CN107577243B - Sound source and infrared hybrid unmanned aerial vehicle ultrahigh precision docking platform - Google Patents
Sound source and infrared hybrid unmanned aerial vehicle ultrahigh precision docking platform Download PDFInfo
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- CN107577243B CN107577243B CN201710764704.XA CN201710764704A CN107577243B CN 107577243 B CN107577243 B CN 107577243B CN 201710764704 A CN201710764704 A CN 201710764704A CN 107577243 B CN107577243 B CN 107577243B
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Abstract
In order to enhance the identification precision of the docking position of the unmanned aerial vehicle in the docking process and enhance the capability of the unmanned aerial vehicle for controlling the battery performance, the invention provides an ultra-high precision docking platform of a sound source and infrared hybrid unmanned aerial vehicle, which is used for docking in a one-to-many way and comprises a sound wave receiving and transmitting unit and a flight control unit, and is characterized by also comprising: the infrared image acquisition processing unit is used for acquiring image information of the unmanned aerial vehicles to be docked around the unmanned aerial vehicles based on an infrared image acquisition mode; and the battery temperature control unit is used for controlling the temperature of the battery in the butt joint process according to the working state of the flight control unit.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an ultrahigh-precision docking platform for a sound source and infrared hybrid unmanned aerial vehicle.
Background
Unmanned aerial vehicles fly alone and can accomplish a great deal of tasks. With the development of society, the technical scheme of finishing the unmanned aerial vehicle docking by utilizing the GPS technology is increasing day by day. For example, chinese patent application No. CN 201610194249.X discloses an unmanned aerial vehicle aerial docking method and system, specifically comprising: the second unmanned aerial vehicle can acquire the positioning information of the first unmanned aerial vehicle through the GPS module arranged on the first unmanned aerial vehicle, the coarse alignment of the second unmanned aerial vehicle and the first unmanned aerial vehicle can be realized through the positioning information, the precision of the GPS module is limited, and the accurate alignment cannot be realized, so that an infrared camera is arranged on the second unmanned aerial vehicle, an infrared light-emitting diode is arranged on the first unmanned aerial vehicle, the accurate alignment is realized through image recognition, and the butt joint is performed through a strong magnet after the accurate alignment. Through the accuracy that two unmanned aerial vehicles when the butt joint in the air is improved to coarse alignment and accurate alignment, it is comparatively convenient to dock or separate through the strong magnet.
However, this kind of mode has the problem that the discernment distance is short at unmanned aerial vehicle logistics in-process, causes easily among the butt joint process because of reasons such as weather can't effectively match and cause the condition that discernment is inefficient and can't be at a plurality of butt joint objects of long distance discernment, and then can not accomplish complicated butt joint work. Meanwhile, in the one-to-many and many-to-many docking processes, multiple times of high-precision identification signal transmission and receiving processing are required, the power consumption of the unmanned aerial vehicle battery is increased, and the defect that the unmanned aerial vehicle after docking cannot transport goods to the destination easily occurs.
Disclosure of Invention
In order to enhance the identification precision of the docking position of the unmanned aerial vehicle in the docking process and enhance the capability of the unmanned aerial vehicle for controlling the battery performance, the invention provides an ultra-high precision docking platform of a sound source and infrared hybrid unmanned aerial vehicle, which is used for docking in a one-to-many way and comprises a sound wave receiving and transmitting unit and a flight control unit, and is characterized by also comprising:
the infrared image acquisition processing unit is used for acquiring image information of the unmanned aerial vehicles to be docked around the unmanned aerial vehicles based on an infrared image acquisition mode; and
and the battery temperature control unit is used for controlling the temperature of the battery in the butt joint process according to the working state of the flight control unit.
Further, the infrared image acquisition processing unit includes:
the infrared camera shooting unit is used for shooting an infrared image;
the holder unit is used for fixing and adjusting the shooting direction of the infrared camera shooting unit;
the image processing unit is used for processing the infrared image shot by the infrared shooting unit;
the docking platform is used for carrying out one-to-many or multi-to-many docking path planning on the basis of the processing result of the infrared image acquisition and processing unit and sending the planning to the flight control unit; the image processing unit is used for carrying out position registration on the infrared image based on the information received by the sound wave receiving and transmitting unit, and the flight control unit is used for adjusting the flight direction and speed based on the position registration result.
Further, the infrared camera unit adopts a laser infrared camera.
Further, the battery control unit is used for the thermostatic control of unmanned aerial vehicle's high-power lithium cell, the lithium cell includes a plurality of battery monomers, unmanned aerial vehicle includes first constant temperature unit, second constant temperature unit and third constant temperature unit, first constant temperature unit, second constant temperature unit and third constant temperature unit homoenergetic enough are used for heating mode or refrigeration mode and set gradually in the battery outside from inside to outside, and this battery control unit includes:
the battery monomer detection unit is used for detecting the temperature information and the electrical parameter information of the battery monomer;
the unmanned aerial vehicle electrical detection unit is used for detecting unmanned aerial vehicle electrical parameter information;
the unmanned aerial vehicle flight state monitoring unit is used for monitoring the flight state parameter information of the unmanned aerial vehicle;
and the battery temperature control unit is used for determining the working modes of the first constant temperature unit, the second constant temperature unit and the third constant temperature unit according to the temperature information and the electrical parameter information of the battery monomer, the electrical parameter information of the unmanned aerial vehicle and the flight state parameter information of the unmanned aerial vehicle, wherein the working modes of the first constant temperature unit and the third constant temperature unit are opposite.
Further, the battery cell detection unit includes:
the battery monomer current detection subunit is used for detecting the charging current and the discharging current of each battery monomer;
the battery monomer voltage detection subunit is used for detecting the charging voltage and the discharging voltage of each battery monomer;
the battery monomer temperature detection subunit is used for detecting the surface temperature of each battery monomer;
and the interface temperature detection subunit is used for detecting the power output interface temperature of the battery.
Further, the unmanned aerial vehicle electrical detection unit includes:
the power determining subunit is used for detecting input voltage and input current input to an engine of the unmanned aerial vehicle;
and the revolution detection subunit is used for detecting the revolution of the engine of the unmanned aerial vehicle.
Further, unmanned aerial vehicle flight status monitoring unit includes:
the GPS subunit is used for acquiring flight altitude data and acquiring flight speed data;
and the environment temperature sub-detection unit of the unmanned aerial vehicle is used for detecting the environment temperature of the environment where the unmanned aerial vehicle is located.
Further, the battery temperature control unit includes:
a motion state detection subunit, configured to determine whether the unmanned aerial vehicle is in motion according to the flying height data and the flying speed data, and if the unmanned aerial vehicle is in motion, determine whether the unmanned aerial vehicle is in a flying state;
a first testing subunit for testing the temperature of the first constant temperature unit if the first constant temperature unit is in flight stateIn the working mode, the constant temperature is set at T1, and at the first moment, the input power P of the unmanned aerial vehicle engine is determined according to the input voltage and the input current of the unmanned aerial vehicle engineInput 1And determines the input power P therefromInput 1At the moment, the ratio L of the number of engine revolutions1(ii) a Determining the difference between the discharge capacity and the charge capacity of each battery cell according to the charge current and the discharge current, the charge voltage and the discharge voltage of each battery cell, dividing each difference by the temperature of the corresponding battery cell, and determining the root mean square value E between the obtained ratios1And the ratio R of the ambient temperature to the mean square value at the moment1(ii) a At the second moment, determining the input power P of the unmanned aerial vehicle engine according to the input voltage and the input current of the unmanned aerial vehicle engineInput 2And determines the input power P therefromInput 2At the moment, the ratio L of the number of engine revolutions2(ii) a Determining the difference between the discharge capacity and the charge capacity of each battery cell according to the charge current and the discharge current, the charge voltage and the discharge voltage of each battery cell, dividing each difference by the temperature of the corresponding battery cell, and determining the root mean square value E between the obtained ratios2And the ratio R of the ambient temperature to the mean square value at the moment2The second moment is a moment after the first moment and after the change rates of the flight altitude data and the flight speed data respectively exceed a preset first change rate, and the unmanned aerial vehicle is still in a flight state at the second moment;
a second testing subunit, configured to determine, according to the input voltage and the input current of the engine of the unmanned aerial vehicle, the input power P of the engine of the unmanned aerial vehicle at a third time when the change rates of the flight altitude data and the flight speed data respectively exceed a second change rate preset to be greater than the first change rate and the unmanned aerial vehicle is still in a flight state at the third timeInput 3And determines the input power P therefromInput 3At the moment, the ratio L of the number of engine revolutions3(ii) a Determining the difference between the discharge capacity and the charge capacity of each cell based on the charge current and discharge current, and the charge voltage and discharge voltage of each cell, dividing each difference by the sumThe temperature of the corresponding battery cell, and the root mean square value E between the obtained ratios is determined according to the temperature3And the ratio R of the ambient temperature to the mean square value at the moment3；
The difference determining subunit is used for determining the temperature of the second constant temperature unit at the first moment, the second moment and the third moment; determination ((L)1/R1)+(L2/R2))/(2×(L3/R3) Ratio of this to | (power output interface temperature/ambient temperature)At the first moment- (power output interface temperature/ambient temperature)The second moment of timeIf the ratio D between | this difference is higher than the first threshold and smaller than the second threshold, where "|" represents an absolute value operation;
a second constant temperature unit setting sub-unit for maintaining a constant temperature T1 of the first constant temperature unit and setting an operation mode of the second constant temperature unit to a heating operation mode when the difference D is higher than the first threshold and smaller than a second threshold, wherein a constant temperature T2 of the second constant temperature unit is set to T1/| D | when | D | >1 and a constant temperature T2 of the second constant temperature unit is set to T1 × | D | when | D | < 1; when the difference D is larger than a second threshold value, changing the working mode of the first constant temperature unit into a cooling working mode and the constant temperature to be T1; the constant temperature T2 of the second constant temperature unit is set to ambient temperature/| D | when | D | >1 and the constant temperature T2 of the second constant temperature unit is set to ambient temperature x | D | when | D | < 1.
Furthermore, the temperature of each battery cell is detected by a bridge balance method and an operational amplifier circuit, and an external temperature sensor is adopted to realize the acquisition of the temperature.
Further, the detection of the temperature of the power output interface of the battery is achieved by a platinum resistance temperature sensor.
Furthermore, the charging and discharging currents of each battery cell are calculated in a high-precision current integration mode.
Further, the first time is a time when the power output interface temperature reaches the temperature value T1 and at this time the drone is still in flight.
The invention has the beneficial effects that:
(1) the invention avoids adopting the mode of direct butt joint based on receiving and sending signals in the prior art, and carries out butt joint position analysis based on images, thereby improving the intelligence and accuracy of determining the flight route of the unmanned aerial vehicle and adjusting flight parameters when the unmanned aerial vehicle is in one-to-one or one-to-many butt joint, avoiding the problem that the accuracy of one-to-many butt joint cannot be caused by only adopting an infrared ray mode in the prior art, and also avoiding the problem that the reasonable flight path planning cannot be accurately carried out when the unmanned aerial vehicle is in butt joint only by adopting infrared rays or ultrasonic waves.
(2) The method for determining the docking position by combining the sound waves and the infrared waves greatly improves the determination precision of the docking position and the rationality of the docking sequence in a one-to-many docking scene compared with the prior art.
(3) The detection precision, accuracy and sensitivity of the surface temperature of the battery can be improved by adopting a mode of monitoring a plurality of battery monomers, so that the influence of inaccuracy and delay caused by the heating delay effect on the temperature regulation of the working environment of the battery is reduced as much as possible;
(4) the invention not only improves the detection precision, accuracy and sensitivity of the working state of a common battery based on the prior art, but also considers the factors of the flight power of the unmanned aerial vehicle and the electric parameters of the unmanned aerial vehicle when the starting condition of constant temperature regulation is considered, thereby greatly improving the condition that the battery cannot be predicted due to overheating or overcooling of the battery because of the delay effect caused by heating when the temperature of the battery (even a plurality of single batteries) is simply detected, greatly prolonging the service life of the battery and protecting the performance of the battery;
(5) through a large number of tests and parameter selection, the applicant finds out a rule of how to make an early response as possible to a plurality of main factors influencing the change of the heat productivity of the battery due to self flying acceleration, deceleration, posture adjustment, communication, external environment and the like in the flight process of the unmanned aerial vehicle for protecting the battery in the technical scheme, summarizes the judgment and calculation mode, and tests show that the battery temperature can be ensured to be about 25 ℃ all the time in the range of 500-2000 m above sea level in the test result of the Digi XTend series unmanned aerial vehicle;
(6) the invention creatively improves the prior constant temperature technology to form triple constant temperature units which are sequentially nested at the periphery of the battery, wherein the refrigeration or heating working modes of the first constant temperature unit and the third constant temperature unit are opposite, and the middle constant temperature unit can change the self constant temperature, thereby greatly improving the expansibility of the battery for adapting to different environments and scenes: when the first or third constant temperature unit itself can't keep apart the external environment temperature (i.e. make the battery temperature keep apart with the temperature of the inside other spaces of unmanned aerial vehicle that the battery was located) can initiatively change the constant temperature characteristic with the second constant temperature unit, as transition layer initiatively help first constant temperature unit or third constant temperature unit accomplish the reliable isolation to the environment that the battery was located in the aspect of the temperature, it has the originality to compare prior art.
Drawings
Fig. 1 shows a block diagram of the docking platform according to the present invention.
Detailed Description
As shown in fig. 1, according to a preferred embodiment of the present invention, the present invention provides an ultra-high precision docking platform for a sound source and infrared hybrid unmanned aerial vehicle, which is used for docking in a one-to-many manner, and includes a sound wave transceiver unit and a flight control unit, and is characterized by further including:
the infrared image acquisition processing unit is used for acquiring image information of the unmanned aerial vehicles to be docked around the unmanned aerial vehicles based on an infrared image acquisition mode; and
and the battery temperature control unit is used for controlling the temperature of the battery in the butt joint process according to the working state of the flight control unit.
Preferably, the infrared image acquisition processing unit includes:
the infrared camera shooting unit is used for shooting an infrared image;
the holder unit is used for fixing and adjusting the shooting direction of the infrared camera shooting unit;
the image processing unit is used for processing the infrared image shot by the infrared shooting unit;
the docking platform is used for carrying out one-to-many or multi-to-many docking path planning on the basis of the processing result of the infrared image acquisition and processing unit and sending the planning to the flight control unit; the image processing unit carries out position registration on the infrared image based on the information received by the ultrasonic receiving unit, and the flight control unit adjusts the flight direction and speed based on the position registration result.
Preferably, the infrared camera unit adopts a laser infrared camera.
Preferably, the battery control unit is used for the thermostatic control of unmanned aerial vehicle's high-power lithium cell, the lithium cell includes a plurality of battery monomers, unmanned aerial vehicle includes first constant temperature unit, second constant temperature unit and third constant temperature unit, first constant temperature unit, second constant temperature unit and third constant temperature unit homoenergetic are used for heating mode or refrigeration mode and set gradually in the battery outside from inside to outside, and this battery control unit includes:
the battery monomer detection unit is used for detecting the temperature information and the electrical parameter information of the battery monomer;
the unmanned aerial vehicle electrical detection unit is used for detecting unmanned aerial vehicle electrical parameter information;
the unmanned aerial vehicle flight state monitoring unit is used for monitoring the flight state parameter information of the unmanned aerial vehicle;
and the battery temperature control unit is used for determining the working modes of the first constant temperature unit, the second constant temperature unit and the third constant temperature unit according to the temperature information and the electrical parameter information of the battery monomer, the electrical parameter information of the unmanned aerial vehicle and the flight state parameter information of the unmanned aerial vehicle, wherein the working modes of the first constant temperature unit and the third constant temperature unit are opposite.
Preferably, the battery cell detection unit includes:
the battery monomer current detection subunit is used for detecting the charging current and the discharging current of each battery monomer;
the battery monomer voltage detection subunit is used for detecting the charging voltage and the discharging voltage of each battery monomer;
the battery monomer temperature detection subunit is used for detecting the surface temperature of each battery monomer;
and the interface temperature detection subunit is used for detecting the power output interface temperature of the battery.
Preferably, the unmanned aerial vehicle electrical detection unit comprises:
the power determining subunit is used for detecting input voltage and input current input to an engine of the unmanned aerial vehicle;
and the revolution detection subunit is used for detecting the revolution of the engine of the unmanned aerial vehicle.
Preferably, the unmanned aerial vehicle flight status monitoring unit includes:
the GPS subunit is used for acquiring flight altitude data and acquiring flight speed data;
an environment temperature sub-detection unit of the unmanned aerial vehicle for detecting the environment temperature of the environment where the unmanned aerial vehicle is located
Preferably, the battery temperature control unit includes:
a motion state detection subunit, configured to determine whether the unmanned aerial vehicle is in motion according to the flying height data and the flying speed data, and if the unmanned aerial vehicle is in motion, determine whether the unmanned aerial vehicle is in a flying state;
a first testing subunit, configured to, when in a flight state, determine, at a first time, an input power P of the drone engine according to an input voltage and an input current of the drone engine if the first thermostatic unit is operating in a heating operation mode and the thermostatic temperature is set at T1Input 1And determines the input power P therefromInput 1At the moment, the ratio L of the number of engine revolutions1(ii) a Determining the difference between the discharge capacity and the charge capacity of each battery cell according to the charge current and the discharge current, the charge voltage and the discharge voltage of each battery cell, dividing each difference by the temperature of the corresponding battery cell, and determining the root mean square value E between the obtained ratios1And the ratio R of the ambient temperature to the mean square value at the moment1(ii) a At the second moment, determining the input power P of the unmanned aerial vehicle engine according to the input voltage and the input current of the unmanned aerial vehicle engineInput 2And determines the input power P therefromInput 2At the moment, the ratio L of the number of engine revolutions2(ii) a Determining the difference between the discharge capacity and the charge capacity of each battery cell according to the charge current and the discharge current, the charge voltage and the discharge voltage of each battery cell, dividing each difference by the temperature of the corresponding battery cell, and determining the root mean square value E between the obtained ratios2And the ratio R of the ambient temperature to the mean square value at the moment2The second moment is a moment after the first moment and after the change rates of the flight altitude data and the flight speed data respectively exceed a preset first change rate, and the unmanned aerial vehicle is still in a flight state at the second moment;
a second testing subunit, configured to determine, according to the input voltage and the input current of the engine of the unmanned aerial vehicle, the input power P of the engine of the unmanned aerial vehicle at a third time when the change rates of the flight altitude data and the flight speed data respectively exceed a second change rate preset to be greater than the first change rate and the unmanned aerial vehicle is still in a flight state at the third timeInput 3And determines the input power P therefromInput 3At the moment, the ratio L of the number of engine revolutions3(ii) a Determining the difference between the discharge capacity and the charge capacity of each battery cell according to the charge current and the discharge current, the charge voltage and the discharge voltage of each battery cell, dividing each difference by the temperature of the corresponding battery cell, and determining the root mean square value E between the obtained ratios3And the ratio R of the ambient temperature to the mean square value at the moment3；
The difference determining subunit is used for determining the temperature of the second constant temperature unit at the first moment, the second moment and the third moment; determination ((L)1/R1)+(L2/R2))/(2×(L3/R3) Ratio of this to | (power output interface temperature/ambient temperature)At the first moment- (power output interface temperature/ambient temperature)The second moment of timeIf the ratio D between | this difference is higher than the first threshold and smaller than the second threshold, where "|" represents an absolute value operation;
a second constant temperature unit setting sub-unit for maintaining a constant temperature T1 of the first constant temperature unit and setting an operation mode of the second constant temperature unit to a heating operation mode when the ratio D is higher than the first threshold and smaller than a second threshold, wherein a constant temperature T2 of the second constant temperature unit is set to T1/| D | when | D | >1 and a constant temperature T2 of the second constant temperature unit is set to T1 × | D | when | D | < 1; when the ratio D is larger than a second threshold value, changing the working mode of the first constant temperature unit into a cooling working mode and the constant temperature to be T1; the constant temperature T2 of the second constant temperature unit is set to ambient temperature/| D | when | D | >1 and the constant temperature T2 of the second constant temperature unit is set to ambient temperature x | D | when | D | < 1.
Preferably, the temperature of each battery cell is detected by a bridge balance method and an operational amplifier circuit, and an external temperature sensor is adopted to acquire the temperature.
Preferably, the detection of the temperature of the power output interface of the battery is achieved by a platinum resistance temperature sensor.
Preferably, the charge and discharge current of each battery cell is calculated by a high-precision current integration method.
Preferably, the first time is when the power output interface temperature reaches the temperature value T1 and at that time the drone is still in flight.
The foregoing description of the preferred embodiments of the present invention has been presented for purposes of illustration and description and is not intended to limit the invention to the precise form disclosed, and modifications and variations are possible in light of the above teachings or may be acquired from practice of the embodiments of the invention, which are presented to illustrate the principles of the invention and to enable one skilled in the art to utilize the invention in various embodiments and with various modifications as are suited to the particular use contemplated and the spirit of the invention is intended to be determined by the following claims and their equivalents.
Claims (1)
1. The utility model provides a sound source and infrared hybrid unmanned aerial vehicle ultra-high accuracy docking platform for dock many to one, including sound wave transceiver unit, flight control unit, still include:
the infrared image acquisition processing unit is used for acquiring image information of the unmanned aerial vehicles to be docked around the unmanned aerial vehicles based on an infrared image acquisition mode; and
the battery temperature control unit is used for controlling the temperature of the battery in the butt joint process according to the working state of the flight control unit;
the infrared image acquisition processing unit comprises:
the infrared camera shooting unit is used for shooting an infrared image;
the holder unit is used for fixing and adjusting the shooting direction of the infrared camera shooting unit;
the image processing unit is used for processing the infrared image shot by the infrared shooting unit;
the docking platform is used for carrying out one-to-many or multi-to-many docking path planning on the basis of the processing result of the infrared image acquisition and processing unit and sending the planning to the flight control unit; the image processing unit is used for carrying out position registration on the infrared image based on the information received by the sound wave receiving and transmitting unit, and the flight control unit is used for adjusting the flight direction and speed based on the position registration result;
the infrared camera shooting unit adopts a laser infrared camera;
its characterized in that, battery temperature control unit is used for the thermostatic control of unmanned aerial vehicle's high-power lithium cell, the lithium cell includes a plurality of battery monomers, unmanned aerial vehicle includes first constant temperature unit, second constant temperature unit and third constant temperature unit, first constant temperature unit, second constant temperature unit and third constant temperature unit homoenergetic enough are used for heating mode or refrigeration mode and set gradually in the battery outside from inside to outside, and this battery temperature control unit includes:
the battery monomer detection unit is used for detecting the temperature information and the electrical parameter information of the battery monomer;
the unmanned aerial vehicle electrical detection unit is used for detecting unmanned aerial vehicle electrical parameter information;
the unmanned aerial vehicle flight state monitoring unit is used for monitoring the flight state parameter information of the unmanned aerial vehicle;
the temperature control unit is used for determining the working modes of the first constant temperature unit, the second constant temperature unit and the third constant temperature unit according to the temperature information and the electrical parameter information of the battery monomer, the electrical parameter information of the unmanned aerial vehicle and the flight state parameter information of the unmanned aerial vehicle, wherein the working modes of the first constant temperature unit and the third constant temperature unit are opposite;
the battery cell detection unit includes:
the battery monomer current detection subunit is used for detecting the charging current and the discharging current of each battery monomer;
the battery monomer voltage detection subunit is used for detecting the charging voltage and the discharging voltage of each battery monomer;
the battery monomer temperature detection subunit is used for detecting the surface temperature of each battery monomer;
the interface temperature detection subunit is used for detecting the power output interface temperature of the battery;
the unmanned aerial vehicle electrical detection unit includes:
the power determining subunit is used for detecting input voltage and input current input to an engine of the unmanned aerial vehicle;
the revolution detection subunit is used for detecting the revolution of the engine of the unmanned aerial vehicle;
unmanned aerial vehicle flight status monitoring unit includes:
the GPS subunit is used for acquiring flight altitude data and acquiring flight speed data;
the unmanned aerial vehicle environment temperature sub-detection unit is used for detecting the environment temperature of the environment where the unmanned aerial vehicle is located;
the battery temperature control unit includes:
a motion state detection subunit, configured to determine whether the unmanned aerial vehicle is in motion according to the flying height data and the flying speed data, and if the unmanned aerial vehicle is in motion, determine whether the unmanned aerial vehicle is in a flying state;
a first testing subunit, configured to, when in a flight state, determine, at a first time, an input power P of the drone engine according to an input voltage and an input current of the drone engine if the first thermostatic unit is operating in a heating operation mode and the thermostatic temperature is set at T1Input 1And determines the input power P therefromInput 1At the moment, the ratio L of the number of engine revolutions1(ii) a According to the charging current and discharging current, charging voltage and discharging current of each battery cellDetermining the difference between the discharge capacity and the charge capacity of each cell, dividing the difference by the temperature of the corresponding cell, and determining the root mean square value E between the obtained ratios1And the ratio R of the ambient temperature at this moment to the RMS value1(ii) a At the second moment, determining the input power P of the unmanned aerial vehicle engine according to the input voltage and the input current of the unmanned aerial vehicle engineInput 2And determines the input power P therefromInput 2At the moment, the ratio L of the number of engine revolutions2(ii) a Determining the difference between the discharge capacity and the charge capacity of each battery cell according to the charge current and the discharge current, the charge voltage and the discharge voltage of each battery cell, dividing each difference by the temperature of the corresponding battery cell, and determining the root mean square value E between the obtained ratios2And the ratio R of the ambient temperature at this moment to the RMS value2The second moment is a moment after the first moment and after the change rates of the flight altitude data and the flight speed data respectively exceed a preset first change rate, and the unmanned aerial vehicle is still in a flight state at the second moment;
a second testing subunit, configured to determine, according to the input voltage and the input current of the engine of the unmanned aerial vehicle, the input power P of the engine of the unmanned aerial vehicle at a third time when the change rates of the flight altitude data and the flight speed data respectively exceed a second change rate preset to be greater than the first change rate and the unmanned aerial vehicle is still in a flight state at the third timeInput 3And determines the input power P therefromInput 3At the moment, the ratio L of the number of engine revolutions3(ii) a Determining the difference between the discharge capacity and the charge capacity of each battery cell according to the charge current and the discharge current, the charge voltage and the discharge voltage of each battery cell, dividing each difference by the temperature of the corresponding battery cell, and determining the root mean square value E between the obtained ratios3And the ratio R of the ambient temperature at this moment to the RMS value3；
The difference determining subunit is used for determining the temperature of the second constant temperature unit at the first moment, the second moment and the third moment; determination ((L)1/R1)+(L2/R2))/(2×(L3/R3) Ratio of this to | (power output interface temperature/ambient temperature)At the first moment- (power output interface temperature/ambient temperature)The second moment of timeIf the ratio D between | this difference is higher than the first threshold and smaller than the second threshold, where "|" represents an absolute value operation;
a second constant temperature unit setting sub-unit for maintaining a constant temperature T1 of the first constant temperature unit and setting an operation mode of the second constant temperature unit to a heating operation mode when the ratio D is higher than the first threshold and smaller than a second threshold, wherein a constant temperature T2 of the second constant temperature unit is set to T1/| D | when | D | >1 and a constant temperature T2 of the second constant temperature unit is set to T1 × | D | when | D | < 1; when the ratio D is larger than a second threshold value, changing the working mode of the first constant temperature unit into a cooling working mode and the constant temperature to be T1; setting a constant temperature T2 of the second constant temperature unit to an ambient temperature/| D | when | D | >1 and setting a constant temperature T2 of the second constant temperature unit to an ambient temperature x | D | when | D | < 1;
the temperature of each battery monomer is detected by a bridge balance method and an operational amplifier circuit, and an external temperature sensor is adopted to realize the acquisition of the temperature;
the first time is when the power output interface temperature reaches the temperature value T1 and at that time the drone is still in flight.
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| CN105162190B (en) * | 2015-08-29 | 2017-11-10 | 北京天航华创科技股份有限公司 | A kind of autonomous temperature control type stratospheric airship lithium battery management system |
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| CN107577243A (en) | 2018-01-12 |
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