WO2022204899A1 - 可移动平台的控制方法及装置 - Google Patents
可移动平台的控制方法及装置 Download PDFInfo
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- WO2022204899A1 WO2022204899A1 PCT/CN2021/083691 CN2021083691W WO2022204899A1 WO 2022204899 A1 WO2022204899 A1 WO 2022204899A1 CN 2021083691 W CN2021083691 W CN 2021083691W WO 2022204899 A1 WO2022204899 A1 WO 2022204899A1
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- movable platform
- battery module
- information
- battery
- matching
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- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000004590 computer program Methods 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- 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
Definitions
- the present application relates to the technical field of movable platforms, and in particular, to a control method and device for a movable platform.
- drones can be powered by battery modules that include cells and a battery management system. Due to the different types of UAVs, payloads, etc., it is usually necessary to design battery modules for different UAVs separately, and it is forbidden to share battery modules for different UAVs by means of hardware structure foolproofing.
- Embodiments of the present application provide a method and device for controlling a movable platform, which are used to solve the problem caused by the way in the prior art that different drones are prohibited from sharing battery modules.
- an embodiment of the present application provides a control method for a movable platform, wherein a battery module is detachably installed in a battery compartment of the movable platform, and the method includes:
- the movable platform Before the movable platform starts to move, according to the acquired battery information of the battery module, determine whether the movable platform is within the range of a device capable of matching with the battery module;
- the movable platform is inhibited from starting to move.
- an embodiment of the present application provides a control device for a movable platform, a battery module is detachably installed in a battery compartment of the movable platform, and the device includes: a memory and a processor;
- the memory for storing program codes
- the processor calls the program code, and when the program code is executed, is configured to perform the following operations:
- the movable platform Before the movable platform starts to move, according to the acquired battery information of the battery module, determine whether the movable platform is within the range of a device capable of matching with the battery module;
- the movable platform is inhibited from starting to move.
- embodiments of the present application provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes at least one piece of code, and 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 first aspects.
- an embodiment of the present application provides a computer program, which, when the computer program is executed by a computer, is used to implement the method described in any one of the foregoing first aspects.
- the embodiments of the present application provide a control method and device for a movable platform, by determining whether the movable platform can match the battery module according to the acquired battery information of the battery module before the movable platform starts to move. If it is not within the scope of the equipment, the movable platform is prohibited from starting to move, so that when the movable platform is not included in the equipment that can share the battery module, the battery module can be used to drive the movable platform.
- the battery module can be used to drive the movable platform to move, so that different movable platforms can be shared.
- the battery module avoids the problem caused by prohibiting different movable platforms from sharing the battery module, and can reduce the cost of the movable platform system and the use cost.
- FIG. 1 is a schematic diagram of an application scenario of a method for controlling a movable platform provided by an embodiment of the present application
- FIG. 2 is a schematic flowchart of a method for controlling a movable platform according to an embodiment of the present application
- FIG. 3 is a schematic flowchart of a control method for a movable platform provided by another embodiment of the present application.
- FIG. 4 is a schematic flowchart of a method for controlling a movable platform provided by another embodiment of the present application.
- FIG. 5 is a schematic structural diagram of a control device for a movable platform according to an embodiment of the present application.
- the control method of the movable platform can be applied to the movable platform 11 shown in FIG. 1 .
- the movable platform 11 includes a battery compartment 11A and a control device 11B.
- a battery module 12 is detachably installed in the battery compartment 11A.
- the battery module 12 includes cells and a battery management system.
- the battery management system is used to manage the cells, for example, to manage the battery cells. Charge and discharge of the core, etc.
- the movable platform 11 may include a drone or an unmanned vehicle.
- the control method of the movable platform may be executed by the control device 11B. Specifically, before the movable platform 11 starts to move, the control device 11B determines whether the movable platform 11 can match the battery module 12 according to the acquired battery information of the battery module 12 . Within the range of the device, if not, the movable platform 11 is prohibited from starting to move.
- the movable platform 11 before the movable platform 11 starts to move, it is determined whether the movable platform 11 is in the battery range that can match the battery module 12 according to the obtained battery information of the battery module 12 . If it is not there, the movable platform 11 is prohibited from starting to move, so that different movable platforms can share battery modules, avoiding the problems caused by prohibiting different movable platforms from sharing battery modules, and can reduce the cost of the movable platform system and reduce The cost.
- FIG. 2 is a schematic flowchart of a method for controlling a movable platform according to an embodiment of the present application.
- the execution body of this embodiment may be the control device 11B in FIG. 1 .
- the method of this embodiment may include:
- Step 21 Before the movable platform starts to move, according to the acquired battery information of the battery module, it is determined whether the movable platform is within the range of a device capable of matching with the battery module.
- the range of devices that can be matched with the battery module refers to the range of devices that can be powered by the battery module.
- the representation of the equipment range can be flexibly implemented according to requirements.
- the equipment range can be represented by the model of the equipment that can use the battery module as a power source.
- the scope of the device may include at least two devices, and the at least two devices can share the battery module, that is, the battery module can be used as a power source for one of the at least two devices for a period of time, The battery module may serve as a power source for the other of the at least two devices for another period of time.
- the range of devices that can be matched with different battery modules may include the same device, or may not include the same device, which is not limited in this application.
- control device may be connected in communication with the battery module, and the control device may directly acquire battery information of the battery module from the battery module.
- the battery module may push the battery information of the battery module to the control device.
- the battery information is specifically any type of information that can reflect the range of devices that can be matched with the battery module. Considering that the model of the battery module can be used to distinguish the discharge characteristics of the battery module, so as to reflect the range of equipment that can be matched with the battery module, therefore, in one embodiment, the battery information can include model information.
- the battery information may further include information on the number of times of charging and discharging. Considering that for the same type of battery module, after the number of charging and discharging exceeds a certain number of times, the output power may decrease, resulting in changes in the matching equipment. Therefore, the battery module also includes charging and discharging. The number of times information is beneficial to improve the accuracy of the device range that can be matched with the battery module reflected by the battery information.
- a whitelist it can be determined whether the movable platform is within the range of the device that can match the battery module by using a whitelist; or, based on the battery information, a blacklist can be used. way of determining whether the movable platform is within the range of a device capable of matching with the battery module.
- the movable platform when the movable platform is within the range of a device that can be matched with the battery module, it can mean that the device that can share the battery module includes the movable platform, and the movable platform can be The battery module is used as a power source; when the movable platform is not within the range of equipment that can be matched with the battery module, it means that the movable platform is not included in the equipment that can share the battery module, and the movable platform cannot The battery module is used as a power source.
- Step 22 if not, prohibit the movable platform from starting to move.
- the movable platform cannot respond to (ie ignores) the start movement instruction for the movable platform, so as to avoid the occurrence that the movable platform is no longer able to interact with the movable platform.
- the battery module matches the equipment range, the battery module is used as the power source of the movable platform.
- the start motion instruction may be, for example, an instruction triggered by a user who controls the movable platform, or the start motion instruction may be an instruction automatically triggered by a server.
- the movable platform is not within the range of the equipment that can be matched with the battery module, the movable platform is prohibited from starting to move, so that when the movable platform is not included in the equipment that can share the battery module, it is avoided.
- Using the battery module to drive the movable platform to move can ensure that the battery module can be used to drive the movable platform only if the movable platform is included in the equipment that can share the battery module Exercise.
- the control method of the movable platform provided in this embodiment, before the movable platform starts to move, it is determined whether the movable platform is within the range of the device that can match the battery module according to the battery information of the battery module obtained. , if not, the movable platform is prohibited from starting to move, so that when the movable platform is not included in the equipment that can share the battery module, the battery module can be used to drive the movable platform to move, and the movable platform can be avoided.
- the movable platform can be driven by the battery module only when the movable platform is included in the equipment that can share the battery module, so that different movable platforms can share the battery module and avoid
- the problem brought about by prohibiting different movable platforms from sharing the battery module can reduce the cost of the movable platform system and reduce the use cost.
- FIG. 3 is a schematic flowchart of a method for controlling a movable platform according to another embodiment of the present application.
- this embodiment mainly describes an optional implementation manner of determining whether the movable platform is within the range of the device that can be matched with the battery module.
- the method of this embodiment may include:
- Step 31 before the movable platform starts to move, acquire a set of models matching the battery information.
- the model set refers to a set of models of devices that can match the battery information, and represents a range of devices that can match the battery information.
- the set of models matching the battery information may be pre-stored in a local storage device, and the acquiring the set of models matching the battery information may specifically include: obtaining a set of models matching the battery information from the local storage device. A set of models that match the battery information. Taking the range of equipment that can be matched with the battery module reflected by the battery model of the battery module as an example, the local storage device may pre-store the corresponding relationship between different battery models and model sets, according to the model information included in the battery information. A model set corresponding to the model information is found in the corresponding relationship, so as to obtain a model set matching the battery information.
- the set of models matching the battery information may also be obtained from other devices other than the mobile platform, and the obtaining the set of models matching the battery information may specifically include: Request a model set matching the battery information from other devices; and receive the model set returned by the other device according to the request.
- the other devices can be flexibly implemented according to requirements.
- the other devices can include a control terminal of the movable platform, or a server of the movable platform.
- Step 32 Determine whether the model of the movable platform is in the model set.
- the model of the movable platform is in the model set, which means that the movable platform is within the range of equipment that can be matched with the battery module; the model of the movable platform is not in the set.
- the model set it can be indicated that the movable platform is not within the range of the device that can be matched with the battery module.
- model set in this embodiment can be understood as a white list
- steps 31 and 32 can be understood as determining whether the mobile platform is a device that can match the battery module by using a white list scope.
- Step 33 if not, the movable platform is prohibited from starting to move, and first prompt information is output, and the first prompt information is used to prompt the replacement of the matched battery module.
- the movable platform is prohibited from starting to move, so that when the movable platform is not included in the equipment that can share the battery module, the use of the movable platform is avoided.
- the battery module drives the movable platform to move, which can ensure that the battery module can be used to drive the movable platform only when the movable platform is included in the equipment that can share the battery module. sports.
- the movable platform may directly output the first prompt information.
- the movable platform may send the first prompt information to a control terminal of the movable platform, so that the control terminal outputs the first prompt information.
- the output mode of the first prompt information can be flexibly implemented according to requirements, for example, the first prompt information can be output by means of an indicator light, and the first prompt information can be output by voice, for example.
- the first prompt information may be output in a text manner.
- the control method of the movable platform determines whether the model of the movable platform is in the model set by acquiring the model set matching the battery information before the movable platform starts to move. If the model is not in the model set, the movable platform is prohibited from starting to move, and the first prompt message is output, so that different movable platforms can share battery modules, avoiding the problems caused by prohibiting different movable platforms from sharing battery modules, reducing The cost of the small movable platform system reduces the cost of use. In addition, when the model of the movable platform is not in the model set, the first prompt information is output, so that the user can know in time that the battery needs to be replaced due to the mismatch of the battery modules, which improves the user experience.
- the methods provided in the embodiments of the present application may further include: if the movable platform is within the range of a device that can be matched with the battery module, allowing the movable platform Start exercising.
- the movable platform can respond to the starting movement instruction for the movable platform, so that when the movable platform can be matched with the battery module, the movable platform is within the scope of the equipment, the battery module can be used as the power source of the movable platform.
- the movable platform is within the range of a device that can be matched with the battery module, the movable platform is allowed to start moving, so that when the movable platform is included in the device that can share the battery module, the movable platform can be used.
- the battery module drives the movable platform to move.
- the movable platform is within the range of a device capable of matching with the battery module, considering other restrictive factors, the movable platform may be prohibited from starting to move.
- the method may further include: determining the maximum payload supported by the battery module according to the effective output power information of the battery module; outputting a second prompt according to the maximum payload information, the second prompt information is used to prompt the maximum payload.
- the effective output power of the battery module can be pushed to the control device by the battery module, for example.
- the battery module can, for example, push the effective output voltage and effective output current of the battery module to the control device, and the control device can send the effective output voltage and the effective output current to the control device according to the effective output voltage and the effective output current.
- the effective output power is obtained by current calculation.
- the movable platform may directly output the second prompt information.
- the movable platform may send the second prompt information to a control terminal of the movable platform, so that the control terminal outputs the second prompt information.
- the output method of the second prompt information can be flexibly implemented according to the requirements, for example, the second prompt information can be output by means of an indicator light, and the second prompt information can be output by voice, for example, or by text.
- the second prompt information is output. By outputting the second prompt information, the user can know the maximum payload that the movable platform can carry when the battery module is currently used as the power source, which is beneficial to improve the user's experience.
- FIG. 4 is a schematic flowchart of a method for controlling a movable platform according to another embodiment of the present application. Based on the foregoing method embodiments, this embodiment mainly describes a specific implementation manner when the movable platform includes an unmanned aerial vehicle. As shown in FIG. 4 , the method of this embodiment may include:
- Step 41 Before the drone takes off, according to the acquired battery information of the battery module, determine whether the drone is within the range of a device that can match the battery module.
- the battery module may push the battery information of the battery module to the control device.
- the battery information of the battery module may include model information.
- the battery information may further include information on the number of times of charging and discharging.
- the range of devices that can be matched with the battery module may be represented as a set of models matched with the battery information of the battery module.
- the model set may be, for example, a model list.
- the model set may also be in other forms, which is not limited in this application.
- a set of models matching the battery information can be obtained from a local storage device; or, optionally, a set of models matching the battery information can be requested from other devices, and the other devices can be received.
- the other device may include the control terminal of the drone, or the server of the drone.
- Step 42 if not, prohibit the drone from taking off.
- the drone when the drone is prohibited from taking off, the drone cannot respond to (ie ignores) the take-off command for the drone, so as to avoid the occurrence of the drone not being able to communicate with the drone.
- the battery module matches the equipment range, the battery module is used as the power source of the drone.
- the drone If the drone is not within the range of the device that can be matched with the battery module, the drone is prohibited from taking off, so that when the device that can share the battery module does not include the drone, the use of the drone is avoided.
- the battery module drives the drone to move, which can ensure that the battery module can be used to drive the drone only if the device that can share the battery module includes the drone. sports.
- the method in this embodiment may further include: sending first prompt information for prompting replacement of the matched battery module to The control terminal of the drone, an application program (APP, Application) for the user to control the drone may be installed on the control terminal, so that the first prompt information is output from the APP.
- APP application program
- the drone is allowed to take off. It should be noted that, in practical applications, although the UAV is within the range of equipment that can match the battery module, taking into account other constraints, the UAV may be prohibited from taking off.
- the drone can be matched with the battery module. If the device is within the range of the battery module, it may also include: determining the maximum payload supported by the battery module according to the effective output power information of the battery module; The second prompt message of the payload.
- determining the maximum payload supported by the battery module according to the effective output power information of the battery module may include, for example, the following steps a and b.
- step a the maximum take-off mass G supported by the battery module can be calculated by using the following formula (1) according to the effective output power of the battery module and the power efficiency parameter c of the UAV.
- the unit of the power efficiency parameter c may be grams/watt
- the unit of the effective output power may be watts (w)
- the unit of the maximum take-off mass G may be grams (g).
- the power efficiency parameters of the UAV are determined by the model of the UAV.
- step b the maximum payload F supported by the battery module can be calculated according to the no-load mass G 0 of the UAV by using the following formula (2).
- the units of the maximum take-off mass G, the unloaded mass G 0 and the maximum effective load F may all be grams.
- the unloaded mass G 0 of the UAV may be determined by the model of the UAV.
- the drone before the drone takes off, it is determined whether the drone is within the range of the device that can match the battery module according to the battery information of the battery module obtained, If not, the drone is prohibited from taking off, so that when the drone is not included in the equipment that can share the battery module, the battery module can be used to drive the drone to move, and only the drone can be ensured.
- the drone can be driven by the battery module to take off only if the device that can share the battery module includes the drone, so that different drones can share the battery module and avoid prohibiting different drones.
- the problems caused by the shared battery module between man and machine can reduce the cost of the UAV system and reduce the cost of use.
- FIG. 5 is a schematic structural diagram of a control device of a movable platform according to an embodiment of the present application.
- a battery module is detachably installed in a battery compartment of the movable platform.
- the apparatus 50 may include: a processor 51 and a memory 52 .
- the memory 52 is used to store program codes
- the processor 51 calls the program code, and when the program code is executed, is configured to perform the following operations:
- the movable platform Before the movable platform starts to move, according to the acquired battery information of the battery module, determine whether the movable platform is within the range of a device capable of matching with the battery module;
- the movable platform is inhibited from starting to move.
- control apparatus for a movable platform provided in this embodiment can be used to implement the technical solutions of the foregoing method embodiments, and the implementation principles and technical effects thereof are similar to those of the method embodiments, and are not repeated here.
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Abstract
一种可移动平台（11）的控制方法及装置，使得不同可移动平台（11）可以共用电池模块（12），能够减小可移动平台（11）系统的成本，降低使用成本。该方法包括：步骤21：在可移动平台（11）开始运动之前，根据获取到的电池模块（12）的电池信息，确定可移动平台（11）是否在能够与电池模块（12）匹配的设备范围内；步骤22：若不在，则禁止可移动平台（11）开始运动。
Description
本申请涉及可移动平台技术领域，尤其涉及一种可移动平台的控制方法及装置。
无人机作为一种新兴工具，已经在植保作业，行业巡检等相关领域取得长足发展。
目前，无人机可以由电池模块进行供电，电池模块中包括电芯和电池管理系统。由于无人机构型、有效载荷等不同，通常需要针对不同的无人机单独设计电池模块，并且通过硬件结构防呆等方式，禁止不同无人机共用电池模块。
然而，禁止不同无人机共用电池模块的方式，存在以下缺点：1)为每款无人机单独进行电池模块的设计和生产，增加了无人机系统的成本；2)拥有几款相似无人机时，需要为不同无人机准备不同的电池模块，这极大增加了使用成本。
发明内容
本申请实施例提供一种可移动平台的控制方法及装置，用以解决现有技术中禁止不同无人机共用电池模块的方式所带来的问题。
第一方面，本申请实施例提供一种可移动平台的控制方法，所述可移动平台的电池仓内可拆卸地装设有电池模块，所述方法包括：
在所述可移动平台开始运动之前，根据获取到的所述电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内；
若不在，则禁止所述可移动平台开始运动。
第二方面，本申请实施例提供一种可移动平台的控制装置，所述可移动平台的电池仓内可拆卸地装设有电池模块，所述装置包括：存储器和处理器；
所述存储器，用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
在所述可移动平台开始运动之前，根据获取到的所述电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内；
若不在，则禁止所述可移动平台开始运动。
第三方面，本申请实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行上述第一方面任一项所述的方法。
第四方面，本申请实施例提供一种计算机程序，当所述计算机程序被计算机执行时，用于实现上述第一方面任一项所述的方法。
本申请实施例提供一种可移动平台的控制方法及装置，通过在可移动平台开始运动之前，根据获取到的电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内，若不在，则禁止所述可移动平台开始运动，使得在能够共用所述电池模块的设备中不包括所述可移动平台时，避免使用所述电池模块驱动所述可移动平台进行运动，能够确保只有在能够共用所述电池模块的设备中包括所述可移动平台的情况下，才可以使用所述电池模块驱动所述可移动平台进行运动，从而使得不同可移动平台可以共用电池模块，避免禁止不同可移动平台共用电池模块所带来的问题，能够减小可移动平台系统的成本并降低使用成本。
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的可移动平台的控制方法的应用场景示意图；
图2为本申请一实施例提供的可移动平台的控制方法的流程示意图；
图3为本申请另一实施例提供的可移动平台的控制方法的流程示意图；
图4为本申请又一实施例提供的可移动平台的控制方法的流程示意图；
图5为本申请一实施例提供的可移动平台的控制装置的结构示意图。
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例提供的可移动平台的控制方法可以应用于图1所示的可移动平台11。如图1所示，所述可移动平台11包括电池仓11A和控制装置11B。所述电池仓11A内可拆卸的装设有电池模块12，所述电池模块12中包括电芯和电池管理系统，所述电池管理系统用于对所述电芯进行管理，例如管理所述电芯的充放电等。示例性的，所述可移动平台11可以包括无人机或无人车。
以可移动平台为无人机为例，传统技术中，通常需要针对不同的无人机单独设计电池模块，并且通过硬件结构防呆等方式，禁止不同无人机共用电池模块。但是发明人发现，在无人机载重等方面相差不大的情况下，电池模块承受的电流情况变化不大，实际上是可以进行无人机的电池模块的共用的，基于此，提出了本申请所描述的可移动平台的控制方法。
所述可移动平台的控制方法可以由所述控制装置11B执行。具体的，所述控制装置11B在所述可移动平台11开始运动之前，根据获取到的所述电池模块12的电池信息，确定所述可移动平台11是否在能够与所述电池模块12匹配的设备范围内，若不在，则禁止所述可移动平台11开始运动。
本申请实施例提供的可移动平台的控制方法，通过在可移动平台11开始运动之前，根据获取到的电池模块12的电池信息，确定可移动平台11是否在能够与电池模块12匹配的电池范围内，若不在，则禁止可移动平台11开始运动，使得不同可移动平台可以共用电池模块，避免禁止不同可移动平台共用 电池模块所带来的问题，能够减小可移动平台系统的成本并降低使用成本。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图2为本申请一实施例提供的可移动平台的控制方法的流程示意图，本实施例的执行主体可以为图1中的控制装置11B。如图2所示，本实施例的方法可以包括：
步骤21，在所述可移动平台开始运动之前，根据获取到的所述电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内。
本步骤中，所述能够与所述电池模块匹配的设备范围是指能够由所述电池模块作为动力来源的设备的范围。所述设备范围的表示方式可以根据需求灵活实现，所述设备范围例如可以使用能够由所述电池模块作为动力来源的设备的机型进行表示。所述设备范围中可以包括至少两个设备，所述至少两个设备能够共用所述电池模块，即在一段时间内所述电池模块可以作为所述至少两个设备中一设备的动力来源，在另一段时间内所述电池模块可以作为所述至少两个设备中另一设备的动力来源。需要说明的是，能够与不同电池模块匹配的设备范围中可以包括同一设备，也可以不包括同一设备，本申请对此不做限定。
示例性的，所述控制装置可以与所述电池模块通信连接，所述控制装置可以直接从所述电池模块获取所述电池模块的电池信息。例如，在所述可移动平台上电之后，所述电池模块可以将所述电池模块的电池信息推送给所述控制装置。
所述电池信息具体是可以反映能够与电池模块匹配的设备范围的任意类型信息。考虑到电池模块的型号可以用于区分电池模块的放电特点，从而可以反映出能够与电池模块匹配的设备范围，因此，一个实施例中，所述电池信息可以包括型号信息。
另一个实施例中，所述电池信息还可以包括充放电的次数信息。考虑到对于同一型号的电池模块，充放电的次数在超过某一次数之后，其输出功率可能会下降，从而导致所能匹配的设备也发生变化，因此，通过所述电池模块还包括充放电的次数信息，有利于提高电池信息所反映的能够与电池模块匹配的设备范围的准确性。
可选的，可以基于所述电池信息，采用白名单的方式，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内；或者，可以基于所述电池信息，采用黑名单的方式，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内。
需要说明的是，所述可移动平台在能够与所述电池模块匹配的设备范围内时，可以表示能够共用所述电池模块的设备中包括所述可移动平台，所述可移动平台可以由所述电池模块作为动力来源；所述可移动平台不在能够与所述电池模块匹配的设备范围内时，表示能够共用所述电池模块的设备中不包括所述可移动平台，所述可移动平台不能由所述电池模块作为动力来源。
步骤22，若不在，则禁止所述可移动平台开始运动。
本步骤中，在禁止所述可移动平台开始运动的情况下，所述可移动平台无法响应(即忽略)针对所述可移动平台的开始运动指令，以避免出现所述可移动平台不在能够与所述电池模块匹配的设备范围内时，由所述电池模块作为所述可移动平台的动力来源的情况。其中，所述开始运动指令例如可以是由操控所述可移动平台的用户触发的指令，或者，所述开始运动指令可以是由服务器自动触发的指令。
若所述可移动平台不在能够与所述电池模块匹配的设备范围内，则禁止所述可移动平台开始运动，使得在能够共用所述电池模块的设备中不包括所述可移动平台时，避免使用所述电池模块驱动所述可移动平台进行运动，能够确保只有在能够共用所述电池模块的设备中包括所述可移动平台的情况下，才可以使用所述电池模块驱动所述可移动平台进行运动。
本实施例提供的可移动平台的控制方法，通过在可移动平台开始运动之前，根据获取到的电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内，若不在，则禁止所述可移动平台开始运动，使得在能够共用所述电池模块的设备中不包括所述可移动平台时，避免使用所述电池模块驱动所述可移动平台进行运动，能够确保只有在能够共用所述电池模块的设备中包括所述可移动平台的情况下，才可以使用所述电池模块驱动所述可移动平台进行运动，从而使得不同可移动平台可以共用电池模块，避免禁止不同可移动平台共用电池模块所带来的问题，能够减小可移动平台系统的成本并降低使用成本。
图3为本申请另一实施例提供的可移动平台的控制方法的流程示意图。本 实施例在图2所示实施例的基础上，主要描述了确定可移动平台是否在能够与电池模块匹配的设备范围内的一种可选实现方式。如图3所示，本实施例的方法可以包括：
步骤31，在所述可移动平台开始运动之前，获取与所述电池信息匹配的机型集合。
本步骤中，所述机型集合是指能够与所述电池信息匹配的设备的机型的集合，表示了能够与所述电池信息匹配的设备范围。
一个实施例中，所述与所述电池信息匹配的机型集合可以预先存储在本地存储装置中，所述获取与所述电池信息匹配的机型集合具体可以包括：从本地存储装置中获取与所述电池信息匹配的机型集合。以由电池模块的电池型号反映能够与电池模块匹配的设备范围为例，本地存储装置中可以预先存储有不同电池型号与机型集合的对应关系，根据所述电池信息中包括的型号信息可以从所述对应关系中查找到与所述型号信息对应的机型集合，从而获得与所述电池信息匹配的机型集合。
另一个实施例中，所述与所述电池信息匹配的机型集合还可以从所述可移动平台之外的其他设备获得，所述获取与所述电池信息匹配的机型集合具体可以包括：向其他设备请求与所述电池信息匹配的机型集合；接收所述其他设备根据所述请求返回的所述机型集合。其中，所述其他设备可以根据需求灵活实现，示例性的，所述其他设备可以包括所述可移动平台的控制终端，或者，所述可移动平台的服务器。
步骤32，确定所述可移动平台的机型是否在所述机型集合中。
本步骤中，所述可移动平台的机型在所述机型集合中，可以表示所述可移动平台在能够与所述电池模块匹配的设备范围内；所述可移动平台的机型不在所述机型集合中，可以表示所述可移动平台不在能够与所述电池模块匹配的设备范围内。
需要说明的是，本实施例中的机型集合，可以理解为白名单，步骤31和步骤32可以理解为采用白名单的方式确定所述可移动平台是否在能够与所述电池模块匹配的设备范围。
步骤33，若不在，则禁止所述可移动平台开始运动，并输出第一提示信息，所述第一提示信息用于提示更换匹配的电池模块。
本步骤中，若所述可移动平台不在所述机型集合中，则禁止所述可移动 平台开始运动，使得在能够共用所述电池模块的设备中不包括所述可移动平台时，避免使用所述电池模块驱动所述可移动平台进行运动，能够确保只有在能够共用所述电池模块的设备中包括所述可移动平台的情况下，才可以使用所述电池模块驱动所述可移动平台进行运动。
一个实施例中，所述可移动平台可以直接输出所述第一提示信息。另一个实施例中，所述可移动平台可以向所述可移动平台的控制终端发送所述第一提示信息，以由所述控制终端输出所述第一提示信息。通过输出所述第一提示信息，使得用户能够及时获知由于电池模块不匹配导致需要更换电池的情况，有利于提高用户解决无法控制可移动平台开始移动问题的解决效率，提高用户的使用体验。
需要说明的是，对于所述第一提示信息的输出方式可以根据需求灵活实现，例如可以通过指示灯方式输出所述第一提示信息，再例如可以通过语音方式输出所述第一提示信息，又例如可以通过文字方式输出所述第一提示信息。
本实施例提供的可移动平台的控制方法，通过在可移动平台开始运动之前，获取与电池信息匹配的机型集合，确定可移动平台的机型是否在机型集合中，若可移动平台的机型不在机型集合中，则禁止可移动平台开始运动，并输出第一提示信息，使得不同可移动平台可以共用电池模块，避免禁止不同可移动平台共用电池模块所带来的问题，能够减小可移动平台系统的成本，降低使用成本。另外，通过在可移动平台的机型不在机型集合中的情况下，输出第一提示信息，使得用户能够及时获知由于电池模块不匹配导致需要更换电池的情况，提高了用户的使用体验。
在上述方法实施例的基础上，可选的，本申请实施例提供的方法还可以包括：若所述可移动平台在能够与所述电池模块匹配的设备范围内，则允许所述可移动平台开始运动。
其中，在允许所述可移动平台开始运动的情况下，所述可移动平台能够响应针对所述可移动平台的开始运动指令，以使得在所述可移动平台在能够与所述电池模块匹配的设备范围内，能够由所述电池模块作为所述可移动平台的动力来源。
若所述可移动平台在能够与所述电池模块匹配的设备范围内，则允许所述可移动平台开始运动，使得在能够共用所述电池模块的设备中包括所述可 移动平台时，能够使用所述电池模块驱动所述可移动平台进行运动。
需要说明的是，在实际应用中，可能存在虽然所述可移动平台在能够与所述电池模块匹配的设备范围内，但是考虑到其他限制因素，还是禁止所述可移动平台开始运动的情况。
在若所述可移动平台在能够与所述电池模块匹配的设备范围内，则允许所述可移动平台开始运动的基础上，进一步可选的，所述可移动平台在能够与所述电池模块匹配的设备范围内的情况下，所述方法还可以包括：根据所述电池模块的有效输出功率信息，确定所述电池模块所支持的最大有效载荷；根据所述最大有效载荷，输出第二提示信息，所述第二提示信息用于提示所述最大有效载荷。
一个实施例中，所述电池模块的有效输出功率例如可以由所述电池模块推送给所述控制装置。另一个实施例中，所述电池模块例如可以将所述电池模块的有效输出电压和有效输出电流推送给所述控制装置，并由所述控制装置可以根据所述有效输出电压和所述有效输出电流计算得到所述有效输出功率。
类似于前述的所述第一提示信息，可选的，所述可移动平台可以直接输出所述第二提示信息。或者，可选的，所述可移动平台可以向所述可移动平台的控制终端发送所述第二提示信息，以由所述控制终端输出所述第二提示信息。对于所述第二提示信息的输出方式可以根据需求灵活实现，例如可以通过指示灯方式输出所述第二提示信息，再例如可以通过语音方式输出所述第二提示信息，又例如可以通过文字方式输出所述第二提示信息。通过输出所述第二提示信息，使得用户能够获知在当前由所述电池模块作为动力来源的情况下，所述可移动平台最大能够承载的有效载荷，有利于提高用户的使用体验。
图4为本申请又一实施例提供的可移动平台的控制方法的流程示意图。本实施例在上述方法实施例的基础上，主要描述了可移动平台包括无人机时的一种具体实现方式。如图4所示，本实施例的方法可以包括：
步骤41，在所述无人机起飞之前，根据获取到的所述电池模块的电池信息，确定所述无人机是否在能够与所述电池模块匹配的设备范围内。
本步骤中，例如，可以在所述无人机上电之后，由所述电池模块将所述电池模块的电池信息推送给所述控制装置。示例性的，所述电池模块的电池 信息可以包括型号信息。可选的，所述电池信息还可以包括充放电的次数信息。
示例性的，所述能够与所述电池模块匹配的设备范围可以表示为与所述电池模块的电池信息匹配的机型集合。其中，所述机型集合例如可以为机型列表，当然，在其他实施例中所述机型集合还可以为其他形式，本申请对此不做限定。
可选的，可以从本地存储装置中获取与所述电池信息匹配的机型集合；或者，可选的，可以向其他设备请求与所述电池信息匹配的机型集合，并接收所述其他设备根据所述请求返回的所述机型集合。其中，所述其他设备可以包括所述无人机的控制终端，或者，所述无人机的服务器。
步骤42，若不在，则禁止所述无人机起飞。
本步骤中，在禁止所述无人机起飞的情况下，所述无人机无法响应(即忽略)针对所述无人机的起飞指令，以避免出现所述无人机不在能够与所述电池模块匹配的设备范围内时，由所述电池模块作为所述无人机的动力来源的情况。
若所述无人机不在能够与所述电池模块匹配的设备范围内，则禁止所述无人机起飞，使得在能够共用所述电池模块的设备中不包括所述无人机时，避免使用所述电池模块驱动所述无人机进行运动，能够确保只有在能够共用所述电池模块的设备中包括所述无人机的情况下，才可以使用所述电池模块驱动所述无人机进行运动。
可选的，所述无人机不在能够与所述电池模块匹配的设备范围内的情况下，本实施例的方法还可以包括：将用于提示更换匹配的电池模块的第一提示信息发送至所述无人机的控制终端，所述控制终端上可以安装有供用户控制所述无人机的的应用程序(APP，Application)，以由所述APP输出所述第一提示信息。
可选的，若所述无人机在能够与所述电池模块匹配的设备范围内，则允许所述无人机起飞。需要说明的是，在实际应用中，可能存在虽然所述无人机在能够与所述电池模块匹配的设备范围内，但是考虑到其他限制因素，还是禁止所述无人机起飞的情况。
在若所述无人机在能够与所述电池模块匹配的设备范围内，则允许所述无人机起飞的基础上，进一步可选的，所述无人机在能够与所述电池模块匹 配的设备范围内的情况下，还可以包括：根据所述电池模块的有效输出功率信息，确定所述电池模块所支持的最大有效载荷；根据所述最大有效载荷，输出用于提示所述最大有效载荷的第二提示信息。
其中，所述根据所述电池模块的有效输出功率信息，确定所述电池模块所支持的最大有效载荷例如可以包括如下步骤a和步骤b。
步骤a，可以根据所述电池模块的有效输出功率以及所述无人机的动力力效参数c，采用如下公式(1)，计算得到所述电池模块所支持的最大起飞质量G。
G＝P/c 公式(1)
其中，所述动力力效参数c的单位可以为克/瓦，所述有效输出功率的单位可以为瓦(w)，所述最大起飞质量G的单位可以为克(g)。所述无人机的动力力效参数由所述无人机的机型决定。
步骤b，可以根据所述无人机的空载质量G
0，采用如下公式(2)，计算得到所述电池模块所支持的最大有效载荷F。
F＝G-G
0 公式(2)
其中，所述最大起飞质量G、空载质量G
0和最大有效载荷F的单位可以均为克。所述无人机的空载质量G
0可以由所述无人机的机型决定。
本实施例提供的可移动平台的控制方法，通过在无人机起飞之前，根据获取到的电池模块的电池信息，确定所述无人机是否在能够与所述电池模块匹配的设备范围内，若不在，则禁止所述无人机起飞，使得在能够共用所述电池模块的设备中不包括所述无人机时，避免使用所述电池模块驱动所述无人机进行运动，能够确保只有在能够共用所述电池模块的设备中包括所述无人机的情况下，才可以使用所述电池模块驱动所述无人机起飞，从而使得不同无人机可以共用电池模块，避免禁止不同无人机共用电池模块所带来的问题，能够减小无人机系统的成本并降低使用成本。
图5为本申请一实施例提供的可移动平台的控制装置的结构示意图，所述可移动平台的电池仓内可拆卸地装设有电池模块。如图5所示，该装置50可以包括：处理器51和存储器52。
所述存储器52，用于存储程序代码；
所述处理器51，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
在所述可移动平台开始运动之前，根据获取到的所述电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内；
若不在，则禁止所述可移动平台开始运动。
本实施例提供的可移动平台的控制装置，可以用于执行前述方法实施例的技术方案，其实现原理和技术效果与方法实施例类似，在此不再赘述。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。
Claims (28)
- 一种可移动平台的控制方法，所述可移动平台的电池仓内可拆卸地装设有电池模块，其特征在于，所述方法包括：在所述可移动平台开始运动之前，根据获取到的所述电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内；若不在，则禁止所述可移动平台开始运动。
- 根据权利要求1所述的方法，其特征在于，所述根据获取到的所述电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内，包括：获取与所述电池信息匹配的机型集合；确定所述可移动平台的机型是否在所述机型集合中。
- 根据权利要求2所述的方法，其特征在于，所述获取与所述电池信息匹配的机型集合，包括：从本地存储装置中获取与所述电池信息匹配的机型集合。
- 根据权利要求2所述的方法，其特征在于，所述获取与所述电池信息匹配的机型集合，包括：向其他设备请求与所述电池信息匹配的机型集合；接收所述其他设备根据所述请求返回的所述机型集合。
- 根据权利要求4所述的方法，其特征在于，所述其他设备包括所述可移动平台的控制终端，或者，所述可移动平台的服务器。
- 根据权利要求1-5任一项所述的方法，其特征在于，所述可移动平台不在能够与所述电池模块匹配的设备范围内的情况下，所述方法还包括：输出第一提示信息，所述第一提示信息用于提示更换匹配的电池模块。
- 根据权利要求6所述的方法，其特征在于，所述输出第一提示信息，包括：向所述可移动平台的控制终端发送所述第一提示信息，以由所述控制终端输出所述第一提示信息。
- 根据权利要求1-7任一项所述的方法，其特征在于，所述可移动平台包括无人机；所述在所述可移动平台开始运动之前，根据获取到的所述电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内，包括：在所述无人机起飞之前，根据获取到的所述电池模块的电池信息，确 定所述可移动平台是否在能够与所述电池模块匹配的设备范围内；所述禁止所述可移动平台开始运动，包括：禁止所述无人机起飞。
- 根据权利要求1-7任一项所述的方法，其特征在于，所述方法还包括：若所述可移动平台在能够与所述电池模块匹配的设备范围内，则允许所述可移动平台开始运动。
- 根据权利要求9所述的方法，其特征在于，所述可移动平台在能够与所述电池模块匹配的设备范围内的情况下，所述方法还包括：根据所述电池模块的有效输出功率信息，确定所述电池模块所支持的最大有效载荷；根据所述最大有效载荷，输出第二提示信息，所述第二提示信息用于提示所述最大有效载荷。
- 根据权利要求1所述的方法，其特征在于，所述电池信息包括型号信息。
- 根据权利要求11所述的方法，其特征在于，所述电池信息还包括充放电的次数信息。
- 根据权利要求1所述的方法，其特征在于，所述可移动平台包括无人机或无人车。
- 一种可移动平台的控制装置，所述可移动平台的电池仓内可拆卸地装设有电池模块，其特征在于，所述装置包括：存储器和处理器；所述存储器，用于存储程序代码；所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：在所述可移动平台开始运动之前，根据获取到的所述电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内；若不在，则禁止所述可移动平台开始运动。
- 根据权利要求14所述的装置，其特征在于，所述处理器用于根据所述电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内，具体用于：获取与所述电池信息匹配的机型集合；确定所述可移动平台的机型是否在所述机型集合中。
- 根据权利要求15所述的装置，其特征在于，所述处理器用于获取与 所述电池信息匹配的机型集合，具体用于：从本地存储装置中获取与所述电池信息匹配的机型集合。
- 根据权利要求15所述的装置，其特征在于，所述处理器用于获取与所述电池信息匹配的机型集合，具体用于：向其他设备请求与所述电池信息匹配的机型集合；接收所述其他设备根据所述请求返回的所述机型集合。
- 根据权利要求17所述的装置，其特征在于，所述其他设备包括所述可移动平台的控制终端，或者，所述可移动平台的服务器。
- 根据权利要求14-18任一项所述的装置，其特征在于，所述可移动平台不在能够与所述电池模块匹配的设备范围内的情况下，所述处理器还用于：输出第一提示信息，所述第一提示信息用于提示更换匹配的电池模块。
- 根据权利要求19所述的装置，其特征在于，所述处理器用于输出第一提示信息，具体用于：向所述可移动平台的控制终端发送所述第一提示信息，以由所述控制终端输出所述第一提示信息。
- 根据权利要求14-20任一项所述的装置，其特征在于，所述可移动平台包括无人机；所述处理器用于在所述可移动平台开始运动之前，根据获取到的所述电池模块的电池信息，确定所述可移动平台是否在能够与所述电池模块匹配的设备范围内，具体用于：在所述无人机起飞之前，根据获取到的所述电池模块的电池信息，确定所述无人机是否在能够与所述电池模块匹配的设备范围内；所述处理器用于禁止所述可移动平台开始运动，具体用于：禁止所述无人机起飞。
- 根据权利要求14-20任一项所述的装置，其特征在于，所述处理器还用于：若所述可移动平台在能够与所述电池模块匹配的设备范围内，则允许所述可移动平台开始运动。
- 根据权利要求22所述的装置，其特征在于，所述可移动平台在能够与所述电池模块匹配的设备范围内的情况下，所述处理器还用于：根据所述电池模块的有效输出功率信息，确定所述电池模块所支持的最大有效载荷；根据所述最大有效载荷，输出第二提示信息，所述第二提示信息用于提 示所述最大有效载荷。
- 根据权利要求14所述的装置，其特征在于，所述电池信息包括型号信息。
- 根据权利要求24所述的装置，其特征在于，所述电池信息还包括充放电的次数信息。
- 根据权利要求14所述的装置，其特征在于，所述可移动平台包括无人机或无人车。
- 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行如权利要求1-13任一项所述的方法。
- 一种计算机程序，其特征在于，当所述计算机程序被计算机执行时，用于实现如权利要求1-13任一项所述的方法。
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