amplifier U2 has a first non-inverting input terminal, a first inverting input terminal and a first output terminal; wherein the first non-inverting input terminal and the first inverting input terminal are electrically connected to the detection Two ends of the element (ie, the first resistor R1), the first output terminal is electrically connected to the second non-inverting input terminal of the comparator U1;

The comparator U1 has the second non-inverting input terminal, a second inverting input terminal, and a second output terminal; wherein the first inverting input terminal is connected to the reference signal Vref, and the second output The terminal is used for electrical connection with the second switch circuit Q7.

Further, a second isolation circuit 8 is electrically connected between the second output terminal and the second switch circuit Q7.

Further, a second drive circuit 7 is electrically connected between the second output terminal and the second switch circuit 5; the second drive circuit 7 is used to drive the second switch circuit according to the first signal 5 is turned on.

The same as the reason for the arrangement of the first isolation circuit 9 and the first drive circuit 6 described above, here a second isolation circuit 8 and a second drive circuit 7 are also required between the second output terminal and the second switch circuit Q7. Among them, the second isolation circuit 8 plays the same role in the circuit as the first isolation circuit 9, and the second drive circuit 7 and the first drive circuit 6 play the same role in the circuit; for details, please refer to the corresponding content above , I won’t repeat it here.

It should be noted here that, in FIG. 8, a third drive circuit 11' is provided between the second output terminal of the comparator U1 and the second isolation circuit. The third drive circuit 11' can be provided or not. . The third driving circuit 11' plays the same role in the circuit as the first driving circuit 6 and the second driving circuit 7. In addition, referring to FIG. 8, the second switch circuit 5, that is, the gate side of the second MOS transistor switch circuit Q7, the second isolation circuit is also connected to an enable terminal EN0. Based on the above content, it can be known that the second MOS transistor switch circuit Q7 is turned on after receiving the first signal output by the detection circuit (ie, U1). In fact, the opening of the second MOS transistor switch circuit Q7 can also be triggered by other elements, such as a controller, etc., through the enable terminal EN0 to output the first signal to turn on the second MOS transistor switch circuit Q7.

Similarly, as shown in FIG. 8, the isolated power module 10' can also provide working power VCC_ISO_A for the second driving circuit 7 and the second isolation circuit 8. The isolated power module 10' provides a working voltage VCC_ISO_A for the second driving circuit 7. The specific structure of the isolated power supply module 10' can be seen in FIG. 9. The isolated power supply module includes a control chip 101 and an isolation transformer 102. Wherein, the control chip 101 is electrically connected to the load circuit; the isolation transformer 102 is electrically connected to the control chip 101; wherein, the isolation transformer 102 has the first side end and the second side end. The first side end of the isolation transformer 102 is electrically connected to the first power source 1 and the second power source 2; the second side end of the isolation transformer 102 is electrically connected to the second drive circuit 7 and The second isolation circuit 8.

In the power supply control system provided in this embodiment, the first power source may be the main power source; the second power source may be the backup power source. The full voltage of the main power supply is greater than or equal to the full voltage of the backup power supply.

In the technical solution provided by this embodiment, the second power supply circuit is pre-conducted when the first power supply is supplied; due to the hardware properties of the circuit itself when the first power supply is supplied, the second power supply circuit is pre-conducted but the second power supply is not External power supply; due to the mechanism of pre-conducting the second power supply circuit, the second power supply can supply power to the outside in time when the first power supply fails or is out of power. The response speed is fast, which improves the existing technology Problems such as unstable flight of the movable platform due to untimely switching.

Another embodiment of this embodiment also provides a power supply control system. Continue to refer to the circuit diagram shown in Fig. 8, the power supply control system includes:

The first power supply 1 is electrically connected to a load circuit to form a first power supply circuit 100 to supply power to the load circuit;

The second power supply 2 is connected in parallel with the first power supply 1 to be connected to the load circuit (not shown in the figure) to form a second power supply circuit 200;

The first switch circuit 3 is electrically connected to the second power supply circuit 200, and is used to pre-turn on the second power supply circuit 200 when the first power supply 1 supplies power, so that the second power supply circuit 200 has electric signal;

The second switch circuit 5 is electrically connected to the second power supply circuit 200, and turns on the second power supply circuit 200 according to the first signal; when the second switch circuit 5 is turned on, the second The power supply circuit 200 is in a formally conductive state, so that the second power supply 2 can supply power to the load circuit.

Among them, the load circuit can be electrically connected between the VCC_SYS terminal and the ground terminal in FIG. 8. In this embodiment, because the second power supply circuit is pre-conducted when the first power supply is supplied, the second power supply can pass the pre-conduction circuit due to the characteristics of the circuit hardware itself when the first power supply is faulty or out of power. The connected second power supply circuit outputs an electrical signal to the outside; when the detection circuit detects that the electrical signal on the second power supply circuit meets the requirements, the second switch is turned on, so that the second power supply circuit is in a formally conductive state, so that the second power supply can To supply power to the load circuit, the power switching process is almost seamless, and the response block helps the equipment (such as a movable platform) using the power supply control system provided in this embodiment to operate more stably.

The load circuit in this embodiment is not shown in FIG. 8. The power supply control system provided in this embodiment is applied to different devices, and the load circuit will be different. For example, the load circuit of the unmanned aerial vehicle is electrically connected to the flight power system, flight control system, camera, etc.; for another example, the load circuit of the unmanned vehicle is electrically connected to: driving power system, navigation system, etc.; first The power supply or the second power supply provides the power required for the work of the various systems and devices in the load circuit. The VCC_SYS terminal in Figure 8 is used to electrically connect the load circuit.

Further, the power supply control system provided in this embodiment further includes a controller. The controller (not shown in FIG. 8) is used for outputting a second signal that pre-turns on the second power supply circuit when the first power supply starts to supply power; the first switch circuit 3 is used for The second signal pre-turns on the second power supply circuit 200.

In an achievable technical solution, the first switch circuit 3 may include: a first unidirectional conduction element and a first switch. Wherein, the conduction direction of the first unidirectional conduction element is opposite to the current flow direction of the second power supply. The first switch is connected in parallel with the first unidirectional conduction element, and is used to be in a connected state when the first power supply is powered to pre-turn on the second power supply circuit. The first unidirectional conducting element is an element that only allows current to flow in a single direction. In specific implementation, the first unidirectional conducting element may be a diode. The first switch can be a triode, a MOS tube (metal-oxide-semiconductor field effect transistor), etc.

Referring to the circuit diagram shown in FIG. 8, when the first switch circuit 3 is a first MOS transistor switch circuit Q6, the drain of the first MOS transistor switch circuit Q6 is electrically connected to the second switch circuit 5; The source of the first MOS transistor switch circuit Q6 is used to electrically connect to the load circuit; the gate of the first MOS transistor switch circuit Q6 is used to electrically connect a controller, and the controller is used to connect to the first power supply 1 When power is supplied, a second signal is output to turn on the first MOS transistor switch circuit Q6 to pre-turn on the second power supply circuit 200. The EN1 port in FIG. 8 is electrically connected to the controller to receive the second signal output by the controller.

The electrical signal output by the controller is usually a low-voltage signal (usually called a weak electrical signal), and the electrical signal that enables the first MOS transistor switching circuit to turn on (that is, is transmitted to the gate of the first MOS transistor switching circuit to turn on the first MOS transistor). The electrical signal of the switching circuit must be a high-voltage signal. Therefore, in this embodiment, an element capable of voltage conversion needs to be added between the first MOS transistor switch circuit and the controller. Referring to FIG. 8, a first driving circuit 6 is electrically connected between the gate of the first MOS transistor switch circuit Q6 and the controller (ie, EN1 port); the first driving circuit 6 is used to The second signal drives the first MOS transistor switch circuit to be turned on. Simply understand, the first driving circuit 6 here converts the second signal (such as a high voltage) output by the controller into a high voltage with a higher voltage value to drive the first MOS transistor switch circuit Q6 to turn on. It needs to be explained here that how the first driving circuit 6 converts the voltage of the second signal depends on the hardware properties of the first MOS transistor switch circuit Q6 and the entire circuit design parameters, which is not specifically limited in this embodiment. In addition, the first driving circuit 6 can be implemented by using an existing transformer or other circuits capable of realizing voltage conversion, which is also not specifically limited in this embodiment.

Further, because the electrical energy required for the operation of each component in the load circuit is provided by the first power supply or the second power supply; but the control electrical signal in the circuit (such as the first output of the detection circuit mentioned in this embodiment) The voltage of the electrical signal and the second electrical signal output by the controller) is much smaller than the operating voltage of each element in the second power supply circuit (this is when the second power supply starts to supply external power); therefore, it is also necessary to A first isolation circuit 9 is provided between the gate of a MOS switch circuit Q6 and the controller (ie, the EN1 port in FIG. 8) to isolate the high-voltage side and the low-voltage side of the power supply control system. During specific implementation, the first isolation circuit 9 can directly select isolation chips having a high-voltage side and a low-voltage side in the isolation circuit in the prior art, which is not specifically limited in this embodiment.

It should be noted here that: in the technical solution provided by this embodiment, the second power supply circuit can be pre-turned on when the first switch circuit is turned on. The main reason is: referring to FIG. 8, when the first switch circuit is turned on, the second power supply circuit can be pre-turned on. The switching circuit 5 has the effect of the second unidirectional conduction element or the parasitic diode D1 of the second MOS transistor switching circuit Q7, so that the second power supply circuit is pre-conducted. When the first power supply 1 cannot supply power due to a circuit failure or the power supply voltage is less than the voltage threshold, the power supply voltage of the first power supply 1 will be lower than the voltage of the second power supply 2. At this time, due to the physical characteristics of the circuit itself, The second power supply 2 starts to supply power to the outside, and there is current on the second power supply circuit. At this time, the detection circuit 4 can detect the electrical signal on the second power supply circuit. When the electrical signal (that is, the current) exceeds the set threshold, the detection circuit 4 outputs the first electrical signal; the second switch circuit 5 follows the first electrical signal The signal is on. After the first electrical signal is turned on, the external power supply current of the second power supply 2 is output through the first switch circuit 3 and the second switch circuit 5. Because the voltage drop of the parasitic diode D1 of the first unidirectional conducting element or the second MOS transistor switch circuit Q7 is relatively large, it will cause serious heat generation; therefore, the second switch circuit 5 needs to be turned on.

Further, as shown in FIG. 8, the detection circuit includes:

The detection circuit is used to detect the current signal on the second power supply circuit in the pre-conduction state through the current detection element; and output the first signal when the current signal is greater than or equal to the reference signal.

In specific implementation, as shown in FIG. 8, the current-sense element is a first resistor R1. The resistance value of the first resistor R1 can be selected based on the circuit design requirements, which is not specifically limited in this embodiment.

In an achievable technical solution, the detection circuit includes:

Another embodiment of the present application also provides a movable platform. See the movable platform shown in Figure 8 and Figure 10. The movable platform 800 includes a first power supply 1, a second power supply 2, a controller 840 and a power supply control circuit 850. Alternatively, the movable platform includes: a controller 840 and the power supply control system provided in the foregoing embodiments. Wherein, the first power supply 1 is electrically connected to the load circuit of the movable platform 800 to form a first power supply circuit 100 for supplying power to the load circuit; the second power supply 2 is connected in parallel with the first power supply 1 for access In the load circuit, a second power supply circuit 200 is formed; the controller 840 is configured to output a second signal that pre-turns on the second power supply circuit 200 when the first power supply 1 starts to supply power.

The power supply control circuit 850, as shown in FIG. 8, includes:

The first switch circuit 3 is electrically connected to the second power supply circuit 200, and is configured to pre-turn on the second power supply circuit 200 according to the second signal, so that the second power supply circuit 200 has an electrical signal;

The detection circuit 4 is used to detect the electrical signal on the second power supply circuit 200, and output the first signal when the electrical signal meets the requirements; and

The second switch circuit 5 is electrically connected to the second power supply circuit 200, and is used to turn on the second power supply circuit 200 according to the first signal; when the second power supply circuit 200 is turned on, the The second power supply circuit 200 is in a formally conductive state, so that the second power supply 2 can supply power to the load circuit.

What needs to be added here is that the above-mentioned pre-turn-on should be understood as: the second power supply circuit 200 is turned on but the second power source 2 does not supply power to the outside. The reason for this phenomenon is that when the first power supply 1 supplies power, due to the hardware properties of the circuit itself, even if the second power supply circuit 200 is turned on, the second power supply 2 still cannot supply power, but the prerequisite is the first power supply. The power supply voltage of 1 is greater than or equal to the power supply voltage of the second power supply 2.

The movable platform shown in FIG. 10 is a schematic diagram of an unmanned aerial vehicle. The movable platform 800 includes a fuselage, a camera 820 arranged on the fuselage, and a pan/tilt 810 arranged on the fuselage. The camera 820 is arranged on the pan/tilt 810; the camera 820 can move relative to the body through the pan/tilt 810. An inertial measurement unit (not shown in the figure) may be further provided on the fuselage. The movable platform may further include: a power system 830. The power system may include an electronic governor (referred to as an ESC for short), one or more propellers, and one or more motors corresponding to the one or more propellers. Of course, in addition to the devices listed above, the movable platform may also include other elements or devices, which are not listed here. The load circuit of the movable platform shown in FIG. 10 is electrically connected with one or more motors, inertial measurement units, pan/tilt, cameras, etc. corresponding to multiple propellers. The first power supply or the second power supply provides the power required for the work of the components and devices in the load circuit. The VCC_SYS terminal in Figure 8 is used to electrically connect the load circuit.

What needs to be added here is that the power supply control circuit in the movable platform provided in this embodiment can be implemented directly by using the solution provided in the foregoing embodiment, and the specific content can be referred to the corresponding description above, and will not be repeated here.

The technical solution provided in this embodiment will be described below in conjunction with a specific application example. Taking electric unmanned aerial vehicles, especially large-load electric unmanned aerial vehicles, as an example, the technical solutions provided by the above embodiments are used to achieve: after the main battery (or the first power supply 1) is disconnected, the second battery (or the second power supply 2) ) Cut in quickly and maintain the load to continue working.

Among them, the second power supply 2 satisfies the following conditions:

1. The power supply voltage of the second power supply 2 is less than or equal to the power supply voltage of the first power supply 1

2. It can provide enough power to support the actions of the unmanned aerial vehicle.

The switching process is as follows:

After the unmanned aerial vehicle is started, the first power supply 1 starts to supply power for the unmanned aerial vehicle to operate (such as flying). At this time, referring to FIG. 8, the MCU of the UAV sends a second signal to the first MOS transistor switch circuit Q6 through the first isolation circuit 9 and the first drive circuit 6 to pre-turn on the second power supply 2 to connect to the second signal. Two power supply circuit 200. Among them, the MCU of the unmanned aerial vehicle is electrically connected to the EN1 terminal in FIG. 8.

After the unmanned aerial vehicle takes off and works, it uses the first power source to work.

If the first power supply 1 is interrupted during operation (for example, the power supply voltage of the first power supply is less than the voltage threshold), the second power supply 2 first supplies power to the UAV through the parasitic diode D1 of the second MOS transistor switching circuit Q7, due to the voltage drop of D1 Larger, it will cause severe fever.

When the second power supply is powered by D1, the operational amplifier U2 detects that the second power supply 2 starts to output current through the first resistor R1, and through the comparator U1, the detected current exceeds the set threshold, and the comparator U1 outputs The first signal; the first signal passes through the second isolation circuit 8 and the second drive circuit to the second MOS tube switch circuit Q7, and the second MOS tube switch circuit Q7 is turned on. When the second battery supplies power to the system, the second MOS transistor switching circuit Q7 needs to be fully opened, thereby reducing the voltage drop of D1, reducing heat generation, and then preventing Q7 from being damaged due to overheating.

After the second power supply 2 starts to supply power, the MCU controls the UAV to start the landing procedure. When the UAV lands, the output current of the second power supply is less than the set threshold, and the second MOS transistor switch circuit Q7 will be automatically turned off. After the MCU receives the landing signal, it will also turn off the first MOS transistor switch circuit Q6 to complete the complete power-off of the system.

In addition, this application also provides a charging circuit, when the first power source is a battery (hereinafter referred to as the first battery) and the second power source is also a battery (hereinafter referred to as the second battery), the first battery can be used to supply the second battery. Charging function.

FIG. 11 shows a schematic diagram of a charging circuit provided by an embodiment of the present application. As shown in FIG. 11, the charging circuit includes: a charging control circuit 10, a switch circuit 30, and a detection circuit 20. The charging circuit can be electrically connected to the first battery 40 and the second battery 50 to allow the first battery 40 to charge the second battery 50.

The charging control circuit 10 is configured to be electrically connected between the first battery 40 and the second battery 50 to form a charging circuit that takes electricity from the first battery 40 and charges the second battery 50.

The switch circuit 30 is electrically connected to the charging circuit, and is used to switch the charging circuit on and off according to a switch instruction signal. When the switch indication signal is used to instruct the switch circuit 30 to be turned on, the switch circuit turns on the charging circuit, so that the first battery 40 can charge the second battery 50.

The detection circuit 20 is used for detecting the electrical signal on the charging circuit, and controlling the charging control circuit 10 according to the electrical signal, so as to adjust the charging mode for charging the second battery 50. Among them, the charging mode may be a constant current mode or a constant voltage mode. Constant current mode refers to constant current charging mode, and constant voltage mode refers to constant voltage charging mode. The detection circuit 20 can obtain the electrical signal fed back by the charging control circuit 10, and then adjust the charging mode for the second battery 50, so that the charging mode can be switched between the constant current mode and the constant voltage mode.

The technical solution provided by this embodiment is to set a charging circuit including a charging control circuit, a switch circuit, and a detection circuit. The switch circuit turns the charging circuit on and off, and the detection circuit controls the charging control circuit based on the electrical signal on the charging circuit; The first battery takes power to charge the second battery; compared with the prior art, there is no need to customize a charger and an external power supply for the second battery, which is low in cost and more convenient to use.

In a specific implementation scheme, the detection circuit 20 is used to transmit the detected electric signal to the charging control circuit 10, so that the charging control circuit 10 can change the working mode according to the acquired electric signal, so as The second battery 50 provides a charging current corresponding to the working mode.

Taking the charging control circuit as a DC-DC converter as an example, when the detection circuit 20 detects that the voltage of the second battery 50 is lower than a preset voltage threshold, the DC-DC works in a constant current mode, and the DC-DC input terminal Electricity is taken from the first battery 40, and the second battery 50 is charged with a constant current. When the detection circuit 20 detects that the voltage of the second battery 50 reaches the preset voltage threshold, the DC-DC operates in a constant voltage mode to ensure that the second battery 50 can reach a full charge condition.

In an achievable technical solution, referring to FIG. 11, the switch circuit 30 includes: a charging output switch 31;

The charging output switch 31 has a first connection end, a second connection end and a third connection end; wherein,

The first connection terminal is electrically connected to the charging current output terminal of the charging control circuit 10;

The second connection terminal is electrically connected to the second battery 50;

The third connection terminal is used to access a switch instruction signal, and switch on and off the path between the first connection terminal and the second connection terminal according to the switch instruction signal.

Continuing to refer to FIG. 11, the charging output switch 31 includes: a first MOS transistor Q15 and a second MOS transistor Q16; wherein,

The source of the first MOS transistor Q15 is electrically connected to the source of the second MOS transistor Q16;

The drain of the first MOS transistor Q15 is the first connection terminal;

The drain of the second MOS transistor Q16 is the second connection terminal;

The gate of the first MOS transistor Q15 and the gate of the second MOS transistor Q16 are electrically connected, and the gate of the first MOS transistor Q15 and the gate of the second MOS transistor Q16 together serve as the first Three connection ends.

What needs to be added here is that the first diode D1 in FIG. 11 is the parasitic diode of the first MOS transistor; the second diode D2 is the parasitic diode of the second MOS transistor Q16.

What needs to be explained here is: In practical applications, a diode can also be used as a switch. If a diode is used to separate the two batteries, the voltage drop is too large, which will cause severe heating. Therefore, in this embodiment, a MOS tube is used instead of a diode, and two MOS tubes are used in an inverted series connection to play the role of a switch.

Further, in order to ensure that the first MOS transistor Q15 and the second MOS transistor Q16 can be turned off at the same time when it needs to be turned off, the charging output switch further includes a first resistor R17. As shown in FIG. 11, one end of the first resistor R17 is electrically connected between the source of the first MOS transistor Q15 and the source of the second MOS transistor Q16, and the other end is electrically connected to the third Connect the end.

Further, in the charging circuit provided in this embodiment, the switch circuit 30 further includes an interface switch 32; one end of the interface switch 32 is used to electrically connect a controller, and the other end is connected to the charging output switch 31. The third connection terminal is electrically connected. As shown in FIG. 11, the EN port in FIG. 11 can be electrically connected to the controller, and the switch indication signal output by the controller is sent to the interface switch 32 via the EN port. Wherein, the interface switch 32 is used to perform an on-off action based on the switch instruction signal output by the controller, so that the charging output switch 31 makes a corresponding on-off action based on the level of the third connection terminal. Turn on or turn off the charging circuit.

Further, as shown in FIG. 11, the interface switch 32 includes a third MOS transistor Q14; the gate of the third MOS transistor Q14 is used to electrically connect to the controller; the source of the third MOS transistor Q14 Ground; the drain of the third MOS transistor Q14 is electrically connected to the third connection end of the charging output switch 32.

During specific implementation, the controller is used to output an indication signal indicating a high level or a low level. For example, when the controller outputs a high-level indicating signal, the interface switch 32 is turned on, so that the charging output switch 31 is turned on to turn on the charging circuit; when the controller outputs a low-level indicating signal, the interface switch 31 is turned off, so that the charging output switch 31 is turned off to disconnect the charging circuit.

The detection circuit 20 may include: a first detection circuit and a second detection circuit. The first detection circuit is used to generate a first detection signal based on the electrical signal on the charging circuit; the second detection circuit is used to generate a second detection signal based on the electrical signal on the charging circuit. The detection circuit 20 can control the charging control circuit 10 according to the first detection signal and the second detection signal to adjust the charging mode for charging the second battery. When the value corresponding to the first detection signal is greater than the value corresponding to the second detection signal, the charging control circuit 10 is controlled to charge the second battery in a constant current mode; and/or, the first When the value corresponding to the detection signal is less than or equal to the value corresponding to the second detection signal, the charging control circuit 10 is controlled to charge the second battery 50 in a constant voltage mode.

For example, the first detection circuit generates a first detection signal based on the voltage of the second battery 50, and the second detection circuit generates a second detection signal based on the voltage of the second battery 50. The first detection signal is different from the second detection signal. For example, when the voltage of the second battery 50 does not reach the preset voltage value, the first detection circuit generates a first detection signal based on the voltage of the second battery 50, and the second detection circuit generates a second detection signal based on the voltage of the second battery 50. Signal, the first detection signal is greater than the second detection signal. At this time, the first detection signal is used as the leader of controlling the charging control circuit 10, and the charging mode for controlling the second battery 50 is a constant current mode to increase the charging rate. When the voltage of the second battery 50 reaches the preset voltage value, the first detection circuit generates a first detection signal according to the voltage of the second battery 50, and the second detection circuit generates a second detection signal according to the voltage of the second battery 50. The first detection signal is greater than the second detection signal. At this time, the second detection signal is used as the dominant control of the charging control circuit 10. The charging mode for controlling the charging of the second battery 50 is the constant voltage mode, and the charging current is gradually reduced at this time. When the charging current drops to zero, the second battery 50 is fully charged.

Further, the first detection circuit may include: a first detection element and a voltage detection circuit. The voltage detection circuit detects the voltage of the first detection element and controls the charging control circuit according to the voltage, thereby adjusting the charging mode for charging the second battery 50.

The first detection element is electrically connected to the charging circuit. During the process of charging the second battery 50 by the first battery, the voltage of the second battery 50 continuously changes. When the voltage of the backup battery in the charging circuit changes, the voltage of the first detection element also changes accordingly. When the voltage of the second battery 50 reaches the reference value, the voltage of the first detection element also reaches the corresponding preset value.

The voltage detection circuit is used to detect the voltage of the second battery 50 through the first detection element, and control the charging control circuit 10 according to the voltage of the second battery 50.

In a specific implementation, the voltage detection circuit outputs a corresponding control electric signal to the charging control circuit 10 based on the detected voltage, so that the charging control circuit 10 converts the control electric signal according to the acquired control electric signal. The working mode provides the second battery 50 with a charging current corresponding to the working mode. Among them, the working mode of the charging control circuit 10 may include: a constant current mode and a constant voltage mode, and may also include other conventional modes of battery charging, which are not limited herein.

Further, the first detection element is electrically connected between the charging control circuit 10 and the switch circuit 30. Specifically, referring to FIG. 11, the first detection element is a second resistor R13.

Further, the voltage detection unit may be implemented by a circuit as shown in FIG. 11. Specifically, the voltage detection unit includes:

The comparator U1 has a first non-inverting input terminal, a first inverting input terminal and a first output terminal; the first non-inverting input terminal is electrically connected to the charging control circuit 10 and the first detection element (ie Between the second resistor R13), the first inverting input terminal is electrically connected between the first detection element (ie, the second resistor R13) and the switch circuit 30, and the first output terminal is connected to the switch circuit 30. The charging control circuit 10 is electrically connected;

The second detection element may be a resistor, such as a third resistor R14, one end of which is electrically connected between the first detection element (ie, the second resistor R13) and the switch circuit 30;

The operational amplifier U2 has a second non-inverting input terminal, a second inverting input terminal and a second output terminal; the second non-inverting input terminal is electrically connected to the other end of the third resistor R14, and the second inverting input Terminal is electrically connected to the second output terminal, and the second output terminal is electrically connected to the charging control circuit 10;

The third detection element, such as the fourth resistor R15, has one end electrically connected to the second non-inverting input terminal of the operational amplifier U2, and the other end is grounded.

The second detection element and the third detection element are in the same branch, and the branch is connected in parallel with the second battery, so that the sum of the voltage of the second detection element and the third detection element is equal to the second battery. The parallel circuit formed by the branch and the second battery is connected in series with the first detection element. When the second battery is charged, the voltage gradually increases, the partial pressure of the second detection element also gradually increases, and the partial pressure of the first detection element decreases. Therefore, the signal input from the positive input terminal of the operational amplifier U2 gradually increases, and the signal from the positive input terminal of the comparator gradually decreases.

Referring to FIG. 11, in specific implementation, the first output terminal of the comparator U1 is electrically connected to the charging control circuit 10 through a first unidirectional conducting element D3. Among them, the first unidirectional conduction element D3 is an element that only allows current to flow in a single direction, and functions as a protection circuit. In specific implementation, the first unidirectional conducting element may be a diode.

Similarly, the second output terminal of the operational amplifier U2 is electrically connected to the charging control circuit 10 through a second unidirectional conducting element D4. The second unidirectional conductive element D4 is an element that only allows current to flow in a single direction, such as a diode, which acts as a protection circuit.

What needs to be explained here is: between the comparator U1 and the charging control circuit 10, and between the operational amplifier U2 and the charging control circuit 10, the purpose of setting a unidirectional conducting element is to prevent reverse current from being connected to the comparator U1. And the output terminal of the operational amplifier U2.

Still further, as shown in FIG. 11, the first inverting input terminal of the comparator UI is electrically connected to the first output terminal through a fifth resistor R0.

The technical solution provided by the embodiments of the present application is based on the design of DCDC+ peripheral circuits (ie, switching circuit and detection circuit 20) to achieve the purpose of taking power from the first battery to charge the second battery, and the detection circuit 20 can make DCDC according to the first The electrical signal (such as voltage) of the second battery switches the charging mode, such as constant current mode and constant voltage mode. Compared with the prior art, the embodiment of the application does not need to customize a charger and an external power supply for the second battery, which is low in cost and more convenient to use.

Another embodiment of the present application also provides a movable platform including the charging circuit in the above embodiment. As shown in Figure 11 and Figure 12, the movable platform includes:

The first battery 40 is used to provide the required electric energy for the movable platform;

The second battery 50 is used to cooperate with or replace the first battery to provide the required electric energy for the movable platform;

A controller, configured to output a corresponding switch indication signal based on the parameters of the second battery 50;

The charging circuit includes:

The charging control circuit 10 is configured to be electrically connected between the first battery 40 and the second battery 50 to form a charge for taking electricity from the first battery 40 and providing a charging current for the second battery 50 Circuit

The switch circuit 30 is electrically connected to the charging circuit, and is configured to switch the charging circuit on and off according to the switch indication signal;

The detection circuit 20 is used for detecting the electrical signal on the charging circuit, and controlling the charging control circuit 10 according to the electrical signal, so as to adjust the charging mode for charging the second battery 50. Among them, the charging mode can be a constant current mode or a constant voltage mode. Constant current mode refers to constant current charging mode, and constant voltage mode refers to constant voltage charging mode. The detection circuit 20 can obtain the electrical signal fed back from the charging control circuit 10, and then adjust the charging mode for the second battery 50, so that the charging mode can be switched between the constant current mode and the constant voltage mode.

The charging circuit provided in this embodiment is consistent with the charging circuit provided in the foregoing embodiment in principle and implementation, and will not be repeated here.

The technical solution provided by this embodiment is to set a charging circuit including a charging control circuit, a switch circuit, and a detection circuit. The switch circuit turns the charging circuit on and off, and the detection circuit controls the charging control circuit based on the electrical signal on the charging circuit; The first battery takes power to charge the second battery; compared with the prior art, there is no need to open a charging port for the second battery on a mobile platform, and additionally customize a charger and an external power supply for the second battery, which has low cost. It is more convenient to use.

The technical solutions provided by the embodiments of this application are based on the design of DCDC+ peripheral circuits (ie, switching circuits and detection circuits) to achieve the purpose of taking power from the first battery to charge the second battery, and the detection circuit can make DCDC based on the second battery The electrical signal (such as voltage) switches the charging mode, such as constant current mode and constant voltage mode. Compared with the prior art, the embodiment of the present application does not need to customize a charger and an external power supply for the second battery of the movable platform, which is low in cost and more convenient to use.

This application is mainly applied when there is a main battery and a backup battery, and the backup battery can be charged through the main battery. Therefore, when the power of the backup battery is insufficient, the power of the main battery can be obtained to ensure that the power of the backup battery is sufficient.

The second battery charging process of the mobile platform provided in this embodiment is as follows:

When the controller (such as MCU, CPU, etc.) of the movable platform detects that the voltage of the second battery 50 is lower than a certain threshold, it controls the first MOS transistor Q15 and the second MOS transistor Q16 to be turned on. When the voltage of the second battery 50 is lower than the full charge voltage, the charging control circuit (such as DC-DC) works in CC mode (ie, constant current mode), and the input terminal takes power from the first battery 40 and sends a constant current to the second battery 50 charges. When the voltage of the second battery 50 reaches the full charge voltage, the charging control circuit (such as DC-DC) switches to the CV mode (ie, constant voltage mode) to ensure that the second battery 50 can reach the full charge condition. After the second battery 50 is fully charged, the controller controls the first MOS transistor Q15 and the second MOS transistor Q16 to be disconnected, so that the second battery 50 is disconnected from the first battery 40.

Here, the full charge voltage can be a specified voltage. For example, for a lithium battery, the full charge voltage can be 4.2V. Assuming that the full charge voltage is 4.2V, the second battery charging process can be understood as including two stages, constant current charging to a specified voltage, such as 4.2V, the voltage at this stage is the second battery internal resistance * current, in short, the purpose is to ensure the current Constant, such as 2A; stage two, constant voltage charging, reaching 4.2V lock-up voltage 4.2V, until the current is less than the specified value, such as 0.05A, and then cut off.

The technical solutions provided by the embodiments of the present application require no additional customization of chargers for the second battery, etc., and the movable platform is miniaturized, low-cost, constant current controllable, and the constant voltage mode has a wide voltage range, which can be used for high-voltage batteries.

The movable platform provided in this embodiment may be: an unmanned aerial vehicle, an unmanned vehicle, etc., which are not specifically limited herein. Figure 12 shows a schematic diagram of the movable platform being an unmanned aerial vehicle. In addition to the first battery, the charging circuit, the second battery, and the controller, the unmanned aerial vehicle may also include a body, a camera 820 arranged on the body, and a pan/tilt 810 arranged on the body. The camera 820 is arranged on the pan/tilt 810; the camera 820 can move relative to the body through the pan/tilt 810. An inertial measurement unit (not shown in the figure) may be further provided on the fuselage. The movable platform may further include: a power system 830. The power system may include an electronic governor (referred to as an ESC for short), one or more propellers, and one or more motors corresponding to the one or more propellers. Of course, in addition to the devices listed above, the movable platform may also include other elements or devices, which are not listed here.

FIG. 13 is a schematic structural diagram of a power protection circuit board provided by an embodiment of the application. The power supply includes a battery cell and the power supply protection circuit board. The power protection circuit board is electrically connected to the battery core, so as to obtain the power supply of the battery core. The power protection circuit board is also used to control the charging and discharging of the electric core.

As shown in FIG. 13, the device 130 may include: a flow element 131 and a functional element 132. The current flow element and the functional element can be electrically connected, so that the functional element can obtain power supply from the battery core.

In some embodiments, the current-passing element is arranged near the functional element, and can be electrically connected to the functional element through wires on/in the circuit board. Wherein, the current flow element can be electrically connected to some functional elements, and other functional elements can still conduct electricity in the form of wiring on the circuit board. With this arrangement, the path of the current flowing through the circuit board trace is reduced, thereby reducing the internal resistance of the current flowing path, thereby reducing the heat generation of the power protection circuit board and increasing the current flow capacity of the power protection circuit board.

In some embodiments, the cross-section of the flow-through element meets a certain size, and the flow-through capability of the flow-through element is enhanced compared to the circuit board trace.

In some embodiments, the current flow element may be a power line, a copper bar, a full article, a bridge, and the like. If the flow element is a power line, the cross-sectional area of the power line can be 20mm2. If the flow element is a copper strip, its cross-sectional area can be 12mm2. If the flow element is a bridge, its specification can be 200A. Of course, the flow element is not limited to the elements listed above. The parameters listed above are not limited to this.

In some embodiments, the functional elements may include circuits/devices such as a control circuit, a clock circuit, a switch circuit, a detection circuit, and a current detection element. On the premise of no contradiction, all the circuits, components, devices, etc. in the above-mentioned embodiments can be installed on the power protection circuit board.

The power protection circuit board provided in this embodiment can be electrically connected to the functional element through the wiring on/in the circuit board by arranging the current-passing element near the functional element. The path of the current flowing through the circuit board is reduced, thereby reducing the internal resistance of the current flowing path, thereby reducing the heat generation of the power protection circuit board, and increasing the flow capacity of the power protection circuit board.

A person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware. The aforementioned program can be stored in a computer readable storage medium. When the program is executed, it executes the steps including the foregoing method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

The systems, devices, and methods described herein are applicable to a variety of movable objects. As mentioned earlier, any description of aircraft (such as unmanned aerial vehicles) in this article can be applied to and used for any movable objects. Any description of aircraft in this document is particularly applicable to unmanned aircraft. The movable object of the present invention can be configured to move in any suitable environment, such as in the air (for example, a fixed-wing aircraft, a rotary-wing aircraft, or an aircraft with neither fixed nor rotating wings), water (for example, a ship Or submarines), on land (for example, motor vehicles, such as cars, trucks, buses, trucks, motorcycles, bicycles; movable structures or frames, such as rods, fishing rods; or trains), underground (for example, , Subway), in space (for example, a space plane, satellite, or probe), or any combination of these environments. The movable object may be a carrier, such as the carrier described elsewhere herein. In certain embodiments, the movable object can be carried by, or taken off from, a living body, such as a human or an animal. Suitable animals may include poultry, dogs, cats, horses, cattle, sheep, pigs, dolphins, rodents, or insects.

The movable object can move freely with respect to six degrees of freedom in this environment (for example, three degrees of freedom in translation and three degrees of freedom in rotation). Or, for example, the movement of the movable object may be restricted to one or more degrees of freedom through a predetermined path, trajectory, or direction. The movement can be actuated by any suitable actuation mechanism, such as an engine or a motor. The actuating mechanism of the movable object can be powered by any suitable energy source, such as electric energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy or any suitable combination thereof. As described elsewhere herein, movable objects can be self-propelled by a propulsion system. The propulsion system optionally relies on energy to operate, such as electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination thereof. Alternatively, movable objects can be carried by organisms.

In some cases, the movable object may be an aircraft. For example, the aircraft may be a fixed-wing aircraft (e.g., airplane, glider), a rotary-wing aircraft (e.g., helicopter, rotary wing aircraft), an aircraft with fixed and rotary wings, or an aircraft with neither fixed nor rotary wings ( For example, airship, hot air balloon). The aircraft can be self-propelled, such as self-propelled through air. A self-propelled aircraft can use a propulsion system, such as a propulsion system including one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof. In some cases, the propulsion system can be used to make a movable object take off from a surface, land on a surface, maintain its current position and/or direction (e.g., spin stop), change direction, and/or change position.

In some embodiments, the movable object may have an area of less than or equal to approximately: 32,000cm2, 20,000cm2, 10,000cm2, 1,000cm2, 500cm2, 100cm2, 50cm2, 10cm2, or 5cm2 (referring to the area where the movable object is Surrounding transverse cross-section). Conversely, the footprint can be greater than or equal to approximately: 32,000 cm2, 20,000 cm2, 10,000 cm2, 1,000 cm2, 500 cm2, 100 cm2, 50 cm2, 10 cm2, or 5 cm2.

In some embodiments, the volume of the movable object may be less than 100 cm x 100 cm x 100 cm, less than 50 cm x 50 cm x 30 cm, or less than 5 cm x 5 cm x 3 cm. The total volume of movable objects can be less than or equal to approximately: 1cm3, 2cm3, 5cm3, 10cm3, 20cm3, 30cm3, 40cm3, 50cm3, 60cm3, 70cm3, 80cm3, 90cm3, 100cm3, 150cm3, 200cm3, 300cm3, 500cm3, 750cm3, 1000cm3, 5000cm3, 10,000cm3, 100,000cm3, 1m3, or 10m3. Conversely, the total volume of movable objects can be greater than or equal to approximately: 1cm3, 2cm3, 5cm3, 10cm3, 20cm3, 30cm3, 40cm3, 50cm3, 60cm3, 70cm3, 80cm3, 90cm3, 100cm3, 150cm3, 200cm3, 300cm3, 500cm3, 750cm3 , 1000cm3, 5000cm3, 10,000cm3, 100,000cm3, 1m3 or 10m3.

The movable object can be remotely controlled by the user or locally controlled by an occupant in or on the movable object. The movable object can be remotely controlled by the occupant in the separate vehicle. In some embodiments, the movable object is an unmanned movable object, such as an unmanned aerial vehicle. An unmanned movable object (such as an unmanned aerial vehicle) may not have an occupant on board the movable object. The movable object can be controlled by a human or an autonomous control system (e.g., a computer control system) or any suitable combination thereof. The movable object can be an autonomous or semi-autonomous robot, such as a robot equipped with artificial intelligence.

In some cases, the weight of the movable object may not exceed 1000kg. The weight of movable objects can be less than or equal to approximately: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg , 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg or 0.01kg. Conversely, the weight can be greater than or equal to approximately: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg or 0.01kg.

In some embodiments, the movable object carries a load. The load may include a payload and/or carrier. The load can be a camera, a medicine tank, a positioning device, a water tank, a spray system, etc. The movable object can be less than, equal to, or greater than the load carried by the movable object. In some embodiments, the ratio of the weight of the movable object to the weight of the load may be greater than, less than or equal to about 1:1. In some cases, the ratio of the weight of the movable object to the weight of the load may be greater than, less than or equal to about 1:1. Optionally, the ratio of carrier weight to load weight may be greater than, less than or equal to about 1:1. When needed, the ratio of the weight of the movable object to the weight of the load can be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10 or even smaller. Conversely, the ratio of the weight of the movable object to the weight of the load can also be greater than or equal to 2:1, 3:1, 4:1, 5:1, 10:1, or even greater.

In some embodiments, movable objects may have low energy consumption. For example, movable objects can use less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less. In some cases, the carrier of the movable object may have low energy consumption. For example, the carrier can be used less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less. Optionally, the payload of the movable object may have low energy consumption, such as less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. range.

Claims

A flight control method applied to an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle includes a power supply and a load circuit, the power supply can supply power to the load circuit; the power supply includes a first power supply and a second power supply, The first power supply and the second power supply are electrically connected to the load circuit, and the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply to provide the load circuit Power supply, the method includes:

Obtaining the power supply voltage of the power supply;

If the power supply voltage of the power supply meets the reference voltage range, the second power supply is currently supplying power to the load circuit and controls the UAV to perform safe operations;

Wherein, if the power supply voltage of the power supply does not meet the reference voltage range, the first power supply is currently supplying power to the load circuit.
The method according to claim 1, wherein said controlling said unmanned aerial vehicle to perform a safe operation comprises:

Adjusting the flight status parameters of the unmanned aerial vehicle;

According to the flight status parameter, the unmanned aerial vehicle is controlled to perform a safe operation.
The method according to claim 2, wherein the adjusting the flight status parameters of the unmanned aerial vehicle comprises:

According to the target safety strategy, the flight status parameters of the unmanned aerial vehicle are adjusted to control the unmanned aerial vehicle to perform safe operations.
The method according to claim 3, wherein the method further comprises: determining the target security policy according to a preset security policy.
The method according to claim 4, wherein the preset safety strategy includes at least one of the following: a vertical landing strategy, a landing strategy based on a predetermined flight path, or a home return landing strategy.
The method according to claim 5, wherein the determining the target security policy according to a preset security policy comprises:

When the distance between the unmanned aerial vehicle and the home point of the unmanned aerial vehicle is greater than a distance threshold, the vertical landing strategy is selected as the target safety strategy.
The method according to claim 5, wherein the determining the target security policy according to a preset security policy comprises:

When the distance between the unmanned aerial vehicle and the home point of the unmanned aerial vehicle is less than a distance threshold, the home point landing strategy is selected as the target safety strategy.
The method according to claim 5, wherein the determining the target security policy according to a preset security policy comprises:

When the distance between the unmanned aerial vehicle and the home point of the unmanned aerial vehicle is greater than a distance threshold, a landing strategy based on a predetermined flight path is selected as the target safety strategy.
The method according to claim 4, wherein the determining the target security policy according to a preset security policy comprises:

Obtain a user setting instruction sent by the control terminal of the unmanned aerial vehicle, and determine a corresponding preset landing strategy as the target safety strategy according to the user setting instruction.
The method according to claim 2, wherein, in the process of controlling the unmanned aerial vehicle to perform a safe operation according to the flight status parameter, the method further comprises:

Acquiring a flight control instruction sent by a control terminal of the unmanned aerial vehicle, where the flight control instruction is used to control the flight state of the unmanned aerial vehicle;

When the flight control instruction is not used to control the flight height of the unmanned aerial vehicle, the flight state parameter is adjusted according to the flight control instruction.
The method according to claim 2, wherein the flight status parameter includes one or more of the following:

Acceleration, velocity, angular velocity, or height relative to the ground.
The method according to claim 1, wherein said controlling said unmanned aerial vehicle to perform a safe operation further comprises:

Acquiring a flight control instruction sent by a control terminal of the unmanned aerial vehicle, where the flight control instruction is used to control the flight state of the unmanned aerial vehicle;

Does not respond to the flight control command.
The method according to claim 12, wherein the not responding to the flight control instruction comprises:

When the flight control instruction is used to control the flying height of the unmanned aerial vehicle, it does not respond to the flight control instruction.
The method according to claim 1, wherein the safe operation includes at least one of the following: landing, prohibiting continued ascent, prohibiting continued shooting.
The method according to claim 1, wherein said controlling said unmanned aerial vehicle to perform a safe operation comprises:

If the unmanned aerial vehicle is currently performing the safety operation, control the unmanned aerial vehicle to continue to perform the safety operation.
The method according to claim 1, wherein the power supply range of the first power supply is a first voltage range, and the power supply range of the second power supply is a second voltage range;

The first voltage range is different from the second voltage range, and the highest value of the first voltage range is greater than the highest value of the second voltage range.
The method according to claim 16, wherein the reference voltage range corresponds to the power supply range of the second power supply.
The method according to claim 17, wherein the reference voltage range is the same as the power supply range of the second power supply.
The method of claim 16, wherein the first voltage range partially overlaps the second voltage range.
The method according to claim 1, wherein if the power supply voltage of the power supply always does not meet the reference voltage range, it is determined that the first power supply is currently supplying power to the load circuit, and the power supply voltage of the power supply is Corresponding to the voltage output by the first power supply.
The method according to claim 1, wherein if the power supply voltage of the power supply meets the reference voltage range, it is determined that the second power supply is currently supplying power to the load circuit, and the power supply voltage of the power supply corresponds to the reference voltage range. The voltage output by the first power supply or the second power supply.
The method according to claim 21, wherein the branch where the first power supply is located is connected in parallel with the branch where the second power supply is located, and if the voltage output by the first power supply meets the reference voltage range, It is determined that the second power source is currently supplying power to the load circuit.
The method according to claim 1, wherein the reference voltage range is lower than the output voltage of the first power supply in a fully charged state.
The method according to claim 1, wherein the method further comprises:

When controlling the second power supply to supply power to the load circuit, a prompt message is sent to the control terminal of the UAV, so that the control terminal outputs prompt information to the user, and the prompt information is used to prompt the unmanned aerial vehicle. Human aircraft need to perform safe operations.
The method according to claim 1, wherein the first power source is a main power source, and the second power source is a backup power source.
The method according to claim 1, wherein the output power of the second power supply is the same as the output power of the first power supply.
The method of claim 26, wherein the discharge rate of the second power source is greater than the discharge rate of the first power source.
A flight control method applied to an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle includes a power supply and a load circuit, the power supply can supply power to the load circuit; the power supply includes a first power supply and a second power supply, The first power supply and the second power supply are electrically connected to the load circuit, and the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply for the load circuit Power supply, the method includes:

Determine whether the preset conditions are met;

If the preset condition is met, the second power source is currently supplying power to the load circuit and controls the UAV to perform safe operations;

Wherein, if the preset condition is not met, the first power source is currently supplying power to the load circuit.
The method according to claim 28, wherein the satisfying the preset condition comprises: the power source currently in communication is the second power source; or, the power supply voltage of the power source meets a reference voltage range.
The method according to claim 29, wherein the power supply range of the first power supply is a first voltage range, and the power supply range of the second power supply is a second voltage range;

The first voltage range is different from the second voltage range, and the highest value of the first voltage range is greater than the highest value of the second voltage range.
The method according to claim 30, wherein the reference voltage range corresponds to the power supply range of the second power supply.
The method according to claim 31, wherein the reference voltage range is the same as the power supply range of the second power supply.
The method of claim 30, wherein the first voltage range partially overlaps the second voltage range.
The method according to claim 29, wherein if the power supply voltage of the power supply always does not meet the reference voltage range, it is determined that the first power supply is currently supplying power to the load circuit, and the power supply voltage of the power supply is Corresponding to the voltage output by the first power supply.
The method of claim 29, wherein if the power supply voltage of the power supply meets the reference voltage range, it is determined that the second power supply is currently supplying power to the load circuit, and the power supply voltage of the power supply corresponds to the reference voltage range. The voltage output by the first power supply or the second power supply.
The method according to claim 28, wherein said controlling said unmanned aerial vehicle to perform a safe operation comprises:

Adjusting the flight status parameters of the unmanned aerial vehicle;

According to the flight status parameter, the unmanned aerial vehicle is controlled to perform a safe operation.
The method according to claim 36, wherein the adjusting the flight status parameters of the unmanned aerial vehicle comprises:

According to the target safety strategy, the flight status parameters of the unmanned aerial vehicle are adjusted to control the unmanned aerial vehicle to perform safe operations.
The method according to claim 37, wherein the method further comprises: determining the target security policy according to a preset security policy.
The method according to claim 38, wherein the preset safety strategy comprises at least one of the following: a vertical landing strategy, a landing strategy according to a predetermined flight path, or a home-point landing strategy.
The method according to claim 39, wherein said determining said target security policy according to a preset security policy comprises:

When the distance between the unmanned aerial vehicle and the home point of the unmanned aerial vehicle is greater than a distance threshold, the vertical landing strategy is selected as the target safety strategy.
The method according to claim 39, wherein the determining the target security policy according to a preset security policy comprises:

When the distance between the unmanned aerial vehicle and the home point of the unmanned aerial vehicle is less than a distance threshold, the home point landing strategy is selected as the target safety strategy.
The method according to claim 39, wherein the determining the target security policy according to a preset security policy comprises:

When the distance between the unmanned aerial vehicle and the home point of the unmanned aerial vehicle is greater than a distance threshold, a landing strategy based on a predetermined flight path is selected as the target safety strategy.
The method according to claim 38, wherein said determining said target security policy according to a preset security policy comprises:

Obtain a user setting instruction sent by the control terminal of the unmanned aerial vehicle, and determine a corresponding preset landing strategy as the target safety strategy according to the user setting instruction.
The method according to claim 36, wherein, in the process of controlling the unmanned aerial vehicle to perform a safe operation according to the flight status parameter, the method further comprises:

Acquiring a flight control instruction sent by a control terminal of the unmanned aerial vehicle, where the flight control instruction is used to control the flight state of the unmanned aerial vehicle;

When the flight control instruction is not used to control the flight height of the unmanned aerial vehicle, the flight state parameter is adjusted according to the flight control instruction.
The method according to claim 28, wherein said controlling said unmanned aerial vehicle to perform a safe operation further comprises:

Acquiring a flight control instruction sent by a control terminal of the unmanned aerial vehicle, where the flight control instruction is used to control the flight state of the unmanned aerial vehicle;

Does not respond to the flight control command.
The method of claim 45, wherein the not responding to the flight control instruction comprises:

When the flight control instruction is used to control the flying height of the unmanned aerial vehicle, it does not respond to the flight control instruction.
A power supply method, characterized in that it is applied to a control circuit, the control circuit is used to control a power supply system, and the power supply system includes: a first power supply circuit for electrically connecting between a load circuit and a first power supply, To supply power to the load circuit through the first power supply; a second power supply circuit for electrically connecting between the load circuit and a second power supply, so as to supply power to the load circuit through the second power supply; The methods include:

Acquiring an electrical signal on the second power supply circuit;

If the electrical signal satisfies the reference electrical signal range, the second power supply circuit is controlled to be in a formally conductive state so that the second power source supplies power to the load circuit; otherwise, the second power supply circuit is controlled to be in the pre-set state. The on state, so that the first power supply continues to supply power to the load circuit.
The method according to claim 47, wherein the control circuit comprises a first switch circuit for electrically connecting to the second power supply circuit;

The controlling the second power supply circuit to be in a pre-conduction state includes: controlling the first switch circuit to pre-conduct the second power supply circuit when the first power supply is supplied, so that the second power supply circuit In the pre-conduction state.
The method of claim 48, wherein the first switch circuit comprises:

The conduction direction of the first unidirectional conduction element is opposite to the direction of current flow of the second power supply;

A first switch, connected in parallel with the first unidirectional conduction element;

The controlling the first switch circuit to pre-turn on the second power supply circuit when the first power supply supplies power includes:

Controlling the first switch to be in a connected state when the first power supply is supplied, so as to pre-turn on the second power supply circuit.
The method of claim 49, wherein the first switch circuit comprises a first MOS transistor switch circuit.
The method of claim 50, wherein the first MOS transistor switching circuit comprises an NMOS transistor switching circuit.
The method according to claim 50, wherein the control circuit further comprises a controller; the gate of the first MOS transistor switch circuit is used to electrically connect the controller;

The controlling the first switch to be in a connected state when the first power supply is supplied with power includes:

The controller outputs a second signal when the first power is supplied to control the first MOS transistor switch circuit to be turned on.
The method according to claim 47, wherein the control circuit comprises a detection circuit for electrically connecting with the second power supply circuit;

The obtaining the electrical signal on the second power supply circuit includes: the detection circuit detects and obtains the electrical signal on the second power supply circuit.
The method according to claim 53, wherein the control circuit further comprises a second switch circuit; if the electrical signal satisfies the reference electrical signal range, controlling the second power supply circuit to be in a formally conducting state, comprising :

The detection circuit outputs a first signal when the electrical signal meets the reference signal range, so as to control the second switch circuit to turn on the second power supply circuit according to the first signal.
The method according to claim 54, wherein the second switch circuit comprises: a second unidirectional conduction element whose conduction direction is the same as that of the supply current of the second power supply; and the second switch is connected to the The second unidirectional conducting element is connected in parallel;

The controlling the second switch circuit to turn on the second power supply circuit according to the first signal includes: controlling the second switch to turn on the second power supply circuit according to the first signal.
The method according to claim 53, wherein the detection circuit comprises: a detection element for electrically connecting to the second power supply circuit; and a current detection circuit electrically connected to the detection element;

The detection circuit detecting the electrical signal on the second power supply circuit includes:

The signal detection circuit detects the electrical signal on the second power supply circuit in the pre-conduction state through the detection element.
The method according to claim 56, wherein the detecting circuit outputting the first signal when the electrical signal satisfies the reference signal range comprises:

The signal detection circuit outputs the first signal when the electrical signal is greater than or equal to the reference signal.
A flight control system applied to an unmanned aerial vehicle, characterized in that the flight control system includes: a power supply, a load circuit, and a controller;

The power source can supply power to the load circuit; the power source includes a first power source and a second power source, the first power source and the second power source are electrically connected to the load circuit, and the output voltage of the first power source Or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power to the load circuit,

The controller is configured to obtain the power supply voltage of the power supply; and, if the power supply voltage of the power supply meets a reference voltage range, the second power supply is currently supplying power to the load circuit to control the unmanned aerial vehicle Perform safe operations;

Wherein, if the power supply voltage of the power supply does not meet the reference voltage range, the first power supply is currently supplying power to the load circuit.
A flight control system applied to an unmanned aerial vehicle, characterized in that the flight control system includes: a power supply, a load circuit, and a controller;

The power source can supply power to the load circuit; the power source includes a first power source and a second power source, the first power source and the second power source are electrically connected to the load circuit, and the output voltage of the first power source Or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power to the load circuit;

The controller is configured to determine whether a preset condition is satisfied; and, if the preset condition is satisfied, the second power source is currently supplying power to the load circuit, and controls the unmanned aerial vehicle to perform safe operations;

Wherein, if the preset condition is not met, the first power source is currently supplying power to the load circuit.
A power supply system, characterized by comprising: a power supply system and a control circuit, the control circuit is electrically connected to the power supply system for controlling the power supply system; the power supply system includes a first power supply circuit and Second electrical circuit

The first power supply circuit is configured to be electrically connected between a load circuit and a first power source, so as to supply power to the load circuit through the first power source;

The second power supply circuit is configured to be electrically connected between the load circuit and a second power source to supply power to the load circuit through the second power source; the method includes:

The control circuit is used to obtain the electrical signal on the second power supply circuit; and, if the electrical signal satisfies the reference electrical signal range, control the second power supply circuit to be in a formally conducting state, so that the The second power supply supplies power to the load circuit; otherwise, the second power supply circuit is controlled to be in a pre-conduction state, so that the first power supply continues to supply power to the load circuit.
An unmanned aerial vehicle, characterized by comprising: the flight control system according to claim 58 and the power supply system according to claim 60.
An unmanned aerial vehicle, characterized by comprising: the flight control system according to claim 59 and the power supply system according to claim 60.
A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, the computer program contains at least one piece of code, and the at least one piece of code can be executed by a computer to control the computer to execute The method of any one of 1-27 is required.
A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, the computer program contains at least one piece of code, and the at least one piece of code can be executed by a computer to control the computer to execute The method of any one of 28-46 is required.
A computer program, characterized in that, when the computer program is executed by a computer, it is used to implement the method according to any one of claims 1-27.
A computer program, characterized in that, when the computer program is executed by a computer, it is used to implement the method according to any one of claims 28-46.