CN112292315A - Flight control method, power supply method and system and unmanned aerial vehicle - Google Patents
Flight control method, power supply method and system and unmanned aerial vehicle Download PDFInfo
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- CN112292315A CN112292315A CN201980039698.9A CN201980039698A CN112292315A CN 112292315 A CN112292315 A CN 112292315A CN 201980039698 A CN201980039698 A CN 201980039698A CN 112292315 A CN112292315 A CN 112292315A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
A flight control method, comprising: acquiring a power supply voltage of a power supply (11) (step 301); if the power supply voltage of the power supply (11) meets the reference voltage range, the second power supply (B) supplies power to the load circuit (12) at present, and the unmanned aerial vehicle is controlled to execute safe operation (step 302); wherein the first power supply (A) is currently supplying power to the load circuit (12) if the supply voltage of the power supply (11) does not meet the reference voltage range. The power supply method, the flight control system and the unmanned aerial vehicle are further provided. The safety of the unmanned aerial vehicle is improved through the flight control method.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a flight control method, a power supply method and system and an unmanned aerial vehicle.
Background
In recent years, along with the development of science and technology, unmanned aerial vehicles are more and more widely applied.
Generally, the unmanned aerial vehicle is powered by a power supply, and the power supply can provide electric energy for the unmanned aerial vehicle so as to support the unmanned aerial vehicle to complete flight operation requirements. Specifically, the power can provide the electric energy for unmanned vehicles's motor for the screw rotation of motor drive installation on the motor can be driven to the motor, thereby makes unmanned vehicles can fly. However, during the flight of the unmanned aerial vehicle, the power supply can not provide power for the unmanned aerial vehicle due to various reasons.
In the flight process of the unmanned aerial vehicle, when the power supply can not continue to provide electric energy for the unmanned aerial vehicle, the motor can not continue to drive the propeller to rotate, so that the unmanned aerial vehicle falls to the ground, and the damage to the unmanned aerial vehicle is caused.
Disclosure of Invention
The embodiment of the application provides a flight control method, a power supply method and a power supply system and an unmanned aerial vehicle, and aims to solve the problem that in the prior art, when the power supply cannot continue to supply electric energy to the unmanned aerial vehicle in the flight process of the unmanned aerial vehicle, the unmanned aerial vehicle falls to the ground due to the fact that a motor cannot continue to drive a propeller to rotate, and the unmanned aerial vehicle is damaged.
In a first aspect, an embodiment of the present application provides a flight control method, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle includes a power supply and a load circuit, and the power supply can supply power to the load circuit; the power supply comprises a first power supply and a second power supply, the first power supply and the second power supply are electrically connected to the load circuit, the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power to the load circuit, and the method comprises the following steps:
acquiring a power supply voltage of the power supply;
if the power supply voltage of the power supply meets the reference voltage range, the second power supply supplies power to the load circuit at present, and the unmanned aerial vehicle is controlled to execute safe operation;
and if the power supply voltage of the power supply does not meet the reference voltage range, the first power supply currently supplies power for the load circuit.
In a second aspect, an embodiment of the present application provides a flight control method, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle includes a power supply and a load circuit, and the power supply is capable of supplying power to the load circuit; the power supply comprises a first power supply and a second power supply, the first power supply and the second power supply are electrically connected to the load circuit, the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power to the load circuit, and the method comprises the following steps:
determining whether a preset condition is met;
if the preset condition is met, the second power supply supplies power to the load circuit at present, and the unmanned aerial vehicle is controlled to execute safe operation;
and if the preset condition is not met, the first power supply currently supplies power for the load circuit.
In a third aspect, an embodiment of the present application provides a power supply method, which is applied to a control circuit, where the control circuit is used to control a power supply system, and the power supply system includes: the first power supply circuit is electrically connected between a load circuit and a first power supply so as to supply power to the load circuit through the first power supply; the second power supply circuit is electrically connected between the load circuit and a second power supply so as to supply power to the load circuit through the second power supply; the method comprises the following steps:
acquiring an electric signal on the second power supply circuit;
if the electric signal meets the reference electric signal range, controlling the second power supply circuit to be in a formal conduction state so that the second power supply supplies power to the load circuit; otherwise, the second power supply circuit is controlled to be in a pre-conduction state, so that the first power supply continues to supply power to the load circuit.
In a fourth aspect, an embodiment of the present application provides a flight control system, which is applied to an unmanned aerial vehicle, and the flight control system includes: a power supply, a load circuit, and a controller;
the power supply is capable of supplying power to the load circuit; the power supply comprises a first power supply and a second power supply, the first power supply and the second power supply are electrically connected with the load circuit, the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power for the load circuit,
the controller is used for acquiring the power supply voltage of the power supply; if the power supply voltage of the power supply meets the reference voltage range, the second power supply supplies power to the load circuit at present, and the unmanned aerial vehicle is controlled to execute safe operation;
and if the power supply voltage of the power supply does not meet the reference voltage range, the first power supply currently supplies power for the load circuit.
In a fifth aspect, an embodiment of the present application provides a flight control system, which is applied to an unmanned aerial vehicle, and the flight control system includes: a power supply, a load circuit and a controller;
the power supply is capable of supplying power to the load circuit; the power supply comprises a first power supply and a second power supply, the first power supply and the second power supply are electrically connected to the load circuit, and the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power for the load circuit;
the controller is used for determining whether a preset condition is met; if the preset condition is met, the second power supply supplies power to the load circuit at present, and the unmanned aerial vehicle is controlled to execute safe operation;
and if the preset condition is not met, the first power supply currently supplies power for the load circuit.
In a sixth aspect, an embodiment of the present application provides a power supply system, including: the control circuit is electrically connected with the power supply system and used for controlling the power supply system; the power supply system comprises a first power supply circuit and a second power supply circuit;
the first power supply circuit is electrically connected between a load circuit and a first power supply so as to supply power to the load circuit through the first power supply;
the second power supply circuit is electrically connected between the load circuit and a second power supply so as to supply power to the load circuit through the second power supply; the method comprises the following steps:
the control circuit is used for acquiring an electric signal on the second power supply circuit; if the electric signal meets the reference electric signal range, controlling the second power supply circuit to be in a formal conduction state so that the second power supply supplies power to the load circuit; otherwise, the second power supply circuit is controlled to be in a pre-conduction state, so that the first power supply continues to supply power to the load circuit.
In a seventh aspect, an embodiment of the present application provides an unmanned aerial vehicle, including: a flight control system as claimed in a fourth aspect and a mains power supply system as claimed in a sixth aspect.
In an eighth aspect, an embodiment of the present application provides an unmanned aerial vehicle, including: a flight control system according to a fifth aspect and a mains power supply system according to a sixth aspect.
In a ninth aspect, embodiments of the present application provide a computer-readable storage medium, which stores a computer program, the computer program comprising at least one code segment executable by a computer for controlling the computer to perform the method of any one of the above first aspects.
In a tenth aspect, embodiments of the present application provide a computer-readable storage medium, which stores a computer program, where the computer program includes at least one piece of code, where the at least one piece of code is executable by a computer to control the computer to perform the method of any one of the second aspects.
In an eleventh aspect, the present application provides a computer program, which is used to implement the method of any one of the above first aspects when the computer program is executed by a computer.
In a twelfth aspect, the present application provides a computer program, which is used to implement the method of any one of the second aspect when the computer program is executed by a computer.
The embodiment of the application provides a flight control method, a power supply method, a system and an unmanned aerial vehicle, wherein by obtaining the power supply voltage of the power supply, if the power supply voltage of the power supply meets a reference voltage range, the second power supply is currently supplying power to the load circuit, and the unmanned aerial vehicle is controlled to perform safe operation, so that the unmanned aerial vehicle is controlled to perform safe operation under the condition that the power supply voltage of the power supply meets the reference voltage range, because the power supply voltage of the power supply does not meet the reference voltage range, the first power supply is currently supplying power to the load circuit, and because the power supply voltage of the power supply meets the reference voltage range, the second power supply is currently supplying power to the load circuit, the condition that the power supply voltage of the power supply meets the reference voltage range can indicate that the first power supply is abnormal, and because the abnormality of the first power supply can affect the safety of the unmanned aerial vehicle, therefore, the unmanned aerial vehicle is controlled to execute safe operation under the condition that the power supply voltage of the power supply meets the reference voltage range, and the safety of the unmanned aerial vehicle is further improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1A to fig. 1C are schematic views of application scenarios of a flight control method provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating a flight control method according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of a flight control method according to another embodiment of the present application;
FIG. 4 is a schematic flow chart diagram illustrating a flight control method according to another embodiment of the present application;
fig. 5 is a schematic flow chart illustrating a power supply method according to another embodiment of the present application;
FIG. 6 is a schematic structural diagram of a flight control system according to an embodiment of the present application;
FIG. 7 is a schematic structural diagram of a flight control system according to another embodiment of the present application;
fig. 8 is a schematic circuit diagram of a power supply control system according to an embodiment of the present application;
FIG. 9 is a schematic circuit diagram of an isolated power module in a power control system according to an embodiment of the present disclosure;
FIG. 10 is a schematic view of a movable stage provided in accordance with an embodiment of the present application;
fig. 11 is a schematic diagram of a charging circuit according to an embodiment of the present application;
FIG. 12 is a schematic view of a movable platform provided in accordance with another embodiment of the present application;
fig. 13 is a schematic structural diagram of a power protection circuit board according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 some embodiments of the present application, but not all 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 flight control method provided by the embodiment of the application can be applied to any unmanned aerial vehicle capable of supporting at least two power supplies to independently supply power to the load circuit. As shown in fig. 1A, the unmanned aerial vehicle includes a power source 11 and a load circuit 12, wherein the power source 11 can supply power to the load circuit 12; the power supply 11 includes a first power supply a and a second power supply B, the first power supply a and the second power supply B are electrically connected to the load circuit, and an output voltage of the first power supply a or the second power supply B can be used as a power supply voltage of the power supply to supply power to the load circuit 12. Specifically, as shown in fig. 1B, the output voltage of the first power supply a is used as the power supply voltage of the power supply 11, and the output voltage of the second power supply B is not used as the power supply voltage of the power supply 11, so that the load circuit 12 is powered by the first power supply a; alternatively, as shown in fig. 1C, the output voltage of the second power supply B is used as the power supply voltage of the power supply, while the output power supply of the first power supply a is not used as the power supply voltage of the power supply 11, and the load circuit 12 is powered by the second power supply B.
One or more components of the unmanned aerial vehicle may be powered by a power source. For example, the entire unmanned aerial vehicle may be powered by a power source or only the propulsion unit, controller, communication unit, Inertial Measurement Unit (IMU), and/or other sensors may be powered by a power source. The power source may include a lithium ion battery, an alkaline battery, a nickel cadmium battery, a lead acid battery, or a nickel metal hydride battery. The power source may be a disposable battery or a rechargeable battery. The life of the battery (i.e., the amount of time that the UAV may be powered before recharging is required) may change; the lifetime can be at least 1 minute, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 45 minutes, 1 hour, 2 hours, 3 hours, 4 hours, 5 hours, or 10 hours. The power source life can have a duration greater than or equal to any of the values described herein. The duration of the power source life may fall within a range between any two values described herein.
The power source may be electrically connected to the UAV to provide power to the UAV. Any description herein regarding the power source may be applicable to one or more batteries. Any description of the power source may apply to a battery pack, and vice versa, where a battery pack may include one or more batteries. The power supplies may be connected in series, parallel, or any combination thereof. An electrical connection between the UAV and the battery or between a component of the UAV and the battery may be provided. The electrical contacts of the battery may contact the electrical contacts of the UAV. The body of the unmanned aerial vehicle may have a recessed region thereon for enclosing the battery.
The embodiment of the application can be used in various fields of unmanned aerial vehicles, such as the fields of agricultural plant protection, industrial surveying, emergency and disaster relief, life consumption and the like. In the field of agricultural plant protection, the agricultural plant protection unmanned aerial vehicle can be used for seeding, pollination, fertilization, pesticide spraying and other works, so that farmers are liberated from heavy plant protection operation, and large-scale production is facilitated; secondly, the unmanned aerial vehicle is small in size and convenient to transition and transport; and the method is not limited by terrain conditions again and has good applicability. Because the cultivation area of crops is very big, when using agricultural plant protection unmanned aerial vehicle to spray, the activity duration is than longer. By using the flight control method provided by the embodiment of the application, the first power supply supplies power to the load circuit under the condition that the first power supply is normal, and the second power supply supplies power to the load circuit under the condition that the first power supply is abnormal. The problem that the unmanned aerial vehicle loses power due to the abnormity of the first power supply can be avoided, and the safety of the unmanned aerial vehicle is improved. Through the mode of redundantly setting the power supply, the problem of the explosion caused by the fact that the unmanned aerial vehicle uses a single power supply for power supply can be effectively solved.
In some embodiments, the second battery volume may be less than the second battery, for example, the weight of the second battery is 2/3-1/20 of the first battery, in some embodiments the weight of the second battery is 1/2, 3/1, 1/4, 1/5, 1/6, 1/7, 1/8, 1/9, 1/10, 1/11, 1/12, 1/13, 1/14, 1/15, 1/16, 1/17, 1/18, 1/19, 1/20 of the first battery. Thereby reducing the weight of the machine body and improving the energy utilization efficiency of the power supply.
In some embodiments, the first power source may discharge at a high rate, e.g., 9C, 8.5C, 8C, 7.5C, 7C, 6.5C, 6C, 5.5C, 5C, etc. The first power supply can also be charged at a high rate, for example, 3C, 3.5C, 4C, 4.5C, 5C, 5.5C, 6C and the like, so that the high-rate charging is realized, the charging time is reduced, and the operation requirement can be met by one-time charging. The second power supply can discharge at a high rate, the discharge rate can reach 20-100C, and optionally, the discharge rate can be 20C, 25C, 30C, 35C, 40C, 45C, 50C, 55C, 60C, 65C, 70C, 75C, 80C, 85C, 90C, 95C, 100C.
In some embodiments, the second power source may have a capacity of 1Ah to 5Ah, and optionally, the second power source may have a capacity of 2 Ah.
In some embodiments, the first power source may include a plurality of cells, for example, the main battery may include 14 cells. The second power source may include a plurality of cells, and for example, the main battery may include 12 cells. The number of cells of the second power supply can be equal to the number of cells of the first power supply, so that a dual power supply system is formed. The number of cells of the second power source may also be less than the number of cells of the first power source, such that the second power source is substantially lighter in weight than the first power source.
In some embodiments, the discharge power of the first power source and the discharge power of the second power source may be the same, so as to ensure that the second power source supplies power to the unmanned aerial vehicle, and provide normal power output for the unmanned aerial vehicle, thereby ensuring normal operation of the unmanned aerial vehicle. The discharging power of the first power supply and the discharging power of the second power supply can be different, for example, the discharging power of the second power supply is lower than that of the first power supply, so that when the second power supply supplies power to the unmanned aerial vehicle, normal power output is provided for the unmanned aerial vehicle, and normal work of the unmanned aerial vehicle is guaranteed.
In some embodiments, the first power source and the second power source generate small amounts of heat and the temperature rise is low. Through setting up the utmost point ear of certain width, thickness for utmost point ear internal resistance is less, thereby reduces the calorific capacity of power, also makes the power dispel the heat more easily. For example, the width of the pole ear is 35mm plus or minus 1.5mm, and the thickness of the pole ear is 0.4mm plus or minus 0.02 mm.
In some embodiments, the power supply has a high tolerable charging temperature, for example, a tolerable charging temperature of 50-70 ℃, optionally 55 ℃. Through designing the battery protection circuit board, set up the through-flow structure that can electrically conduct at the battery protection circuit for partly conductive path realizes on this metal structure, improves the through-flow capacity of battery protection circuit board, can show the tolerable charging temperature who improves the power.
In some embodiments, the number of charge-discharge cycles of the power supply is high, for example, 600 or more, thereby reducing the operation cost.
It should be noted that in the present embodiment, the power source 11 refers to any type of device capable of converting other forms of energy into electric energy to be supplied to the load circuit 12, and may illustratively include a battery, such as a dry battery, a lead storage battery, or a lithium battery. The battery that first power included can be intelligent flight battery, and intelligent flight battery possesses 18000mAh large capacity, supports 3.5C and charges, and 9C discharges, and 16 minutes of charging can satisfy a flight demand, and battery calorific capacity is few, and battery charge-discharge cycle number is many etc. advantage.
For example, the power supply range of the first power source a and the power supply range of the second power source B may be the same. Therefore, the situation that hardware adaptation in different power supply ranges is needed due to the fact that the power supply ranges of the first power supply and the second power supply are different can be avoided, and hardware implementation is simplified.
For example, the power supply range of the first power source a and the power supply range of the second power source B may be different. So that the supply voltage of the power supply is related to the switching of the first power supply a and the second power supply B, so that the control related to the power supply supplying the load can be done according to the supply voltage of the voltage.
Illustratively, the power supply range of the first power supply a is a first voltage range, the power supply range of the second power supply B is a second voltage range, the first voltage range is different from the second voltage range, and the highest value of the first voltage range is greater than the highest value of the second voltage range. The difference between the power supply range of the first power supply A and the power supply range of the second power supply B can be realized by the fact that the highest value of the first voltage range is larger than the highest value of the second voltage range, and because the two power supplies are connected in parallel, the power supply with high output voltage serves as the power supply, the highest value of the first voltage range is larger than the highest value of the second voltage range, and the hardware implementation that preferentially consumes the electric energy of the first power supply A is facilitated to be simplified. In addition, because with a power constantly output electric energy, the output voltage of this power can reduce, through the highest value that the highest value in first voltage range is greater than the highest value in second voltage range, when being switched into the second power supply by first power supply and supplying power, the output voltage of power 11 can accord with the law that constantly reduces, is convenient for carry out the relevant control with first power A and second power B switching based on the output voltage of power 11.
For example, the output power of the second power source B may be the same as the output power of the first power source a. The output power of the second power supply B is the same as that of the first power supply A, so that the power supplied to the load circuit is ensured to be unchanged when the first power supply is switched to the second power supply, and the problem caused by the change of the power supplied to the load circuit due to the switching of the power supplies is avoided.
For example, the discharge rate of the second power source B may be greater than that of the first power source a. Because the discharge multiplying power of the power is inversely proportional to the capacity of the power and is proportional to the discharge current of the power, under the condition that the output power of the second power and the output power of the first power are fixed, the discharge multiplying power of the second power is larger than that of the first power, so that the capacity requirement of the second power can be smaller than that of the first power, and the capacity of the power is positively correlated to the volume of the power, so that the volume of the second power can be reduced, the weight of the second power is reduced, and the load of the unmanned aerial vehicle is reduced.
For example, in the case of a normal first power source a, the load circuit 12 can be powered by the first power source a, and in the case of an abnormal first power source a, the load circuit 12 can be powered by the second power source B, that is, the first power source a may be a main power source, and the second power source B may be a backup power source for the first power source. For example, the abnormal condition of the first power supply a may include a scenario that the first power supply a cannot continue to supply power to the unmanned aerial vehicle due to various reasons, for example, the output voltage of the first power supply a is equal to 0, for example, the output voltage of the first power supply a is greater than 0 but less than the output voltage of the second power supply B, and for example, the output voltage of the first power supply a is greater than the output voltage of the second power supply but less than the voltage threshold.
The first power supply supplies power to the load circuit under the condition that the first power supply is normal, and the second power supply supplies power to the load circuit under the condition that the first power supply is abnormal, so that the problem that the unmanned aerial vehicle loses power due to the abnormality of the first power supply can be avoided, and the safety of the unmanned aerial vehicle is improved. On this basis, according to the flight control method provided by the application, if the preset condition is met, the second power supply B supplies power to the load circuit to control the unmanned aerial vehicle to execute safe operation, the unmanned aerial vehicle is controlled to execute safe operation under the condition that the preset condition is met, and the safety of the unmanned aerial vehicle is further improved.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Fig. 2 is a schematic flow chart of a flight control method according to an embodiment of the present application, where an execution subject of the embodiment may be the unmanned aerial vehicle shown in fig. 1A to 1C, and may specifically be a controller of the unmanned aerial vehicle. As shown in fig. 2, the method of this embodiment may include:
In this step, the preset condition may specifically be a condition related to whether a power supply supplying power to the load circuit is the first power supply or the second power supply. The preset conditions can satisfy the following characteristics: the power supply supplying power to the load circuit may be represented as the second power supply when the preset condition is satisfied, and may be represented as the first power supply when the preset condition is not satisfied. The preset condition can be flexibly implemented based on the characteristics.
For example, the meeting the preset condition may include: the power supply which is currently communicating is the second power supply; or the power supply voltage of the power supply meets the reference voltage range.
For example, in a scenario where communication with a power supply is enabled, the meeting of the preset condition may include that the power supply currently communicating is the second power supply. Specifically, the preset condition may be satisfied when the power source currently communicating is the second power source, and the preset condition may not be satisfied when the power source currently communicating is the first power source. By satisfying the preset condition that the power supply currently communicating is the second power supply, the implementation mode that the power supply currently communicating represents the power supply supplying power to the load circuit is realized, and the power supply can communicate with the power supply under normal conditions, so that the applicability is facilitated.
For example, in a scenario where the voltage range of the first power source is different from the voltage range of the second power source, the meeting of the preset condition may include that the power supply range of the power source meets the reference voltage range. Specifically, the preset condition may be satisfied when the supply voltage of the power supply satisfies the reference voltage range, and the preset condition may be not satisfied when the supply voltage of the power supply does not satisfy the reference voltage range. The power supply voltage of the power supply meets the reference voltage range by meeting the preset condition, the implementation mode of the power supply supplying power to the load circuit is represented by the relation between the power supply voltage of the power supply and the reference voltage range, and the power supply voltage of the power supply is easily obtained through a hardware circuit and is very high in reliability and stability, so that the reliability and stability are improved.
The reference voltage range can be flexibly realized according to the voltage range of the first power supply and the voltage range of the second power supply. For example, the reference voltage range may correspond to a power supply range of the second power source in a case where a highest value of the first voltage range is greater than a highest value of the second voltage range.
In this step, meeting the preset condition may indicate that the second power supply is currently supplying power to the load circuit, and at this time, the unmanned aerial vehicle needs to be controlled to execute a safe operation. The non-satisfaction of the preset condition may indicate that the first power source is currently supplying power to the load circuit, at which time the unmanned aerial vehicle may not be controlled to perform the safe operation.
The safe operation refers to any type of operation capable of improving the safety of the unmanned aerial vehicle under the condition that the first power supply is abnormal, and can be flexibly achieved according to requirements. Illustratively, the security operation includes at least one of: landing, prohibiting continuation of the rise, and prohibiting continuation of the shooting.
Illustratively, under the scene that the unmanned aerial vehicle automatically flies for operation or a user controls the unmanned aerial vehicle to execute flying operation through a control terminal of the unmanned aerial vehicle, the unmanned aerial vehicle can be controlled to land through safe operation including landing when preset conditions are met, so that the unmanned aerial vehicle can safely land under the condition that the first power supply is abnormal and the second power supply supplies power to the load circuit, and the safety of the unmanned aerial vehicle is improved. In addition, the requirement on the capacity of the second power supply can be reduced by controlling the landing of the unmanned aerial vehicle, so that the second power supply can be as small as possible and as light as possible, and the reduction of the load of the unmanned aerial vehicle during flying is facilitated.
Illustratively, under the scene that the unmanned aerial vehicle needs to increase the height relative to the ground, by prohibiting continuous rising, the height of the unmanned aerial vehicle relative to the ground can be limited when a preset condition is met, so that the unmanned aerial vehicle can not rise to a higher height under the condition that the first power supply is abnormal and the second power supply supplies power to the load circuit, and the safety of the unmanned aerial vehicle is improved.
Illustratively, in the process of carrying out aerial photography operation on the unmanned aerial vehicle, because the electric quantity consumption of shooting is large, the electric quantity consumption of the power supply can be reduced by forbidding continuous shooting, the time length that the second power supply can support the flight of the unmanned aerial vehicle is prolonged, and therefore the safety of the unmanned aerial vehicle is improved.
Illustratively, the prohibiting continuation of the photographing may include: disabling picture transfer and/or disabling user control of taking or recording. Namely, when the preset condition is met, the user can be allowed to control the unmanned aerial vehicle to take pictures or record videos, but the picture transmission function of the unmanned aerial vehicle is forbidden, so that the consumption of electric quantity is reduced as much as possible by forbidding picture transmission on the basis of ensuring that the user can control the unmanned aerial vehicle to take pictures or record videos; or the image transmission function can be allowed but the user is forbidden to control the shooting or video recording of the unmanned aerial vehicle, so that the electric quantity consumption is reduced as much as possible by forbidding the shooting or video recording on the basis of ensuring that the user can obtain the aerial image through the image transmission; or, the user can be prohibited from controlling the unmanned aerial vehicle to take pictures or record videos, and the image transmission function is prohibited, so that the consumption of electric quantity caused by shooting is reduced to the maximum extent.
In this embodiment, whether the preset condition is met is determined, if the preset condition is met, the second power supply currently supplies power to the load circuit, the unmanned aerial vehicle is controlled to execute the safety operation under the condition that the preset condition is met, the situation that the first power supply currently supplies power to the load circuit can be indicated due to the fact that the preset condition is not met, the situation that the second power supply currently supplies power to the load circuit can be indicated due to the fact that the preset condition is met, therefore, the situation that the first power supply is abnormal can be indicated due to the fact that the abnormality of the first power supply affects the safety of the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to execute the safety operation under the condition that the preset condition is met, and the safety of the unmanned aerial vehicle is further improved.
Fig. 3 is a schematic flow chart of a flight control method according to another embodiment of the present application, and this embodiment mainly describes an optional implementation manner in which a preset condition includes that a supply voltage of the power supply satisfies a reference voltage range on the basis of the embodiment shown in fig. 2. As shown in fig. 3, the method of this embodiment may include:
In this step, the power supply voltage of the power supply is a power supply voltage of a power supply that supplies power to the load circuit, and may specifically be a power supply voltage of the first power supply or a power supply voltage of the second power supply. For a specific manner of obtaining the power supply voltage of the power supply, the application is not limited, for example, the power supply voltage of the power supply may be detected by a voltage detection circuit electrically connected to both the power supply and the controller, and the further controller may obtain the power supply voltage of the power supply according to a detection result of the voltage detection circuit.
In this step, the fact that the supply voltage of the power supply meets the reference voltage range may indicate that the second power supply is currently supplying power to the load circuit, and at this time, the unmanned aerial vehicle needs to be controlled to execute a safe operation. The supply voltage of the power supply not meeting the reference voltage range may indicate that the first power supply is currently supplying power to the load circuit, at which time the unmanned aerial vehicle may not be controlled to perform the safe operation.
For example, in a case where the power supply range of the second power supply corresponds to, the reference voltage range may be the same as the power supply range of the second power supply. Thereby, it is achieved that the output voltage of the power supply is in the power supply range of the second power supply, indicating that the second power supply is currently supplying power to the load circuit, and the output voltage of the power supply is outside the power supply range of the second power supply, indicating that the first power supply is currently supplying power to the load circuit. Because the output voltage of one power supply is usually reduced from the highest voltage corresponding to the full power state of the power supply to the lowest voltage corresponding to the discharge state of the power supply, the power supply supplying the load circuit can be represented by the relation between the power supply voltage of the power supply and the reference voltage range through the reference voltage range being the same as the power supply range of the second power supply, and the realization is facilitated.
For example, the first voltage range may partially overlap with the second voltage range. By partially overlapping the first voltage range and the second voltage range, it is possible to avoid a problem that the output voltage of the power supply that supplies power to the load circuit varies greatly when the first power supply is switched to the second power supply to supply power to the load circuit. In addition, the first voltage range is partially overlapped with the second voltage range, the second power supply can supply power to the load circuit under the abnormal condition that the residual electric quantity of the first power supply is low, the unmanned aerial vehicle is controlled to execute safe operation, the problem that the safety of the unmanned aerial vehicle is threatened due to the fact that the residual electric quantity of the first power supply is too low is avoided, and the improvement of the safety of the unmanned aerial vehicle is facilitated.
For example, if the supply voltage of the power supply does not meet the reference voltage range all the time, it is determined that the first power supply is currently supplying power to the load circuit, and the supply voltage of the power supply corresponds to the voltage output by the first power supply. The first power supply is determined to be currently supplying power for the load circuit only when the power supply voltage of the power supply does not meet the reference voltage range all the time, namely, the first power supply is determined to be currently supplying power for the load circuit only when the power supply voltage of the power supply does not meet the reference voltage range all the time, so that the safe operation is not executed under the condition that the first power supply is ensured not to have any abnormality.
For example, if the supply voltage of the power supply meets the reference voltage range, it is determined that the second power supply is currently supplying power to the load circuit, and the supply voltage of the power supply corresponds to the voltage output by the first power supply or the second power supply. The fact that the power supply voltage of the power supply meets the reference voltage range is achieved, the fact that the first power supply is abnormal is achieved, namely once the power supply voltage of the power supply meets the reference voltage range, the second power supply can be determined to be supplying power for the load circuit currently.
Specifically, there may be two cases: one is that the second power supply supplies power to the load circuit, the output voltage of the second power supply meets the reference voltage range, at this moment, the first power supply no longer supplies power to the load circuit, and the first power supply is abnormal, so that the unmanned aerial vehicle needs to be controlled to execute safe operation; the other is that the first power supply supplies power to the load circuit, but the output voltage of the first power supply meets the reference voltage range due to the abnormality of the first power supply such as too low electric quantity or jump of the output voltage, and at this time, although the first power supply supplies power to the load link, the unmanned aerial vehicle can also be controlled to perform safe operation due to the abnormality of the first power supply.
If the power supply voltage of the power supply meets the reference voltage range, the second power supply is determined to be supplying power to the load circuit at present, the abnormal condition of the first power supply can be effectively detected, so that safe operation can be timely executed aiming at the abnormality of the first power supply, and the safety of the unmanned aerial vehicle is favorably improved.
For example, the branch where the first power supply is located is connected in parallel to the branch where the second power supply is located, and if the voltage output by the first power supply meets the reference voltage range, it is determined that the second power supply is currently supplying power to the load circuit. Therefore, the situation that the second power supply supplies power to the load circuit currently can be determined by the fact that the voltage output by the first power supply meets the reference voltage range.
Illustratively, the reference voltage range is lower than an output voltage of the first power supply in a full power state. By the reference voltage range being lower than the output voltage of the first power supply in a full power state, the highest value of the second voltage range may be smaller than the highest value of the first voltage range.
In this embodiment, by obtaining the supply voltage of the power supply, if the supply voltage of the power supply meets the reference voltage range, the second power supply is currently supplying power to the load circuit, and controlling the unmanned aerial vehicle to perform a safe operation, so that the unmanned aerial vehicle is controlled to perform the safe operation when the supply voltage of the power supply meets the reference voltage range, since the supply voltage of the power supply does not meet the reference voltage range may indicate that the load circuit is currently being supplied by the first power supply, and the supply voltage of the power supply meets the reference voltage range may indicate that the load circuit is currently being supplied by the second power supply, the supply voltage of the power supply meeting the reference voltage range may indicate that the first power supply has an abnormality, and since the abnormality of the first power supply may affect the safety of the unmanned aerial vehicle, by controlling the unmanned aerial vehicle to perform the safe operation when the supply voltage of the power supply meets the reference voltage range, the safety of the unmanned aerial vehicle is further improved. In addition, the power supply voltage of the power supply is easily obtained through a hardware circuit, and the reliability and the stability are very high, so that the reliability and the stability are improved.
Fig. 4 is a schematic flow chart of a flight control method according to another embodiment of the present application, and this embodiment mainly describes an alternative implementation manner of controlling an unmanned aerial vehicle to perform a safety operation based on the foregoing embodiment. As shown in fig. 4, the method of this embodiment may include:
It should be noted that step 401 is similar to step 201, and is not described herein again.
And 402, if a preset condition is met, the second power supply supplies power to the load circuit at present, the flight state parameter of the unmanned aerial vehicle is adjusted, and the unmanned aerial vehicle is controlled to execute safe operation according to the flight state parameter.
In this step, for the specific content of the preset condition, reference may be made to the related description of the foregoing embodiment, which is not repeated herein.
And when the preset conditions are met, adjusting the flight state parameters of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to execute safe operation according to the adjusted flight state parameters. Wherein the flight state parameters can be used for controlling the flight state of the unmanned aerial vehicle, and the flight state parameters comprise one or more of the following: acceleration, velocity, angular velocity, or height relative to the ground. When the preset condition is met, the flight state parameters of the unmanned aerial vehicle are adjusted, and the unmanned aerial vehicle is controlled to execute safe operation according to the adjusted flight state parameters, so that the flight state of the unmanned aerial vehicle can be adjusted in time when the first power supply is abnormal, and the safety of the unmanned aerial vehicle is ensured.
For example, the adjusting the flight state parameter of the unmanned aerial vehicle may specifically include: and adjusting the flight state parameters of the unmanned aerial vehicle according to a target safety strategy so as to control the unmanned aerial vehicle to execute safety operation. The target security policy can be flexibly implemented according to security requirements.
Illustratively, the method of this embodiment may further include: and determining the target security policy according to a preset security policy. Specifically, when the number of the preset safety strategies is one, the preset safety strategies can be used as target safety strategies for adjusting flight state parameters of the unmanned aerial vehicle; when the number of the preset safety strategies is multiple, one of the multiple preset safety strategies can be selected as a target safety strategy to be used for adjusting the flight state parameters of the unmanned aerial vehicle.
The preset security policy can be flexibly implemented according to different security requirements. Illustratively, the preset security policy includes at least one of: a vertical landing strategy, a landing strategy according to a predetermined flight path, or a return point landing strategy. The vertical landing strategy refers to controlling the unmanned aerial vehicle to vertically land on the ground. The landing strategy according to the predetermined flight path refers to controlling the unmanned aerial vehicle to land on the ground according to the predetermined flight path, the predetermined flight path may be determined according to the current position of the unmanned aerial vehicle and a destination position, the destination position may be related to the current position of the unmanned aerial vehicle or the current position of a control terminal corresponding to the unmanned aerial vehicle, and may specifically be set by a user or automatically determined by the unmanned aerial vehicle. The return point landing strategy is to control the unmanned aerial vehicle to land to a return point, and the return point can be a takeoff point of the unmanned aerial vehicle or other position points except the takeoff point can be set as the return point according to a user.
For example, the determining the target security policy according to the preset security policy may specifically include: and when the distance between the unmanned aerial vehicle and the return point of the unmanned aerial vehicle is greater than a distance threshold value, selecting the vertical landing strategy as the target safety strategy. The problem that the second power supply cannot provide enough electric energy support for landing from the return point to the return point due to the fact that the return point is too far away from the current position of the unmanned aerial vehicle can be solved, and the capacity requirement on the second power supply can be reduced.
For example, the determining the target security policy according to the preset security policy may specifically include: and when the distance between the unmanned aerial vehicle and the return point of the unmanned aerial vehicle is smaller than a distance threshold value, selecting the return point landing strategy as the target safety strategy. The method and the device have the advantages that when the distance between the unmanned aerial vehicle and the return point of the unmanned aerial vehicle is smaller than the distance threshold value, the flight state parameters of the unmanned aerial vehicle are adjusted according to the landing strategy of the return point, and the return point is usually a position point convenient for the unmanned aerial vehicle to land, so that the influence of ground factors on the landing of the unmanned aerial vehicle can be avoided, and the landing safety can be improved.
For example, the determining the target security policy according to the preset security policy may specifically include: and when the distance between the unmanned aerial vehicle and the return point of the unmanned aerial vehicle is greater than a distance threshold value, selecting a landing strategy according to a preset flight path as the target safety strategy. The method and the device have the advantages that when the distance between the unmanned aerial vehicle and the return point of the unmanned aerial vehicle is larger than the distance threshold value, the flight state parameters of the unmanned aerial vehicle are adjusted according to the preset flight path landing strategy, and the problem that the second power supply cannot provide enough electric energy support for landing from the return point to the return point due to the fact that the return point is too far away from the current position of the unmanned aerial vehicle can be solved.
For example, the determining the target security policy according to the preset security policy may specifically include: and acquiring a user setting instruction sent by a control terminal of the unmanned aerial vehicle, and determining a corresponding preset landing strategy as the target safety strategy according to the user setting instruction. The target security policy is selected according to user setting, so that the user can independently select the security policy based on when the unmanned aerial vehicle is controlled to execute the security operation according to the self requirement, and the use experience of the user is improved.
For example, in the process of controlling the unmanned aerial vehicle to perform the safety operation according to the flight state parameter, the method of this embodiment may further include: acquiring a flight control instruction sent by a control terminal of the unmanned aerial vehicle, wherein the flight control instruction is used for controlling the flight state of the unmanned aerial vehicle; and when the flight control instruction is not used for controlling the flight height of the unmanned aerial vehicle, adjusting the flight state parameter according to the flight control instruction. Specifically, when the flight control command sent by the control terminal is used for controlling the flight altitude of the unmanned aerial vehicle, the flight control command is not responded; and responding to the flight control command when the flight control command sent by the control terminal is not used for controlling the flight altitude of the unmanned aerial vehicle. The method and the device have the advantages that the control of other flight state parameters except the flight altitude of the unmanned aerial vehicle by the user can be allowed, the unmanned aerial vehicle can be prevented from continuously ascending due to the control of the user, the user can be allowed to control the landing point of the unmanned aerial vehicle, and the user can generally master the ground condition, so that the landing safety is improved by allowing the user to control the landing electricity of the unmanned aerial vehicle.
In this embodiment, whether a preset condition is met is determined, if the preset condition is met, the second power supply supplies power to the load circuit at present, the flight state parameter of the unmanned aerial vehicle is adjusted, and the unmanned aerial vehicle is controlled to execute safe operation according to the flight state parameter, so that the flight state of the unmanned aerial vehicle can be adjusted in time when the first power supply is abnormal, and the safety of the unmanned aerial vehicle is ensured.
On the basis of the embodiments of the method shown in fig. 2 to 4, optionally, the controlling the unmanned aerial vehicle to perform a safety operation may further include: acquiring a flight control instruction sent by a control terminal of the unmanned aerial vehicle, wherein the flight control instruction is used for controlling the flight state of the unmanned aerial vehicle; not responding to the flight control command. By not responding to the flight control instruction sent by the control terminal, the influence on the safe operation process of the unmanned aerial vehicle caused by the control of the user can be avoided.
Illustratively, the not responding to the flight control command may specifically include: when the flight control command is used for controlling the flight altitude of the unmanned aerial vehicle, the flight control command is not responded. The method and the device have the advantages that the control of other flight state parameters except the flight altitude of the unmanned aerial vehicle by the user can be allowed, the unmanned aerial vehicle can be prevented from continuously ascending due to the control of the user, the user can be allowed to control the landing point of the unmanned aerial vehicle, and the user can generally master the ground condition, so that the landing safety is improved by allowing the user to control the landing electricity of the unmanned aerial vehicle.
Illustratively, the controlling the unmanned aerial vehicle to perform the safety operation may specifically include: and if the unmanned aerial vehicle is currently executing the safety operation, controlling the unmanned aerial vehicle to continue executing the safety operation. Therefore, the control of enabling the unmanned aerial vehicle to execute the safe operation can be prevented from being triggered again under the condition that the preset condition is met and the unmanned aerial vehicle is controlled to execute the safe operation, and the continuity of the unmanned aerial vehicle executing the safe operation is favorably ensured.
On the basis of the embodiments of the methods shown in fig. 2 to fig. 4, optionally, when the second power supply is controlled to supply power to the load circuit, a prompt message is sent to a control terminal of the unmanned aerial vehicle, so that the control terminal outputs a prompt message to a user, where the prompt message is used to prompt the unmanned aerial vehicle that a safe operation needs to be performed. The reminding message is sent to the control terminal of the unmanned aerial vehicle, so that the control terminal can output the reminding message for reminding the user that the unmanned aerial vehicle needs to execute the safety operation according to the reminding message, the user can know the current state of the unmanned aerial vehicle, the problem that the user mistakenly thinks that the unmanned aerial vehicle is not controlled is avoided, and the use experience of the user is improved.
For the first power supply a and the second power supply B in the method embodiments shown in fig. 2-4, the power supply method shown in fig. 5 may be adopted to control the first power supply or the second power supply to supply power to the load circuit. The power supply method can be applied to a control circuit, the control circuit is used for controlling a power supply system, and the power supply system comprises a first power supply circuit, a second power supply circuit and a control circuit, wherein the first power supply circuit is electrically connected between a load circuit and a first power supply so as to supply power to the load circuit through the first power supply; the second power supply circuit is electrically connected between the load circuit and a second power supply so as to supply power to the load circuit through the second power supply; as shown in fig. 5, the method includes:
Wherein the electrical signal comprises a voltage signal or a current signal. For example, the electrical signal on the second power supply circuit may be obtained by a signal detection circuit electrically connected to the second power supply circuit.
Wherein, the second power supply circuit in the pre-conducting state is understood as: the second power supply circuit is turned on but the second power supply does not supply power to the outside. The reason for this phenomenon is: when the first power supply supplies power, even if the second power supply circuit is turned on, the second power supply circuit cannot supply power to the outside due to the hardware property of the circuit, but the precondition is that the supply voltage of the first power supply is greater than or equal to the supply voltage of the second power supply.
The second power supply circuit being in a formal conducting state is to be understood that the second power supply is capable of supplying power to the load circuit.
The electric signal satisfying the reference electric signal range can indicate that the first power supply is abnormal and needs to be supplied to the load circuit by the second power supply, and the electric signal not satisfying the reference electric signal range can indicate that the first power supply is not abnormal and needs not to be supplied to the load circuit by the second power supply. The reference signal range can be flexibly realized according to the characteristics of the required hardware circuit.
In this embodiment, by obtaining the electrical signal on the second power supply circuit, if the electrical signal satisfies the reference electrical signal range, the second power supply circuit is controlled to be in a formal conduction state, so that the second power supply supplies power to the load circuit, otherwise, the second power supply circuit is controlled to be in a pre-conduction state, so that the first power supply continues to supply power to the load circuit, thereby realizing that the control circuit can control the first power supply to supply power to the load circuit when the first power supply is normal, and can control the second power supply to supply power to the load circuit when the first power supply is abnormal, and avoiding the problem that the unmanned aerial vehicle loses power due to the abnormality of the first power supply, and improving the safety of the unmanned aerial vehicle.
On the basis of the embodiment shown in fig. 5, optionally, the control circuit includes a first switch circuit for electrically connecting in the second power supply circuit. Correspondingly, the controlling the second power supply circuit to be in a pre-conducting state may specifically include: and controlling the first switching circuit to pre-conduct the second power supply circuit when the first power supply supplies power so as to enable the second power supply circuit to be in a pre-conducting state. The second power supply circuit is switched on in advance when the first power supply supplies power through controlling the first switch circuit, so that at the starting moment when the first power supply supplies power to the load circuit, the second power supply can supply power to the load circuit when the first power supply is abnormal, the abnormal situation that the second power supply cannot continue to supply power to the load circuit due to the fact that the second power supply circuit is not switched on in advance when the first power supply supplies power to the load circuit is avoided, and the safety of the unmanned aerial vehicle is further improved.
Illustratively, the first switching circuit includes: a first one-way conduction element and a first switch. And the conduction direction of the first one-way conduction element is opposite to the flow direction of the second power supply current. And the first switch is connected with the first one-way conduction element in parallel. Correspondingly, the controlling the first switching circuit to pre-turn on the second power supply circuit when the first power supply supplies power may specifically include: and controlling the first switch to be in a connected state when the first power supply supplies power so as to pre-conduct the second power supply circuit.
Illustratively, the first switching circuit comprises a first MOS transistor switching circuit.
Illustratively, the first MOS transistor switch circuit comprises an NMOS transistor switch circuit.
Illustratively, the control circuit may further include a controller; and the grid electrode of the first MOS tube switching circuit is used for being electrically connected with the controller. Correspondingly, the controlling the first switch to be in a connected state when the first power supply supplies power may specifically include: the controller outputs a second signal when the first power supply supplies power to control the first MOS tube switching circuit to be conducted. Therefore, the second power supply circuit is controlled to be in the pre-conduction state by the controller outputting the second signal.
For example, the control circuit may include a detection circuit for electrically connecting with the second power supply circuit; the acquiring the electrical signal on the second power supply circuit may specifically include: the detection circuit detects and obtains an electric signal on the second power supply circuit. Thereby, it is achieved that the electrical signal on the second supply circuit is obtained by the detection circuit.
Illustratively, the control circuit may further include a second switching circuit; if the electrical signal satisfies the reference electrical signal range, controlling the second power supply circuit to be in a formal conduction state may specifically include: and the detection circuit outputs a first signal when the electric signal meets a reference signal range so as to control the second switching circuit to conduct the second power supply circuit according to the first signal. Therefore, the detection circuit controls the second switch circuit to conduct the second power supply circuit through the first signal under the condition that the electric signal of the second power supply circuit meets the reference signal range, and the second power supply is in a formal conducting state after the second power supply circuit is conducted.
Illustratively, the second switching circuit may specifically include: a second unidirectional conducting element and a second switch; the conducting direction of the second one-way conducting element is the same as the flowing direction of the second power supply current, and the second switch is connected with the second one-way conducting element in parallel. Correspondingly, the controlling the second switching circuit to turn on the second power supply circuit according to the first signal may specifically include: and controlling the second switch to conduct the second power supply circuit according to the first signal. Therefore, the detection circuit controls the second switch of the second switch circuit to conduct the second power supply circuit through the first signal under the condition that the electric signal of the second power supply circuit meets the reference signal range, and the second power supply is in a formal conducting state after the second power supply circuit is conducted.
Illustratively, the detection circuit may include: a detection element for electrical connection in the second power supply circuit; and a signal detection circuit electrically connected to the detection element. Correspondingly, the detecting circuit detects the electrical signal on the second power supply circuit, and may specifically include: the signal detection circuit detects the electric signal on the second power supply circuit in a pre-conducting state through the detection element. Thereby, it is achieved that the electrical signal on the second supply circuit is detected by the signal detection circuit of the detection circuit via the detection element of the detection circuit. For example, the detection element may be a current detection element for detecting a current signal on the second power supply circuit.
For example, the detecting circuit outputs the first signal when the electrical signal satisfies the reference signal range, which may specifically include: the signal detection circuit outputs the first signal when the electric signal is greater than or equal to a reference signal. Therefore, the signal detection circuit controls the second switch of the second switch circuit to conduct the second power supply circuit through the first signal when the electric signal of the second power supply circuit meets the reference signal range, and the second power supply is in a formal conducting state after the second power supply circuit is conducted. Wherein the electrical signal satisfying the reference signal range includes the electrical signal being greater than or equal to the reference signal.
It should be noted that, for the specific description of the related circuits in the foregoing power supply method embodiment, reference may be made to the following description of the embodiments shown in fig. 8 to fig. 10, and details are not repeated herein. The control circuit in the power supply method is used to implement a part of the circuits in the embodiments shown in fig. 8-10, and the part of the circuits can implement a function of controlling the first power supply or the second power supply to supply power to the load circuit.
Fig. 6 is a schematic structural diagram of a flight control system according to an embodiment of the present application, where the flight control system may be applied to an unmanned aerial vehicle. As shown in fig. 6, the flight control system 600 includes: a power supply 11, a load circuit 12, and a controller 13; wherein the power source 12 is capable of supplying power to the load circuit 13; the power supply comprises a first power supply and a second power supply, the first power supply and the second power supply are electrically connected to the load circuit, and the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power for the load circuit;
the controller 13 is configured to obtain a power supply voltage of the power supply; if the power supply voltage of the power supply meets the reference voltage range, the second power supply supplies power to the load circuit at present, and the unmanned aerial vehicle is controlled to execute safe operation;
and if the power supply voltage of the power supply does not meet the reference voltage range, the first power supply currently supplies power for the load circuit.
It should be noted that the controller 13 can be used to implement the technical solutions of the method embodiments shown in fig. 2 to fig. 4, and the implementation principle and technical effects are similar to those of the method embodiments, and are not described herein again.
Fig. 7 is a schematic structural diagram of a flight control system according to another embodiment of the present application, where the flight control system may be applied to an unmanned aerial vehicle. As shown in fig. 7, the flight control system 700 includes: a power supply 11, a load circuit 12, and a controller 13;
the power supply 12 is capable of supplying power to the load circuit 13; the power supply comprises a first power supply and a second power supply, the first power supply and the second power supply are electrically connected to the load circuit, and the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power for the load circuit;
the controller 13 is configured to determine whether a preset condition is satisfied; if the preset condition is met, the second power supply supplies power to the load circuit at present, and the unmanned aerial vehicle is controlled to execute safe operation;
and if the preset condition is not met, the first power supply currently supplies power for the load circuit.
It should be noted that the controller 13 can be used to implement the technical solution of the method embodiment shown in fig. 3, and the implementation principle and technical effect are similar to those of the method embodiment, and are not described herein again.
The embodiment of the present application provides a power supply system, includes: the control circuit is electrically connected with the power supply system and used for controlling the power supply system; the power supply system comprises a first power supply circuit and a second power supply circuit;
the first power supply circuit is electrically connected between a load circuit and a first power supply so as to supply power to the load circuit through the first power supply;
the second power supply circuit is electrically connected between the load circuit and a second power supply so as to supply power to the load circuit through the second power supply;
the control circuit is used for acquiring an electric signal on the second power supply circuit; if the electric signal meets the reference electric signal range, controlling the second power supply circuit to be in a formal conduction state so that the second power supply supplies power to the load circuit; otherwise, the second power supply circuit is controlled to be in a pre-conduction state, so that the first power supply continues to supply power to the load circuit.
It should be noted that the control circuit can be used to implement the technical solution of the method embodiment shown in fig. 5, and the implementation principle and technical effect are similar to those of the method embodiment, and are not described herein again.
The embodiment of the application provides an unmanned vehicles, includes: the flight control system of the embodiment shown in fig. 6 and the power supply system described above.
The embodiment of the application provides an unmanned vehicles, includes: the flight control system of the embodiment shown in fig. 7 and the power supply system described above.
In addition, the embodiment of the application provides a power supply control circuit, which is used for controlling a power supply to supply power to a load. The power source may be a plurality of, for example, a first power source, a second power source. The two power supplies can be power supplies with the same specification or power supplies with different specifications. The second power supply circuit is switched on in advance when the first power supply supplies power for the load circuit, and the second power supply can supply power to the outside in time under the condition that the first power supply is in circuit failure or power failure, so that the response speed is high, and the problem of unstable power supply caused by untimely power supply switching in the prior art is solved.
The power supply control circuit can be used in movable platforms, such as unmanned aerial vehicles, cloud trolleys, handheld cloud platforms and robots. Through the load circuit and the power supply of electricity connection portable platform, under the condition that first power is because of circuit fault or do not have the electricity, in time to the switching of power for portable platform's operation is more stable.
Fig. 8 shows a schematic diagram of a power supply control circuit according to an embodiment of the present application. The power supply control circuit includes:
a first power supply circuit 100, configured to be electrically connected between a load circuit (not shown in the figure) and a first power supply 1, so as to supply power to the load circuit through the first power supply 1;
a second power supply circuit 200, configured to be electrically connected to a second power supply 2, and configured to be connected in parallel with the first power supply circuit 100 to be connected to the load circuit;
a first switch circuit 3, electrically connected to the second power supply circuit 200, for pre-turning on the second power supply circuit 200 when the first power supply 1 supplies power, so that the second power supply circuit 200 has an electrical signal;
the detection circuit 4 is configured to detect the electrical signal on the second power supply circuit 200, and output a first signal when the electrical signal meets a requirement; and
a second switch circuit 5 electrically connected to the second power supply circuit 200, for turning on the second power supply circuit 200 according to the first signal; when the second switch circuit is turned on, the second power supply circuit 200 is in a formal on state, so that the second power supply 2 can supply power to the load circuit.
What needs to be added here is: in fig. 8, the load circuits of the first power supply circuit 100 and the second power supply circuit 200 are the same circuit. A detailed circuit diagram of the load circuit is not shown in fig. 8. The power supply control circuit provided in this embodiment is applied to different devices, and the load circuit of the power supply control circuit may be different, which is not specifically limited herein. In fig. 8, the VCC _ SYS terminal and the ground terminal may be electrically connected to a load circuit.
What needs to be added here is: the above pre-conduction is understood to be: the second power supply circuit is turned on but the second power supply does not supply power to the outside. The reason for this phenomenon is: when the first power supply supplies power, even if the second power supply circuit is turned on, the second power supply circuit cannot supply power to the outside due to the hardware property of the circuit, but the precondition is that the supply voltage of the first power supply is greater than or equal to the supply voltage of the second power supply.
According to the technical scheme provided by the embodiment, the second power supply circuit is turned on in advance when the first power supply supplies power; due to the hardware property of the circuit when the first power supply supplies power, the second power supply does not supply power to the outside even if the second power supply circuit is pre-conducted; due to the fact that the mechanism of pre-conducting the second power supply circuit is adopted, under the condition that the first power supply is in circuit failure or power failure, the second power supply can supply power to the outside in time, and response speed is high
In an implementable solution, the first switch circuit 3 may comprise: a first one-way conduction element and a first switch. And the conduction direction of the first one-way conduction element is opposite to the flow direction of the second power supply current. And the first switch is connected with the first unidirectional conducting element in parallel and is used for being in a communicated state when the first power supply supplies power so as to pre-conduct the second power supply circuit. The first one-way conduction element is an element that only allows current to flow in a single direction, and in particular, the first one-way conduction element may be a diode. The first switch may be a triode, a MOS transistor (metal-oxide-semiconductor field effect transistor), or the like. The MOS tube is used as a switching element, so that the voltage drop is small after the MOS tube is conducted, and the loss of electric quantity is reduced.
Due to the production process, the high-power MOS tube has a parasitic diode. When a large instantaneous reverse current is generated in the parasitic diode circuit, the current can be led out through the parasitic diode, so that the MOS tube is not broken down. Thus, in practical implementation, the first switch circuit 3 may include a first MOS transistor switch circuit Q6, as shown in fig. 8, and the parasitic diode of the first MOS transistor switch circuit Q6 is D2 in fig. 8. Specifically, the first MOS transistor switch circuit includes an NMOS transistor (N-channel MOS transistor) switch circuit.
Referring to the circuit diagram shown in fig. 8, when the first switch circuit 3 is the first MOS transistor switch circuit Q6, the drain of the first MOS transistor switch circuit Q6 is electrically connected to the second switch circuit 5; the source electrode of the first MOS tube switching circuit Q6 is electrically connected to the load circuit; the gate of the first MOS switch circuit Q6 is electrically connected to a controller, and the controller is configured to output a second signal when the first power supply supplies power, so that the first MOS switch circuit is turned on to pre-turn on the second power supply circuit. The purpose of pre-conducting is: under the condition that the first power supply 1 is in circuit failure or power failure, the second power supply 2 can supply power to the outside in time, and the response speed is high; because the second power supply circuit is in a pre-conduction state, the first power supply circuit can not provide electric energy for the load circuit, and the second power supply can rapidly provide electric energy for the load circuit through the second power supply circuit. The port EN1 in fig. 8 is electrically connected to the controller to receive the second signal output by the controller.
Here, it should be noted that: the power supply control system provided by the embodiment needs to be applied to specific equipment, such as an unmanned aerial vehicle and the like; therefore, the controller for electrically connecting the gate of the first MOS transistor switching circuit Q6 may be a CPU, an MCU, a single chip, or the like, which is not specifically limited in this embodiment.
The electrical signal output by the controller is usually a low voltage signal (usually called weak current signal), and the electrical signal that enables the first MOS transistor switch circuit to be turned on (i.e. the electrical signal transmitted to the gate of the first MOS transistor switch circuit to turn on the first MOS transistor switch circuit) needs to be a high voltage signal. Therefore, in this embodiment, an element capable of performing voltage conversion is required to be added between the first MOS transistor switch circuit and the controller. Referring to fig. 8, a first driving circuit 6 is electrically connected between the gate of the first MOS transistor switch circuit Q6 and the controller (i.e., EN1 port); the first driving circuit 6 is configured to drive the first MOS transistor switch circuit to be turned on according to the second signal. It is understood that the first driving circuit 6 converts the second signal (e.g. high voltage) output by the controller into a high voltage with a higher voltage value to drive the first MOS transistor switch circuit to conduct. It should be noted that how the first driving circuit 6 converts the voltage of the second signal is determined by the whole circuit design parameters according to the hardware properties of the first MOS transistor switch circuit, which is not specifically limited in this embodiment. In addition, the first driving circuit 6 may be implemented by using an existing transformer or other circuit capable of implementing voltage conversion, and this embodiment is not particularly limited in this regard.
Furthermore, the electric energy required by the operation of each element in the load circuit is provided by the first power supply or the second power supply; however, the voltage of the control power signal (such as the first electrical signal output by the detection circuit and the second electrical signal output by the controller mentioned in this embodiment) in the circuit is much smaller than the operating voltage of each element in the second power supply circuit (in the case that the second power supply starts to supply power to the outside); therefore, a first isolation circuit 9 for isolating the high voltage side from the low voltage side in the power supply control system is also required to be arranged between the gate of the first MOS transistor switch circuit Q6 and the controller (i.e., the EN1 port in fig. 8). In specific implementation, the first isolation circuit 9 may directly select an isolation chip having a high voltage side and a low voltage side in the isolation circuit in the prior art, which is not specifically limited in this embodiment.
Further, some components in the power supply control system provided in this embodiment, such as the first driving circuit and the first isolation circuit, also need to be powered on. The required operating voltage of such devices is less than the operating voltages of the first and second power supplies. Therefore, an isolation power module is required to be disposed in the power supply control system to provide the first driving circuit 6 and the first isolation circuit 9 with the operating power VCC _ ISO _ B. Specifically, as shown in fig. 8, the isolated power module 10' has a first side end and a second side end which are isolated; the first power supply 1 and the second power supply 2 are electrically connected to the first side end; the first driving circuit 6 and the first isolation circuit 9 are electrically connected to the second side end.
Further, as shown in fig. 9, the isolated power supply module includes: a control chip 101 and an isolation transformer 102. The control chip 101 is electrically connected to the load circuit; an isolation transformer 102 electrically connected to the control chip 101; wherein the isolation transformer 102 has the first side end and the second side end. The first side end of the isolation transformer 102 is electrically connected with the first power supply 1 and the second power supply 2; the second side end of the isolation transformer 102 is electrically connected to the first driving circuit 6 and the first isolation circuit 9.
Further, the second switch circuit Q7 mentioned in this embodiment can be implemented as follows. Namely, the second switching circuit Q7 includes: a second one-way conduction element and a second switch. The conduction direction of the second unidirectional conduction element is the same as the current flowing direction of the second power supply; and the second switch is connected with the second one-way conduction element in parallel and is used for conducting the second power supply circuit according to the first signal. The second one-way conduction element is an element that only allows current to flow in a single direction, and in particular, the second one-way conduction element may be a diode. The first switch may be a triode, a MOS transistor (metal-oxide-semiconductor field effect transistor), or the like.
Similar to the first switch circuit, the second switch circuit may include a second MOS transistor switch circuit Q7, as shown in fig. 8, the parasitic diode of the second MOS transistor switch circuit Q7 is D1 in the figure. Specifically, the second MOS transistor switch circuit includes an NMOS transistor switch circuit.
In specific implementation, the first MOS transistor switch circuit Q6 and the second MOS transistor switch circuit Q7 may be connected in parallel with a plurality of MOS transistor switch circuits, which is helpful for enhancing the current capacity.
Here, it should be noted that: in the technical solution provided in this embodiment, when the first switch circuit is turned on, the second power supply circuit can be turned on in advance, which mainly includes: referring to fig. 8, when the first switch circuit is turned on, the second power supply circuit is turned on in advance due to the presence of the second unidirectional conducting element or the parasitic diode D1 of the second MOS transistor switch circuit Q7 in the second switch circuit 5. When the first power supply 1 cannot supply power to the outside due to circuit faults or the fact that the power supply voltage is smaller than the voltage threshold value and the like, the power supply voltage of the first power supply 1 is lower than the voltage of the second power supply 2, at the moment, the second power supply 2 starts to supply power to the outside due to the physical characteristics of the circuit, and the second power supply circuit has current. At this time, the detection circuit 4 can detect the electrical signal on the second power supply circuit, and when the electrical signal (i.e. the current) exceeds a set threshold, the detection circuit 4 outputs a first electrical signal; the second switch circuit 5 is turned on in accordance with the first electric signal. After the first electrical signal is turned on, the supply current from the second power source 2 flows through the first switch circuit 3 and the second switch circuit 5 and is output. The parasitic diode D1 of the first unidirectional conducting element or the second MOS tube switching circuit Q7 has large voltage drop, so that serious heat generation can be caused; the second switching circuit 5 needs to be opened. After the second switch circuit 5 is turned on, the second power supply circuit is in a formal conduction state, and no voltage drop occurs in the parasitic diode, so that the voltage drop of the second switch circuit is small, and the loss of electric quantity is avoided.
Specifically, referring to fig. 8, the drain of the second MOS transistor switch circuit Q7 is electrically connected to the first switch circuit 3; the source electrode of the second MOS tube switching circuit Q7 is connected with the second power supply 2; the gate of the second MOS transistor switching circuit Q7 is electrically connected to the detection circuit 4.
Further, as shown in fig. 8, the detection circuit includes: a current detecting element, and a detection circuit.
A current sensing element for electrical connection in the second power supply circuit;
the detection circuit is used for detecting a current signal on the second power supply circuit in a pre-conduction state through the current detection element; outputting the first signal when the current signal is greater than or equal to a reference signal; or the detection circuit is used for detecting the voltage signal of the current detecting element in a pre-conducting state through the current detecting element; outputting the first signal when the voltage signal is greater than or equal to a reference voltage.
Once the power supply of the load circuit is switched from the first power supply to the second power supply, the electrical signal of the second power supply circuit may change significantly, and the detection circuit may detect the significant change by detecting the electrical signal of the current detection element, thereby outputting the first signal. Thereby enabling the second switching circuit to conduct the second power supply circuit according to the first signal; when the second switch circuit is conducted, the second power supply circuit is in a formal conducting state, so that the second power supply can supply power to the load circuit. When the second power supply circuit is in a formal conducting state, the voltage drop of the second switch circuit is very small, and the loss of electric quantity is avoided.
In a specific implementation, as shown in fig. 8, the current detecting element is a first resistor R1. The detection circuit can acquire the voltage of the first resistor R1, and compare the voltage value with a reference voltage value to output the first signal. Alternatively, the current signal of the second power supply circuit in the pre-conducting state is detected through the first resistor R1, and the first signal is output when the current signal is greater than or equal to a reference signal. The resistance of the first resistor R1 can be selected based on circuit design requirements, which is not limited in this embodiment. In one implementation, the detection circuit includes:
an operational amplifier U2 having a first non-inverting input, a first inverting input, and a first output; the first non-inverting input end and the first inverting input end are respectively and electrically connected to two ends of the detection element (i.e. a first resistor R1), and the first output end is electrically connected to a second non-inverting input end of a comparator U1;
the comparator U1 has the second non-inverting input terminal, a second inverting input terminal and a second output terminal; the first inverting input end is connected with the reference signal Vref, and the second output end is electrically connected with the second switch circuit Q7.
Further, a second isolation circuit 8 is electrically connected between the second output terminal and the second switch circuit Q7.
Further, a second driving circuit 7 is electrically connected between the second output end and the second switching circuit 5; the second driving circuit 7 is configured to drive the second switch circuit 5 to be turned on according to the first signal.
In this case, as well as the first isolation circuit 9 and the first driver circuit 6, the second isolation circuit 8 and the second driver circuit 7 are provided between the second output terminal and the second switch circuit Q7. Wherein, the second isolation circuit 8 plays the same role in the circuit as the first isolation circuit 9, and the second drive circuit 7 plays the same role in the circuit as the first drive circuit 6; for details, reference may be made to the corresponding contents in the above, and details are not described herein.
It should be noted that, in fig. 8, a third driving circuit 11 'is further provided between the second output terminal of the comparator U1 and the second isolation circuit, and the third driving circuit 11' may or may not be provided. The third drive circuit 11' functions in the circuit as the first drive circuit 6 and the second drive circuit 7. In addition, referring to fig. 8, the second switch circuit 5, i.e. the gate side of the second MOS transistor switch circuit Q7, is further connected to an enable terminal EN 0. Based on the above, the second MOS transistor switch circuit Q7 turns on after receiving the first signal output by the detection circuit (i.e., U1). In fact, the opening of the second MOS transistor switch circuit Q7 may also be triggered by other elements, such as a controller, etc., and the first signal for opening the second MOS transistor switch circuit Q7 is output through the enable terminal EN 0.
Similarly, referring to fig. 8, the isolated power module 10' can also provide the second driving circuit 7 and the second isolation circuit 8 with the operating power VCC _ ISO _ a. The isolated power supply module 10' provides the operating voltage VCC _ ISO _ a for the second driving circuit 7. The specific structure of the isolated power supply module 10' can be seen in fig. 9, and the isolated power supply module includes: a control chip 101 and an isolation transformer 102. The control chip 101 is electrically connected to the load circuit; an isolation transformer 102 electrically connected to the control chip 101; wherein the isolation transformer 102 has the first side end and the second side end. The first side end of the isolation transformer 102 is electrically connected with the first power supply 1 and the second power supply 2; the second side end of the isolation transformer 102 is electrically connected to the second driving circuit 7 and the second isolation circuit 8.
The first power supply in the power supply control system provided by this embodiment may be a main power supply; the second power supply may be a backup power supply. The full-power voltage of the main power supply is greater than or equal to the full-power voltage of the backup power supply.
In the technical scheme provided by this embodiment, the second power supply circuit is turned on in advance when the first power supply supplies power; due to the hardware property of the circuit when the first power supply supplies power, the second power supply does not supply power to the outside even if the second power supply circuit is pre-conducted; due to the fact that the mechanism of pre-conducting the second power supply circuit is adopted, under the condition that the first power supply is in failure or power-off, the second power supply can timely supply power outwards, response speed is high, and the problem that in the prior art, flying of a movable platform is unstable due to untimely switching is solved.
Another embodiment of the present embodiment further provides a power supply control system. With continued reference to the circuit schematic shown in fig. 8, the power supply control system includes:
a first power supply 1 electrically connected to a load circuit to form a first power supply circuit 100 for supplying power to the load circuit;
a second power supply 2 connected in parallel with the first power supply 1 to be connected to the load circuit (not shown) to form a second power supply circuit 200;
a first switch circuit 3 electrically connected to the second power supply circuit 200, for pre-turning on the second power supply circuit 200 when the first power supply 1 supplies power, so that the second power supply circuit 200 has an electrical signal;
the detection circuit 4 is configured to detect the electrical signal on the second power supply circuit 200, and output a first signal when the electrical signal meets a requirement; and
a second switching circuit 5 electrically connected to the second power supply circuit 200, and turning on the second power supply circuit 200 in accordance with the first signal; when the second switch circuit 5 is turned on, the second power supply circuit 200 is in a formal on state, so that the second power supply 2 can supply power to the load circuit.
In fig. 8, the VCC _ SYS terminal and the ground terminal may be electrically connected to a load circuit. In this embodiment, because the second power supply circuit is pre-turned on when the first power supply supplies power, the second power supply can output an electrical signal to the outside through the pre-turned on second power supply circuit due to the characteristics of the circuit hardware itself when the first power supply fails or is without power; the second switch is conducted when the detection circuit detects that the electric signal on the second power supply circuit meets the requirement, so that the second power supply circuit is in a formal conducting state, the second power supply can supply power for the load circuit, the power supply switching process is nearly seamless, and the response block is more stable in operation of equipment (such as a movable platform) of the power supply control system provided by the embodiment.
What needs to be added here is: the above pre-conduction is understood to be: the second power supply circuit is turned on but the second power supply does not supply power to the outside. The reason for this phenomenon is: when the first power supply supplies power, even if the second power supply circuit is turned on, the second power supply circuit cannot supply power to the outside due to the hardware property of the circuit, but the precondition is that the supply voltage of the first power supply is greater than or equal to the supply voltage of the second power supply.
The load circuit in this embodiment is not shown in fig. 8. The power supply control system provided by the embodiment is applied to different devices, and the load circuit can be different. For example, a flight power system, a flight control system, a camera and the like are electrically connected to a load circuit of the unmanned aerial vehicle; for another example, a load circuit of the unmanned vehicle is electrically connected with: driving power systems, navigation systems, and the like; the first power supply or the second power supply supplies power required for operation to various systems and devices in the load circuit. In fig. 8, the VCC _ SYS terminal is used for electrically connecting the load circuit.
Further, the power supply control system provided in this embodiment further includes: and a controller. The controller (not shown in fig. 8) is used for outputting a second signal for pre-conducting the second power supply circuit when the first power supply starts to supply power; the first switch circuit 3 is configured to pre-turn on the second power supply circuit 200 according to the second signal.
In an implementable solution, the first switch circuit 3 may comprise: a first one-way conduction element and a first switch. And the conduction direction of the first one-way conduction element is opposite to the flow direction of the second power supply current. And the first switch is connected with the first unidirectional conducting element in parallel and is used for being in a communicated state when the first power supply supplies power so as to pre-conduct the second power supply circuit. The first one-way conduction element is an element that only allows current to flow in a single direction, and in particular, the first one-way conduction element may be a diode. The first switch may be a triode, a MOS transistor (metal-oxide-semiconductor field effect transistor), or the like.
Due to the production process, the high-power MOS tube has a parasitic diode. When a large instantaneous reverse current is generated in the parasitic diode circuit, the current can be led out through the parasitic diode, so that the MOS tube is not broken down. Thus, in practical implementation, the first switch circuit 3 may include a first MOS transistor switch circuit Q6, as shown in fig. 8, and the parasitic diode of the first MOS transistor switch circuit Q6 is D2 in fig. 8. Specifically, the first MOS transistor switch circuit includes an NMOS transistor (N-channel MOS transistor) switch circuit.
Referring to the circuit diagram shown in fig. 8, when the first switch circuit 3 is the first MOS transistor switch circuit Q6, the drain of the first MOS transistor switch circuit Q6 is electrically connected to the second switch circuit 5; the source electrode of the first MOS tube switching circuit Q6 is electrically connected to the load circuit; the gate of the first MOS switch circuit Q6 is electrically connected to a controller, and the controller is configured to output a second signal when the first power supply 1 supplies power, so that the first MOS switch circuit Q6 is turned on to pre-turn on the second power supply circuit 200. The port EN1 in fig. 8 is electrically connected to the controller to receive the second signal output by the controller.
Here, it should be noted that: the power supply control system provided by the embodiment needs to be applied to specific equipment, such as an unmanned aerial vehicle and the like; therefore, the controller for electrically connecting the gate of the first MOS transistor switching circuit Q6 may be a CPU, an MCU, a single chip, or the like, which is not specifically limited in this embodiment.
The electrical signal output by the controller is usually a low voltage signal (usually called weak current signal), and the electrical signal that enables the first MOS transistor switch circuit to be turned on (i.e. the electrical signal transmitted to the gate of the first MOS transistor switch circuit to turn on the first MOS transistor switch circuit) needs to be a high voltage signal. Therefore, in this embodiment, an element capable of performing voltage conversion is required to be added between the first MOS transistor switch circuit and the controller. Referring to fig. 8, a first driving circuit 6 is electrically connected between the gate of the first MOS transistor switch circuit Q6 and the controller (i.e., EN1 port); the first driving circuit 6 is configured to drive the first MOS transistor switch circuit to be turned on according to the second signal. It is to be understood that, here, the first driving circuit 6 converts the second signal (e.g. high voltage) output by the controller into a high voltage with a higher voltage value to drive the first MOS transistor switch circuit Q6 to conduct. It should be noted that how the first driving circuit 6 converts the voltage of the second signal is determined by the whole circuit design parameters according to the hardware properties of the first MOS transistor switching circuit Q6, which is not specifically limited in this embodiment. In addition, the first driving circuit 6 may be implemented by using an existing transformer or other circuit capable of implementing voltage conversion, and this embodiment is not particularly limited in this regard.
Furthermore, the electric energy required by the operation of each element in the load circuit is provided by the first power supply or the second power supply; however, the voltage of the control power signal (such as the first electrical signal output by the detection circuit and the second electrical signal output by the controller mentioned in this embodiment) in the circuit is much smaller than the operating voltage of each element in the second power supply circuit (in the case that the second power supply starts to supply power to the outside); therefore, a first isolation circuit 9 for isolating the high voltage side from the low voltage side in the power supply control system is also required to be arranged between the gate of the first MOS transistor switch circuit Q6 and the controller (i.e., the EN1 port in fig. 8). In specific implementation, the first isolation circuit 9 may directly select an isolation chip having a high voltage side and a low voltage side in the isolation circuit in the prior art, which is not specifically limited in this embodiment.
Further, some components in the power supply control system provided in this embodiment, such as the first driving circuit and the first isolation circuit, also need to be powered on. The required operating voltage of such devices is less than the operating voltages of the first and second power supplies. Therefore, an isolation power module is required to be disposed in the power supply control system to provide the first driving circuit 6 and the first isolation circuit 9 with the operating power VCC _ ISO _ B. Specifically, as shown in fig. 8, the isolated power module 10' has a first side end and a second side end which are isolated; the first power supply 1 and the second power supply 2 are electrically connected to the first side end; the first driving circuit 6 and the first isolation circuit 9 are electrically connected to the second side end.
Further, as shown in fig. 9, the isolated power supply module includes: a control chip 101 and an isolation transformer 102. The control chip 101 is electrically connected to the load circuit; an isolation transformer 102 electrically connected to the control chip 101; wherein the isolation transformer 102 has the first side end and the second side end. The first side end of the isolation transformer 102 is electrically connected with the first power supply 1 and the second power supply 2; the second side end of the isolation transformer 102 is electrically connected to the first driving circuit 6 and the first isolation circuit 9.
Further, the second switch circuit Q7 mentioned in this embodiment can be implemented as follows. Namely, the second switching circuit Q7 includes: a second one-way conduction element and a second switch. The conduction direction of the second unidirectional conduction element is the same as the current flowing direction of the second power supply; and the second switch is connected with the second one-way conduction element in parallel and is used for conducting the second power supply circuit according to the first signal. The second one-way conduction element is an element that only allows current to flow in a single direction, and in particular, the second one-way conduction element may be a diode. The first switch may be a triode, a MOS transistor (metal-oxide-semiconductor field effect transistor), or the like.
Similar to the first switch circuit, the second switch circuit may include a second MOS transistor switch circuit Q7, as shown in fig. 8, the parasitic diode of the second MOS transistor switch circuit Q7 is D1 in the figure. Specifically, the second MOS transistor switch circuit includes an NMOS transistor switch circuit.
In specific implementation, the first MOS transistor switch circuit Q6 and the second MOS transistor switch circuit Q7 may be connected in parallel with a plurality of MOS transistor switch circuits, which is helpful for enhancing the current capacity.
Here, it should be noted that: in the technical solution provided in this embodiment, when the first switch circuit is turned on, the second power supply circuit can be turned on in advance, which mainly includes: referring to fig. 8, when the first switch circuit is turned on, the second power supply circuit is turned on in advance due to the presence of the second unidirectional conducting element or the parasitic diode D1 of the second MOS transistor switch circuit Q7 in the second switch circuit 5. When the first power supply 1 cannot supply power to the outside due to circuit faults or the fact that the power supply voltage is smaller than the voltage threshold value and the like, the power supply voltage of the first power supply 1 is lower than the voltage of the second power supply 2, at the moment, the second power supply 2 starts to supply power to the outside due to the physical characteristics of the circuit, and the second power supply circuit has current. At this time, the detection circuit 4 can detect the electrical signal on the second power supply circuit, and when the electrical signal (i.e. the current) exceeds a set threshold, the detection circuit 4 outputs a first electrical signal; the second switch circuit 5 is turned on in accordance with the first electric signal. After the first electrical signal is turned on, the supply current from the second power source 2 flows through the first switch circuit 3 and the second switch circuit 5 and is output. The parasitic diode D1 of the first unidirectional conducting element or the second MOS tube switching circuit Q7 has large voltage drop, so that serious heat generation can be caused; the second switching circuit 5 needs to be opened.
Specifically, referring to fig. 8, the drain of the second MOS transistor switch circuit Q7 is electrically connected to the first switch circuit 3; the source electrode of the second MOS tube switching circuit Q7 is connected with the second power supply 2; the gate of the second MOS transistor switching circuit Q7 is electrically connected to the detection circuit 4.
Further, as shown in fig. 8, the detection circuit includes:
a current sensing element for electrical connection in the second power supply circuit;
the detection circuit is used for detecting a current signal on the second power supply circuit in a pre-conduction state through the current detection element; outputting the first signal when the current signal is greater than or equal to a reference signal.
In a specific implementation, as shown in fig. 8, the current detecting element is a first resistor R1. The resistance of the first resistor R1 can be selected based on circuit design requirements, which is not limited in this embodiment.
In one implementation, the detection circuit includes:
an operational amplifier U2 having a first non-inverting input, a first inverting input, and a first output; the first non-inverting input end and the first inverting input end are respectively and electrically connected to two ends of the detection element (i.e. a first resistor R1), and the first output end is electrically connected to a second non-inverting input end of a comparator U1;
the comparator U1 has the second non-inverting input terminal, a second inverting input terminal and a second output terminal; the first inverting input end is connected with the reference signal Vref, and the second output end is electrically connected with the second switch circuit Q7.
Further, a second isolation circuit 8 is electrically connected between the second output terminal and the second switch circuit Q7.
Further, a second driving circuit 7 is electrically connected between the second output end and the second switching circuit 5; the second driving circuit 7 is configured to drive the second switch circuit 5 to be turned on according to the first signal.
In this case, as well as the first isolation circuit 9 and the first driver circuit 6, the second isolation circuit 8 and the second driver circuit 7 are provided between the second output terminal and the second switch circuit Q7. Wherein, the second isolation circuit 8 plays the same role in the circuit as the first isolation circuit 9, and the second drive circuit 7 plays the same role in the circuit as the first drive circuit 6; for details, reference may be made to the corresponding contents in the above, and details are not described herein.
It should be noted that, in fig. 8, a third driving circuit 11 'is further provided between the second output terminal of the comparator U1 and the second isolation circuit, and the third driving circuit 11' may or may not be provided. The third drive circuit 11' functions in the circuit as the first drive circuit 6 and the second drive circuit 7. In addition, referring to fig. 8, the second switch circuit 5, i.e. the gate side of the second MOS transistor switch circuit Q7, is further connected to an enable terminal EN 0. Based on the above, the second MOS transistor switch circuit Q7 turns on after receiving the first signal output by the detection circuit (i.e., U1). In fact, the opening of the second MOS transistor switch circuit Q7 may also be triggered by other elements, such as a controller, etc., and the first signal for opening the second MOS transistor switch circuit Q7 is output through the enable terminal EN 0.
Similarly, referring to fig. 8, the isolated power module 10' can also provide the second driving circuit 7 and the second isolation circuit 8 with the operating power VCC _ ISO _ a. The isolated power supply module 10' provides the operating voltage VCC _ ISO _ a for the second driving circuit 7. The specific structure of the isolated power supply module 10' can be seen in fig. 9, and the isolated power supply module includes: a control chip 101 and an isolation transformer 102. The control chip 101 is electrically connected to the load circuit; an isolation transformer 102 electrically connected to the control chip 101; wherein the isolation transformer 102 has the first side end and the second side end. The first side end of the isolation transformer 102 is electrically connected with the first power supply 1 and the second power supply 2; the second side end of the isolation transformer 102 is electrically connected to the second driving circuit 7 and the second isolation circuit 8.
The first power supply in the power supply control system provided by this embodiment may be a main power supply; the second power supply may be a backup power supply. The full-power voltage of the main power supply is greater than or equal to the full-power voltage of the backup power supply.
In the technical scheme provided by this embodiment, the second power supply circuit is turned on in advance when the first power supply supplies power; due to the hardware property of the circuit when the first power supply supplies power, the second power supply does not supply power to the outside even if the second power supply circuit is pre-conducted; due to the fact that the mechanism of pre-conducting the second power supply circuit is adopted, under the condition that the first power supply is in failure or power-off, the second power supply can timely supply power outwards, response speed is high, and the problem that in the prior art, flying of a movable platform is unstable due to untimely switching is solved.
Yet another embodiment of the present application further provides a movable platform. See the movable platform shown in fig. 8 and 10. The movable platform 800 includes: a first power supply 1, a second power supply 2, a controller 840 and a power supply control circuit 850. Alternatively, the movable platform comprises: controller 840 and the power supply control system provided by the above embodiments. The first power supply 1 is electrically connected to a load circuit of the movable platform 800 to form a first power supply circuit 100 for supplying power to the load circuit; the second power supply 2 is connected in parallel with the first power supply 1 to be connected into the load circuit to form a second power supply circuit 200; the controller 840 is configured to output a second signal for pre-turning on the second power supply circuit 200 when the first power supply 1 starts supplying power.
The power supply control circuit 850, as shown in fig. 8, includes:
a first switch circuit 3 electrically connected to the second power supply circuit 200, for pre-turning on the second power supply circuit 200 according to the second signal, so that the second power supply circuit 200 has an electrical signal;
the detection circuit 4 is configured to detect an electrical signal on the second power supply circuit 200, and output a first signal when the electrical signal meets a requirement; and
a second switching circuit 5 electrically connected to the second power supply circuit 200, for turning on the second power supply circuit 200 in accordance with the first signal; when the second power supply circuit 200 is turned on, the second power supply circuit 200 is in a formal on state, so that the second power supply 2 can supply power to the load circuit.
What needs to be added here is: the above pre-conduction is understood to be: the second power supply circuit 200 is turned on but the second power supply 2 does not supply power to the outside. The reason for this phenomenon is: when the first power supply 1 supplies power, even if the second power supply circuit 200 is turned on, the second power supply 2 cannot supply power to the outside due to the hardware property of the circuit itself, but it is a precondition that the supply voltage of the first power supply 1 is greater than or equal to the supply voltage of the second power supply 2.
The movable platform shown in fig. 10 is a schematic view of an unmanned aerial vehicle. The movable platform 800 includes: the camera comprises a body, a camera 820 arranged on the body, and a holder 810 arranged on the body. A camera 820 is arranged at the holder 810; the camera 820 is movable relative to the body by the holder 810. An inertial measurement unit (not shown) may also be provided on the fuselage. The movable platform may further include: a power system 830. The power system may include an electronic governor (referred to as an electric governor for short), one or more propellers, and one or more motors corresponding to the one or more propellers. Of course, the movable platform may include other elements or devices in addition to those listed above, which are not intended to be exemplary herein. The load circuit of the movable platform shown in fig. 10 is electrically connected with one or more motors corresponding to the plurality of propellers, an inertia measurement unit, a pan-tilt, a camera, and the like. The first power supply or the second power supply supplies power required for the operation of each element and device in the load circuit. In fig. 8, the VCC _ SYS terminal is used for electrically connecting the load circuit.
What needs to be added here is: the power supply control circuit in the movable platform provided in this embodiment may be implemented by directly adopting the scheme provided in the above embodiments, and specific contents may refer to the above corresponding description, and are not described here again.
The technical solution provided in this embodiment is described below with reference to a specific application example. Taking an electric unmanned aerial vehicle, in particular a heavy-load electric unmanned aerial vehicle as an example, the technical scheme provided by the embodiments is adopted to realize that: after the main battery (or the first power supply 1) is disconnected, the second battery (or the second power supply 2) is switched on rapidly, and the load is maintained to work continuously.
Wherein the second power supply 2 satisfies the following condition:
1. the supply voltage of the second power supply 2 is less than or equal to the supply voltage of the first power supply 1
2. Sufficient power may be provided to support unmanned aerial vehicle action.
The switching process is as follows:
after the unmanned aerial vehicle is started, the first power supply 1 starts to supply power for the unmanned aerial vehicle to act (such as flying). At this time, referring to fig. 8, the MCU of the unmanned aerial vehicle sends a second signal to the first MOS transistor switch circuit Q6 through the first isolation circuit 9 and the first driving circuit 6 to pre-turn on the second power supply 2 to access the second power supply circuit 200. Wherein, the MCU of the unmanned aerial vehicle is electrically connected to the EN1 end in FIG. 8.
After the unmanned aerial vehicle takes off and works, the first power supply is used for working.
If the first power supply 1 is interrupted during operation (for example, the supply voltage of the first power supply is less than the voltage threshold), the second power supply 2 first supplies power to the unmanned aerial vehicle through the parasitic diode D1 of the second MOS transistor switching circuit Q7, which may cause serious heat generation due to a large voltage drop of D1.
When the second power supply is powered by the D1, the operational amplifier U2 detects that the second power supply 2 starts outputting current through the first resistor R1, and the detected current exceeds the set threshold value through the comparator U1, and the comparator U1 outputs a first signal; the first signal passes through the second isolation circuit 8 and the second driving circuit to the second MOS switch circuit Q7, and the second MOS switch circuit Q7 is turned on. When the second battery supplies power to the system, the second MOS transistor switch circuit Q7 is required to be fully opened, so that the D1 voltage drop is reduced, the heat generation is reduced, and the Q7 is prevented from being damaged due to overheating.
After the second power supply 2 is started to supply power, the MCU controls the unmanned aerial vehicle to start a landing program. When the unmanned aerial vehicle lands, the output current of the second power supply is smaller than the set threshold value, and the second MOS tube switching circuit Q7 is automatically closed. After receiving the falling signal, the MCU will also turn off the first MOS switch circuit Q6 to complete the system power down.
In addition, the present application also provides a charging circuit, which realizes a function of charging a second battery by a first battery when the first power supply is a battery (hereinafter referred to as a first battery) and the second power supply is also a battery (hereinafter referred to as a second battery).
Fig. 11 shows a schematic diagram of a charging circuit provided in an embodiment of the present application. As shown in fig. 11, the charging circuit includes: a charge control circuit 10, a switching circuit 30, and a detection circuit 20. The charging circuit can be electrically connected to the first battery 40 and the second battery 50 for the first battery 40 to charge the second battery 50.
The charging control circuit 10 is electrically connected between the first battery 40 and the second battery 50 to form a charging circuit for taking electricity from the first battery 40 and charging the second battery 50.
And the switch circuit 30 is electrically connected in the charging circuit and used for switching on and off the charging circuit according to the switch indication signal. When the switch indication signal is used to indicate that the switch circuit 30 is turned on, the switch circuit turns on the charging circuit so that the first battery 40 can charge the second battery 50.
The detection circuit 20 is configured to detect an electrical signal on the charging circuit, and control the charging control circuit 10 according to the electrical signal to adjust a charging mode for charging the second battery 50. The charging mode may be a constant current mode or a constant voltage mode. The constant current mode refers to a constant current charging mode, and the constant voltage mode refers to a constant voltage charging mode. The detection circuit 20 can obtain the electric signal fed back by the charge control circuit 10, and then adjust the charge mode for charging the second battery 50, so that the charge mode can be switched between the constant current mode and the constant voltage mode.
According to the technical scheme provided by the embodiment, the charging circuit comprising the charging control circuit, the switching circuit and the detection circuit is arranged, the charging circuit is switched on and off by the switching circuit, and the detection circuit controls the charging control circuit based on an electric signal on the charging circuit; electricity is taken from the first battery to charge the second battery; compared with the prior art, the charger and the external power supply do not need to be additionally customized for the second battery, the cost is low, and the use is more convenient.
In a specific implementation, the detection circuit 20 is configured to transmit the detected electrical signal to the charging control circuit 10, so that the charging control circuit 10 converts the operating mode according to the acquired electrical signal to provide the charging current corresponding to the operating mode for the second battery 50.
Taking the charging control circuit as a DC-DC converter as an example, when the detection circuit 20 detects that the voltage of the second battery 50 is lower than a preset voltage threshold, the DC-DC operates in a constant current mode, and the DC-DC input terminal takes power from the first battery 40 to charge the second battery 50 with a constant current. When the detection circuit 20 detects that the voltage of the second battery 50 reaches the preset voltage threshold, the DC-DC operates in the constant voltage mode, so as to ensure that the second battery 50 can reach the full charge condition.
In an implementation solution, referring to fig. 11, the switch circuit 30 includes: a charge output switch 31;
the charging output switch 31 has a first connection end, a second connection end and a third connection end; wherein the content of the first and second substances,
the first connection end is electrically connected with a charging current output end of the charging control circuit 10;
the second connection terminal is electrically connected to the second cell 50;
the third connecting end is used for accessing a switch indicating signal and switching on and off a path between the first connecting end and the second connecting end according to the switch indicating signal.
With continued reference to fig. 11, the charge output switch 31 includes: a first MOS transistor Q15 and a second MOS transistor Q16; wherein the content of the first and second substances,
the source electrode of the first MOS transistor Q15 is electrically connected with the source electrode of the second MOS transistor Q16;
the drain electrode of the first MOS transistor Q15 is the first connection end;
the drain electrode of the second MOS transistor Q16 is the second connection terminal;
the gate of the first MOS transistor Q15 and the gate of the second MOS transistor Q16 are electrically connected, and the gate of the first MOS transistor Q15 and the gate of the second MOS transistor Q16 are commonly used as the third connection terminal.
It should be added that the first diode D1 in fig. 11 is a parasitic diode of the first MOS transistor; the second diode D2 is a parasitic diode of the second MOS transistor Q16.
Here, it should be noted that: in practical application, a diode can be used as a switch, and the diode is used for separating two batteries, so that the voltage drop is too large, and serious heating can be caused. Therefore, in this embodiment, a MOS transistor is used instead of the diode, and two MOS transistors are connected in series in opposite phases to function as a switch.
Further, in order to ensure that the first MOS transistor Q15 and the second MOS transistor Q16 can be turned off simultaneously when the first MOS transistor Q15 and the second MOS transistor Q16 need to be turned off, the charge output switch further includes a first resistor R17. As shown in fig. 11, one end of the first resistor R17 is electrically connected between the source of the first MOS transistor Q15 and the source of the second MOS transistor Q16, and the other end is electrically connected to the third connection terminal.
Further, in the charging circuit provided in this embodiment, the switch circuit 30 further includes an interface switch 32; one end of the interface switch 32 is electrically connected to a controller, and the other end is electrically connected to the third connection end of the charging output switch 31. Referring to fig. 11, the EN port in fig. 11 may be electrically connected to the controller, and the switch indication signal output by the controller is transmitted to the interface switch 32 through the EN port. The interface switch 32 is configured to execute an on-off action based on a switch indication signal output by the controller, so that the charging output switch 31 performs a corresponding on-off action based on the level of the electric potential of the third connection terminal to turn on or off the charging circuit.
Further, as shown in fig. 11, the interface switch 32 includes a third MOS transistor Q14; the grid electrode of the third MOS tube Q14 is used for being electrically connected with the controller; the source electrode of the third MOS tube Q14 is grounded; the drain of the third MOS transistor Q14 is electrically connected to the third connection terminal of the charging output switch 32.
In particular implementations, the controller is configured to output an indication signal indicative of a high level or a low level. For example, when the controller outputs a high level indication signal, the interface switch 32 is turned on, so that the charging output switch 31 is turned on to turn on the charging circuit; when the controller outputs a low level indication signal, the interface switch 31 is turned off, so that the charging output switch 31 is turned off to disconnect the charging circuit.
The detection circuit 20 may include: the detection circuit comprises a first detection circuit and a second detection circuit. The first detection circuit is used for generating a first detection signal according to the electric signal on the charging circuit; the second detection circuit is used for generating a second detection signal according to the electric signal on the charging circuit. The detection circuit 20 can control the charging control circuit 10 according to the first detection signal and the second detection signal to adjust a charging mode for charging the second battery. When the value corresponding to the first detection signal is greater than the value corresponding to the second detection signal, controlling the charging control circuit 10 to charge the second battery in a constant current mode; and/or, when the value corresponding to the first detection signal is less than or equal to the value corresponding to the second detection signal, controlling the charging control circuit 10 to charge the second battery 50 in a constant voltage mode.
For example, the first detection circuit generates a first detection signal based on the voltage of the second battery 50, and the second detection circuit generates a second detection signal based on the voltage of the second battery 50. The first detection signal is different from the second detection signal. For example, when the voltage of the second battery 50 does not reach the preset voltage value, the first detection circuit generates a first detection signal according to the voltage of the second battery 50, the second detection circuit generates a second detection signal according to the voltage of the second battery 50, the first detection signal is greater than the second detection signal, at this time, the first detection signal is used as a main control of the charging control circuit 10, and the charging mode for charging the second battery 50 is controlled to be a constant current mode, so as to improve the charging rate. When the voltage of the second battery 50 reaches a preset voltage value, the first detection circuit generates a first detection signal according to the voltage of the second battery 50, the second detection circuit generates a second detection signal according to the voltage of the second battery 50, the first detection signal is greater than the second detection signal, the second detection signal is used as a leading factor for controlling the charging control circuit 10 at the moment, a charging mode for charging the second battery 50 is controlled to be a constant voltage mode, the charging current is gradually reduced at the moment, and when the charging current reaches zero, the second battery 50 is fully charged.
Further, the first detection circuit may include: a first detection element and a voltage detection circuit. The voltage detection circuit detects the voltage of the first detection element, and controls the charge control circuit according to the voltage, thereby adjusting the charge mode for charging the second battery 50.
A first detection element electrically connected in the charging circuit. During the process of charging the second battery 50 with the first battery, the voltage of the second battery 50 is constantly changing. When the voltage of the secondary battery in the charging circuit changes, the voltage of the first detection element also changes accordingly. When the voltage of the second battery 50 reaches the reference value, the voltage of the first detection element also reaches a corresponding preset value.
A voltage detection circuit for detecting the voltage of the second battery 50 by the first detection element and controlling the charge control circuit 10 according to the voltage of the second battery 50.
In a specific embodiment, the voltage detection circuit outputs a corresponding control electrical signal to the charge control circuit 10 based on the detected voltage, so that the charge control circuit 10 changes the working mode according to the acquired control electrical signal to provide the second battery 50 with the charging current corresponding to the working mode. The operation modes of the charge control circuit 10 may include: the constant current mode and the constant voltage mode may also include other conventional modes for charging the battery, and are not limited herein.
Further, the first detection element is electrically connected between the charging control circuit 10 and the switch circuit 30. Specifically, referring to fig. 11, the first detecting element is a second resistor R13.
Further, the voltage detection unit may be implemented by using a circuit as shown in fig. 11, and specifically, the voltage detection unit includes:
a comparator U1 having a first non-inverting input, a first inverting input, and a first output; the first non-inverting input terminal is electrically connected between the charge control circuit 10 and the first detection element (i.e., the second resistor R13), the first inverting input terminal is electrically connected between the first detection element (i.e., the second resistor R13) and the switch circuit 30, and the first output terminal is electrically connected to the charge control circuit 10;
a second sensing element, which may be a resistor, such as a third resistor R14, having one end electrically connected between the first sensing element (i.e., the second resistor R13) and the switch circuit 30;
an operational amplifier U2 having a second non-inverting input, a second inverting input, and a second output; the second non-inverting input terminal is electrically connected to the other end of the third resistor R14, the second inverting input terminal is electrically connected to the second output terminal, and the second output terminal is electrically connected to the charge control circuit 10;
a third detecting element, for example, a fourth resistor R15, has one end electrically connected to the second non-inverting input terminal of the operational amplifier U2, and the other end grounded.
The second detection element and the third detection element are in the same branch circuit, and the branch circuit is connected with the second battery in parallel, so that the sum of the voltages of the second detection element and the third detection element is equal to that of the second battery. The branch is connected in parallel with the second battery and in series with the first sensing element. When the second battery is charged, the voltage gradually increases, the divided voltage of the second detection element also gradually increases, and the divided voltage of the first detection element decreases. Thus, the signal input to the positive input terminal of the operational amplifier U2 gradually rises, and the signal input to the positive input terminal of the comparator gradually falls.
In specific implementation, as shown in fig. 11, the first output terminal of the comparator U1 is electrically connected to the charge control circuit 10 through a first unidirectional conducting element D3. The first unidirectional conductive element D3 is an element that allows current to flow only in a single direction, and functions as a protection circuit. In an implementation, the first unidirectional conducting element may be a diode.
Similarly, the second output terminal of the operational amplifier U2 is electrically connected to the charge control circuit 10 through a second unidirectional conducting element D4. The second unidirectional conducting element D4 is an element that only allows current to flow in a single direction, such as a diode, and functions as a protection circuit.
Here, it should be noted that: the purpose of providing the one-way conduction element between the comparator U1 and the charge control circuit 10 and between the operational amplifier U2 and the charge control circuit 10 is to prevent a reverse current from entering the output terminals of the comparator U1 and the operational amplifier U2.
Still further, as shown in fig. 11, the first inverting input terminal of the comparator UI is electrically connected to the first output terminal through a fifth resistor R0.
The technical scheme provided by the embodiment of the application realizes the purpose of charging the second battery from the first battery based on the design of the DCDC + peripheral circuit (namely the switch circuit and the detection circuit 20), and the DCDC can switch the charging mode, such as a constant current mode and a constant voltage mode, according to the electric signal (such as voltage) of the second battery through the detection circuit 20. Compared with the prior art, the charger and the external power supply do not need to be additionally customized for the second battery, the cost is low, and the use is more convenient.
Another embodiment of the present application further provides a movable platform including the charging circuit in the above embodiment. Referring to fig. 11 and 12, the movable platform includes:
a first battery 40 for providing the required electrical energy to the movable platform;
a second battery 50 for cooperating with or replacing said first battery to provide the required electrical energy to said movable platform;
a controller for outputting a corresponding switch indication signal based on a parameter of the second battery 50;
a charging circuit, comprising:
the charging control circuit 10 is electrically connected between the first battery 40 and the second battery 50 to form a charging circuit which takes electricity from the first battery 40 and provides charging current for the second battery 50;
the switch circuit 30 is electrically connected in the charging circuit and used for switching on and off the charging circuit according to the switch indication signal;
the detection circuit 20 is configured to detect an electrical signal on the charging circuit, and control the charging control circuit 10 according to the electrical signal to adjust a charging mode for charging the second battery 50. The charging mode may be a constant current mode or a constant voltage mode. The constant current mode refers to a constant current charging mode, and the constant voltage mode refers to a constant voltage charging mode. The detection circuit 20 can obtain the electric signal fed back by the charge control circuit 10, and then adjust the charge mode for charging the second battery 50, so that the charge mode can be switched between a constant current mode and a constant voltage mode.
The charging circuit provided in this embodiment is consistent with the charging circuit provided in the above embodiments in principle and implementation, and is not described herein again.
According to the technical scheme provided by the embodiment, the charging circuit comprising the charging control circuit, the switching circuit and the detection circuit is arranged, the charging circuit is switched on and off by the switching circuit, and the detection circuit controls the charging control circuit based on an electric signal on the charging circuit; electricity is taken from the first battery to charge the second battery; compared with the prior art, the charging port does not need to be arranged on the movable platform for the second battery, and the charger and the external power supply are additionally customized for the second battery, so that the cost is low, and the use is more convenient.
The technical scheme provided by the embodiment of the application realizes the purpose of charging the second battery from the first battery based on the design of the DCDC + peripheral circuit (namely the switch circuit and the detection circuit), and the DCDC can switch the charging mode, such as a constant current mode and a constant voltage mode, according to the electric signal (such as voltage) of the second battery through the detection circuit. Compared with the prior art, the charger and the external power supply are not required to be additionally customized for the second battery of the movable platform, the cost is low, and the use is more convenient.
The application is mainly applied to the situation that when a main battery and an auxiliary battery exist, the auxiliary battery can be charged through the main battery. Therefore, under the condition that the electric quantity of the backup battery is insufficient, the electric quantity of the main battery can be obtained, and the electric quantity of the backup battery is ensured to be sufficient.
The second battery charging process of the movable platform provided by this embodiment is as follows:
when a controller (such as an MCU, a CPU, etc.) of the movable platform detects that the voltage of the second battery 50 is lower than a certain threshold, the first MOS transistor Q15 and the second MOS transistor Q16 are controlled to be turned on. When the voltage of the second battery 50 is lower than the full charge voltage, the charge control circuit (e.g., DC-DC) operates in the CC mode (i.e., constant current mode), and the input terminal draws power from the first battery 40 to charge the second battery 50 with a constant current. When the voltage of the second battery 50 reaches the full charge voltage, the charge control circuit (e.g., DC-DC) switches to the CV mode (i.e., constant voltage mode) to ensure that the second battery 50 can reach the full charge condition. After the second battery 50 is fully charged, the controller controls the first MOS transistor Q15 and the second MOS transistor Q16 to be disconnected, so that the second battery 50 is disconnected from the first battery 40.
The full charge voltage may be a specified voltage, for example, 4.2V for a lithium battery. Assuming that the full-charge voltage is 4.2V, the second battery charging process can be understood as including two stages, namely, constant-current charging to a specified voltage, such as 4.2V, and the voltage of this stage is the internal resistance of the second battery, i.e., the current, in short, in order to ensure the current is constant, such as 2A; and in the second stage, constant-voltage charging is carried out, the 4.2V locking voltage is reached to 4.2V until the current is less than a specified value, such as 0.05A, and then the circuit is cut off.
According to the technical scheme provided by the embodiment of the application, the charger and the like are not required to be additionally customized for the second battery, the movable platform is small in size, low in cost, controllable in constant current, wide in voltage range in a constant voltage mode and capable of being used by the high-voltage battery.
The movable platform provided by the embodiment can be: unmanned aerial vehicles, unmanned vehicles, and the like, and are not particularly limited herein. Fig. 12 shows the mobile platform as a schematic representation of an unmanned aerial vehicle. Besides the first battery, the charging circuit, the second battery and the controller, the unmanned aerial vehicle may further include: the camera comprises a body, a camera 820 arranged on the body, and a holder 810 arranged on the body. A camera 820 is arranged at the holder 810; the camera 820 is movable relative to the body by the holder 810. An inertial measurement unit (not shown) may also be provided on the fuselage. The movable platform may further include: a power system 830. The power system may include an electronic governor (referred to as an electric governor for short), one or more propellers, and one or more motors corresponding to the one or more propellers. Of course, the movable platform may include other elements or devices in addition to those listed above, which are not intended to be exemplary herein.
Fig. 13 is a schematic structural diagram of a power protection circuit board according to an embodiment of the present application. The power supply comprises a battery core and the power supply protection circuit board. The power supply protection circuit board is electrically connected with the battery cell, so that power supply of the battery cell is obtained. The power supply protection circuit board is also used for controlling the charging and discharging of the battery core.
As shown in fig. 13, the apparatus 130 may include: a circulating element 131 and a functional element 132. The circulating element can be electrically connected to the functional element, so that the functional element can receive electrical power from the battery cell.
In some embodiments, the current element is disposed in proximity to the functional element and may be electrically connected to the functional element by traces on/in the circuit board. The through-current element can be electrically connected with part of the functional elements, and the other part of the functional elements can still conduct electricity in the form of circuit board traces. So set up for the route that the electric current walked the line through the circuit board reduces, thereby reduces the internal resistance that the electric current flowed through the route, and then reduces the heat production of power protection circuit board, increases power protection circuit board's through-current capacity.
In some embodiments, the cross-section of the current element satisfies a dimension that enhances the current capacity of the current element as compared to the circuit board traces.
In some embodiments, the current elements may be power wires, copper bars, vias, bridges, and the like. If the current element is a power wire, the cross-sectional area of the power wire may be 20mm 2. If the flow element is a copper strip, its cross-sectional area may be 12mm 2. If the flow element is a bridge, its specification may be 200A. The circulating element is of course not limited to the elements listed above. The parameters of the above listed elements are not limited thereto.
In some embodiments, the functional elements may include control circuitry, clock circuitry, switching circuitry, detection circuitry, current sensing elements, and/or the like. The circuits, elements, devices, and the like in the above embodiments can be provided on the power protection circuit board without contradiction.
In the power protection circuit board provided by this embodiment, the through-current element is disposed near the functional element, and thus the power protection circuit board can be electrically connected to the functional element through traces on/in the circuit board. The path of the current passing through the circuit board wiring is reduced, so that the internal resistance of the current passing through the path is reduced, the heat production of the power supply protection circuit board is reduced, and the through-current capacity of the power supply protection circuit board is increased.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The systems, devices, and methods described herein may be applicable to a variety of movable objects. As previously mentioned, any description herein with respect to an aircraft (e.g., an unmanned aerial vehicle) is applicable and applicable to any movable object. Any description herein regarding an aircraft is particularly applicable to unmanned aerial vehicles. The movable object of the present invention may be configured to move within any suitable environment, such as in the air (e.g., a fixed wing aircraft, a rotary wing aircraft, or an aircraft having neither fixed wings nor rotary wings), in water (e.g., a boat or submarine), on land (e.g., a motor vehicle such as a car, truck, bus, truck, motorcycle, bicycle; a movable structure or frame such as a stick, fishing rod; or train), underground (e.g., a subway), in space (e.g., a space plane, satellite, or probe), or any combination of these environments. The movable object may be a vehicle, such as the vehicles described elsewhere herein. In some embodiments, the movable object may be carried by or take off from a living subject, such as a human or animal. Suitable animals may include avians, canines, felines, equines, bovines, ovines, porcines, dolphins, rodents, or insects.
The movable object is able to move freely in this environment with respect to six degrees of freedom (e.g., three translational degrees of freedom and three rotational degrees of freedom). Alternatively, the movement of the movable object may be constrained to one or more degrees of freedom, for example, by a predetermined path, trajectory, or direction. The movement may be actuated by any suitable actuation mechanism, such as an engine or motor. The actuating mechanism of the movable object may be powered by any suitable energy source, such as electrical energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy, or any suitable combination thereof. As described elsewhere herein, the movable object may be self-propelled by a propulsion system. The propulsion system optionally relies on an energy source such as electrical, magnetic, solar, wind, gravitational, chemical, nuclear, or any suitable combination thereof. Alternatively, the movable object may be carried by an organism.
In some cases, the movable object may be an aircraft. For example, the aircraft may be a fixed wing aircraft (e.g., airplane, glider), a rotary wing aircraft (e.g., helicopter, rotorcraft), an aircraft having fixed wings and rotating wings, or an aircraft having neither fixed wings nor rotating wings (e.g., airship, hot air balloon). The aircraft may be self-propelled, such as by air. A self-propelled aerial vehicle may utilize a propulsion system, such as a propulsion system including one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof. In some cases, a propulsion system may be used to take off a movable object from a surface, land on a surface, maintain its current position and/or orientation (e.g., spin-off), change direction, and/or change position.
In some embodiments, the movable object may have a mass of less than or equal to about: 32,000cm2, 20,000cm2, 10,000cm2, 1,000cm2, 500cm2, 100cm2, 50cm2, 10cm2, or 5cm2 (referring to the transverse cross-section surrounded by the movable object). Conversely, the footprint may be greater than or equal to about: 32,000cm2, 20,000cm2, 10,000cm2, 1,000cm2, 500cm2, 100cm2, 50cm2, 10cm2, or 5cm 2.
In certain embodiments, the volume of the movable object may be less than 100cm x 100cm x 100cm, less than 50cm x 50cm x 30cm, or less than 5cm x 5cm x 3 cm. The total volume of the movable object may be less than or equal to about: 1cm3, 2cm3, 5cm3, 10cm3, 20cm3, 30cm3, 40cm3, 50cm3, 60cm3, 70cm3, 80cm3, 90cm3, 100cm3, 150cm3, 200cm3, 300cm3, 500cm3, 750cm3, 1000cm3, 5000cm3, 10,000cm3, 100,000cm3, 1m3, or 10m 3. Conversely, the total volume of the movable object may be greater than or equal to about: 1cm3, 2cm3, 5cm3, 10cm3, 20cm3, 30cm3, 40cm3, 50cm3, 60cm3, 70cm3, 80cm3, 90cm3, 100cm3, 150cm3, 200cm3, 300cm3, 500cm3, 750cm3, 1000cm3, 5000cm3, 10,000cm3, 100,000cm3, 1m3, or 10m 3.
The movable object may be controlled remotely by a user or locally by an occupant in or on the movable object. The movable object may be remotely controlled by an occupant within the individual vehicle. In some embodiments, the movable object is an unmanned movable object, such as an unmanned aerial vehicle. An unmanned movable object (e.g., an unmanned aerial vehicle) may not have occupants onboard the movable object. The movable object may be controlled by a person or an autonomous control system (e.g., a computer control system), or any suitable combination thereof. The movable object may be an autonomous or semi-autonomous robot, such as a robot configured with artificial intelligence.
In some cases, the weight of the movable object may be no greater than 1000 kg. The weight of the movable object may be less than or equal to about: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg or 0.01 kg. Conversely, the weight can be greater than or equal to about: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg or 0.01 kg.
In some embodiments, the movable object carries a load. The payload may comprise a payload and/or a carrier. The load may be a camera, a medicine box, a positioning device, a water tank, a spraying system, etc. The movable object may be smaller, equal, or larger than the load carried by the movable object. In certain embodiments, the ratio of the weight of the movable object to the weight of the load may be greater than, less than, or equal to about 1: 1. In some cases, the ratio of the weight of the movable object to the weight of the load may be greater than, less than, or equal to about 1: 1. Alternatively, the ratio of carrier weight to load weight can be greater than, less than, or equal to about 1: 1. If desired, the ratio of the weight of the movable object to the weight of the load may be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or even less. Conversely, the ratio of the weight of the movable object to the weight of the load may also be greater than or equal to 2:1, 3:1, 4:1, 5:1, 10:1, or even greater.
In some embodiments, the movable object may have low energy consumption. For example, the movable object may use less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less. In some cases, the carrier of the movable object may have a low energy consumption. For example, the carrier may use less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less. Alternatively, the payload of the movable object may have a low energy consumption, such as less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (66)
1. A flight control method is applied to an unmanned aerial vehicle and is characterized in that the unmanned aerial vehicle comprises a power supply and a load circuit, wherein the power supply can supply power to the load circuit; the power supply comprises a first power supply and a second power supply, the first power supply and the second power supply are electrically connected to the load circuit, the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power to the load circuit, and the method comprises the following steps:
acquiring a power supply voltage of the power supply;
if the power supply voltage of the power supply meets the reference voltage range, the second power supply supplies power to the load circuit at present, and the unmanned aerial vehicle is controlled to execute safe operation;
and if the power supply voltage of the power supply does not meet the reference voltage range, the first power supply currently supplies power for the load circuit.
2. The method of claim 1, wherein the controlling the UAV to perform safety operations comprises:
adjusting flight state parameters of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle to execute safe operation according to the flight state parameters.
3. The method of claim 2, wherein said adjusting a flight status parameter of the UAV comprises:
and adjusting the flight state parameters of the unmanned aerial vehicle according to a target safety strategy so as to control the unmanned aerial vehicle to execute safety operation.
4. The method of claim 3, further comprising: and determining the target security policy according to a preset security policy.
5. The method of claim 4, wherein the preset security policy comprises at least one of: a vertical landing strategy, a landing strategy according to a predetermined flight path, or a return point landing strategy.
6. The method of claim 5, wherein the determining the target security policy according to the preset security policy comprises:
and when the distance between the unmanned aerial vehicle and the return point of the unmanned aerial vehicle is greater than a distance threshold value, selecting the vertical landing strategy as the target safety strategy.
7. The method of claim 5, wherein the determining the target security policy according to the preset security policy comprises:
and when the distance between the unmanned aerial vehicle and the return point of the unmanned aerial vehicle is smaller than a distance threshold value, selecting the return point landing strategy as the target safety strategy.
8. The method of claim 5, wherein the determining the target security policy according to the preset security policy comprises:
and when the distance between the unmanned aerial vehicle and the return point of the unmanned aerial vehicle is greater than a distance threshold value, selecting a landing strategy according to a preset flight path as the target safety strategy.
9. The method of claim 4, wherein the determining the target security policy according to the preset security policy comprises:
and acquiring a user setting instruction sent by a control terminal of the unmanned aerial vehicle, and determining a corresponding preset landing strategy as the target safety strategy according to the user setting instruction.
10. The method of claim 2, wherein in controlling the UAV to perform safety operations based on the flight status parameter, the method further comprises:
acquiring a flight control instruction sent by a control terminal of the unmanned aerial vehicle, wherein the flight control instruction is used for controlling the flight state of the unmanned aerial vehicle;
and when the flight control instruction is not used for controlling the flight height of the unmanned aerial vehicle, adjusting the flight state parameter according to the flight control instruction.
11. The method of claim 2, wherein the flight status parameters include one or more of:
acceleration, velocity, angular velocity, or height relative to the ground.
12. The method of claim 1, wherein the controlling the UAV to perform safety operations further comprises:
acquiring a flight control instruction sent by a control terminal of the unmanned aerial vehicle, wherein the flight control instruction is used for controlling the flight state of the unmanned aerial vehicle;
not responding to the flight control command.
13. The method of claim 12, wherein the not responding to the flight control command comprises:
when the flight control command is used for controlling the flight altitude of the unmanned aerial vehicle, the flight control command is not responded.
14. The method of claim 1, wherein the security operation comprises at least one of: landing, prohibiting continuation of the rise, and prohibiting continuation of the shooting.
15. The method of claim 1, wherein the controlling the UAV to perform safety operations comprises:
and if the unmanned aerial vehicle is currently executing the safety operation, controlling the unmanned aerial vehicle to continue executing the safety operation.
16. The method of claim 1, wherein the first power source has a power range of a first voltage range and the second power source has a power range of a second voltage range;
the first voltage range is different from the second voltage range, and a highest value of the first voltage range is greater than a highest value of the second voltage range.
17. The method of claim 16, wherein the reference voltage range corresponds to a supply range of the second power source.
18. The method of claim 17, wherein the reference voltage range is the same as a supply range of the second power source.
19. The method of claim 16, wherein the first voltage range partially overlaps the second voltage range.
20. The method of claim 1, wherein the first power source is determined to be currently supplying power to the load circuit if the supply voltage of the power source does not always satisfy the reference voltage range, the supply voltage of the power source corresponding to the voltage output by the first power source.
21. The method of claim 1, wherein the second power source is determined to be currently supplying power to the load circuit if a supply voltage of the power source, corresponding to a voltage output by the first power source or the second power source, satisfies the reference voltage range.
22. The method of claim 21, wherein the branch in which the first power source is located is connected in parallel with the branch in which the second power source is located, and if the voltage output by the first power source meets the reference voltage range, it is determined that the second power source is currently supplying power to the load circuit.
23. The method of claim 1, wherein the reference voltage range is lower than an output voltage of the first power supply when in a full power state.
24. The method of claim 1, further comprising:
and when the second power supply is controlled to supply power for the load circuit, sending a prompt message to a control terminal of the unmanned aerial vehicle so that the control terminal outputs prompt information to a user, wherein the prompt information is used for prompting that the unmanned aerial vehicle needs to execute safe operation.
25. The method of claim 1, wherein the first power source is a primary power source and the second power source is a backup power source.
26. The method of claim 1, wherein the output power of the second power source is the same as the output power of the first power source.
27. The method of claim 26, wherein a discharge rate of the second power source is greater than a discharge rate of the first power source.
28. A flight control method is applied to an unmanned aerial vehicle and is characterized in that the unmanned aerial vehicle comprises a power supply and a load circuit, wherein the power supply can supply power to the load circuit; the power supply comprises a first power supply and a second power supply, the first power supply and the second power supply are electrically connected to the load circuit, the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power to the load circuit, and the method comprises the following steps:
determining whether a preset condition is met;
if the preset condition is met, the second power supply supplies power to the load circuit at present, and the unmanned aerial vehicle is controlled to execute safe operation;
and if the preset condition is not met, the first power supply currently supplies power for the load circuit.
29. The method of claim 28, wherein the meeting of the preset condition comprises: the power supply which is currently communicating is the second power supply; or the power supply voltage of the power supply meets the reference voltage range.
30. The method of claim 29, wherein the first power source has a power range of a first voltage range and the second power source has a power range of a second voltage range;
the first voltage range is different from the second voltage range, and a highest value of the first voltage range is greater than a highest value of the second voltage range.
31. The method of claim 30, wherein the reference voltage range corresponds to a supply range of the second power source.
32. The method of claim 31, wherein the reference voltage range is the same as a supply range of the second power source.
33. The method of claim 30, wherein the first voltage range partially overlaps the second voltage range.
34. The method of claim 29, wherein the first power source is determined to be currently supplying power to the load circuit if the supply voltage of the power source always does not satisfy the reference voltage range, the supply voltage of the power source corresponding to the voltage output by the first power source.
35. The method of claim 29, wherein the second power source is determined to be currently supplying power to the load circuit if a supply voltage of the power source, corresponding to a voltage output by the first power source or the second power source, satisfies the reference voltage range.
36. The method of claim 28, wherein the controlling the UAV to perform safety operations comprises:
adjusting flight state parameters of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle to execute safe operation according to the flight state parameters.
37. The method of claim 36, wherein said adjusting a flight status parameter of said UAV comprises:
and adjusting the flight state parameters of the unmanned aerial vehicle according to a target safety strategy so as to control the unmanned aerial vehicle to execute safety operation.
38. The method of claim 37, further comprising: and determining the target security policy according to a preset security policy.
39. The method of claim 38, wherein the preset security policy comprises at least one of: a vertical landing strategy, a landing strategy according to a predetermined flight path, or a return point landing strategy.
40. The method of claim 39, wherein the determining the target security policy according to the preset security policy comprises:
and when the distance between the unmanned aerial vehicle and the return point of the unmanned aerial vehicle is greater than a distance threshold value, selecting the vertical landing strategy as the target safety strategy.
41. The method of claim 39, wherein the determining the target security policy according to the preset security policy comprises:
and when the distance between the unmanned aerial vehicle and the return point of the unmanned aerial vehicle is smaller than a distance threshold value, selecting the return point landing strategy as the target safety strategy.
42. The method of claim 39, wherein the determining the target security policy according to the preset security policy comprises:
and when the distance between the unmanned aerial vehicle and the return point of the unmanned aerial vehicle is greater than a distance threshold value, selecting a landing strategy according to a preset flight path as the target safety strategy.
43. The method of claim 38, wherein determining the target security policy according to a preset security policy comprises:
and acquiring a user setting instruction sent by a control terminal of the unmanned aerial vehicle, and determining a corresponding preset landing strategy as the target safety strategy according to the user setting instruction.
44. The method of claim 36, wherein in controlling the UAV to perform safety operations based on the flight status parameter, the method further comprises:
acquiring a flight control instruction sent by a control terminal of the unmanned aerial vehicle, wherein the flight control instruction is used for controlling the flight state of the unmanned aerial vehicle;
and when the flight control instruction is not used for controlling the flight height of the unmanned aerial vehicle, adjusting the flight state parameter according to the flight control instruction.
45. The method of claim 28, wherein the controlling the UAV to perform safety operations further comprises:
acquiring a flight control instruction sent by a control terminal of the unmanned aerial vehicle, wherein the flight control instruction is used for controlling the flight state of the unmanned aerial vehicle;
not responding to the flight control command.
46. The method of claim 45, wherein said not responding to said flight control command comprises:
when the flight control command is used for controlling the flight altitude of the unmanned aerial vehicle, the flight control command is not responded.
47. A power supply method is applied to a control circuit, the control circuit is used for controlling a power supply system, and the power supply system comprises: the first power supply circuit is electrically connected between a load circuit and a first power supply so as to supply power to the load circuit through the first power supply; the second power supply circuit is electrically connected between the load circuit and a second power supply so as to supply power to the load circuit through the second power supply; the method comprises the following steps:
acquiring an electric signal on the second power supply circuit;
if the electric signal meets the reference electric signal range, controlling the second power supply circuit to be in a formal conduction state so that the second power supply supplies power to the load circuit; otherwise, the second power supply circuit is controlled to be in a pre-conduction state, so that the first power supply continues to supply power to the load circuit.
48. The method of claim 47, wherein the control circuit comprises a first switching circuit for electrical connection in the second supply circuit;
the controlling the second power supply circuit to be in a pre-conducting state includes: and controlling the first switching circuit to pre-conduct the second power supply circuit when the first power supply supplies power so as to enable the second power supply circuit to be in a pre-conducting state.
49. The method of claim 48, wherein the first switching circuit comprises:
the conduction direction of the first one-way conduction element is opposite to the flow direction of the second power supply current;
the first switch is connected with the first one-way conduction element in parallel;
the controlling the first switch circuit to pre-turn on the second power supply circuit when the first power supply supplies power comprises:
and controlling the first switch to be in a connected state when the first power supply supplies power so as to pre-conduct the second power supply circuit.
50. The method of claim 49, wherein the first switching circuit comprises a first MOS transistor switching circuit.
51. The method of claim 50, wherein the first MOS transistor switch circuit comprises an NMOS transistor switch circuit.
52. The method of claim 50, wherein the control circuit further comprises a controller; the grid electrode of the first MOS tube switching circuit is used for being electrically connected with the controller;
the controlling the first switch to be in a connected state when the first power supply supplies power comprises:
the controller outputs a second signal when the first power supply supplies power to control the first MOS tube switching circuit to be conducted.
53. The method of claim 47, wherein the control circuit comprises a detection circuit for electrically connecting to the second power supply circuit;
the acquiring the electrical signal on the second power supply circuit comprises: the detection circuit detects and obtains an electric signal on the second power supply circuit.
54. The method of claim 53, wherein the control circuit further comprises a second switching circuit; if the electric signal meets the reference electric signal range, controlling the second power supply circuit to be in a formal conduction state, including:
and the detection circuit outputs a first signal when the electric signal meets a reference signal range so as to control the second switching circuit to conduct the second power supply circuit according to the first signal.
55. The method of claim 54, wherein the second switching circuit comprises: the conduction direction of the second one-way conduction element is the same as the flow direction of the second power supply current; a second switch connected in parallel with the second unidirectional conducting element;
the controlling the second switching circuit to turn on the second power supply circuit according to the first signal includes: and controlling the second switch to conduct the second power supply circuit according to the first signal.
56. The method of claim 53, wherein the detection circuit comprises: a detection element for electrical connection in the second power supply circuit; and a current detection circuit electrically connected to the detection element;
the detection circuit detects an electrical signal on the second power supply circuit, including:
the signal detection circuit detects the electric signal on the second power supply circuit in a pre-conducting state through the detection element.
57. The method of claim 56, wherein the detection circuit outputs a first signal when the electrical signal satisfies a reference signal range, comprising:
the signal detection circuit outputs the first signal when the electric signal is greater than or equal to a reference signal.
58. A flight control system for an unmanned aerial vehicle, the flight control system comprising: a power supply, a load circuit, and a controller;
the power supply is capable of supplying power to the load circuit; the power supply comprises a first power supply and a second power supply, the first power supply and the second power supply are electrically connected with the load circuit, the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power for the load circuit,
the controller is used for acquiring the power supply voltage of the power supply; if the power supply voltage of the power supply meets the reference voltage range, the second power supply supplies power to the load circuit at present, and the unmanned aerial vehicle is controlled to execute safe operation;
and if the power supply voltage of the power supply does not meet the reference voltage range, the first power supply currently supplies power for the load circuit.
59. A flight control system for an unmanned aerial vehicle, the flight control system comprising: a power supply, a load circuit and a controller;
the power supply is capable of supplying power to the load circuit; the power supply comprises a first power supply and a second power supply, the first power supply and the second power supply are electrically connected to the load circuit, and the output voltage of the first power supply or the output voltage of the second power supply can be used as the power supply voltage of the power supply to supply power for the load circuit;
the controller is used for determining whether a preset condition is met; if the preset condition is met, the second power supply supplies power to the load circuit at present, and the unmanned aerial vehicle is controlled to execute safe operation;
and if the preset condition is not met, the first power supply currently supplies power for the load circuit.
60. A power supply system, comprising: the control circuit is electrically connected with the power supply system and used for controlling the power supply system; the power supply system comprises a first power supply circuit and a second power supply circuit;
the first power supply circuit is electrically connected between a load circuit and a first power supply so as to supply power to the load circuit through the first power supply;
the second power supply circuit is electrically connected between the load circuit and a second power supply so as to supply power to the load circuit through the second power supply; the method comprises the following steps:
the control circuit is used for acquiring an electric signal on the second power supply circuit; if the electric signal meets the reference electric signal range, controlling the second power supply circuit to be in a formal conduction state so that the second power supply supplies power to the load circuit; otherwise, the second power supply circuit is controlled to be in a pre-conduction state, so that the first power supply continues to supply power to the load circuit.
61. An unmanned aerial vehicle, comprising: the flight control system of claim 58 and the power supply system of claim 60.
62. An unmanned aerial vehicle, comprising: the flight control system of claim 59 and the power supply system of claim 60.
63. A computer-readable storage medium, having stored thereon a computer program comprising at least one code section executable by a computer for controlling the computer to perform the method according to any one of claims 1-27.
64. A computer-readable storage medium, having stored thereon a computer program comprising at least one code section executable by a computer for controlling the computer to perform the method according to any one of claims 28-46.
65. A computer program for implementing the method according to any of claims 1-27 when the computer program is executed by a computer.
66. A computer program for implementing the method of any one of claims 28-46 when the computer program is executed by a computer.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/115819 WO2021087780A1 (en) | 2019-11-05 | 2019-11-05 | Flight control method, power supply method, system and unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112292315A true CN112292315A (en) | 2021-01-29 |
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Family Applications (1)
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|---|---|---|---|
| CN201980039698.9A Pending CN112292315A (en) | 2019-11-05 | 2019-11-05 | Flight control method, power supply method and system and unmanned aerial vehicle |
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| CN (1) | CN112292315A (en) |
| WO (1) | WO2021087780A1 (en) |
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