CN117944912B - Unmanned aerial vehicle double-power system, control method thereof, unmanned aerial vehicle system and related device - Google Patents
Unmanned aerial vehicle double-power system, control method thereof, unmanned aerial vehicle system and related device Download PDFInfo
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Abstract
The application discloses an unmanned aerial vehicle double-power system, a control method thereof, an unmanned aerial vehicle system and related devices, wherein the double-power system comprises: the first driving module and the second driving module are respectively provided with a plurality of driving units, and the main controller and the auxiliary controller are mutually coupled; the driving unit of the first driving module and the driving unit of the second driving module are arranged on the propeller shaft of the unmanned aerial vehicle body at intervals, and the first driving module and the second driving module are respectively corresponding to independent power sources; the main controller controls the first driving module and the second driving module to work, and the auxiliary controller monitors the working states of the first driving module, the second driving module and the main controller and controls the driving module with normal state when the state of the main controller is abnormal. According to the scheme, the reliability of power supply of the unmanned aerial vehicle can be improved.
Description
Technical Field
The application relates to the technical field of aircraft equipment, in particular to an unmanned aerial vehicle double-power system, a control method thereof, an unmanned aerial vehicle system and related devices.
Background
Along with the application of unmanned aerial vehicle in numerous fields, unmanned aerial vehicle reliability in the use is paid more and more attention to, wherein, driving system provides power for unmanned aerial vehicle body, has important influence to unmanned aerial vehicle's reliability. In the prior art, in order to improve the reliability of the power system, a mode of connecting double power sources in parallel is generally adopted to ensure that the power system still can work normally when one of the power sources fails, but when other links except the power source fail in the whole power system, the power loss of the unmanned aerial vehicle still can cause work delay and even damage of the unmanned aerial vehicle. In view of this, how to improve the reliability of the power supply of the unmanned aerial vehicle is a urgent problem to be solved.
Disclosure of Invention
The application mainly solves the technical problem of providing an unmanned aerial vehicle double-power system, a control method thereof, an unmanned aerial vehicle system and related devices, and can improve the reliability of power supply of an unmanned aerial vehicle.
To solve the above technical problem, a first aspect of the present application provides an unmanned aerial vehicle dual power system, including: the first driving module and the second driving module comprise a plurality of driving units; the driving units of the first driving module and the driving units of the second driving module are arranged on the paddle shaft of the unmanned aerial vehicle body at intervals, and the first driving module and the second driving module are respectively corresponding to independent power sources; a main controller and a sub controller coupled to each other; the main controller controls the first driving module and the second driving module to work, and the auxiliary controller monitors the working states of the first driving module, the second driving module and the main controller and controls the driving module with normal state when the state of the main controller is abnormal.
In order to solve the technical problem, a second aspect of the present application provides an unmanned aerial vehicle system, which comprises an unmanned aerial vehicle body and the unmanned aerial vehicle dual-power system described in the first aspect.
In order to solve the technical problem, a third aspect of the present application provides a control method for a dual power system of an unmanned aerial vehicle, which is applied to the dual power system of an unmanned aerial vehicle in the first aspect, and includes: in response to monitoring the state abnormality of any driving module, acquiring the state information of the main controller and the state information of another driving module; responding to the normal state of the main controller and the other driving module, closing the driving module with abnormal state so as to enable the main controller to control the driving module with normal state; and responding to the abnormal state of the main controller and the normal state of the other driving module, taking over the driving module with the abnormal state of the main controller and resetting the driving module, if the driving module with the abnormal state is reset successfully, controlling the driving modules with the normal states, and if the driving module with the abnormal state is reset failure, controlling the driving module with the normal state.
In order to solve the above technical problem, a fourth aspect of the present application provides an electronic device, including: a memory and a processor coupled to each other, wherein the memory stores program data, and the processor invokes the program data to perform the method of the third aspect.
To solve the above technical problem, a fifth aspect of the present application provides a computer-readable storage medium having stored thereon program data which, when executed by a processor, implements the method described in the above third aspect.
Above-mentioned scheme, unmanned aerial vehicle dual power system includes two sets of drive modules, be first drive module and second drive module respectively, and first drive module and second drive module all include a plurality of drive units, the quantity of all drive units is unanimous with the oar axle total number of unmanned aerial vehicle body, the drive unit of first drive module and the drive unit mutual interval of second drive module set up on the oar axle of unmanned aerial vehicle body, make the drive unit of arbitrary group drive module can evenly distributed on the unmanned aerial vehicle body, first drive module and second drive module correspond respectively have independent power supply, thereby ensure that every drive module of group and the power supply that corresponds can constitute one set of independent power subsystem, when any link in any one set of power subsystem became invalid, another set of power subsystem still can normally work, improve the probability that power continuously provided. The unmanned aerial vehicle dual power system still includes the main control unit and the auxiliary controller of mutual coupling, wherein, main control unit control first drive module and second drive module work, auxiliary controller can play the monitoring role, monitor main control unit, first drive module and second drive module's operating condition, and when main control unit state is unusual, thereby auxiliary controller can take over the main control unit that state is unusual and take over the drive module that state is normal, reduce the probability that leads to power loss when because of main control unit trouble, improve unmanned aerial vehicle power supply's reliability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a schematic diagram of an embodiment of a dual power system of a unmanned aerial vehicle according to the present application;
FIG. 2 is a schematic diagram of an embodiment of a driving module according to the present application;
FIG. 3 is a schematic view of another embodiment of a dual power system of the unmanned aerial vehicle of the present application;
FIG. 4 is a schematic diagram of an embodiment of a drone system of the present application;
FIG. 5 is a flow chart of an embodiment of a method for controlling a dual power system of a unmanned aerial vehicle according to the present application;
FIG. 6 is a schematic diagram of an embodiment of an electronic device of the present application;
fig. 7 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments, and that adaptive combinations may be made between different embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In this document, the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.
The terms "system" and "network" are often used interchangeably herein. The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship. Further, "a plurality" herein means two or more than two. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features.
Referring to fig. 1-2, fig. 1 is a schematic structural diagram of an embodiment of a dual power system of an unmanned aerial vehicle according to the present application, and fig. 2 is a schematic structural diagram of an embodiment of a driving module according to the present application, where the dual power system 10 of an unmanned aerial vehicle includes a first driving module 101 and a second driving module 102, and a main controller 103 and a sub-controller 104 coupled to each other. The first driving module 101 and the second driving module 102 each include a plurality of driving units (not identified), the driving units of the first driving module 101 and the driving units of the second driving module 102 are disposed on a propeller shaft (not identified) of the unmanned aerial vehicle body at intervals, and the first driving module 101 and the second driving module 102 respectively correspond to independent power sources (not identified). The main controller 103 controls the operation of the first driving module 101 and the second driving module 102, and the sub controller 104 monitors the operation states of the first driving module 101, the second driving module 102, and the main controller 103 and controls the driving modules in normal states when the state of the main controller 103 is abnormal.
Specifically, the unmanned aerial vehicle dual-power system 10 includes two sets of driving modules, is first driving module 101 and second driving module 102 respectively, and first driving module 101 and second driving module 102 all include a plurality of driving units, and the quantity of all driving units is unanimous with the oar axle total number of unmanned aerial vehicle body, and the driving unit of first driving module 101 and the driving unit of second driving module 102 mutual interval sets up on the oar axle of unmanned aerial vehicle body for the driving unit of arbitrary a set of driving module can evenly distributed on the unmanned aerial vehicle body.
Further, the first driving module 101 and the second driving module 102 are respectively provided with independent power sources, so that each group of driving modules and the corresponding power sources can form an independent power subsystem, when any link in any power subsystem fails, the other power subsystem can still work normally, and the probability of continuous power supply is improved.
It may be understood that, in fig. 2, taking an eight-rotor unmanned aerial vehicle as an example, the first driving module 101 and the second driving module 102 respectively correspond to four driving units, the first driving module 101 and its corresponding power source form one set of four-rotor power subsystems, the second driving module 102 and its corresponding power source form another set of four-rotor power subsystems, the two sets of four-rotor power subsystems jointly form an eight-rotor power system, and in the whole eight-rotor power system, the driving units of the first driving module 101 and the driving units of the second driving module 102 are staggered. In addition, for the six-rotor unmanned aerial vehicle and the four-rotor unmanned aerial vehicle, the driving unit distribution can be performed in a similar manner, and the application is not repeated.
It should be noted that, the first driving module 101 and the second driving module 102 respectively correspond to respective power sources, and the power sources of the two groups of driving modules are independent. Therefore, when the power source of one driving module fails to cause the corresponding driving module to fail, the other driving module and the corresponding power source can still work independently, so that the gesture of the unmanned aerial vehicle is maintained, and the damage probability of the unmanned aerial vehicle due to the power source failure is reduced.
In some implementation scenarios, the driving units of the first driving module 101 and the second driving module 102 have the same structure, and can provide the same lifting force, all operation instructions of the unmanned aerial vehicle can be completed when the two power subsystems work together, and any one power subsystem can keep the gesture of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be ensured to normally land, and the probability of damage to the unmanned aerial vehicle caused by failure of one power subsystem is reduced.
In some implementation scenarios, the driving units of the first driving module 101 and the second driving module 102 have the same structure, and can provide the same lifting force, and when any set of power subsystems work, all operation instructions of the unmanned aerial vehicle can be completed, so that the probability that the unmanned aerial vehicle cannot continue to execute tasks when one set of power subsystems fails is reduced.
In some implementation scenarios, the lift force provided by the driving unit of the first driving module 101 is greater than the lift force provided by the driving unit of the second driving module 102, the power subsystem formed by the first driving module 101 and the power source thereof can be all operation instructions of the unmanned aerial vehicle, and the power subsystem formed by the second driving module 102 and the power source thereof can keep the gesture of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be ensured to normally land. Therefore, when the power subsystem corresponding to the first driving module 101 fails, the power subsystem corresponding to the second driving module 102 can ensure that the unmanned aerial vehicle can normally fall, and when the power subsystem corresponding to the second driving module 102 fails, the power subsystem corresponding to the first driving module 101 can drive the unmanned aerial vehicle to continue to execute tasks.
Optionally, the power sources of the first driving module 101 and the second driving module 102 are battery modules that are not arranged in parallel, and the two groups of battery modules assembled on the unmanned aerial vehicle output electric energy independently, so that the electric energy of the assembled battery modules can be fully utilized on the unmanned aerial vehicle.
It should be noted that, the unmanned aerial vehicle dual-power system 10 further includes a main controller 103 and a sub-controller 104 that are coupled to each other, where the main controller 103 controls the first driving module 101 and the second driving module 102 to work, the sub-controller 104 can play a role in monitoring the working states of the main controller 103, the first driving module 101 and the second driving module 102, and when the state of the main controller 103 is abnormal, the sub-controller 104 can take over the main controller 103 with abnormal state and take over the driving module with normal state, so as to reduce the probability of power loss caused by the failure of the main controller 103, and improve the reliability of the power supply of the unmanned aerial vehicle.
In some implementation scenarios, signal interaction is performed between the main controller 103 and the auxiliary controller 104, after the unmanned aerial vehicle system is started, the main controller 103 sends working instructions to the first driving module 101 and the second driving module 102 to control the first driving module 101 and the second driving module 102 to work, and the auxiliary controller 104 monitors keep-alive signals of the main controller 103, the first driving module 101 and the second driving module 102 to determine working states of the main controller 103, the first driving module 101 and the second driving module 102 and feeds back the working states of the first driving module 101 and the second driving module 102 to the main controller 103. When the state of the main controller 103 is normal, if any driving module is abnormal, the main controller 103 gets feedback from the sub controller 104, and then the driving module with abnormal state is turned off, and when the state of the main controller 103 is abnormal, the sub controller 104 takes over the driving module with normal state.
In some implementation scenarios, the sub-controller 104 obtains the operation parameters of the main controller 103, and when the unmanned aerial vehicle system is started, the main controller 103 sends working instructions to the first driving module 101 and the second driving module 102 to control the first driving module 101 and the second driving module 102 to work, and the sub-controller 104 monitors the operation parameters of the main controller 103, the first driving module 101 and the second driving module 102 and analyzes the operation parameters to determine the working states of the main controller 103, the first driving module 101 and the second driving module 102. When the sub controller 104 monitors that the state of the main controller 103 is normal and one group of driving modules is abnormal, the sub controller 104 reports abnormal information to the main controller 103, the main controller 103 turns off the driving module with abnormal state after obtaining the abnormal information reported by the sub controller 104, and when the sub controller 104 monitors that the state of the main controller 103 is abnormal, the sub controller 104 takes over the driving module with normal state.
Alternatively, main controller 103 and sub-controller 104 employ the same control chip, have the same processing capability, and in some scenarios, the operating logic of main controller 103 and sub-controller 104 may be exchanged.
It will be appreciated that when all links are operating normally, the main controller 103 controls the first driving module 101 and the second driving module 102, and when the state of the main controller 103 is abnormal and both sets of driving modules are normal, the sub controller 104 controls the first driving module 101 and the second driving module 102 to maintain the two sets of power subsystems to continue to operate, and when the state of the main controller 103 is abnormal and one set of driving modules is abnormal, the sub controller 104 takes over the set of driving modules with normal states to maintain the power supply of the unmanned aerial vehicle.
Above-mentioned scheme, unmanned aerial vehicle dual power system 10 includes two sets of drive modules, be first drive module 101 and second drive module 102 respectively, and first drive module 101 and second drive module 102 all include a plurality of drive units, the quantity of all drive units is unanimous with the oar axle total number of unmanned aerial vehicle body, the drive unit of first drive module 101 and the drive unit of second drive module 102 mutual interval sets up on the oar axle of unmanned aerial vehicle body, make the drive unit of arbitrary group drive module can evenly distributed on the unmanned aerial vehicle body, first drive module 101 and second drive module 102 correspond respectively have independent power supply, thereby ensure that every group drive module and the power supply that corresponds thereof can constitute a set of independent power subsystem, when any link in any one set of power subsystem became invalid, another set of power subsystem still can normally work, improve the probability that power continuously provided. The unmanned aerial vehicle dual power system 10 further comprises a main controller 103 and a secondary controller 104 which are mutually coupled, wherein the main controller 103 controls the first driving module 101 and the second driving module 102 to work, the secondary controller 104 can play a role in monitoring the working states of the main controller 103, the first driving module 101 and the second driving module 102, and when the state of the main controller 103 is abnormal, the secondary controller 104 can take over the main controller 103 with abnormal state so as to take over the driving module with normal state, the probability of power loss caused by the failure of the main controller 103 is reduced, and the reliability of power supply of the unmanned aerial vehicle is improved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of another embodiment of a dual power system of an unmanned aerial vehicle according to the present application, the dual power system 10 of the unmanned aerial vehicle further includes a first battery module 105 and a second battery module 106 in addition to a first driving module 101 and a second driving module 102, and a main controller 103 and a sub controller 104, wherein the first battery module 105 and the second battery module 106 are independently disposed, and when the first battery module 105 is a power source of the first driving module 101, the second battery module 106 is a power source of the second driving module 102, and when the first battery module 105 is a power source of the second driving module 102, the second battery module 106 is a power source of the first driving module 101.
Specifically, the first battery module 105 and the second battery module 106 are mutually independent, so that the first battery module 105 and the second battery module 106 are not mutually affected, if the first battery module 105 supplies power to the first driving module 101, the second battery module 106 supplies power to the second driving module 102, if the second battery module 106 supplies power to the first driving module 101, the first battery module 105 supplies power to the second driving module 102, and therefore staggered power supply is achieved, and when the battery modules are in a normal state, both sets of battery modules can work under full load, and therefore electric energy of assembled battery modules can be fully utilized on the unmanned aerial vehicle, resource waste caused by system redundancy is reduced, and weight of the unmanned aerial vehicle is lightened to prolong endurance time.
In some implementations, the first battery module 105 and the second battery module 106 have the same rated output power, so that the first battery module 105 can supply power to any one of the first driving module 101 and the second driving module 102, and the second battery module 106 can also supply power to any one of the first driving module 101 and the second driving module 102.
Further, the unmanned aerial vehicle dual-power system 10 further comprises an electric control module 107, which is disposed between the battery module and the driving module, and is used for monitoring the working states of the first battery module 105 and the second battery module 106. When the state of the first battery module 105 is normal, the electric control module controls the first battery module 105 to supply power to the first driving module 101, and when the state of the second battery module 106 is normal, the electric control module controls the second battery module 106 to supply power to the second driving module 102.
Specifically, the electric control module monitors the voltage and the current of the output ends of the first battery module 105 and the second battery module 106, so that the working states of the first battery module 105 and the second battery module 106 are determined, when the electric control module monitors that the state of the first battery module 105 is normal, the electric control module controls the first battery module 105 to supply power to the first driving module 101, when the electric control module monitors that the state of the second battery module 106 is normal, the electric control module controls the second battery module 106 to supply power to the second driving module 102, and therefore under the conventional condition, the binding of the first battery module 105 and the first driving module 101 is achieved, the binding of the second battery module 106 and the second driving module 102 is achieved, the electric control module can perform real-time monitoring, and when the state of the battery module is abnormal, the battery module is closed timely, and the safety of power supply is improved.
In some implementations, the electronic control module includes first and second input switches 1071 and 1072, second and second output switches 1073 and 1074, and an electronic control unit (not identified). The first input switch 1071 is connected to the first battery module 105, the first output switch 1072 is connected to all driving units of the first driving module 101, the second input switch 1073 is connected to the second battery module 106, and the second output switch 1074 is connected to all driving units of the second driving module 102.
Further, the electronic control unit is configured to monitor the current and the voltage of the input end of the first input switch 1071 and the output end of the first output switch 1072, and monitor the current and the voltage of the input end of the second input switch 1073 and the output end of the second output switch 1074, so as to determine the working states of the first battery module 105 and the second battery module 106.
It can be appreciated that the first input switch 1071 is connected to the first battery module 105, the electronic control unit can monitor the current and the voltage of the input end of the first input switch 1071, so as to determine whether the working state of the first battery module 105 is abnormal, the second input switch 1073 is connected to the second battery module 106, and the electronic control unit can monitor the current and the voltage of the input end of the second input switch 1073, so as to determine whether the working state of the second battery module 106 is abnormal.
Further, the electronic control unit can monitor the current and the voltage of the output end of the first output switch 1072 to determine whether the first input switch 1071 and the first output switch 1072 are abnormal, and can monitor the current and the voltage of the output end of the second output switch 1074 to determine whether the second input switch 1073 and the second output switch 1074 are abnormal. Therefore, the electric control unit can accurately determine the fault point at the power source, improve the fault judgment precision, and timely cut off the battery module when the state of the battery module is abnormal, so that the operation safety of the unmanned aerial vehicle is improved.
It should be noted that, when the states of the first battery module 105 and the first driving module 101 are normal, the electronic control unit controls the first input switch 1071 to be connected to the first output switch 1072, and when the states of the second battery module 106 and the second driving module 102 are normal, the electronic control unit controls the second input switch 1073 to be connected to the second output switch 1074; when only the first battery module 105 and the second driving module 102 are in a normal state, the electric control unit controls the first input switch 1071 to be connected with the second output switch 1074, and when only the second battery module 106 and the first driving module 101 are in a normal state, the electric control unit controls the second input switch 1073 to be connected with the first output switch 1072.
Specifically, when the electronic control unit determines that the states of the first battery module 105 and the first driving module 101 are normal, the first input switch 1071 and the first output switch 1072 in the closed state are controlled to be kept connected, so that the first battery module 105 continuously supplies power to the first driving module 101. Similarly, when the electronic control unit determines that the states of the second battery module 106 and the second driving module 102 are normal, the second input switch 1073 and the second output switch 1074 in the closed state are controlled to keep connected, so as to realize continuous power supply of the second battery module 106 to the second driving module 102.
Further, when the electronic control unit determines that only the first battery module 105 and the second driving module 102 are in a normal state, the first input switch 1071 is controlled to be connected with the second output switch 1074 so as to supply power to the second driving module 102 by the first battery module 105, and when the electronic control unit determines that only the second battery module 106 and the first driving module 101 are in a normal state, the second input switch 1073 is controlled to be connected with the first output switch 1072 so as to supply power to the first driving module 101 by the second battery module 106, thereby ensuring that only one group of battery modules and one group of driving modules are in a normal state, the battery modules in a normal state can supply power to the driving modules in a normal state, so that the abnormal states of the battery modules and the driving modules are staggered, and the stability of power supply is improved.
In an application mode, the electric control module is provided with a monitoring circuit connected with the output end of the first output switch 1072 and the output end of the second output switch 1074, the monitoring circuit is used for monitoring the working state of the first driving module 101 connected with the first output switch 1072 and the working state of the second driving module 102 connected with the second output switch 1074, so that the electric control unit can obtain the working states of the first driving module 101 and the second driving module 102 from the monitoring circuit, and the electric control unit can monitor the working states of the first battery module 105 and the second battery module 106, and the connection mode of the switches is determined according to the working states of all the battery modules and the driving modules.
In another application mode, after the electric control unit monitors the working states of the first battery module 105 and the second battery module 106, the working states of the first battery module 105 and the second battery module 106 are uploaded to the auxiliary controller 104, the auxiliary controller 104 generates a switch adjustment instruction based on the working states of the first battery module 105 and the second battery module 106 and the working states of the first driving module 101 and the second driving module 102, and the auxiliary controller 104 sends the switch adjustment instruction to the electric control unit and feeds back the working states of the first driving module 101 and the second driving module 102, and the electric control unit determines the connection mode of the switch in response to the switch adjustment instruction.
In some implementations, the sub-controller 104 gathers status information of the main controller 103, the first driving module 101, and the second driving module 102 via a bus; when the states of the main controller 103 and the first driving module 101 are abnormal, the sub controller 104 takes over the second driving module 102 with normal states to form a set of independent power subsystems, and when the states of the main controller 103 and the second driving module 102 are abnormal, the sub controller 104 takes over the first driving module 101 with normal states to form a set of independent power subsystems.
Specifically, the sub controller 104 monitors the states of the main controller 103, the first driving module 101, and the second driving module 102 at the time of operation through the bus, thereby ensuring the accuracy of the monitoring. In addition, sub-controller 104 may monitor the states of first battery module 105 and second battery module 106 during operation via the bus.
It will be appreciated that when the states of the main controller 103 and the first driving module 101 are abnormal, the sub controller 104 takes over the second driving module 102 in normal state, so that the sub controller 104 and the second driving module 102 and the corresponding power source form a set of independent power subsystems, when the states of the main controller 103 and the second driving module 102 are abnormal, the sub controller 104 takes over the first driving module 101 in normal state, so that the sub controller 104 and the first driving module 101 and the corresponding power source form a set of independent power subsystems, so that even if the states of the main controller 103 are abnormal, as long as at least one group of driving modules and the corresponding power sources are in normal state, the sub controller 104 can obtain at least one group of power subsystems when taking over.
Optionally, the sub-controller 104 collects status information of the main controller 103, the first driving module 101 and the second driving module 102, specifically through a controller area network (Controller Area Network, CAN) bus.
In some implementations, the drive unit includes a motor (not identified), a blade (not identified), and a motor governor (not identified). The paddle is pivoted on an output shaft of the motor, and the motor speed regulator is coupled with the motor and is used for receiving a rotating speed control instruction so as to regulate the rotating speed of the motor to drive the paddle to rotate.
Specifically, when the state of the main controller 103 is normal, a rotational speed control instruction is transmitted by the main controller 103, and when the state of the main controller 103 is abnormal, a rotational speed control instruction is transmitted by the sub-controller 104. The motor speed regulator can receive a rotation speed control instruction from the main controller 103 or the auxiliary controller 104, so that the speed of a motor connected with the motor speed regulator is regulated, and the motor rotates according to the indicated speed and then drives the paddle to rotate by the output shaft, thereby providing lifting force for the unmanned aerial vehicle and ensuring that the unmanned aerial vehicle can execute tasks according to the instruction.
Alternatively, when the state of main controller 103 is normal, main controller 103 issues a rotational speed control command via a pulse width modulation (Pulse Width Modulation, PWM) signal, and when the state of main controller 103 is abnormal, sub-controller 104 issues a rotational speed control command via a PWM signal.
In some implementations, when sub-controller 104 takes over the drive module in normal state, sub-controller 104 is updated to main controller 103, and when the controller in abnormal state is restored, sub-controller 104 is updated.
In this embodiment, under the conventional situation, the electric control module can control the first battery module 105 to supply power to the first driving module 101, control the second battery module 106 to supply power to the second driving module 102, so as to implement the binding between the first battery module 105 and the first driving module 101, and the binding between the second battery module 106 and the second driving module 102.
Referring to fig. 1,3 and 4, fig. 4 is a schematic structural diagram of an embodiment of a unmanned aerial vehicle system 40 according to the present application, where the unmanned aerial vehicle system 40 includes a unmanned aerial vehicle body 41 and the unmanned aerial vehicle dual power system 10 described in any of the above embodiments. The unmanned aerial vehicle dual-power system 10 can be specifically described in any of the above embodiments, and will not be described in detail herein.
It will be appreciated that the unmanned aerial vehicle system 40 with the unmanned aerial vehicle dual power system 10 is capable of providing a more reliable power supply system with better safety.
Referring to fig. 1-5, fig. 5 is a schematic flow chart of an embodiment of a control method of a dual power system of an unmanned aerial vehicle according to the present application, where the control method of the dual power system of the unmanned aerial vehicle is applied to the dual power system 10 of the unmanned aerial vehicle in any of the above embodiments, and includes:
S501: and responding to the monitoring of the abnormal state of any driving module, and acquiring the state information of the main controller and the state information of the other driving module.
Specifically, when the state abnormality of any one of the two sets of driving modules is detected, the state information of the main controller 103 and the other driving module is acquired. That is, when sub controller 104 monitors that the state of first drive module 101 is abnormal, state information of main controller 103 and second drive module 102 is acquired, and when sub controller 104 monitors that the state of second drive module 102 is abnormal, state information of main controller 103 and first drive module 101 is acquired.
In one application, sub-controller 104 monitors keep-alive signals of main controller 103, first driving module 101, and second driving module 102 to determine the operating states of main controller 103, first driving module 101, and second driving module 102.
In another application, sub-controller 104 monitors the operating parameters of main controller 103, first driving module 101 and second driving module 102 and parses the operating parameters to determine the operating states of main controller 103, first driving module 101 and second driving module 102.
S502: and responding to the normal state of the main controller and the other driving module, and closing the driving module with abnormal state so as to enable the main controller to control the driving module with normal state.
Specifically, when the main controller 103 and the other driving module are in a normal state, the driving module in an abnormal state is turned off to allow the main controller 103 to control the driving module in a normal state.
It can be understood that when the state of the first driving module 101 is abnormal and the states of the main controller 103 and the second driving module 102 are normal, the first driving module 101 is turned off to enable the main controller 103 to control the second driving module 102 with normal states, and when the state of the second driving module 102 is abnormal and the states of the main controller 103 and the first driving module 101 are normal, the second driving module 102 is turned off to enable the main controller 103 to control the first driving module 101 with normal states.
In one application mode, when the state of the main controller 103 is normal and only one group of driving modules is abnormal, the transmission of the rotation speed adjustment command to the driving modules in abnormal state is stopped, so that only the driving modules in normal state are controlled.
In another application mode, when the state of the main controller 103 is normal and only one group of driving modules is abnormal, the power source of the driving module with abnormal state is cut off, so that only the driving module with normal state is controlled.
S503: and responding to the abnormal state of the main controller and the normal state of the other driving module, taking over the main controller and resetting the driving module with the abnormal state, if the driving module with the abnormal state is reset successfully, controlling the two driving modules with the normal state, and if the driving module with the abnormal state is reset failed, controlling the driving module with the normal state.
Specifically, when the state of the main controller 103 is abnormal and the state of the other driving module is normal, the sub controller 104 takes over the main controller 103 and resets the driving module in abnormal state, if the state of the driving module in abnormal state is normal after the reset is successful, the sub controller 104 controls the two sets of driving modules in normal state, and if the state of the driving module in abnormal state is abnormal after the reset failure, the sub controller 104 controls the driving module in normal state.
It will be understood that when the state of the first driving module 101 is abnormal, and the state of the main controller 103 is abnormal and the state of the second driving module 102 is normal, the sub-controller 104 takes over the main controller 103 and resets the first driving module 101 with abnormal state, if the state of the first driving module 101 is normal after the reset is successful, the sub-controller 104 controls the two driving modules with normal state, and if the state of the driving module with abnormal state is abnormal after the reset failure, the sub-controller 104 controls the driving module with normal state. Similarly, when the state of the second driving module 102 is abnormal, and the state of the main controller 103 is abnormal and the state of the first driving module 101 is normal, the sub controller 104 takes over the main controller 103 and resets the second driving module 102 in abnormal state, if the state of the second driving module 102 is normal after the reset is successful, the sub controller 104 controls the two sets of driving modules in normal state, and if the state of the driving module in abnormal state is abnormal after the reset failure, the sub controller 104 controls the driving module in normal state.
In one application mode, after slave controller 104 takes over, master controller 103 is no longer operational until the unmanned aerial vehicle execution task is completed.
In another application mode, after slave controller 104 takes over, slave controller 104 is updated to master controller 103, and when the abnormal state controller is restored, slave controller 104 is updated.
In this embodiment, the main controller 103 controls the first driving module 101 and the second driving module 102 to work, the sub controller 104 can play a role in monitoring the working states of the main controller 103, the first driving module 101 and the second driving module 102, and when the state of the main controller 103 is abnormal, the sub controller 104 can take over the main controller 103 with abnormal state to take over the driving module with normal state, so that the main controller 103 is prevented from independently arbitrating, the probability of power loss caused by the failure of the main controller 103 is reduced, and the reliability of unmanned power supply is improved.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, the electronic device 60 includes a memory 601 and a processor 602 coupled to each other, wherein the memory 601 stores program data (not shown), and the processor 602 invokes the program data to implement the method for controlling the dual power system of the unmanned aerial vehicle in the above embodiment, and the description of the related content is referred to the detailed description of the above method embodiment and will not be repeated here.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of a computer readable storage medium 70 according to the present application, where the computer readable storage medium 70 stores program data 700, and the program data 700 when executed by a processor implements the method for controlling a dual power system of an unmanned aerial vehicle in the above embodiment, and details of the related content are described in the above method embodiments and are not repeated herein.
The units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the present application.
Claims (11)
1. An unmanned aerial vehicle dual power system, comprising:
The first driving module and the second driving module comprise a plurality of driving units; the driving units of the first driving module and the driving units of the second driving module are arranged on the paddle shaft of the unmanned aerial vehicle body at intervals, and the first driving module and the second driving module are respectively corresponding to independent power sources;
A main controller and a sub controller coupled to each other; the main controller controls the first driving module and the second driving module to work, and the auxiliary controller monitors the working states of the first driving module, the second driving module and the main controller and controls the driving module with normal state when the state of the main controller is abnormal.
2. The unmanned aerial vehicle dual power system of claim 1, further comprising:
A first battery module and a second battery module; the first battery module and the second battery module are mutually independent, when the first battery module is a power source of the first driving module, the second battery module is a power source of the second driving module, and when the first battery module is a power source of the second driving module, the second battery module is a power source of the first driving module.
3. The unmanned aerial vehicle dual power system of claim 2, further comprising:
the electric control module is arranged between the battery module and the driving module and is used for monitoring the working states of the first battery module and the second battery module; when the state of the first battery module is normal, the electric control module controls the first battery module to supply power to the first driving module, and when the state of the second battery module is normal, the electric control module controls the second battery module to supply power to the second driving module.
4. The unmanned aerial vehicle dual power system of claim 3, wherein the electronic control module comprises:
a first input switch and a first output switch; the first input switch is connected with the first battery module, and the first output switch is connected with all driving units of the first driving module;
A second input switch and a second output switch; the second input switch is connected with the second battery module, and the second output switch is connected with all driving units of the second driving module;
And the electric control unit is used for monitoring the current and the voltage of the first input switch input end and the first output switch output end and the current and the voltage of the second input switch input end and the second output switch output end so as to determine the working states of the first battery module and the second battery module.
5. The unmanned aerial vehicle dual power system of claim 4, wherein,
When the states of the first battery module and the first driving module are normal, the electric control unit controls the first input switch to be connected with the first output switch, and when the states of the second battery module and the second driving module are normal, the electric control unit controls the second input switch to be connected with the second output switch;
When the states of the first battery module and the second driving module are normal, the electric control unit controls the first input switch to be connected with the second output switch, and when the states of the second battery module and the first driving module are normal, the electric control unit controls the second input switch to be connected with the first output switch.
6. The unmanned aerial vehicle dual power system of claim 1, wherein the secondary controller gathers status information of the main controller, the first drive module, and the second drive module via a bus;
When the states of the main controller and the first driving module are abnormal, the auxiliary controller takes over the second driving module with normal states to form an independent power subsystem, and when the states of the main controller and the second driving module are abnormal, the auxiliary controller takes over the first driving module with normal states to form an independent power subsystem.
7. The unmanned aerial vehicle dual power system of claim 1, wherein the drive unit comprises:
A motor;
The paddle is pivoted on an output shaft of the motor;
The motor speed regulator is coupled with the motor and is used for receiving a rotating speed control instruction so as to regulate the rotating speed of the motor to drive the blade to rotate; and when the state of the main controller is abnormal, the rotating speed control instruction is sent by the auxiliary controller.
8. A unmanned aerial vehicle system, comprising an unmanned aerial vehicle body and the unmanned aerial vehicle dual power system of any of claims 1-7.
9. A control method for a double power system of an unmanned aerial vehicle, which is applied to the double power system of the unmanned aerial vehicle according to any one of claims 1 to 7, and is characterized by comprising the following steps:
in response to monitoring the state abnormality of any driving module, acquiring the state information of the main controller and the state information of another driving module;
Responding to the normal state of the main controller and the other driving module, closing the driving module with abnormal state so as to enable the main controller to control the driving module with normal state;
And responding to the abnormal state of the main controller and the normal state of the other driving module, taking over the driving module with the abnormal state of the main controller and resetting the driving module, if the driving module with the abnormal state is reset successfully, controlling the driving modules with the normal states, and if the driving module with the abnormal state is reset failure, controlling the driving module with the normal state.
10. An electronic device, comprising: a memory and a processor coupled to each other, wherein the memory stores program data that the processor invokes to perform the method of claim 9.
11. A computer readable storage medium having stored thereon program data, which when executed by a processor, implements the method of claim 9.
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