WO2021097620A1 - Batterie, procédé de commande et dispositif mobile - Google Patents

Batterie, procédé de commande et dispositif mobile Download PDF

Info

Publication number
WO2021097620A1
WO2021097620A1 PCT/CN2019/119233 CN2019119233W WO2021097620A1 WO 2021097620 A1 WO2021097620 A1 WO 2021097620A1 CN 2019119233 W CN2019119233 W CN 2019119233W WO 2021097620 A1 WO2021097620 A1 WO 2021097620A1
Authority
WO
WIPO (PCT)
Prior art keywords
movable platform
control signal
state
driving device
battery unit
Prior art date
Application number
PCT/CN2019/119233
Other languages
English (en)
Chinese (zh)
Inventor
李鹏
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980039825.5A priority Critical patent/CN112352365B/zh
Priority to PCT/CN2019/119233 priority patent/WO2021097620A1/fr
Publication of WO2021097620A1 publication Critical patent/WO2021097620A1/fr

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits

Definitions

  • This application relates to the field of automatic control technology, and in particular to a battery, a control method, and a movable platform.
  • one of the objectives of this application is to provide a battery, a control method, and a movable platform.
  • an embodiment of the present application provides a battery, including a battery unit, for supplying power to a movable platform;
  • a switch device which is respectively electrically connected to the battery unit and the movable platform, and is used to conduct or disconnect the power supply circuit of the battery unit and the movable platform;
  • a driving device electrically connected to the switching device, for controlling the switching device to be turned on or off;
  • the analog front end is electrically connected to the driving device, and is used to send a control signal for controlling the on or off of the switch device to the driving device;
  • the control device is electrically connected to the driving device and used to communicate with the movable platform to determine whether the movable platform is in the first state, and according to the determination result, send to the driving device for controlling the The control signal of the switching device on or off;
  • the driving device controls the driving device according to the control signal sent by the control device
  • the switching device is turned on or off.
  • an embodiment of the present application provides a control method, which includes supplying power to a movable platform through a battery unit;
  • the switching device is electrically connected to the switching device through a driving device, and is used to control the switching device to be turned on or off;
  • It is electrically connected to the driving device through an analog front end, and is used to send a control signal for controlling the on or off of the switch device to the driving device;
  • the switching device is controlled by the driving device according to the control signal sent by the control device. On or off.
  • an embodiment of the present application provides a movable platform, and the movable platform includes the battery according to any one of the foregoing embodiments.
  • the reliability of battery power supply is improved.
  • Fig. 1 is a structural diagram of a battery according to an embodiment of the present application.
  • Fig. 2 is a structural diagram of a battery according to an embodiment of the present application.
  • Fig. 3 is a flow chart of the steps of a control method shown in an exemplary embodiment of the present application.
  • Fig. 4 is a flow chart showing the steps of controlling the conduction and disconnection of the power supply loop between the battery unit and the movable platform according to the state of the movable platform according to an exemplary embodiment of the present application.
  • Fig. 5 is a flow chart showing the steps of communicating with the movable platform to determine the state of the movable platform according to an exemplary embodiment of the present application.
  • Fig. 6 is a flow chart of steps for judging the state of the movable platform according to the current value of the sampling device according to an exemplary embodiment of the present application.
  • Fig. 7 is a complete flow chart for judging whether the movable platform is in the first state according to an exemplary embodiment of the present application.
  • a battery includes: a battery unit for supplying power to a movable platform; a switch device, which is electrically connected to the battery unit and the movable platform, respectively, for conducting or disconnecting the battery unit and the movable platform The power supply loop of the platform; the driving device, which is electrically connected to the switching device, and is used to control the on or off of the switching device; the analog front end, which is electrically connected to the driving device, and is used to send data to the driving device A control signal for controlling the switching device to be turned on or off; a control device, electrically connected to the driving device, for communicating with the movable platform to determine whether the movable platform is in the first state, and according to As a result of the judgment, a control signal for controlling the switching device to be turned on or off is sent to the driving device; wherein, when the analog front end sends an instruction to the driving device to indicate the difference between the battery unit and the movable platform When the control signal of the power supply loop
  • the mobile platform e.g., drone
  • uses redundancy to control battery power if an analog front-end hardware error occurs in the component, the control signal to turn off the switching device (e.g., MOSFET) can be output through the control device
  • the redundant control for example, MCU
  • keeps the switching device for example, MOSFET
  • the movable platform includes an aircraft, a robot, or an autonomous vehicle, etc.
  • this application takes a battery used in a drone as an example for detailed introduction.
  • Fig. 1 is a schematic structural diagram of a battery according to an exemplary embodiment of the present application.
  • the battery includes a battery unit 101, a switch device 104, a driving device 103, an analog front end 106 and a control device 102.
  • the battery unit 101 is used to supply power to the movable platform 105;
  • the switch device 104 is respectively connected to the battery unit 101 and the movable platform 105, and is used to turn on or disconnect the power supply circuit of the battery unit 101 and the movable platform 105;
  • the driving device 103 is electrically connected to the switching device 104, and is used to control the switching device 104 to be turned on or off;
  • the analog front end 106 is electrically connected to the driving device 103, and is used to send a control signal for controlling the on or off of the switch device 104 to the driving device 103;
  • the control device 102 is electrically connected to the driving device 103 for communicating with the movable platform 105 to determine whether the movable platform 105 is in the first state, and according to the determination result, sends to the driving device 103 for controlling the switching device 104 to be turned on Or disconnect the control signal.
  • the driving device 103 controls the switching device 104 to conduct according to the control signal sent by the control device 102 On or off.
  • the control device 102 when the movable platform 105 is in the first state, the control device 102 sends a first control signal to the drive device 103, so that when the analog front end 106 sends an instruction to the drive device 103, the battery unit and the When the control signal of the power supply circuit between the movable platforms is disconnected, the switching device 104 is maintained to be turned on.
  • the control device 102 when the movable platform 105 is not in the first state, the control device 102 sends a second control signal to the driving device 103 to disconnect the power supply between the battery unit 101 and the movable platform 105 Loop to power off the movable platform 105.
  • the analog front end 106 receives a first instruction to turn on or disconnect the power supply loop between the battery unit 101 and the movable platform 105; when the first instruction instructs to turn on the battery unit 101 and the movable platform 105 When the power supply circuit between the mobile platform 105 is moved, the analog front end 106 sends a third control signal to the driving device 103; or when the first instruction indicates an instruction to disconnect the power supply circuit between the battery unit 101 and the movable platform 105, the analog front end 106 sends a fourth control signal to the driving device 103.
  • the analog front end 106 receives from the control device 102 an instruction to turn on or disconnect the power supply loop between the battery unit 101 and the movable platform 105; when the analog front end 106 receives the control device 102 instructing to turn on the battery When the power supply circuit between the unit 101 and the movable platform 105 is instructed, the analog front end 106 sends a third control signal for controlling the switching device 104 to turn on to the driving device 103; or when the analog front end 106 receives the control device 102 to instruct to turn off When the power supply circuit between the battery unit 101 and the movable platform 105 is opened, the analog front end 106 sends a fourth control signal for controlling the switching device 104 to turn off to the driving device 103.
  • control device 102 can not only send the first instruction to the driving device 103 to turn on or disconnect the power supply circuit between the battery unit 101 and the movable platform 105, to directly control the battery unit 101 and the movable platform 105.
  • the power supply loop between the mobile platform 105 can also be sent to the analog front end 106 to turn on or disconnect the second instruction of the power supply loop between the battery unit 101 and the movable platform 105, and through the control signal sent by the analog front end 106 Indirectly controls the power supply loop between the battery unit 101 and the movable platform 105.
  • the analog front end 106 receives an instruction to turn on or disconnect the power supply loop between the battery unit 101 and the movable platform 105 from another device (for example, an external device).
  • the analog front end 106 sends a third control for controlling the switching device 104 to turn on to the driving device 103 Signal; or when the analog front end 106 receives an instruction from other equipment to disconnect the power supply circuit between the battery unit 101 and the movable platform 105, the analog front end 106 sends to the drive device 103 a fourth for controlling the switch device 104 to disconnect control signal.
  • the driving device 103 When the driving device 103 receives the first control signal sent by the control device 102 and/or the third control signal sent by the analog front end, it controls the switching device 104 to turn on to turn on the power supply between the battery unit 101 and the movable platform 105 Loop; when the driving device 103 receives the second control signal sent by the control device 102 and the fourth control signal sent by the analog front end 106 at the same time, it controls the switching device 104 to turn off to disconnect the battery unit 101 and the movable platform 105 Power supply loop.
  • the driving device 103 will control the switching device 3104 to turn on as long as it receives the control signal sent by either the control device 102 or the analog front end 106 for controlling the switching device 104 to turn on, and the driving device 103 only receives
  • the switching device 104 is controlled to be turned off only when the control device 102 and the analog front end 106 simultaneously send the control signal for controlling the switching device 104 to turn off, as shown in Table 1:
  • Table 1 The corresponding table of the state of the switch device and the signal received by the drive device
  • the second control signal when the first control signal is the digital signal "1", the second control signal is the digital signal "0"; when the first control signal is the digital signal "0", the second control signal is Digital signal "1".
  • the third control signal is the digital signal "1”
  • the fourth control signal is the digital signal "0”; when the third control signal is the digital signal "0", the fourth control signal is the digital signal "1". That is, the first control signal and the second control signal are at different logic levels, and the third control signal and the fourth control signal are at different logic levels.
  • the application is not limited to this, and other types of control signals (for example, analog signals) are also within the protection scope of the application.
  • the battery further includes a first diode and a second diode, wherein the anode of the first diode is electrically connected to the analog front end 106, and the second diode is electrically connected to the analog front end 106.
  • the anode is electrically connected to the control device 102
  • the cathode of the first diode and the cathode of the second diode are electrically connected to the driving device 103
  • the first diode and the second diode are used to prevent the analog front end 106 from being connected to the control device.
  • the power transfer of the device 102 occurs.
  • the redundant control method of both the analog front end and the control device is used to control the on and off of the power supply circuit between the battery and the movable platform. If an analog front end hardware error occurs, the output will disconnect the fourth control of the power supply circuit.
  • the signal can be maintained through the redundant control of the control device to maintain the conduction of the power supply loop; similarly, when the control device is abnormally controlled, the analog front end can also be used to achieve redundant control. Improve the reliability of power supply.
  • the switching device 104 may be a field effect transistor, and the field effect transistor may be an N-channel field effect transistor or a P-channel field effect transistor.
  • the gate of the N-channel FET is electrically connected to the control device 102, the drain is electrically connected to the battery unit 101, and the source is electrically connected to the movable platform 105.
  • the driving device 103 is an N-channel FET high-side driver.
  • the first control signal sent to the N-channel FET high-side driver is a high-level signal, so that the N-channel field
  • the effect tube high-end driver controls the N-channel FET to turn on, so that the battery unit 101 supplies power to the movable platform 105;
  • the control device 101 determines that the movable platform 105 is not in the first state it sends a signal to the N-channel FET high-end driver.
  • the second control signal is a low-level signal, so that the high-end driver of the N-channel field effect transistor controls the N-channel field effect transistor to turn off, so that the movable platform 105 is powered off.
  • the gate of the P-channel FET is electrically connected to the control device 102, the source is electrically connected to the battery unit 101, and the drain is electrically connected to the movable platform 105.
  • the driving device 103 is a P-channel FET high-side driver.
  • the first control signal sent to the P-channel FET high-side driver is a low-level signal, so that the P-channel field
  • the effect tube high-end driver controls the P-channel field effect tube to turn on, so that the battery unit 101 supplies power to the movable platform 105; when the control device 101 determines that the movable platform 105 is not in the first state, it sends a signal to the P-channel field effect tube high-end driver.
  • the second control signal is a high-level signal, so that the P-channel field effect transistor high-end driver controls the P-channel field effect transistor to turn off, so that the movable platform 105 is powered off.
  • the communication mode between the control device 102 and the movable platform 105 may be UART (Universal Asynchronous Receiver/Transmitter) communication, CAN (Controller Area Network, control This application does not limit the communication methods such as local area network) communication, RS232 communication, RS485, I2C communication, etc.
  • UART Universal Asynchronous Receiver/Transmitter
  • CAN Controller Area Network
  • the analog front end 106 when the movable platform 105 is in the first state, the analog front end 106 sends a control signal for controlling the switching device 104 to be turned on to the driving device, so that the battery unit 101 is moved to the The platform 105 supplies power, and when the analog front end 106 sends a fourth control signal for controlling the switch device 104 to disconnect, the control device 102 communicates with the movable platform 105 to determine whether the movable platform 105 is still in the first position.
  • the control device 102 sends a first control signal to the driving device 103 to maintain the switching device 104 to be turned on, so as to prevent the battery unit 101 from stopping supplying power to the movable platform 105.
  • the control device 102 may not only communicate with the movable platform 105 when the analog front end 106 sends the fourth control signal for controlling the switching device 104 to disconnect to the driving device 103, but always communicate with the movable platform 105 to obtain the The state of the mobile platform 305, or, when the movable platform 105 is about to enter the first state or is about to exit the first state, the movable platform 105 actively sends a communication signal to the control device 102 so that the control device 102 can learn about the movable platform 105 , Thereby controlling the on or off of the switching device 104.
  • the process for the control device 102 to communicate with the movable platform 105 to determine whether the movable platform 105 is in the first state is specifically as follows:
  • the control device 102 sends a communication signal to the movable platform 105. If the control device 102 receives the response signal returned by the movable platform 105 within a preset time period, it is determined that the movable platform 105 is in the first state, and the control device 102 sends the first state.
  • the control signal is used to turn on the power supply circuit between the battery unit 101 and the movable platform 105, so that the battery unit 101 supplies power to the movable platform 105; if the response signal returned by the movable platform 105 is not received within the preset time period, It is determined that the movable platform 105 is not in the first state, and the control device 102 sends a second control signal to disconnect the power supply circuit between the battery unit 101 and the movable platform 105, so that the movable platform 105 is powered off.
  • the communication signal sent by the control device 102 to the movable platform 105 may be a communication signal carrying an inquiry status identifier
  • the response signal returned by the movable platform 105 may be a response signal carrying a status identifier.
  • 102 receives the response signal returned by the movable platform 105, and determines that the movable platform 105 is in the first state.
  • the response signal returned by the movable platform 105 is not received within the preset time period, it may be because the movable platform 105 has not In the first state, it is also possible that an abnormal communication between the control device 102 and the movable platform 105 causes the control device 102 to fail to receive the response signal returned by the movable platform 105, thereby determining that the movable platform 105 is not in the first state.
  • the communication module of the control device 102 and/or the communication module of the movable platform 105 may be abnormal, the communication between the control device 102 and the movable platform 105 is blocked, resulting in control The device 102 cannot know the state of the movable platform 105, and thus cannot control the power supply of the battery unit 101.
  • the battery further includes a sampling device electrically connected between the battery unit 101 and the movable platform 105.
  • the control device 102 can determine whether the movable platform 105 is in the first state according to the current value flowing through the sampling device.
  • the control device 102 sends a first control signal to turn on the battery unit.
  • the power supply loop between 101 and the movable platform 105 enables the battery unit 101 to supply power to the movable platform 105.
  • the sampling device may be a sampling resistor, and the current value of the sampling device corresponds to a preset threshold. When the current value of the sampling device is greater than the preset threshold, the control device 102 determines that the movable platform 105 is in the first state; When the current value is less than or equal to the preset threshold, it is determined that the movable platform 105 is not in the first state.
  • the current value of the sampling device can be the voltage difference between the two ends of the sampling device and the known resistance of the sampling device collected by the control device 102, and the current value of the sampling device is calculated according to Ohm's law.
  • This current value is the current value of the battery unit 101 discharged
  • the control device 101 can determine the state of the movable platform according to the current value and the corresponding preset threshold, or it can directly collect the current value flowing through the sampling device.
  • the method of obtaining the current value is not limited in this application. .
  • the battery further includes a circuit protection device electrically connected between the battery unit 101 and the movable platform 105.
  • the circuit protection device may be a fuse, a positive temperature coefficient thermistor or a field effect tube.
  • the circuit protection device is used to turn on or disconnect the electrical connection between the battery unit 101 and the movable platform 105 to protect the safety of the circuit.
  • the first state may be a flying state, a driving state, a diving state, or a working state.
  • FIG. 2 is a schematic diagram showing the structure of a battery according to an exemplary embodiment of the present application, including a battery unit 201, an MCU (Microcontroller Unit) 202, a high-end NMOS driver 203, an N-channel field effect transistor 204, and analog
  • MCU202 is a control device.
  • the high-end NMOS driver 203 is a driving device.
  • the N-channel field effect transistor 204 is a switching device.
  • the analog front end 206 sends a high-level signal to the high-level NMOS driver 203, and the high-level NMOS driver 203 drives the N-channel field effect transistor 204 to turn on according to the high-level signal to turn on the battery unit 201 supplies power to the drone 205.
  • the MCU 202 sends a communication signal to the drone 205 to determine whether the drone 205 is in flight:
  • the MCU202 If the MCU202 receives the reply signal returned by the UAV 205 within the preset time, it is determined that the UAV 205 is in flight, the analog front end 206 sends an incorrect signal, and the MCU202 sends a high-level signal to the high-end NMOS driver 203. Make the battery unit 201 continue to supply power to the UAV 205; if the MCU202 does not receive the reply signal returned by the UAV 205 within the preset time period, it will detect whether the communication is blocked at this time, and exclude the reception due to the blocked communication There is no possibility of replying to the signal.
  • the MCU202 If the communication is normal at this time, it is determined that the UAV 205 is not in flight, the signal sent by the analog front end 206 is correct, and the MCU202 also sends a low-level signal to the high-end NMOS driver 203; if the communication is abnormal at this time, the MCU202 is required to collect the flow Sampling the resistance current value to determine whether the UAV 205 is in flight:
  • the MCU202 sends a high-level signal to the high-end NMOS driver 203 so that the battery unit 201 continues to supply power to the drone 205; if the collected current value is less than If it is equal to the preset threshold, it is determined that the drone 205 is not in flight, the signal sent by the analog front end 206 is correct, and the MCU also sends a low-level signal to the high-end NMOS driver 203.
  • a control method which includes the following steps:
  • the switch device is respectively electrically connected to the battery unit and the movable platform, and is used to conduct or disconnect the power supply circuit of the battery unit and the movable platform;
  • the drive device is electrically connected to the switch device for controlling the switch device to be turned on or off.
  • It is electrically connected to the driving device through an analog front end, and is used to send a control signal for controlling the on or off of the switch device to the driving device;
  • the switching device is controlled by the driving device according to the control signal sent by the control device. On or off.
  • Step S301 supply power to the movable platform through the battery unit;
  • Step S302 Communicate with the movable platform through the control device electrically connected to the driving device to determine whether the movable platform is in the first state, and according to the determination result, send a control for controlling the switching device to be turned on or off to the driving device signal;
  • Step S303 When the analog front end sends a control signal indicating that the power supply circuit between the battery unit and the movable platform is disconnected to the driving device, according to the control signal sent by the control device, the driving device controls the switching device to be turned on or disconnect.
  • step S302 further includes, when the movable platform is in the first state, the control device sends a first control signal to the driving device to control the switching device to conduct, so as to conduct the connection between the battery unit and the movable platform.
  • Power supply circuit when the movable platform is not in the first state, the control device sends a second control signal to the drive device to control the switching device to conduct, so as to disconnect the power supply circuit between the battery unit and the movable platform, as shown in Figure 4 Shown as a flow chart of the steps in which the control device controls the conduction and disconnection of the power supply loop between the battery unit and the movable platform according to the state of the movable platform, including the following steps:
  • Step S401 Communicate with the movable platform
  • Step S402 Determine whether the movable platform is in the first state
  • Step S403 If the movable platform is in the first state, send a first control signal to turn on the power supply circuit between the battery and the movable platform;
  • Step S404 If the movable platform is not in the first state, send a second control signal to disconnect the power supply circuit between the battery and the movable platform.
  • the analog front end receives a first instruction to turn on or disconnect the power supply loop between the battery unit and the movable platform.
  • the analog front end may receive the above-mentioned first command from the control device or other external equipment.
  • the analog front end sends a third control signal to the driving device; or when the first instruction instructs to disconnect the power supply circuit between the battery unit and the movable platform The analog front end sends a fourth control signal to the drive device.
  • the driving device turns on the switching device after receiving the first control signal and/or the third control signal; and turns off the switching device after simultaneously receiving the second control signal and the fourth control signal;
  • the analog front end receives the first instruction to turn on or disconnect the power supply loop between the battery unit and the movable platform; when the first instruction instructs to turn on the power supply loop between the battery unit and the movable platform, the analog front end drives The device sends a third control signal; when the first instruction instructs to disconnect the power supply circuit between the battery unit and the movable platform, the analog front end sends a fourth control signal to the driving device.
  • step S401 and step S402 are specifically: sending a communication signal to the movable platform, and if a response signal returned by the movable platform is received within a preset time period, it is determined that the movable platform is in the first state; After receiving the response signal returned by the movable platform, it is determined that the movable platform is not in the first state.
  • Figure 5 it is a flow chart of the steps for communicating with the movable platform to determine the state of the movable platform, including the following steps:
  • Step S501 Send a communication signal to the movable platform
  • Step S502 Detect whether a response signal returned by the movable platform is received within a preset time
  • Step S503 If the response signal returned by the movable platform is received within the preset time, it is determined that the movable platform is in the first state;
  • Step S504 Send a first control signal to turn on the power supply loop between the battery and the movable platform;
  • Step S505 If the response signal returned by the movable platform is not received within the preset time, it is determined that the movable platform is not in the first state;
  • Step S506 Send a second control signal to disconnect the power supply loop between the battery and the movable platform.
  • the control device when the communication between the control device and the movable platform is abnormal, can also determine whether the movable platform is in the first position according to the current value of the sampling device connected between the battery and the movable platform. State, to avoid the misjudgment that the movable platform is not in the first state due to the failure of receiving the reply signal returned by the movable platform due to abnormal communication.
  • the method for judging whether the movable platform is in the first state according to the current value of the sampling device connected between the battery and the movable platform is specifically: when the current value is greater than a preset threshold, determining the movable platform In the first state; when the current value is less than or equal to the preset threshold, it is determined that the movable platform is not in the first state.
  • Figure 6 is a flow chart of the steps for judging the state of the movable platform according to the current value of the sampling device, including the following step:
  • Step S601 when the communication with the movable platform is abnormal, obtain the current value of the sampling device;
  • Step S602 Determine whether the current value is greater than a preset threshold
  • Step S603 If the current value is greater than the preset threshold, it is determined that the movable platform is in the first state;
  • Step S604 If the current value is not greater than the preset threshold, it is determined that the movable platform is not in the first state.
  • Figure 7 is a complete flow chart for judging whether the movable platform is in the first state, including the following steps:
  • Step S701 Send a communication signal to the movable platform
  • Step S702 Detect whether a response signal returned by the movable platform is received within a preset time
  • Step S703 If the response signal returned by the movable platform is received within the preset time, it is determined that the movable platform is in the first state;
  • Step S704 If the response signal returned by the movable platform is not received within the preset time, detect whether the communication is abnormal;
  • Step S705 If the communication is abnormal, it is determined that the movable platform is not in the first state;
  • Step S706 If the communication is normal, obtain the current value of the sampling device
  • Step S707 Determine whether the current value is greater than a preset threshold
  • Step S708 If the current value is greater than the preset threshold, it is determined that the movable platform is in the first state;
  • Step S709 If the current value is not greater than the preset threshold, it is determined that the movable platform is not in the first state.
  • the first state may be a flight state, a driving state, a diving state, or a working state.
  • the application also provides a movable platform, which includes the battery according to any one of the above embodiments.
  • the movable platform may be a drone, a vehicle, a movable robot, or a submarine.
  • the driving device controls the switching device to be turned on or off according to the control signal sent by the control device, which can avoid A hardware error in the analog front end sends out a control signal to disconnect the power supply loop, which causes the mobile platform to crash.
  • the redundant control of the control device the reliability of battery power supply is improved.
  • first and second in the description and claims of the embodiments of the present invention are only used to distinguish multiple physical quantities or objects of the same type, and these physical quantities or objects do not have a sequential relationship.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

Batterie comprenant une unité de batterie (101) configurée pour alimenter en énergie une plate-forme mobile (105); un dispositif de commutation (104) configuré pour connecter ou déconnecter le circuit d'alimentation électrique entre l'unité de batterie (101) et la plate-forme mobile (105); un dispositif d'excitation (103) configuré pour commander la marche ou l'arrêt du dispositif de commutation (104); un frontal analogique (106) connecté électriquement au dispositif d'excitation (103) et configuré pour envoyer au dispositif d'excitation (103) un signal de commande destiné à commander la marche ou l'arrêt du dispositif de commutation (104); et un dispositif de commande (102) configuré pour communiquer avec la plate-forme mobile (105) de manière à déterminer si la plate-forme mobile (105) est dans un premier état et envoyer, en fonction du résultat de la détermination, un signal de commande destiné à commander la marche ou l'arrêt du dispositif de commutation (104), le dispositif d'excitation (103) commandant la marche ou l'arrêt du dispositif de commutation (104) en fonction du signal de commande envoyé par le dispositif de commande (102) lorsque le frontal analogique (106) envoie un signal de commande indiquant que le circuit d'alimentation électrique entre l'unité de batterie (101) et la plate-forme mobile (105) est déconnecté.
PCT/CN2019/119233 2019-11-18 2019-11-18 Batterie, procédé de commande et dispositif mobile WO2021097620A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980039825.5A CN112352365B (zh) 2019-11-18 2019-11-18 一种电池、控制方法及可移动设备
PCT/CN2019/119233 WO2021097620A1 (fr) 2019-11-18 2019-11-18 Batterie, procédé de commande et dispositif mobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/119233 WO2021097620A1 (fr) 2019-11-18 2019-11-18 Batterie, procédé de commande et dispositif mobile

Publications (1)

Publication Number Publication Date
WO2021097620A1 true WO2021097620A1 (fr) 2021-05-27

Family

ID=74367921

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/119233 WO2021097620A1 (fr) 2019-11-18 2019-11-18 Batterie, procédé de commande et dispositif mobile

Country Status (2)

Country Link
CN (1) CN112352365B (fr)
WO (1) WO2021097620A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3968262A1 (fr) 2020-09-09 2022-03-16 Chicago Mercantile Exchange Inc. Partitionneur de modèle linéaire

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023060548A1 (fr) * 2021-10-15 2023-04-20 深圳市大疆创新科技有限公司 Plateforme mobile et son procédé de commande d'alimentation électrique, et support d'enregistrement

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120019190A1 (en) * 2010-07-26 2012-01-26 Energyor Technologies Inc. Passive power management and battery charging for a hybrid fuel cell / battery system
CN204916202U (zh) * 2015-07-29 2015-12-30 深圳市大疆创新科技有限公司 一种无人飞行器的防护装置、防护系统及无人飞行器
CN105785810A (zh) * 2016-02-26 2016-07-20 北京臻迪机器人有限公司 一种电池控制方法及电池控制设备
CN206400353U (zh) * 2016-12-29 2017-08-11 重庆零度智控智能科技有限公司 无人机通断电装置及无人机
CN207354057U (zh) * 2017-10-23 2018-05-11 广州极飞科技有限公司 一种开关驱动电路、电池控制电路、电池和无人机
CN108279619A (zh) * 2018-04-01 2018-07-13 黄昭林 多旋翼无人机紧急停机装置及方法
CN209448721U (zh) * 2019-01-04 2019-09-27 广州极飞科技有限公司 开关电路、电源控制系统以及用于植保作业的设备
JP2019172255A (ja) * 2019-06-05 2019-10-10 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ Ｕａｖにエネルギーを供給する方法、及び装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6538214B2 (ja) * 2018-02-02 2019-07-03 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ Ｕａｖにエネルギーを供給する方法、及びｕａｖ

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120019190A1 (en) * 2010-07-26 2012-01-26 Energyor Technologies Inc. Passive power management and battery charging for a hybrid fuel cell / battery system
CN204916202U (zh) * 2015-07-29 2015-12-30 深圳市大疆创新科技有限公司 一种无人飞行器的防护装置、防护系统及无人飞行器
CN105785810A (zh) * 2016-02-26 2016-07-20 北京臻迪机器人有限公司 一种电池控制方法及电池控制设备
CN206400353U (zh) * 2016-12-29 2017-08-11 重庆零度智控智能科技有限公司 无人机通断电装置及无人机
CN207354057U (zh) * 2017-10-23 2018-05-11 广州极飞科技有限公司 一种开关驱动电路、电池控制电路、电池和无人机
CN108279619A (zh) * 2018-04-01 2018-07-13 黄昭林 多旋翼无人机紧急停机装置及方法
CN209448721U (zh) * 2019-01-04 2019-09-27 广州极飞科技有限公司 开关电路、电源控制系统以及用于植保作业的设备
JP2019172255A (ja) * 2019-06-05 2019-10-10 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ Ｕａｖにエネルギーを供給する方法、及び装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3968262A1 (fr) 2020-09-09 2022-03-16 Chicago Mercantile Exchange Inc. Partitionneur de modèle linéaire

Also Published As

Publication number Publication date
CN112352365A (zh) 2021-02-09
CN112352365B (zh) 2022-07-15

Similar Documents

Publication Publication Date Title
US10826137B2 (en) Battery management method, battery, flight control system and unmanned aerial vehicle
US9430438B2 (en) Communication bus with zero power wake function
WO2021097620A1 (fr) Batterie, procédé de commande et dispositif mobile
EP3101437B1 (fr) Adaptateur d'alimentation, terminal et procédé de gestion d'anomalie d'impédance dans une boucle de charge
JP5091219B2 (ja) 電池管理システム
EP2680394B1 (fr) Chargeur portable et son procédé de fonctionnement
CN112018845B (zh) 卫星自主上电系统及其控制方法
KR102390394B1 (ko) 메인 배터리와 서브 배터리를 제어하기 위한 장치 및 방법
WO2020119722A1 (fr) Circuit de protection, batterie et aéronef
WO2019140617A1 (fr) Procédé et système de commande de batterie, véhicule aérien sans pilote, et batterie
KR102172521B1 (ko) 전기적 제어 시스템 및 통신 고장을 판정하기 위한 방법
WO2018205167A1 (fr) Système de gestion de batterie, batterie et véhicule aérien sans pilote
US11482764B2 (en) Technique of determining first, second, and third potentials at communication terminal of battery pack
EP4002639A1 (fr) Dispositif de connexion intelligente, alimentation électrique de démarrage et pince de batterie
US20160173290A1 (en) Communication system, power supply control method, and power supply control non-transitory computer readable medium
EP3623201B1 (fr) Dispositif électronique et procédé de traitement pour dispositif électronique
EP3813181A1 (fr) Bloc-batterie et système de liaison sans fil
JP2008206250A (ja) バッテリ装置の過電圧保護回路
US10289590B2 (en) Electronic device and method of auto switching linking path giving priority to a priority port
WO2022105658A1 (fr) Système de travail automatique
CN213754530U (zh) 一种无人驾驶设备通信链路冗余与数据存储设备
WO2023035118A1 (fr) Procédé et système de protection contre les décharges excessives, véhicule, système de gestion de batterie et support de stockage
CN205620554U (zh) 用于寻回坠落无人机的装置
CN212905999U (zh) 一种用于无人机异常状态的应急响应系统
CN210258795U (zh) 遥控潜水器

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19953524

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19953524

Country of ref document: EP

Kind code of ref document: A1