CN111433706A

CN111433706A - Load control circuit and movable platform

Info

Publication number: CN111433706A
Application number: CN201880068953.8A
Authority: CN
Inventors: 戴明峻; 丁鹏; 周琦; 王一皿
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2018-11-30
Filing date: 2018-12-19
Publication date: 2020-07-17
Also published as: CN209070404U; WO2020107563A1

Abstract

A load control circuit and a movable platform are provided, wherein the load control circuit is applied to the movable platform and comprises a communication interface (301) and a power supply interface (302), the communication interface (301) is connected with the movable platform and a target load, the communication interface (301) is used for receiving power request information sent by the target load, the power supply interface (302) is connected with the movable platform and the target load, and the power supply interface (302) is used for controlling power output to the target load according to the power request information. The load control circuit can reduce hardware cost and structural layout difficulty under the condition of being compatible with various loads with different power requirements.

Description

Load control circuit and movable platform

Technical Field

The present application relates to the field of electronic technology, and more particularly, to a load control circuit and a movable platform.

Background

The movable platforms such as unmanned aerial vehicles or unmanned vehicles can mount different loads, such as cameras or laser radars, through the holder, so that corresponding operations can be realized in different scenes. Different loads may have different power requirements, and the power output by the load is too high or too low, which may cause the load to work improperly. Therefore, how to accommodate the power supply requirements of various loads is a technical problem which needs to be solved urgently.

Disclosure of Invention

The embodiment of the application provides a load control circuit and a movable platform, which can reduce hardware cost and structural layout difficulty under the condition of being compatible with power supply requirements of various loads.

The first aspect of the embodiments of the present application discloses a load control circuit, which is applied to a movable platform, and comprises a communication interface and a power interface;

the communication interface is connected with the movable platform and a target load, and is used for receiving power request information sent by the target load;

the power interface is connected with the movable platform and the target load, and the power interface is used for controlling the power output to the target load according to the power request information.

A second aspect of the embodiments of the present application discloses a movable platform, which includes the load control circuit of the first aspect.

According to the power supply control method and the power supply control device, the communication interface receives the power request information sent by the target load, the power supply interface controls the power output to the target load according to the power request information, and the hardware cost and the structural layout difficulty can be reduced under the condition of being compatible with the power supply requirements of various loads.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is an application scenario diagram of a movable platform disclosed in an embodiment of the present application;

fig. 2 is an application scenario diagram of another movable platform provided in the embodiment of the present application

FIG. 3 is a schematic diagram of a load control circuit according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of another load control circuit disclosed in an embodiment of the present application;

fig. 5 is a schematic circuit diagram of an isolated chip disclosed in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The embodiment of the application provides a load control circuit, which can be applied to a movable platform and is mainly used for being compatible with power supply requirements of various loads. The movable platform here includes a mobile device controlled by wireless communication, and may be manned or unmanned, flying or ground, large or small, such as an unmanned aerial vehicle, an unmanned automobile, a mobile robot or a handheld device, etc., and the load may include a pan head on which a camera or a measuring device, etc., may be mounted, and the measuring device may include a laser radar or a millimeter wave radar, etc. In addition, the load may include other available loads such as searchlights, shouts, etc., and is not limited herein.

Taking the application scenario diagram of the movable platform shown in fig. 1 as an example, the movable platform 10 can mount at least one load, for example, the movable platform can mount at least one pan/tilt, and different cameras or measuring devices can be mounted on different pan/tilt. Taking a movable platform as an aircraft as an example, the aircraft supports two cloud platforms and an overhead cloud platform, namely the aircraft is mounted with three cloud platforms, namely a cloud platform 101, a cloud platform 102 and a cloud platform 103, wherein the cloud platform 102 and the cloud platform 103 are mounted below the aircraft, the cloud platform 101 is mounted above the aircraft, and the cloud platform is mounted with a camera or a measuring device, so that shooting at different angles or measurement at different directions can be realized.

Taking the application scene diagram of the movable platform shown in fig. 2 as an example, different cameras or measuring devices can be mounted on any cradle head in different application scenes. For example, in an aerial photography scene, a wide-angle camera can be mounted on a certain pan-tilt head. If surveying and mapping scene, can mount laser radar etc. on this cloud platform again.

The requirements of different loads on power are different, if the movable platform outputs fixed power to the load no matter what type of load the movable platform carries, the output power cannot be matched with the power required by the load, and the performance of the load is affected by overlarge or undersize power output by the movable platform. For example, the holder is hung with a multi-line laser radar, the power demand of the multi-line laser radar is high, and if the power output by the movable platform to the multi-line laser radar is lower than the power required by the multi-line laser radar, the multi-line laser radar cannot normally operate. If the camera is hung on the pan-tilt, the power requirement of the camera is low, and if the power output to the camera by the movable platform is higher than the power required by the camera, the power consumption is high, and resources are wasted. Therefore, the traditional load control circuit cannot be compatible with the power supply requirements of various loads.

In the embodiment of the application, the communication interface may receive power request information sent by a target load, and the power supply interface may control power output to the target load according to the power request information, for example, when the power required by the target load is high, the mobile platform may be requested to output high power to the target load; when the power required by the target load is low, the movable platform may be requested to output a low power to the target load. The power supply requirements of various loads can be compatible, interfaces do not need to be provided for the loads with different power supply requirements respectively, and hardware cost and structural layout difficulty can be reduced.

Referring to fig. 3, a load control circuit according to an embodiment of the present application, the load control circuit shown in fig. 3, may be specifically applied to a movable platform.

In one implementation, the load control circuit may include a communication interface 301 and a power interface 302. The communication interface 301 connects the movable platform and the target load, and the communication interface 301 is configured to receive power request information sent by the target load. The power interface 302 connects the movable platform with the target load, and the power interface 302 is configured to control power output to the target load according to the power request information. Wherein, for example, the communication interface may be a CAN port. The communication interface 301 may establish a wired communication connection or a wireless communication connection between the mobile platform and the target load. The wired communication connection may also be a Universal Serial Bus (USB) data line or a network cable, etc. The wireless Communication connection may be a WIFI connection, a bluetooth connection, an infrared connection, a Near Field Communication (NFC) connection, or a data network connection, etc. The target load may be one or more loads.

In one implementation, as shown in fig. 4, the load control circuit may further include an in-place detection interface 403, where the in-place detection interface 403 is used to detect whether the movable platform is mounted with a target load. For example, while a camera or a measurement device is mounted by a pan-tilt, the in-situ detection interface 403 may determine that the movable platform is mounted with a target load.

In one implementation, the presence detection interface 403 is specifically configured to determine that the movable platform is mounted with the target load when the voltage of the presence detection interface 403 is a low voltage.

In one implementation, the power interface stops supplying power when the presence detection interface 403 determines that the movable platform is not carrying the target load.

In a specific implementation, when the in-situ detection interface 403 detects that the camera or the measurement device is not mounted on the movable platform, the power supply interface 402 stops supplying power. According to the embodiment of the application, under the condition that the target load is not mounted, power supply to the target load is cut off, conductive foreign matters can be prevented from falling into an in-place detection interface or being damaged due to interface short circuit, the safety of the movable platform can be improved, and unnecessary power consumption is reduced.

In one implementation, the power interface 402 is specifically configured to control the power output to the target load according to the power request information as the power requested by the power request information.

In specific implementation, the movable platform can build an H-bridge driving circuit through an MOS driving chip and an MOS tube device, and output voltage with specified power through PWM control. For example, when the power request message requests the movable platform to output 48W of power, the power interface 402 may control the power output to the target load to be 48W, or when the power request message requests the movable platform to output 34W of power, the power interface 402 may control the power output to the target load to be 34W.

In one implementation, the load control circuit may further include a power request detection interface 404, where the power request detection interface 404 connects the movable platform and the target load, and the power interface 402 is specifically configured to control power output to the target load according to the power request information and the number of pins of the power request detection interface 404 at a low voltage. For example, if the number of pins of the power request detection interface 404 at a low voltage is one, the power requirement of the corresponding target load is 48W; the number of pins of the power request detection interface 404 at low voltage is two, and the power requirement of the corresponding target load is 56W.

In one implementation, when the power request information matches the number of pins of the power request detection interface 404 at a low voltage, the power output to the target load is controlled to be the power requested by the power request information.

According to the embodiment of the application, the power output to the target load is controlled according to the number of the pins of the power request information and the power request detection interface 404 at low voltage, and double redundancy design is performed on the power output control of the target load. If only the power request information of the target load is received and the pin of the power request detection interface 404 is not pulled low, the target load cannot obtain the corresponding power request response, so that the situation that the load equipment is burnt by overvoltage due to the fact that the target load sends wrong power request information is avoided.

In one implementation, the power interface 402 is specifically configured to control the power output to the target load to be the maximum output power supportable by the mobile platform. The maximum output power may be 96W, for example, and the maximum output power that can be supported by the movable platform can be set by those skilled in the art according to actual requirements.

In one implementation, before the communication interface 401 receives the power request message sent by the target load, the power interface 402 outputs a first power to the target load, where the first power is a default output power provided by the mobile platform for the target load. The default output power may be the power demanded by the load with lower power demand, for example, 48W.

In one implementation, after power interface 402 outputs the first power to the target load, the target load may perform self-test initialization. After the self-test is initialized, the target load may determine whether it is necessary to send power request information to the movable platform according to an application scenario of the target load, and the communication interface 401 may receive the power request information sent by the target load. For example, the target load may be a video camera, the power interface 402 outputs a first power to the target load, and the target load may not send the power request message to the movable platform due to the low power demand of the video camera and the first power being sufficient to maintain the normal operation of the video camera. As another example, the target load is a measurement device, and the power interface 402 outputs the first power to the target load, and the target load may send a power request message to the movable platform to request the movable platform to increase the power output to the target load, because the measurement device has a high power demand and the first power is not enough to maintain the normal operation of the measurement device. For another example, after the power interface 402 increases the power output to the target load, if the target load is switched from the mapping scenario to the aerial photography scenario, and the demand of the target load for power in the aerial photography scenario is lower than the demand for power in the mapping scenario, the target load may send power request information to the movable platform to request the movable platform to decrease the power output to the target load.

In one implementation, the power interface 402 controls the power output to the target load, specifically, switches the power output to the target load from a first power to a second power, where the second power is the power requested by the power request information.

For example, if the target load determines that less power than the first power is required according to its actual condition, after the communication interface 401 receives the power request information sent by the target load, the power interface 402 may switch the power output to the target load from the first power to a second power, where the second power is smaller than the first power. For another example, if the target load determines that power larger than the first power is required according to its own actual condition, after the communication interface 401 receives the power request information sent by the target load, the power interface 402 may switch the power output to the target load from the first power to a second power, where the second power is larger than the first power.

In one implementation, the power interface 402 is specifically configured to control an output voltage of a pin of the power interface according to the power request information to control power output to the target load. The power output to the target load is controlled by controlling the output voltage of the pin of the power supply interface, the power supply requirements of different target loads can be met by adopting a single power supply interface, and the power supply interfaces do not need to be configured for different target loads, so that the hardware cost and the structural layout difficulty are reduced.

In one implementation, the number of target loads of the movable platform configuration is one or more. For example, the movable platform is configured with one or more holders, any of which can mount different types of cameras or measuring devices in different application scenarios. For another example, the movable platform is configured with a plurality of holders, different holders can mount different types of cameras or measuring devices, and the number of holders on which cameras or measuring devices are mounted may be one or more.

In one implementation, where the movable platform is configured with a plurality of loads, the movable platform may also be configured with a plurality of power management devices, the number of power management devices being the same as the number of configurable loads. The movable platform may output power to a target load through a power management device.

In one implementation, after the mobile platform is started, each power management device may initialize parameters of the power management device.

In one implementation, the movable platform is an unmanned aerial vehicle, an unmanned automobile, a mobile robot or a handheld device, the target load comprises a cradle head, the cradle head is hung with a camera or a measuring device, and the measuring device comprises a laser radar or a millimeter wave radar.

In one implementation, the communication interface 401 may receive further power request information sent by the target load, where the further power request information is sent when the target load detects that the movable platform does not respond to the power request information within a preset time period. In the embodiment of the application, if the mobile platform does not respond to the power request information sent by the target load within the preset time period, the target load may perform information retransmission, for example, resend the power request information to the mobile platform, which may avoid information loss and improve reliability of the power request information.

In one implementation, when the number of the power request messages sent by the target load is greater than the preset number threshold, the communication interface 401 may send a prompt message to the target load, where the prompt message is used to prompt the target load that the power request fails. In the embodiment of the application, if the power request information sent to the movable platform by the target load for multiple times is not responded, the communication interface 401 may prompt the target load that the power request fails, and the power interface 402 may not adjust the power output to the target load, so that the complete machine power supply system of the movable platform may be protected.

In one implementation, before the power interface 402 controls the power output to the target load according to the power request information, the mobile platform may perform identity authentication on the target load according to the power request information, and if the authentication is passed, the power interface 402 may control the power output to the target load according to the power request information; if the authentication fails, the mobile platform may isolate the communication interface, e.g., not respond to the information sent by the target load, or refuse to receive the information sent by the target load. According to the embodiment of the application, after the target load passes the identity authentication, the power output to the target load is controlled according to the power request information, and the safety of the movable platform can be improved.

In one implementation, the method for authenticating the target load by the mobile platform according to the power request information may be: and acquiring holder information carried by the power request information, comparing the holder information with holder information in the first database, and determining that the authentication is passed when the holder information is the same as the holder information in the first database. The holder information may be a holder type, etc.

In one implementation, the method for authenticating the target load by the mobile platform according to the power request information may be: and acquiring identification information about the target load carried by the power request information, comparing the identification information with identification information in a preset database, and determining that the authentication is passed when the identification information is the same as the identification information in the preset database. The identification information may be a Serial Number (SN) or a load name.

In one implementation, the load control circuit may further include a power request detection interface 404, where the power request detection interface 404 connects the movable platform with the target load, and the power request detection interface 404 is configured to identify the power request information to determine that the power request information is used for requesting the movable platform to control the power output to the target load. In the embodiment of the application, the power request detection interface may analyze and filter information sent by the target load, and if it is identified that the information sent by the target load is used for requesting the movable platform to control the power output to the target load, the power supply interface may respond to the power request information, and the response speed of the power request information may be improved by filtering.

In one implementation, if the power request information is obtained by encrypting through a preset encryption algorithm, the mobile platform may decrypt the power request information through a preset decryption algorithm to obtain decrypted power request information, and then the power interface 402 controls the power output to the target load according to the decrypted power request information. For example, the removable platform may decrypt the power request message through a predetermined decryption algorithm, if the decryption is successful, the removable platform may extract a relevant field in the power request message, and if the relevant field is "on", the power interface 402 may control to output the second power or the maximum output power supportable by the removable platform. If the relevant field is "switch," the power output by the power interface 402 to the target load may be switched from the current power to the target power, for example, the current power is the second power or the maximum output power supportable by the movable platform, and the power output by the power interface 402 to the target load may be switched to the first power. If the relevant field is "48W", the power output to the target load is 48W.

According to the embodiment of the application, the security in the information transmission process can be ensured through the encryption mechanism and the corresponding decryption mechanism.

In one implementation, after the communication interface 401 receives the power request information sent by the target load, the mobile platform may perform identity authentication on the target load according to the power request information, if the authentication is successful, the power request detection interface 404 may parse and filter the power request information, when it is identified that the power request information is used to request the mobile platform to control the power output to the target load, the mobile platform may decrypt and verify the power request information, and if the verification is successful, the power supply interface 402 may control the power output to the target load according to the power request information.

According to the power supply device and the power supply method, the communication interface can receive the power request information sent by the target load, the power supply interface can control the power output to the target load according to the power request information so as to be compatible with the power supply requirements of various loads, and interfaces do not need to be respectively provided for the loads with different power supply requirements, so that the hardware cost and the structural layout difficulty can be reduced.

The embodiment of the invention also provides a movable platform which comprises the load control circuit.

The load control circuit comprises a communication interface and a power supply interface, wherein the communication interface is connected with the movable platform and the target load and is used for receiving power request information sent by the target load; the power interface is connected with the movable platform and the target load, and the power interface is used for controlling the power output to the target load according to the power request information.

Optionally, the load control circuit further includes an in-place detection interface, where the in-place detection interface is configured to detect whether the movable platform is loaded with the target load.

Optionally, the on-site detection interface is specifically configured to determine that the target load is mounted on the movable platform when the voltage of the on-site detection interface is a low voltage.

Optionally, when the in-situ detection interface determines that the movable platform is not loaded with the target load, the power supply interface stops supplying power.

Optionally, the power interface is specifically configured to control, according to the power request information, the power output to the target load to be the power requested by the power request information.

Optionally, the load control circuit further includes a power request detection interface; the power request detection interface is connected with the movable platform and the target load, and the power supply interface is specifically used for controlling the power output to the target load according to the power request information and the number of pins of the power request detection interface at low voltage.

Optionally, when the power request information matches the number of pins of the power request detection interface at the low voltage, the power output to the target load is controlled to be the power requested by the power request information.

Optionally, the power interface is specifically configured to control the power output to the target load to be a maximum output power supportable by the movable platform.

Optionally, before the communication interface receives the power request information sent by the target load, the power interface outputs a first power to the target load, where the first power is a default output power provided by the movable platform for the target load.

Optionally, the power interface controls power output to the target load, and is specifically configured to switch the power output to the target load from a first power to a second power, where the second power is a power requested by the power request information.

Optionally, the power interface is specifically configured to control an output voltage of a pin of the power interface according to the power request information, so as to control power output to the target load.

Optionally, the number of target loads of the movable platform configuration is one or more.

Optionally, the movable platform is an unmanned aerial vehicle, an unmanned automobile, a mobile robot or a handheld device, the target load comprises a cradle head, the cradle head is hung with a camera or a measuring device, and the measuring device comprises a laser radar or a millimeter wave radar.

Optionally, the movable platform is further configured with a control chip and an isolation chip, and the isolation chip is connected between the control chip and the communication interface to protect the control chip.

In an implementation manner, an isolation chip may be added in the movable platform, and taking the circuit schematic diagram of the isolation chip shown in fig. 5 as an example, the isolation chip may be U608 or U610, and the isolation chip is connected between the control chip and the communication interface, so as to prevent a large current, or damage and short circuit of the load, which may be generated after the load is connected, from affecting the control chip in the movable platform, thereby ensuring the system stability of the movable platform.

It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

The load control circuit and the movable platform provided by the embodiment of the present application are described in detail above, and a specific example is applied in the present application to explain the principle and the implementation of the present application, and the description of the above embodiment is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

A load control circuit is applied to a movable platform and comprises a communication interface and a power interface;

the communication interface is connected with the movable platform and a target load, and is used for receiving power request information sent by the target load;

the power interface is connected with the movable platform and the target load, and the power interface is used for controlling the power output to the target load according to the power request information.
The circuit of claim 1, wherein the load control circuit further comprises an in-place detection interface to detect whether the moveable platform is loaded with the target load.
The circuit of claim 2, wherein the in-place detection interface is specifically configured to determine that the movable platform is loaded with the target load when a voltage of the in-place detection interface is a low voltage.
The circuit of claim 2, wherein the power interface ceases to provide power when the in-situ detection interface determines that the movable platform is not hanging the target load.
The circuit of claim 1, wherein the power interface is specifically configured to control the power output to the target load as the power requested by the power request information according to the power request information.
The circuit of claim 1, wherein the load control circuit further comprises a power request detection interface;

the power request detection interface is connected with the movable platform and the target load, and the power supply interface is specifically used for controlling the power output to the target load according to the power request information and the number of pins of the power request detection interface at low voltage.
The circuit of claim 6, wherein when the power request information matches a number of pins at which the power request detection interface is at a low voltage, the power output to the target load is controlled to be the power requested by the power request information.
The circuit of claim 1, wherein the power interface is specifically configured to control the power output to the target load to be a maximum output power supportable by the movable platform.
The circuit of claim 1, wherein the power interface outputs a first power to the target load before the communication interface receives the power request message sent by the target load, the first power being a default output power provided by the mobile platform for the target load.
The circuit of claim 9, wherein the power interface controls power output to the target load, in particular for switching the power output to the target load from the first power to a second power, the second power being a power requested by the power request information.
The circuit of claim 1, wherein the power interface is specifically configured to control an output voltage of a pin of the power interface according to the power request information to control the power output to the target load.
The circuit of claim 1, wherein the number of target loads of the movable platform configuration is one or more.
The circuit of claim 1, wherein the movable platform is an unmanned aerial vehicle, an unmanned automobile, a mobile robot, or a handheld device, the target load comprises a pan-tilt on which a camera or a measurement device is mounted, the measurement device comprises a lidar or a millimeter wave radar.
A movable platform comprising a load control circuit, the load control circuit comprising a communication interface and a power interface;

the communication interface is connected with the movable platform and a target load, and is used for receiving power request information sent by the target load;

the power interface is connected with the movable platform and the target load, and the power interface is used for controlling the power output to the target load according to the power request information.
The movable platform of claim 14, wherein the load control circuit further comprises an in-place detection interface to detect whether the movable platform is loaded with the target load.
The movable platform of claim 15, wherein the in-place detection interface is configured to determine that the movable platform is loaded with the target load when a voltage of the in-place detection interface is a low voltage.
The movable platform of claim 15, wherein the power interface ceases to provide power when the presence detection interface determines that the movable platform is not loaded with the target load.
The movable platform of claim 14, wherein the power interface is specifically configured to control the power output to the target load as the power requested by the power request information according to the power request information.
The movable platform of claim 14, wherein the load control circuit further comprises a power request detection interface;

the power request detection interface is connected with the movable platform and the target load, and the power supply interface is specifically used for controlling the power output to the target load according to the power request information and the number of pins of the power request detection interface at low voltage.
The movable platform of claim 19, wherein when the power request information matches a number of pins at which the power request detection interface is at a low voltage, the power output to the target load is controlled to be the power requested by the power request information.
The movable platform of claim 14, wherein the power interface is specifically configured to control the power output to the target load to be a maximum output power supportable by the movable platform.
The movable platform of claim 14, wherein the power interface outputs a first power to the target load before the communication interface receives the power request message sent by the target load, the first power being a default output power provided by the movable platform for the target load.
The movable platform of claim 22, wherein the power interface controls power output to the target load, in particular to switch the power output to the target load from the first power to a second power, the second power being a power requested by the power request information.
The movable platform of claim 14, wherein the power interface is specifically configured to control an output voltage of a pin of the power interface according to the power request information to control the power output to the target load.
The movable platform of claim 14, wherein the movable platform is configured with one or more of the number of target loads.
The movable platform of claim 14, wherein the movable platform is an unmanned aerial vehicle, an unmanned automobile, a mobile robot, or a handheld device, and the target load comprises a pan-tilt on which a camera or a measurement device is mounted, the measurement device comprising a lidar or a millimeter wave radar.
The movable platform of any one of claims 14-26, wherein the movable platform is further configured with a control chip and an isolation chip, the isolation chip being connected between the control chip and the communication interface to protect the control chip.