CN107577244A - A kind of ultrasonic wave unmanned plane docking platform - Google Patents
A kind of ultrasonic wave unmanned plane docking platform Download PDFInfo
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- CN107577244A CN107577244A CN201710765552.5A CN201710765552A CN107577244A CN 107577244 A CN107577244 A CN 107577244A CN 201710765552 A CN201710765552 A CN 201710765552A CN 107577244 A CN107577244 A CN 107577244A
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Abstract
In order to strengthen recognition capability of the unmanned plane in docking operation and strengthen its ability for controlling battery performance, the invention provides a kind of ultrasonic wave unmanned plane docking platform, for one-to-many docked, including ultrasonic transmission/reception unit, flight control units, characterized in that, also include：Infrared photography unit, for shooting infrared image；Head unit, for fixing and adjusting the shooting direction of infrared photography unit；Graphics processing unit, for infrared photography unit photographs to infrared image handle；Path planning unit, for the result based on graphics processing unit carry out it is one-to-many or more more than docking path planning, and planning is sent to the flight control units；And battery control unit, the temperature for battery in the working state control docking operation according to flight control units.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly, to a kind of ultrasonic wave unmanned plane docking platform.
Background technology
Unmanned plane, which flies alone, can complete all multitasks.With the development of society, complete unmanned plane pair using GPS technology
The technical scheme connect also increasingly increases.For example, Application No. CN 201610194249.X Chinese invention patent application discloses
A kind of aerial docking calculation of unmanned plane and system, it is specially：Second unmanned plane passes through the GPS module that is arranged on the first unmanned plane
The location information of the first unmanned plane can be got, the second unmanned plane and the first unmanned plane can be realized by the location information
Coarse alignment, due to the limited precision of GPS module, accurate contraposition can not be realized, therefore infrared photography is set on the second unmanned plane
Head, infrarede emitting diode is set on the first unmanned plane, fine alignment is realized by image recognition, passes through strong magnet after fine alignment
Docked.Accuracy when two frame unmanned planes dock in the air is improved by coarse alignment and fine alignment, passes through strong magnet pair
Connect or separate and be more convenient.
However, this mode exist in unmanned plane logistics progress identification apart from it is short the problem of, easily make in docking operation
The reasons such as origin cause of formation weather cause flying speed can not be effectively matched and cause recognition efficiency low and can not be identified in relatively long distance
The situation of multiple docking objects, and then the mating operation of complexity can not be completed.Meanwhile one-to-many and multi-to-multi docking operation
Middle to need to carry out repeatedly high-precision identification signal transmission and reception processing, the power consumption for unmanned machine battery will also increase
Add, the drawbacks of goods can not be transported to destination by the unmanned plane after the completion of docking easily occur.
The content of the invention
In order to strengthen recognition capability of the unmanned plane in docking operation and strengthen its ability for controlling battery performance, this hair
It is bright to provide a kind of ultrasonic wave unmanned plane docking platform, for one-to-many docked, including ultrasonic transmission/reception unit, flight
Control unit, it is characterised in that also include：
Infrared photography unit, for shooting infrared image；
Head unit, for fixing and adjusting the shooting direction of infrared photography unit；
Graphics processing unit, for infrared photography unit photographs to infrared image handle；
Path planning unit, for based on graphics processing unit result carry out it is one-to-many or more more than docking road
Footpath is planned, and planning is sent to the flight control units；And
Battery control unit, the temperature for battery in the working state control docking operation according to flight control units.
Further, described image processing unit is carried out based on the information that ultrasonic wave receiving unit receives to infrared image
Position registration, and the flight control units are based on position registration result adjustment heading and speed.
Further, the infrared photography unit uses laser infrared video camera.
Further, the battery control unit is used for the thermostatic control of the high-power lithium battery of unmanned plane, the lithium electricity
Pond includes multiple battery cells, and the unmanned plane includes the first constant temperature unit, the second constant temperature unit and the 3rd constant temperature unit, described
First constant temperature unit, the second constant temperature unit and the 3rd constant temperature unit can be used in heating mode of operation or refrigeration work pattern and
Outside batteries are set in turn in from inside to outside, and the battery control unit includes：
Battery cell detection unit, for detecting the temperature information and electric parameter information of battery cell；
Unmanned electrical-mechanical detection unit, for detecting unmanned plane electric parameter information；
Unmanned plane during flying Condition Monitoring Unit, for monitoring unmanned plane during flying state parameter information；
Battery temperature control unit, for the temperature information according to battery cell and electric parameter information, unmanned electrical-mechanical
Parameter information and unmanned plane during flying state parameter information determine the first constant temperature unit, the second constant temperature unit and the 3rd constant temperature unit
Mode of operation, wherein the first constant temperature unit is opposite with the mode of operation of the 3rd constant temperature unit.
Further, the battery cell detection unit includes：
Battery cell current detecting subelement, for detecting the charging current and discharge current of each battery cell；
Battery cell voltage detecting subelement, for detecting the charging voltage and discharge voltage of each battery cell；
Battery cell temperature detection subelement, for detecting each battery cell surface temperature；
Interface temperature detection sub-unit, for detecting the electric power output interface temperature of battery.
Further, the unmanned electrical-mechanical detection unit includes：
Power determination subelement, the input voltage and input current of unmanned vehicle engine are input to for detecting；
Revolution detection sub-unit, for detecting the revolution of unmanned vehicle engine.
Further, the unmanned plane during flying Condition Monitoring Unit includes：
GPS subelements, for obtaining altitude data and obtaining flying speed data；
The sub- detection unit of unmanned plane environment temperature, for detecting the environment temperature of unmanned plane local environment.
Further, the battery temperature control unit includes：
Motion state detection subelement, for according to altitude data and flying speed data, whether determining unmanned plane
Moving, and if whether be in state of flight in motion；
First test subelement, for when in state of flight, if the first constant temperature unit works in heating mode of operation
And thermostat temperature is arranged at T1, then at the first moment, nothing is determined according to the input voltage of unmanned vehicle engine and input current
The input power P of man-machine engineInput 1And determine therefrom that input power PInput 1With the ratio L of this moment engine revolution1；According to
The charging current and discharge current and charging voltage and discharge voltage of each battery cell, determine the discharge capacity of each battery cell
Difference between amount and charging capacitor amount, by each difference divided by the temperature of corresponding battery cell, and determines therefrom that to obtain
Ratio between root-mean-square value E1And the ratio R of this moment environment temperature and the mean-square value1；At the second moment, according to nobody
The input voltage and input current of machine engine determine the input power P of unmanned vehicle engineInput 2And determine therefrom that input power
PInput 2With the ratio L of this moment engine revolution2；According to the charging current of each battery cell and discharge current and charging voltage
And discharge voltage, the difference between the discharge capacity of each battery cell and charging capacitor amount is determined, by each difference divided by therewith
The temperature of corresponding battery cell, and determine therefrom that the root-mean-square value E between obtained ratio2And this moment environment temperature with
The ratio R of the mean-square value2, second moment is after the first moment, when altitude data and flying speed data
Rate of change exceedes a certain moment after presetting the first rate of change and in the second moment unmanned plane still in state of flight respectively；
Second test subelement, for being preset greatly when the rate of change of altitude data and flying speed data exceedes respectively
In the 3rd moment after the second rate of change of the first rate of change and when the 3rd moment unmanned plane is still in state of flight, according to
The input voltage and input current of unmanned vehicle engine determine the input power P of unmanned vehicle engineInput 3And determine therefrom that input
Power PInput 3With the ratio L of this moment engine revolution3；According to the charging current of each battery cell and discharge current and charging
Voltage and discharge voltage, determine the difference between the discharge capacity of each battery cell and charging capacitor amount, by each difference divided by
The temperature of corresponding battery cell, and determine therefrom that the root-mean-square value E between obtained ratio3And this moment environment temperature
Degree and the ratio R of the mean-square value3；
Difference determination subelement, for determining temperature of second constant temperature unit at the first moment, the second moment and the 3rd moment
Degree；It is determined that ((L1/R1)+(L2/R2))/(2×(L3/R3)) this ratio and | (electric power output interface temperature/environment temperature
)First moment- (electric power output interface temperature/environment temperature)Second moment| whether ratio D between this difference is higher than first threshold and small
In Second Threshold, wherein " | | " represent signed magnitude arithmetic(al)；
Second constant temperature unit sets subelement, for when difference D is higher than first threshold and when being less than Second Threshold, holding the
The thermostat temperature T1 of one constant temperature unit simultaneously sets the mode of operation of the second constant temperature unit to heat mode of operation, wherein when | D |>1
When the thermostat temperature T2=T1/ of the second constant temperature unit is set | D | and work as | D |<The thermostat temperature T2 of second constant temperature unit is set when 1
=T1 × | D |；When difference D is more than Second Threshold, then change the mode of operation of the first constant temperature unit as refrigeration work pattern and
Thermostat temperature is T1；When | D |>Set when 1 the thermostat temperature T2=environment temperatures of second constant temperature unit/| D | and work as | D |<Set when 1
Put the thermostat temperature T2=environment temperatures of the second constant temperature unit × | D |.
Further, the detection to the temperature of each battery cell is by bridge-type balancing method and discharge circuit, using external temperature
Spend collection of the sensor realization to temperature.
Further, the detection to the temperature of the electric power output interface of battery is realized by platinum resistance temperature sensor
's.
Further, the charge and discharge electric current of each battery cell is calculated by high-precision current integral way.
Further, first moment is at the time of electric power output interface temperature reaches temperature value T1 and at the moment
Unmanned plane is still in state of flight.
The beneficial effects of the invention are as follows：
(1) present invention is avoided by the way of prior art is directly docked based on receiving and transmitting signal, but is entered based on image
Row docking location is analyzed, and unmanned plane determines its own flight path and regulation flight ginseng when improving one-to-one and one-to-many docking
Several intelligent and degrees of accuracy, avoid in the prior art only by infrared mode docking cause can not be one-to-many docking it is accurate
Exactness problem, it also avoid causing accurately carry out reasonable flight path when using infrared ray or ultrasonic wave to be docked merely
The problem of planning.
(2) accuracy of detection, the degree of accuracy of battery surface temperature can be improved by the way of being monitored to multiple battery cells
And sensitivity, so as to reduce inaccuracy and the property delayed that heating retardation effect is brought to cell operating conditions temperature adjustment as far as possible
Influence；
(3) present invention is not only based on prior art and improves accuracy of detection and the degree of accuracy for general cell operating status
And sensitivity, and factor and nothing in terms of also contemplating the flying power of unmanned plane when considering thermostatic control entry condition
Itself man-machine electric parameter, being generated heat when drastically increasing simple detection battery (even multiple monomers of battery) temperature has
Delay effect causes not overheating battery or be subcooled to produce anticipation, so as to greatly extend the service life of battery, protection
The performance of battery；
(4) chosen by lot of experiments and parameter, applicants have discovered that the ratio and difference that are as above referred in technical scheme
Between for protection battery during unmanned plane during flying how for because itself flight accelerate, slow down, adjustment posture, communication with
And many principal elements for influenceing the change of battery-heating amount such as external environment make the rule of response as early as possible, and summarize
As above judgement and calculation, through experiment, seen in the result of Digi XTend series unmanned plane test, it can be ensured that it is in height above sea level
Ensure that battery temperature is in 25 ° or so all the time in the range of 500-2000 rice；
(5) present invention is creatively improved existing constant temperature technology, and formation is triple to be nested in cell peripheral successively
Constant temperature unit, wherein first and the 3rd constant temperature unit refrigeration or heating mode of operation on the contrary, and middle constant temperature unit can change
Become the thermostat temperature of its own, so as to drastically increase the autgmentability that battery is adapted to varying environment and scene：When first or
3rd constant temperature unit itself can not isolate to ambient temperature and (that is, make inside the unmanned plane residing for battery temperature and battery
The temperature isolation in other spaces) when can actively by the second constant temperature unit change thermostatic characteristics, helped on one's own initiative as transition zone
The reliable isolation of first constant temperature unit or the 3rd the constant temperature unit complete battery pair local environment in terms of temperature, compared with prior art
For there is originality.
Brief description of the drawings
Fig. 1 shows the structured flowchart of the docking platform according to the present invention.
Embodiment
As shown in figure 1, according to a preferred embodiment of the invention, the invention provides a kind of docking of ultrasonic wave unmanned plane is flat
Platform, for one-to-many docked, including ultrasonic transmission/reception unit, flight control units, it is characterised in that also include：
Infrared photography unit, for shooting infrared image；
Head unit, for fixing and adjusting the shooting direction of infrared photography unit；
Graphics processing unit, for infrared photography unit photographs to infrared image handle；
Path planning unit, for based on graphics processing unit result carry out it is one-to-many or more more than docking road
Footpath is planned, and planning is sent to the flight control units；And
Battery control unit, the temperature for battery in the working state control docking operation according to flight control units.
Preferably, described image processing unit enters line position based on the information that ultrasonic wave receiving unit receives to infrared image
Registration is put, and the flight control units are based on position registration result adjustment heading and speed.
Preferably, the infrared photography unit uses laser infrared video camera.
Preferably, the battery control unit is used for the thermostatic control of the high-power lithium battery of unmanned plane, the lithium battery
Including multiple battery cells, the unmanned plane includes the first constant temperature unit, the second constant temperature unit and the 3rd constant temperature unit, and described
One constant temperature unit, the second constant temperature unit and the 3rd constant temperature unit can be used in heating mode of operation or refrigeration work pattern and from
Outside batteries are set in turn in from inside to outside, and the battery control unit includes：
Battery cell detection unit, for detecting the temperature information and electric parameter information of battery cell；
Unmanned electrical-mechanical detection unit, for detecting unmanned plane electric parameter information；
Unmanned plane during flying Condition Monitoring Unit, for monitoring unmanned plane during flying state parameter information；
Battery temperature control unit, for the temperature information according to battery cell and electric parameter information, unmanned electrical-mechanical
Parameter information and unmanned plane during flying state parameter information determine the first constant temperature unit, the second constant temperature unit and the 3rd constant temperature unit
Mode of operation, wherein the first constant temperature unit is opposite with the mode of operation of the 3rd constant temperature unit.
Preferably, the battery cell detection unit includes：
Battery cell current detecting subelement, for detecting the charging current and discharge current of each battery cell；
Battery cell voltage detecting subelement, for detecting the charging voltage and discharge voltage of each battery cell；
Battery cell temperature detection subelement, for detecting each battery cell surface temperature；
Interface temperature detection sub-unit, for detecting the electric power output interface temperature of battery.
Preferably, the unmanned electrical-mechanical detection unit includes：
Power determination subelement, the input voltage and input current of unmanned vehicle engine are input to for detecting；
Revolution detection sub-unit, for detecting the revolution of unmanned vehicle engine.
Preferably, the unmanned plane during flying Condition Monitoring Unit includes：
GPS subelements, for obtaining altitude data and obtaining flying speed data；
The sub- detection unit of unmanned plane environment temperature, for detecting the environment temperature of unmanned plane local environment
Preferably, the battery temperature control unit includes：
Motion state detection subelement, for according to altitude data and flying speed data, whether determining unmanned plane
Moving, and if whether be in state of flight in motion；
First test subelement, for when in state of flight, if the first constant temperature unit works in heating mode of operation
And thermostat temperature is arranged at T1, then at the first moment, nothing is determined according to the input voltage of unmanned vehicle engine and input current
The input power P of man-machine engineInput 1And determine therefrom that input power PInput 1With the ratio L of this moment engine revolution1；According to
The charging current and discharge current and charging voltage and discharge voltage of each battery cell, determine the discharge capacity of each battery cell
Difference between amount and charging capacitor amount, by each difference divided by the temperature of corresponding battery cell, and determines therefrom that to obtain
Ratio between root-mean-square value E1And the ratio R of this moment environment temperature and the mean-square value1；At the second moment, according to nobody
The input voltage and input current of machine engine determine the input power P of unmanned vehicle engineInput 2And determine therefrom that input power
PInput 2With the ratio L of this moment engine revolution2；According to the charging current of each battery cell and discharge current and charging voltage
And discharge voltage, the difference between the discharge capacity of each battery cell and charging capacitor amount is determined, by each difference divided by therewith
The temperature of corresponding battery cell, and determine therefrom that the root-mean-square value E between obtained ratio2And this moment environment temperature with
The ratio R of the mean-square value2, second moment is after the first moment, when altitude data and flying speed data
Rate of change exceedes a certain moment after presetting the first rate of change and in the second moment unmanned plane still in state of flight respectively；
Second test subelement, for being preset greatly when the rate of change of altitude data and flying speed data exceedes respectively
In the 3rd moment after the second rate of change of the first rate of change and when the 3rd moment unmanned plane is still in state of flight, according to
The input voltage and input current of unmanned vehicle engine determine the input power P of unmanned vehicle engineInput 3And determine therefrom that input
Power PInput 3With the ratio L of this moment engine revolution3；According to the charging current of each battery cell and discharge current and charging
Voltage and discharge voltage, determine the difference between the discharge capacity of each battery cell and charging capacitor amount, by each difference divided by
The temperature of corresponding battery cell, and determine therefrom that the root-mean-square value E between obtained ratio3And this moment environment temperature
Degree and the ratio R of the mean-square value3；
Difference determination subelement, for determining temperature of second constant temperature unit at the first moment, the second moment and the 3rd moment
Degree；It is determined that ((L1/R1)+(L2/R2))/(2×(L3/R3)) this ratio and | (electric power output interface temperature/environment temperature
)First moment- (electric power output interface temperature/environment temperature)Second moment| whether ratio D between this difference is higher than first threshold and small
In Second Threshold, wherein " | | " represent signed magnitude arithmetic(al)；
Second constant temperature unit sets subelement, for when difference D is higher than first threshold and when being less than Second Threshold, holding the
The thermostat temperature T1 of one constant temperature unit simultaneously sets the mode of operation of the second constant temperature unit to heat mode of operation, wherein when | D |>1
When the thermostat temperature T2=T1/ of the second constant temperature unit is set | D | and work as | D |<The thermostat temperature T2 of second constant temperature unit is set when 1
=T1 × | D |；When difference D is more than Second Threshold, then change the mode of operation of the first constant temperature unit as refrigeration work pattern and
Thermostat temperature is T1；When | D |>Set when 1 the thermostat temperature T2=environment temperatures of second constant temperature unit/| D | and work as | D |<Set when 1
Put the thermostat temperature T2=environment temperatures of the second constant temperature unit × | D |.
Preferably, the detection to the temperature of each battery cell is by bridge-type balancing method and discharge circuit, using external temp
Sensor realizes the collection to temperature.
Preferably, the detection to the temperature of the electric power output interface of battery is realized by platinum resistance temperature sensor.
Preferably, the charge and discharge electric current of each battery cell is calculated by high-precision current integral way.
Preferably, first moment be at the time of electric power output interface temperature reaches temperature value T1 and the moment without
It is man-machine still in state of flight.
The narration made above for presently preferred embodiments of the present invention is the purpose to illustrate, and is not intended to limit essence of the invention
It is really disclosed form, based on teaching above or learns from embodiments of the invention and make an amendment or change to be possible
, embodiment is to explain the principle of the present invention and allowing those skilled in the art to exist with various embodiments using the present invention
Selected in practical application and narration, technological thought of the invention attempt to be determined by claim and its equalization.
Claims (10)
1. a kind of ultrasonic wave unmanned plane docking platform, for one-to-many is docked, including ultrasonic transmission/reception unit, flight control
Unit processed, it is characterised in that also include：
Infrared photography unit, for shooting infrared image；
Head unit, for fixing and adjusting the shooting direction of infrared photography unit；
Graphics processing unit, for infrared photography unit photographs to infrared image handle；
Path planning unit, for based on graphics processing unit result carry out it is one-to-many or more more than docking path rule
Draw, and planning is sent to the flight control units；And
Battery control unit, the temperature for battery in the working state control docking operation according to flight control units.
2. docking platform according to claim 1, it is characterised in that described image processing unit is based on ultrasonic wave and receives list
The information that member receives carries out position registration to infrared image, and the flight control units are based on the adjustment of position registration result and flown
Line direction and speed.
3. docking platform according to claim 1, it is characterised in that the infrared photography unit is imaged using laser infrared
Machine.
4. docking platform according to claim 1, it is characterised in that the battery control unit is used for the big work(of unmanned plane
The thermostatic control of rate lithium battery, the lithium battery include multiple battery cells, and the unmanned plane includes the first constant temperature unit, second
Constant temperature unit and the 3rd constant temperature unit, first constant temperature unit, the second constant temperature unit and the 3rd constant temperature unit can be used in
Heat mode of operation or refrigeration work pattern and be set in turn in outside batteries from inside to outside, the battery control unit includes：
Battery cell detection unit, for detecting the temperature information and electric parameter information of battery cell；
Unmanned electrical-mechanical detection unit, for detecting unmanned plane electric parameter information；
Unmanned plane during flying Condition Monitoring Unit, for monitoring unmanned plane during flying state parameter information；
Battery temperature control unit, for the temperature information according to battery cell and electric parameter information, unmanned plane electric parameter
Information and unmanned plane during flying state parameter information determine the work of the first constant temperature unit, the second constant temperature unit and the 3rd constant temperature unit
Pattern, wherein the first constant temperature unit is opposite with the mode of operation of the 3rd constant temperature unit.
5. docking platform according to claim 4, it is characterised in that the battery cell detection unit includes：
Battery cell current detecting subelement, for detecting the charging current and discharge current of each battery cell；
Battery cell voltage detecting subelement, for detecting the charging voltage and discharge voltage of each battery cell；
Battery cell temperature detection subelement, for detecting each battery cell surface temperature；
Interface temperature detection sub-unit, for detecting the electric power output interface temperature of battery.
6. docking platform according to claim 4, it is characterised in that the unmanned electrical-mechanical detection unit includes：
Power determination subelement, the input voltage and input current of unmanned vehicle engine are input to for detecting；
Revolution detection sub-unit, for detecting the revolution of unmanned vehicle engine.
7. docking platform according to claim 4, it is characterised in that the unmanned plane during flying Condition Monitoring Unit includes：
GPS subelements, for obtaining altitude data and obtaining flying speed data；
The sub- detection unit of unmanned plane environment temperature, for detecting the environment temperature of unmanned plane local environment.
8. docking platform according to claim 4, it is characterised in that the battery temperature control unit includes：
Motion state detection subelement, for according to altitude data and flying speed data, determining whether unmanned plane is being transported
It is dynamic, and if whether it is in state of flight in motion；
First test subelement, for when in state of flight, if the first constant temperature unit works in heating mode of operation and perseverance
Temperature is arranged at T1, then at the first moment, unmanned plane is determined according to the input voltage of unmanned vehicle engine and input current
The input power P of engineInput 1And determine therefrom that input power PInput 1With the ratio L of this moment engine revolution1；According to each electricity
The charging current and discharge current and charging voltage and discharge voltage of pond monomer, determine the discharge capacity of each battery cell with
Difference between charging capacitor amount, by each difference divided by the temperature of corresponding battery cell, and determine therefrom that obtained ratio
Root-mean-square value E between value1And the ratio R of this moment environment temperature and the mean-square value1；At the second moment, sent out according to unmanned plane
The input voltage and input current of motivation determine the input power P of unmanned vehicle engineInput 2And determine therefrom that input power PInput 2With
The ratio L of this moment engine revolution2；According to the charging current of each battery cell and discharge current and charging voltage and electric discharge
Voltage, the difference between the discharge capacity of each battery cell and charging capacitor amount is determined, by each difference divided by corresponding
The temperature of battery cell, and determine therefrom that the root-mean-square value E between obtained ratio2And this moment environment temperature is square with this
The ratio R of value2, second moment is after the first moment, when the rate of change of altitude data and flying speed data
Exceed a certain moment after default first rate of change respectively and in the second moment unmanned plane still in state of flight；
Second test subelement, for default being more than the when the rate of change of altitude data and flying speed data exceedes respectively
The 3rd moment after second rate of change of one rate of change and when the 3rd moment unmanned plane is still in state of flight, according to nobody
The input voltage and input current of machine engine determine the input power P of unmanned vehicle engineInput 3And determine therefrom that input power
PInput 3With the ratio L of this moment engine revolution3；According to the charging current of each battery cell and discharge current and charging voltage
And discharge voltage, the difference between the discharge capacity of each battery cell and charging capacitor amount is determined, by each difference divided by therewith
The temperature of corresponding battery cell, and determine therefrom that the root-mean-square value E between obtained ratio3And this moment environment temperature with
The ratio R of the mean-square value3；
Difference determination subelement, for determining temperature of second constant temperature unit at the first moment, the second moment and the 3rd moment；Really
Fixed ((L1/R1)+(L2/R2))/(2×(L3/R3)) this ratio with | (electric power output interface temperature/environment temperature)First moment- (electricity
Power output interface temperature/environment temperature)Second moment| whether the ratio D between this difference is higher than first threshold and is less than the second threshold
Value, wherein " | | " represent signed magnitude arithmetic(al)；
Second constant temperature unit sets subelement, for when difference D is higher than first threshold and is less than Second Threshold, keeping the first perseverance
The thermostat temperature T1 of warm unit simultaneously sets the mode of operation of the second constant temperature unit to heat mode of operation, wherein when | D |>Set when 1
Put the thermostat temperature T2=T1/ of the second constant temperature unit | D | and work as | D |<The thermostat temperature T2=T1 of second constant temperature unit is set when 1
×|D|；When difference D is more than Second Threshold, then the mode of operation for changing the first constant temperature unit is refrigeration work pattern and constant temperature
Temperature is T1；When | D |>Set when 1 the thermostat temperature T2=environment temperatures of second constant temperature unit/| D | and work as | D |<Is set when 1
The thermostat temperature T2=environment temperatures of two constant temperature units × | D |.
9. docking platform according to claim 4, it is characterised in that the detection to the temperature of each battery cell passes through bridge-type
Balancing method and discharge circuit, the collection to temperature is realized using external temp sensor.
10. docking platform according to claim 6, it is characterised in that first moment is to work as electric power output interface temperature
Spend at the time of reaching temperature value T1 and in the moment unmanned plane still in state of flight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710765552.5A CN107577244A (en) | 2017-08-30 | 2017-08-30 | A kind of ultrasonic wave unmanned plane docking platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710765552.5A CN107577244A (en) | 2017-08-30 | 2017-08-30 | A kind of ultrasonic wave unmanned plane docking platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107577244A true CN107577244A (en) | 2018-01-12 |
Family
ID=61030224
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710765552.5A Withdrawn CN107577244A (en) | 2017-08-30 | 2017-08-30 | A kind of ultrasonic wave unmanned plane docking platform |
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| CN (1) | CN107577244A (en) |
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2017
- 2017-08-30 CN CN201710765552.5A patent/CN107577244A/en not_active Withdrawn
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