Electric aircraft station-crossing battery replacement safety control system

Abstract

The invention discloses a station-crossing battery replacement safety control system for an electric aircraft, and belongs to the technical field of battery replacement systems. Comprising a central controller, a first controller, a second controller, a flight control system, a battery position self-inspection unit, an aircraft state detection module, a battery assembly component, a load battery pack, a visual detection unit, a fault identification unit, a ground logistics unit, a full-charge battery pack, a battery fault troubleshooting unit and a battery disassembly and assembly robot. By means of the mode, flow and standardization of aircraft battery replacement are achieved, and therefore accuracy and adaptability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power exchange systems, and in particular to a safety control system for power exchange of electric aircraft during stopover. Background Art

[0002] Currently, the Battery Swapping System is a technology used in electric or hybrid aircraft to improve the operating efficiency of the aircraft and reduce charging time.

[0003] Among many existing technologies, Chinese patent application CN202211705628.2 discloses a device for replacing batteries in electric aircraft, which includes an AGV body equipped with walking wheels, the AGV body is provided with a power device and a control system, and a lifting platform is installed on the top side of the AGV body. Two workstation assemblies are arranged in parallel on the lifting platform, one workstation assembly is used to remove empty batteries from the electric aircraft, and the other workstation assembly is used to install fully charged batteries on the electric aircraft. A cover assembly is also provided on the lifting platform, and the cover assembly is covered on one side of the two workstation assemblies. The cover assembly and the lifting platform cooperate to form a storage space for the battery, and a positioning assembly connected to the control system is provided on the cover assembly. The positioning assembly can monitor the position of the AGV body relative to the electric aircraft, so that the control system can control the movement of the walking wheels and the lifting and lowering action of the lifting platform, so that the two workstation assemblies can be aligned with the battery replacement position of the electric aircraft in turn.

[0004] However, this patent application cannot streamline and standardize the aircraft battery replacement process to improve safety.

[0005] Based on this, the present invention designs a safety control system for electric aircraft power replacement during station transit to solve the above problems. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides a safety control system for power replacement during a stopover of an electric aircraft.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] An electric aircraft station-changing battery safety control system, comprising a central controller, a controller 1, a controller 2, a flight control system, a battery position self-checking unit, an aircraft status detection module, a battery assembly component, a load battery pack, a visual detection unit, a fault identification unit, ground logistics, a fully charged battery pack, a battery fault troubleshooting unit and a battery disassembly and assembly robot;

[0009] The central controller is in communication connection with controller 1, controller 2, fault identification unit, ground logistics, visual inspection unit, and battery disassembly and assembly robot;

[0010] The controller 1 is communicatively connected with the flight control system, the battery position self-checking unit, and the load battery pack;

[0011] The flight control system is electrically connected to the aircraft status detection module and the load battery pack; the load battery pack is assembled in the battery assembly component;

[0012] The visual inspection unit is arranged on the battery disassembly and assembly robot;

[0013] The controller 2 is communicatively connected to the fully-charged battery pack and the battery fault troubleshooting unit, and the battery fault troubleshooting unit is electrically connected to the fully-charged battery pack;

[0014] The battery position self-checking unit is installed on the battery assembly component and collects the battery position data of the load battery pack, and sends the battery position data to the controller 1;

[0015] The aircraft status detection module is used to collect the landing status data of the aircraft, and sends the landing status data to the flight control system, and the flight control system sends the landing status data to controller one.

[0016] Furthermore, when the aircraft is replacing power, the controller 1 communicates with the load battery pack and checks whether the communication is normal. When the communication is normal, the controller 1 determines that the load battery pack meets the direct removal condition 1;

[0017] When the communication is abnormal, the controller sends a battery communication abnormality signal to the central controller, and when the central controller receives the signal, it sends a manual disassembly instruction to the ground logistics;

[0018] The controller 1 reads the battery position data collected by the battery position self-detection unit and compares it with the corresponding threshold value set therein, and determines whether the load battery pack is loose. When the load battery pack is not detected to be loose, the controller 1 determines that the load battery pack meets the direct disassembly condition 2;

[0019] When the load battery pack is detected to be loose, the controller sends a battery loosening warning to the central controller. When the central controller receives the battery loosening warning, the central controller sends a manual disassembly instruction to the ground logistics;

[0020] When the aircraft lands, the controller 1 reads the landing status data sent by the flight control system, and the controller 1 compares the landing status data with the corresponding threshold value set therein, and determines whether the load battery pack meets the direct removal condition 3;

[0021] The central controller is used to send a battery appearance inspection instruction to the battery disassembly robot and the visual inspection unit when the controller 1 simultaneously determines that the direct disassembly condition 1, the direct disassembly condition 2 and the direct disassembly condition 3 are met;

[0022] When the battery disassembly and assembly robot receives the battery appearance inspection instruction, it operates the visual inspection unit to collect appearance data of the load battery pack, and sends the collected appearance data to the central controller, which sends it to the fault identification unit. The fault identification unit identifies the abnormal appearance of the load battery pack in the appearance data based on the image recognition algorithm;

[0023] When the fault identification unit identifies an appearance abnormality, the central controller sends a manual disassembly instruction to ground logistics;

[0024] When the fault identification unit does not identify the appearance abnormality, the central controller sends a battery disassembly instruction to the battery disassembly robot;

[0025] The controller 2 communicates with the fully-charged battery pack and reads performance data of the fully-charged battery pack, compares the data with corresponding thresholds set therein, and determines whether the fully-charged battery pack meets the assembly conditions;

[0026] When the fully charged battery pack meets the assembly conditions, the controller 2 sends a battery assembly instruction to the central controller;

[0027] When the fully-charged battery pack meets the assembly conditions, the controller 2 sends a fully-charged battery pack fault detection instruction to the battery fault troubleshooting unit; when the battery fault troubleshooting unit eliminates the fault of the fully-charged battery pack, the controller 2 sends a battery assembly instruction to the central controller;

[0028] When the battery fault troubleshooting unit cannot eliminate the fault of the fully-charged battery pack, the controller 2 sends a battery replacement instruction to the central controller, and the central controller sends the instruction to the ground logistics and the ground logistics replaces the faulty fully-charged battery pack. The controller 2 communicates with the replaced fully-charged battery pack and reads the performance data of the fully-charged battery pack and repeats the above steps;

[0029] The battery disassembly and assembly robot is used to operate the battery assembly component to disassemble the load battery pack when receiving a battery disassembly instruction, and the battery disassembly and assembly robot is also used to operate the battery assembly component to install the fully charged battery pack when receiving a battery assembly instruction;

[0030] When the fully-charged battery pack is assembled, the controller 1 establishes communication with the fully-charged battery pack. When the communication is abnormal, the controller 1 sends a manual verification instruction 1 to the central controller, and the central controller sends a manual verification instruction 1 to the ground logistics.

[0031] At the same time, the controller 1 reads the battery position data collected by the battery position self-checking unit and compares it with the corresponding threshold value set therein, and determines whether the fully charged battery pack is loose. If it is loose, the controller 1 sends a manual inspection instruction 2 to the central controller;

[0032] When the communication is normal and the battery position is normal, the controller sends a power-on command of the fully-charged battery pack to the flight control system, and detects whether the power-on signal of the fully-charged battery pack is normal through the aircraft status detection module;

[0033] When the power-on signal is abnormal, controller 1 resets the power-on command, and after five resets, sends manual verification command 3 to the central controller, and the central controller sends manual verification command 3 to the ground logistics;

[0034] When the power-on signal is normal, the controller reads the performance parameters of the fully-charged battery pack, compares the performance parameters with the thresholds set therein, and determines whether the performance parameters are normal;

[0035] When it is determined that the performance parameter is abnormal, the controller 1 sends a manual verification instruction 4 to the central controller, and the central controller sends a manual verification instruction 4 to the ground logistics;

[0036] When it is determined that the performance parameters are normal, the controller sends a cooling system start command to the flight control system, and the flight control system starts the cooling system to cool the battery and maintain it for fifteen minutes.

[0037] Furthermore, when the aircraft is in flight, the controller detects the battery position data of the battery at an interval of 0.5 seconds, and sends a battery loose alarm to the flight control system when the battery is detected to be loose.

[0038] Furthermore, the abnormal appearance includes deformation, bumping, and leakage.

[0039] Furthermore, the battery fault troubleshooting unit adopts a battery tester.

[0040] The battery assembly assembly includes a battery compartment, an electromagnetic lock, a battery positioning pin and a battery positioning slot;

[0041] There are four electromagnetic locks and they are distributed in a rectangular shape on the battery compartment. The electromagnetic locks are fixedly connected to the inner wall of the battery compartment. The battery position self-checking unit is installed on the inner wall of the battery compartment and the locking ends of the four electromagnetic locks. The battery positioning pin is fixedly installed on the inner wall of the battery compartment. The battery positioning groove is opened on the inner wall of the battery compartment. The load battery pack and the fully charged battery pack are both provided with slots for plugging and positioning with the battery positioning pin. The load battery pack and the fully charged battery pack are both fixedly provided with positioning grooves for plugging and positioning with the battery positioning groove;

[0042] The electromagnetic lock is used to limit the load battery pack or the fully charged battery pack along the Z axis, and the battery positioning pin and the battery positioning groove are used to limit the load battery pack or the fully charged battery pack along the X and Y axes.

[0043] Furthermore, the battery position self-detection unit includes a pressure sensor and a proximity switch; the proximity switch is fixedly installed on the inner wall of the battery compartment, there are four pressure sensors and they are respectively fixedly installed on the locking ends of four electromagnetic locks, and the pressure sensor and proximity switch are used in conjunction with the load battery pack or the fully charged battery pack for interference detection.

[0044] Furthermore, the pressure sensor is used to detect the preload force of the electromagnetic lock.

[0045] Furthermore, the proximity switch is used to detect whether the loaded battery pack or the fully charged battery pack is in contact with the inner wall of the battery compartment.

[0046] Furthermore, the aircraft status detection module includes an air pressure sensor, a speed sensor, a switch sensor, a battery power-up and power-down detection unit, and a hydraulic pressure sensor;

[0047] The air pressure sensor, speed sensor, switch sensor, and battery power-up and power-down detection unit are all connected to the flight control system for communication.

[0048] Furthermore, the air pressure sensor is used to detect the tire pressure signal of the aircraft;

[0049] The speed sensor is used to detect the ground speed signal of the aircraft;

[0050] The switch sensor is used to detect the aircraft engine speed-up switch lock signal;

[0051] The battery up and down detection unit is used to detect the up and down signals between the flight control system and the load battery pack or the fully charged battery pack;

[0052] The hydraulic pressure sensor is used to detect the battery coolant pressure signal;

[0053] The flight control system sends the above signal to controller 1, and controller 1 compares the signal with the corresponding threshold value set therein.

[0054] Compared with the prior art, the present invention has the following beneficial effects: the load battery pack on the aircraft and the fully-charged battery pack on the ground are respectively safety-tested by the controller 1 and the controller 2, thereby ensuring the safety of the load battery pack when it is removed and the safety of the fully-charged battery pack when it is assembled;

[0055] The battery position self-check unit detects the position of the load battery pack to determine whether the battery is installed and whether the battery is loose, thereby determining the stability of the battery assembly, thereby improving the safety of the aircraft during operation and avoiding danger caused by loose batteries when removing the batteries;

[0056] The battery assembly component enables rapid disassembly and positioning of the load battery pack;

[0057] The aircraft status detection module can eliminate the impact of aircraft status factors on the safety of battery removal before the load battery pack is removed. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 A block diagram of a safety control system for electric aircraft power replacement during a stopover according to the present invention;

[0060] Figure 2 is a block diagram of a battery position self-checking unit of the present invention;

[0061] Figure 3 is a block diagram of an aircraft status detection module of the present invention;

[0062] Figure 4 A block diagram of the components for assembling the battery of the present invention;

[0063] Figure 5 A schematic diagram of a battery assembly according to the present invention.

[0064] The numbers in the figure represent:

[0065] 1. Central controller 2. Controller one 3. Controller two 4. Flight control system 5. Battery position self-check unit 51. Pressure sensor 52. Proximity switch 6. Aircraft status detection module 61. Air pressure sensor 62. Speed ​​sensor 63. Switch sensor 64. Battery up and down power detection unit 65. Hydraulic sensor 7. Battery assembly component 71. Battery compartment 72. Electromagnetic lock 73. Battery positioning pin 74. Battery positioning slot 8. Load battery pack 9. Visual inspection unit 10. Fault identification unit 11. Ground logistics 12. Fully charged battery pack 13. Battery troubleshooting unit 14. Battery disassembly and assembly robot. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] Embodiment 1: In some embodiments, please refer to the drawings of the specification Figure 1-Figure 5 , a safety control system for battery replacement during a stopover of an electric aircraft, comprising a central controller 1, a controller 1 2, a controller 2 3, a flight control system 4, a battery position self-checking unit 5, an aircraft status detection module 6, a battery assembly component 7, a load battery pack 8, a visual inspection unit 9, a fault identification unit 10, ground logistics 11, a fully charged battery pack 12, a battery fault troubleshooting unit 13 and a battery disassembly and assembly robot 14;

[0068] The central controller 1 is communicatively connected with the controller 1 2 , the controller 2 3 , the fault identification unit 10 , the ground logistics 11 , the visual inspection unit 9 , and the battery disassembly and assembly robot 14 ;

[0069] The controller 1 2 is communicatively connected with the flight control system 4, the battery position self-checking unit 5, and the load battery pack 8;

[0070] The flight control system 4 is electrically connected to the aircraft status detection module 6 and the load battery pack 8; the load battery pack 8 is assembled in the battery assembly assembly 7;

[0071] The visual inspection unit 9 is arranged on the battery disassembly and assembly robot 14;

[0072] The controller 2 3 is in communication connection with the fully-charged battery pack 12 and the battery fault troubleshooting unit 13, and the battery fault troubleshooting unit 13 is electrically connected with the fully-charged battery pack 12;

[0073] The battery position self-checking unit 5 is installed on the battery assembly assembly 7 and collects the battery position data of the load battery pack 8, and sends the battery position data to the controller 2;

[0074] The aircraft status detection module 6 is used to collect the landing status data of the aircraft, and sends the landing status data to the flight control system 4, and the flight control system 4 sends the landing status data to the controller 1 2.

[0075] When the present invention is used, the load battery pack 8 on the aircraft and the fully-charged battery pack 12 on the ground are respectively safety-tested by the controller 1 2 and the controller 2 3, thereby ensuring the safety of the load battery pack 8 when disassembling and the safety of the fully-charged battery pack 12 when assembling;

[0076] The battery position self-checking unit 5 detects the position of the load battery pack 8 to determine whether the battery is installed and whether the battery is loose, thereby determining the stability of the battery assembly, thereby improving the safety of the aircraft during operation, and avoiding danger caused by loose batteries when removing the batteries;

[0077] The battery assembly assembly 7 realizes the rapid disassembly and positioning of the load battery pack 8;

[0078] The aircraft status detection module 6 can be used to eliminate the influence of aircraft status factors on the safety of battery removal before the load battery pack 8 is removed.

[0079] When the present invention is used, the battery disassembly and assembly robot adopts an existing product sold on the market.

[0080] Embodiment 2: In some embodiments, Figure 1-Figure 5 As shown, as a preferred embodiment of the present invention, when the aircraft is changing power, the controller 1 2 communicates with the load battery pack 8 and checks whether the communication is normal. When the communication is normal, the controller 1 2 determines that the load battery pack 8 meets the direct disassembly condition 1;

[0081] When the communication is abnormal, the controller 1 2 sends a battery communication abnormality signal to the central controller 1, and when the central controller 1 receives the signal, it sends a manual disassembly instruction to the ground logistics 11;

[0082] The controller 1 2 reads the battery position data collected by the battery position self-detection unit 5 and compares it with the corresponding threshold value set therein, and determines whether the load battery pack 8 is loose. When the load battery pack 8 is not detected to be loose, the controller 1 2 determines that the load battery pack 8 meets the direct disassembly condition 2;

[0083] When the load battery pack 8 is detected to be loose, the controller 1 2 sends a battery loosening warning to the central controller 1. When the central controller 1 receives the battery loosening warning, the central controller 1 sends a manual disassembly instruction to the ground logistics 11;

[0084] When the aircraft lands, the controller 2 reads the landing status data sent by the flight control system 4, and the controller 2 compares the landing status data with the corresponding threshold value set therein, and determines whether the load battery pack 8 meets the direct disassembly condition three;

[0085] The central controller 1 is used to send a battery appearance inspection instruction to the battery disassembly robot 14 and the visual inspection unit 9 when the controller 1 2 simultaneously determines that the direct disassembly condition 1, the direct disassembly condition 2 and the direct disassembly condition 3 are met;

[0086] When the battery disassembly and assembly robot 14 receives the battery appearance inspection instruction, it operates the visual inspection unit 9 to collect appearance data of the load battery pack 8, and sends the collected appearance data to the central controller 1, and the central controller 1 sends it to the fault identification unit 10, and the fault identification unit 10 identifies the abnormal appearance of the load battery pack 8 in the appearance data based on the image recognition algorithm;

[0087] When the fault identification unit 10 identifies an appearance abnormality, the central controller 1 sends a manual disassembly instruction to the ground logistics 11;

[0088] When the fault identification unit 10 does not identify the appearance abnormality, the central controller 1 sends a battery disassembly instruction to the battery disassembly robot 14;

[0089] The controller 2 3 communicates with the fully-charged battery pack 12 and reads the performance data of the fully-charged battery pack 12, compares the data with the corresponding threshold value set therein, and determines whether the fully-charged battery pack 12 meets the assembly conditions;

[0090] When the fully charged battery pack 12 meets the assembly conditions, the controller 2 3 sends a battery assembly instruction to the central controller 1;

[0091] When the fully-charged battery pack 12 meets the assembly conditions, the controller 2 3 sends a fault detection instruction of the fully-charged battery pack 12 to the battery fault troubleshooting unit 13; when the battery fault troubleshooting unit 13 eliminates the fault of the fully-charged battery pack 12, the controller 2 3 sends a battery assembly instruction to the central controller 1;

[0092] When the battery fault troubleshooting unit 13 is unable to eliminate the fault of the fully-charged battery pack 12, the controller 2 3 sends a battery replacement instruction to the central controller 1, and the central controller 1 sends the instruction to the ground logistics 11, and the ground logistics 11 replaces the faulty fully-charged battery pack 12, and the controller 2 3 communicates with the replaced fully-charged battery pack 12 and reads the performance data of the fully-charged battery pack 12 and repeats the above steps;

[0093] The battery disassembly and assembly robot 14 is used to operate the battery assembly component 7 to disassemble the load battery pack 8 when receiving a battery disassembly instruction. The battery disassembly and assembly robot 14 is also used to operate the battery assembly component 7 to install the fully charged battery pack 12 when receiving a battery assembly instruction.

[0094] When the fully-charged battery pack 12 is assembled, the controller 1 2 establishes communication with the fully-charged battery pack 12. When the communication is abnormal, the controller 1 2 sends a manual verification instruction 1 to the central controller 1, and the central controller 1 sends a manual verification instruction 1 to the ground logistics 11;

[0095] At the same time, the controller 1 2 reads the battery position data collected by the battery position self-checking unit 5 and compares it with the corresponding threshold value set therein, and determines whether the fully charged battery pack 12 is loose. If it is loose, the controller 1 2 sends a manual inspection instruction 2 to the central controller 1;

[0096] When the communication is normal and the battery position is normal, the controller 1 2 sends a power-on command of the fully-charged battery pack 12 to the flight control system 4, and detects whether the power-on signal of the fully-charged battery pack 12 is normal through the aircraft status detection module 6;

[0097] When the power-on signal is abnormal, the controller 1 2 resets the power-on command, and after five resets, sends the manual verification command 3 to the central controller 1, and the central controller 1 sends the manual verification command 3 to the ground logistics 11;

[0098] When the power-on signal is normal, the controller 2 reads the performance parameters of the fully-charged battery pack 12, compares the performance parameters with the thresholds set therein, and determines whether the performance parameters are normal;

[0099] When it is determined that the performance parameter is abnormal, the controller 1 2 sends a manual verification instruction 4 to the central controller 1, and the central controller 1 sends a manual verification instruction 4 to the ground logistics 11;

[0100] When it is determined that the performance parameters are normal, the controller 2 sends a cooling system start instruction to the flight control system 4, and the flight control system 4 starts the cooling system to cool the battery and maintain it for fifteen minutes.

[0101] When the aircraft is in flight, the controller 2 detects the battery position data of the battery at intervals of 0.5 seconds, and sends a battery loosening alarm to the flight control system 4 when a battery loosening is detected.

[0102] When the present invention is used, the battery disassembly and assembly robot 14 replaces manual work to complete the disassembly and assembly of the battery in a normal state, thereby reducing the burden on ground staff;

[0103] Through data sharing between the central controller 1 and controllers 1 2 and 2 3, mutual checking and restraint can be performed to prevent errors from occurring in a single system and being unable to be effectively transmitted, thereby preventing danger;

[0104] When the present invention is used, the process and standardization of aircraft battery disassembly and assembly are realized, thereby improving accuracy and adaptability.

[0105] When the present invention is used, the battery disassembly and assembly robot 14 replaces manual work to complete the disassembly and assembly of the battery in a normal state, thereby reducing the burden on ground staff;

[0106] Through data sharing between the central controller 1 and controllers 1 2 and 2 3, mutual checking and restraint can be performed to prevent errors from occurring in a single system and being unable to be effectively transmitted, thereby preventing danger;

[0107] When the present invention is used, the process and standardization of aircraft battery disassembly and assembly are realized, thereby improving accuracy and adaptability.

[0108] Embodiment 3: In some embodiments, Figure 1-Figure 5 As shown, as a preferred embodiment of the present invention, the appearance abnormality includes deformation, bumping, and leakage.

[0109] The battery fault troubleshooting unit 13 uses a battery tester.

[0110] The battery assembly assembly 7 includes a battery compartment 71, an electromagnetic lock 72, a battery positioning pin 73 and a battery positioning groove 74;

[0111] There are four electromagnetic locks 72 and they are distributed in a rectangular shape on the battery compartment 71. The electromagnetic locks 72 are fixedly connected to the inner wall of the battery compartment 71. The battery position self-checking unit 5 is installed on the inner wall of the battery compartment 71 and the locking ends of the four electromagnetic locks 72. The battery positioning pin 73 is fixedly installed on the inner wall of the battery compartment 71. The battery positioning groove 74 is opened on the inner wall of the battery compartment 71. The load battery pack 8 and the fully charged battery pack 12 are both provided with slots for plugging and positioning with the battery positioning pin 73. The load battery pack 8 and the fully charged battery pack 12 are both fixedly provided with positioning grooves for plugging and positioning with the battery positioning groove 74.

[0112] The electromagnetic lock 72 is used to limit the load battery pack 8 or the fully charged battery pack 12 along the Z axis direction, and the battery positioning pin 73 and the battery positioning groove 74 are used to limit the load battery pack 8 or the fully charged battery pack 12 along the X and Y axes.

[0113] The electromagnetic lock 72 adopts an electromagnetic lock;

[0114] The battery position self-detection unit 5 includes a pressure sensor 51 and a proximity switch 52; the proximity switch 52 is fixedly installed on the inner wall of the battery compartment 71, and there are four pressure sensors 51, which are respectively fixedly installed on the locking ends of four electromagnetic locks 72. The pressure sensor 51 and the proximity switch 52 are both used in conjunction with the load battery pack 8 or the fully charged battery pack 12 for interference detection.

[0115] The pressure sensor 51 is used to detect the preload force of the electromagnetic lock 72;

[0116] The proximity switch 52 is used to detect whether the loaded battery pack 8 or the fully charged battery pack 12 is in contact with the inner wall of the battery compartment 71;

[0117] The aircraft status detection module 6 includes an air pressure sensor 61, a speed sensor 62, a switch sensor 63, a battery up and down power detection unit 64 and a hydraulic pressure sensor 65;

[0118] The air pressure sensor 61, the speed sensor 62, the switch sensor 63, and the battery power detection unit 64 are all connected to the flight control system 4 for communication;

[0119] The air pressure sensor 61 is used to detect the tire pressure signal of the aircraft;

[0120] The speed sensor 62 is used to detect the ground speed signal of the aircraft;

[0121] The switch sensor 63 is used to detect the aircraft engine speed-up switch lock signal;

[0122] The battery up and down detection unit 64 is used to detect the up and down signals between the flight control system 4 and the load battery pack 8 or the full-charge battery pack 12;

[0123] The hydraulic sensor 65 is used to detect the battery coolant pressure signal;

[0124] The flight control system 4 sends the above signal to the controller 2, and the controller 2 compares it with the corresponding threshold value set therein.

[0125] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A safety control system for electric aircraft battery replacement during transit, characterized in that: It includes a central controller (1), a controller 1 (2), a controller 2 (3), a flight control system (4), a battery position self-checking unit (5), an aircraft status detection module (6), a battery assembly component (7), a load battery pack (8), a visual inspection unit (9), a fault identification unit (10), ground logistics (11), a fully charged battery pack (12), a battery fault troubleshooting unit (13) and a battery disassembly and assembly robot (14); The central controller (1) is communicatively connected with controller 1 (2), controller 2 (3), a fault identification unit (10), ground logistics (11), a visual inspection unit (9), and a battery disassembly and assembly robot (14); The controller 1 (2) is communicatively connected with the flight control system (4), the battery position self-checking unit (5), and the load battery pack (8); The flight control system (4) is electrically connected to the aircraft status detection module (6) and the load battery pack (8); the load battery pack (8) is assembled in the battery assembly component (7); The visual inspection unit (9) is arranged on the battery disassembly and assembly robot (14); The second controller (3) is in communication connection with the fully-charged battery pack (12) and the battery fault troubleshooting unit (13), and the battery fault troubleshooting unit (13) is electrically connected with the fully-charged battery pack (12); The battery position self-detection unit (5) is installed on the battery assembly component (7) and collects battery position data of the load battery pack (8), and sends the battery position data to the controller 1 (2); The aircraft status detection module (6) is used to collect landing status data of the aircraft, and sends the landing status data to the flight control system (4), and the flight control system (4) sends the landing status data to controller 1 (2).

2. The electric aircraft station-changing power safety control system according to claim 1 is characterized in that: When the aircraft is changing power, the controller 1 (2) communicates with the load battery pack (8) and checks whether the communication is normal. When the communication is normal, the controller 1 (2) determines that the load battery pack (8) meets direct disassembly condition 1; When communication is abnormal, controller 1 (2) sends a battery communication abnormality signal to the central controller (1), and when the central controller (1) receives the signal, it sends a manual disassembly instruction to the ground logistics (11); The controller 1 (2) reads the battery position data collected by the battery position self-detection unit (5) and compares it with the corresponding threshold value set therein, and determines whether the load battery pack (8) is loose. When the load battery pack (8) is not detected to be loose, the controller 1 (2) determines that the load battery pack (8) meets the direct disassembly condition 2; When the load battery pack (8) is detected to be loose, the controller 1 (2) sends a battery loosening warning to the central controller (1), and when the central controller (1) receives the battery loosening warning, the central controller (1) sends a manual disassembly instruction to the ground logistics (11); When the aircraft lands, the controller 1 (2) reads the landing status data sent by the flight control system (4), and the controller 1 (2) compares the landing status data with the corresponding threshold value set therein, and determines whether the load battery pack (8) meets the direct disassembly condition 3; The central controller (1) is used to send a battery appearance inspection instruction to the battery disassembly robot (14) and the visual inspection unit (9) when the controller 1 (2) simultaneously determines that the direct disassembly condition 1, the direct disassembly condition 2 and the direct disassembly condition 3 are met; When the battery disassembly and assembly robot (14) receives a battery appearance inspection instruction, it operates the visual inspection unit (9) to collect appearance data of the load battery pack (8), and sends the collected appearance data to the central controller (1), and the central controller (1) sends it to the fault identification unit (10), and the fault identification unit (10) identifies the appearance abnormality of the load battery pack (8) in the appearance data based on an image recognition algorithm; When the fault identification unit (10) identifies an abnormal appearance, the central controller (1) sends a manual disassembly instruction to the ground logistics (11); When the fault identification unit (10) does not identify an abnormal appearance, the central controller (1) sends a battery disassembly instruction to the battery disassembly and assembly robot (14); The second controller (3) communicates with the fully-charged battery pack (12) and reads performance data of the fully-charged battery pack (12), compares the data with a corresponding threshold value set therein, and determines whether the fully-charged battery pack (12) meets the assembly conditions; When the fully-charged battery pack (12) meets the assembly conditions, the second controller (3) sends a battery assembly instruction to the central controller (1); When the fully-charged battery pack (12) meets the assembly conditions, the second controller (3) sends a fully-charged battery pack (12) fault detection instruction to the battery fault troubleshooting unit (13); when the battery fault troubleshooting unit (13) eliminates the fault of the fully-charged battery pack (12), the second controller (3) sends a battery assembly instruction to the central controller (1); When the battery fault detection unit (13) is unable to eliminate the fault of the fully-charged battery pack (12), the controller 2 (3) sends a battery replacement instruction to the central controller (1), and the central controller (1) sends the instruction to the ground logistics (11), and the ground logistics (11) replaces the faulty fully-charged battery pack (12). Then, the controller 2 (3) communicates with the replaced fully-charged battery pack (12) and reads the performance data of the fully-charged battery pack (12) and repeats the above steps; The battery disassembly and assembly robot (14) is used to operate the battery assembly component (7) to disassemble the load battery pack (8) when receiving a battery disassembly instruction, and the battery disassembly and assembly robot (14) is also used to operate the battery assembly component (7) to install the fully charged battery pack (12) when receiving a battery assembly instruction; When the fully-charged battery pack (12) is assembled, the controller 1 (2) establishes communication with the fully-charged battery pack (12). When the communication is abnormal, the controller 1 (2) sends a manual verification instruction 1 to the central controller (1), and the central controller (1) sends a manual verification instruction 1 to the ground logistics (11); At the same time, the controller 1 (2) reads the battery position data collected by the battery position self-checking unit (5) and compares it with the corresponding threshold value set therein, and determines whether the fully-charged battery pack (12) is loose. If it is loose, the controller 1 (2) sends a manual inspection instruction 2 to the central controller (1); When the communication is normal and the battery position is normal, the controller 1 (2) sends a power-on instruction of the fully-charged battery pack (12) to the flight control system (4), and detects whether the power-on signal of the fully-charged battery pack (12) is normal through the aircraft status detection module (6); When the power-on signal is abnormal, the controller 1 (2) resets the power-on command, and after five resets, sends a manual verification command 3 to the central controller (1), and the central controller (1) sends a manual verification command 3 to the ground logistics (11); When the power-on signal is normal, the controller 1 (2) reads the performance parameters of the fully-charged battery pack (12), compares the performance parameters with the thresholds set therein, and determines whether the performance parameters are normal; When it is determined that the performance parameter is abnormal, the controller 1 (2) sends a manual check instruction 4 to the central controller (1), and the central controller (1) sends a manual check instruction 4 to the ground logistics (11); When it is determined that the performance parameters are normal, the controller 1 (2) sends a cooling system start instruction to the flight control system (4), and the flight control system (4) starts the cooling system to cool the battery and maintain the cooling for fifteen minutes.

3. The electric aircraft station-changing power safety control system according to claim 2 is characterized in that: When the aircraft is in flight, the controller (2) detects the battery position data of the battery at intervals of 0.5 seconds, and sends a battery loosening alarm to the flight control system (4) when the battery is detected to be loose.

4. The electric aircraft station-changing power-changing safety control system according to claim 3 is characterized in that: The abnormal appearance includes deformation, bumping, and leakage.

5. The electric aircraft station-changing power-changing safety control system according to claim 4 is characterized in that: The battery fault troubleshooting unit (13) adopts a battery tester. The battery assembly component (7) comprises a battery compartment (71), an electromagnetic lock (72), a battery positioning pin (73) and a battery positioning groove (74); There are four electromagnetic locks (72) which are distributed in a rectangular shape on the battery compartment (71). The electromagnetic locks (72) are fixedly connected to the inner wall of the battery compartment (71). The battery position self-checking unit (5) is installed on the inner wall of the battery compartment (71) and the locking ends of the four electromagnetic locks (72). The battery positioning pin (73) is fixedly installed on the inner wall of the battery compartment (71). The battery positioning groove (74) is opened on the inner wall of the battery compartment (71). The load battery pack (8) and the fully charged battery pack (12) are both provided with slots for plugging and positioning with the battery positioning pin (73). The load battery pack (8) and the fully charged battery pack (12) are both fixedly provided with positioning grooves for plugging and positioning with the battery positioning groove (74). The electromagnetic lock (72) is used to limit the position of the loaded battery pack (8) or the fully charged battery pack (12) along the Z-axis direction, and the battery positioning pin (73) and the battery positioning groove (74) are used to limit the position of the loaded battery pack (8) or the fully charged battery pack (12) along the X-axis and the Y-axis.

6. The electric aircraft station-changing power-changing safety control system according to claim 5 is characterized in that: The battery position self-detection unit (5) comprises a pressure sensor (51) and a proximity switch (52); the proximity switch (52) is fixedly mounted on the inner wall of the battery compartment (71); there are four pressure sensors (51) and they are respectively fixedly mounted on the locking ends of four electromagnetic locks (72); the pressure sensor (51) and the proximity switch (52) are used in conjunction with a load battery pack (8) or a fully charged battery pack (12) for interference detection.

7. The electric aircraft station-changing power-changing safety control system according to claim 6 is characterized in that: The pressure sensor (51) is used to detect the preload force of the electromagnetic lock (72).

8. The electric aircraft station-changing power-changing safety control system according to claim 7 is characterized in that: The proximity switch (52) is used to detect whether the loaded battery pack (8) or the fully charged battery pack (12) is in contact with the inner wall of the battery compartment (71).

9. The electric aircraft station-changing power-changing safety control system according to claim 8, characterized in that: The aircraft status detection module (6) comprises an air pressure sensor (61), a speed sensor (62), a switch sensor (63), a battery upper and lower power detection unit (64) and a hydraulic pressure sensor (65); The air pressure sensor (61), the speed sensor (62), the switch sensor (63), and the battery upper and lower power detection unit (64) are all connected to the flight control system (4) for communication.

10. The electric aircraft station-changing power-changing safety control system according to claim 9, characterized in that: The air pressure sensor (61) is used to detect the tire pressure signal of the aircraft; The speed sensor (62) is used to detect the ground speed signal of the aircraft; The switch sensor (63) is used to detect the aircraft engine speed-up switch locking signal; The battery up and down power detection unit (64) is used to detect up and down power signals between the flight control system (4) and the load battery pack (8) or the fully charged battery pack (12); The hydraulic pressure sensor (65) is used to detect a battery coolant pressure signal; The flight control system (4) sends the above signal to controller one (2), and controller one (2) compares the signal with the corresponding threshold value set therein.

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