Current Detection Method, Power Output Monitoring Method and Device, Equipment, Medium

Abstract

The embodiments of the present application provide a current detection method, a power output monitoring method and apparatus, a device, and a medium, which belong to the field of drone technology. The current detection method includes: obtaining a first voltage signal from the first sampling terminal; obtaining a second voltage signal from the second sampling terminal; calculating a third voltage signal based on the second voltage signal and a preset voltage amplification factor; calculating a first current value based on the first voltage signal, the third voltage signal, and the third resistor; and calculating a target current value based on the first current value, the third voltage signal, the first resistor, and the second resistor. The technical solution of the embodiments of the present application can improve the accuracy of current detection and reduce the cost of current detection.

Description

Technical Field

[0001] The present application relates to the field of UAV technology, and in particular to a current detection method, a power output monitoring method and apparatus, equipment, and medium. Background Art

[0002] The operating status of a drone's power system needs to be monitored to achieve real-time control. Current detection on drones is often achieved using an ammeter, but this approach suffers from low accuracy. Therefore, improving the accuracy of current detection on drones has become a pressing technical challenge. Summary of the Invention

[0003] The main purpose of the embodiments of the present application is to propose a current detection method, a power output monitoring method and device, equipment, and medium, aiming to improve the accuracy of current detection.

[0004] To achieve the above objectives, a first aspect of an embodiment of the present application provides a current detection method, which is applied to a current detection circuit. The current detection circuit includes:

[0005] a first resistor, wherein a first end of the first resistor is connected to a ground wire, and a second end of the first resistor is connected to the drone;

[0006] a second resistor, wherein a first end of the second resistor is connected to the second end of the first resistor, and a second end of the second resistor is connected to the input end of the amplifier;

[0007] a third resistor, a first end of the third resistor being connected to the second end of the second resistor;

[0008] A first sampling terminal, used for connecting to the second terminal of the third resistor;

[0009] A second sampling terminal, used for connecting to the output terminal of the amplifier;

[0010] The current detection method includes:

[0011] Acquiring a first voltage signal from the first sampling terminal;

[0012] Acquiring a second voltage signal from the second sampling terminal;

[0013] Calculating a third voltage signal based on the second voltage signal and a preset voltage amplification factor;

[0014] Calculating a first current value according to the first voltage signal, the third voltage signal, and the third resistance;

[0015] A target current value is calculated according to the first current value, the third voltage signal, the first resistor, and the second resistor.

[0016] In some embodiments, the current detection circuit further includes:

[0017] a third sampling terminal, configured to connect to the second terminal of the second resistor;

[0018] Before calculating the third voltage signal according to the second voltage signal and the preset voltage amplification factor, the current detection method further includes: calculating the voltage amplification factor, specifically including:

[0019] Acquire a first reference signal from the second sampling end;

[0020] Acquire a second reference signal from the third sampling terminal;

[0021] The voltage amplification factor is obtained by calculation according to the first reference signal and the second reference signal.

[0022] In some embodiments, calculating the first current value according to the first voltage signal, the third voltage signal, and the third resistance includes:

[0023] Calculating a first voltage value according to the first voltage signal and the third voltage signal;

[0024] The first current value is calculated according to the first voltage value and the third resistance.

[0025] In some embodiments, calculating the target current value according to the first current value, the third voltage signal, the first resistor, and the second resistor includes:

[0026] Calculating a second voltage value according to the first current value and the second resistance;

[0027] Calculating a third voltage value according to the third voltage signal and the second voltage value;

[0028] The target current value is calculated according to the third voltage value and the first resistance.

[0029] In some embodiments, before calculating the target current value according to the first current value, the third voltage signal, the first resistor, and the second resistor, the current detection method further includes:

[0030] Get the preset current update parameters;

[0031] The target current value is updated according to the current update parameter.

[0032] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides a method for monitoring the power output of a UAV, the method comprising:

[0033] collecting the power voltage of the UAV;

[0034] Calibrate the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value;

[0035] Obtaining a target current value; the target current value is detected according to the current detection method described in the embodiment of the first aspect;

[0036] A target monitoring result is obtained according to the target voltage value and the target current value.

[0037] In some embodiments, before calibrating the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value, the power output monitoring method further includes: calculating the voltage calibration coefficient, specifically including:

[0038] Outputting a preset calibration voltage to the drone;

[0039] collecting a reference voltage generated by the drone according to the calibration voltage;

[0040] The voltage calibration coefficient is obtained by calculation according to the calibration voltage and the reference voltage.

[0041] To achieve the above objectives, a third aspect of the embodiments of the present application provides a power output monitoring device for a drone, the device comprising:

[0042] A collection module, used for collecting the power voltage of the UAV;

[0043] a first processing module, configured to calibrate the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value;

[0044] An acquisition module, configured to acquire a target current value; the target current value is detected by the current detection method according to any one of the embodiments of the first aspect;

[0045] The second processing module is used to obtain a target monitoring result according to the target voltage value and the target current value.

[0046] To achieve the above-mentioned purpose, a fourth aspect of the embodiments of the present application provides an electronic device, comprising a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for implementing a connection and communication between the processor and the memory, wherein when the program is executed by the processor, the current detection method described in the first aspect is implemented; or,

[0047] Implement the power output monitoring method described in the second aspect above.

[0048] To achieve the above-mentioned purpose, a fifth aspect of the embodiments of the present application provides a storage medium, wherein the storage medium is a computer-readable storage medium for computer-readable storage, and the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the current detection method described in the first aspect above; or,

[0049] Implement the power output monitoring method described in the second aspect above.

[0050] The current detection method, power output monitoring method and device, equipment, and medium proposed in this application obtain a first voltage signal from a first sampling terminal and a second voltage signal from a second sampling terminal, then calculate a third voltage signal based on the second voltage signal and a preset voltage method coefficient, calculate a first current value based on the first voltage signal, the third voltage signal, and the third resistance, and finally calculate a target current value based on the first current value, the third voltage signal, the first resistance, and the second voltage. Through this arrangement, a simple circuit can accurately detect the current of the drone, thereby improving detection accuracy while reducing detection costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a circuit schematic diagram of a current detection circuit provided in an embodiment of the present application;

[0052] Figure 2 This is a first flow chart of the current detection method provided in an embodiment of the present application;

[0053] Figure 3 is a second flow chart of the current detection method provided in an embodiment of the present application;

[0054] Figure 4 yes Figure 1 Flowchart of step S400 in FIG.

[0055] Figure 5 yes Figure 1 Flowchart of step S500 in FIG.

[0056] Figure 6is a third flow chart of the current detection method provided in an embodiment of the present application;

[0057] Figure 7 is a flow chart of the power output monitoring method provided in an embodiment of the present application;

[0058] Figure 8 is a circuit schematic diagram of a voltage detection circuit provided in an embodiment of the present application;

[0059] Figure 9 Schematic diagram of the structure of the power output detection device provided in an embodiment of the present application;

[0060] Figure 10 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0062] It should be noted that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0064] UAVs need to constantly monitor the output of their power systems so that they can handle any power system failures promptly. Furthermore, monitoring the output of the UAV's power system also facilitates real-time control of the UAV's power. UAV power system monitoring includes current monitoring and voltage monitoring.

[0065] However, at present, there is basically no corresponding monitoring system for the power system of the drone, resulting in no knowledge of the operating status of the drone power system, or simply using an ammeter to detect the current of the drone, and a simple voltmeter to detect the voltage. However, this method results in low accuracy of the detection results. Therefore, how to improve the accuracy of the drone monitoring system has become a technical problem that needs to be solved urgently.

[0066] Based on this, the embodiments of the present application provide a current detection method, a power output monitoring method and apparatus, equipment, and medium, aiming to improve the accuracy of current detection and reduce the cost of current detection.

[0067] The current detection method, power output monitoring method and device, equipment, and medium provided in the embodiments of the present application are specifically illustrated through the following embodiments. First, the current detection method in the embodiments of the present application is described.

[0068] Please refer to Figure 1 , Figure 1 The current detection circuit provided in some embodiments of the present application includes: a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, and an integrated operational amplifier U1. The fourth resistor R4, the fifth resistor R5, and the integrated operational amplifier U1 form an amplifier, wherein a first end of the fourth resistor R4 is connected to a ground line, a second end of the fourth resistor R4 is connected to an inverting input terminal of the integrated operational amplifier U1, a first end of the fifth resistor R5 is connected to a second end of the fourth resistor R4, and a second end of the fifth resistor R5 is connected to an output terminal of the integrated operational amplifier U1; a first end of the first resistor R1 is connected to a ground line, a second end of the first resistor R1 is connected to a drone, and an end of the drone away from the first resistor R1 is connected to a voltage input terminal; a first end of the second resistor R2 is connected to a second end of the first resistor R1, and a second end of the second resistor R2 is connected to a non-inverting input terminal of the integrated operational amplifier U1; a first end of the third resistor R3 is connected to a second end of the second resistor R2; and a first end of the sixth resistor R6 is connected to a second end of the fifth resistor R5.

[0069] exist Figure 1 The current detection circuit is provided with three sampling terminals, namely a first sampling terminal, a second sampling terminal and a third sampling terminal. Among them, the first sampling terminal is used to connect to the second terminal of the third resistor R3, the second sampling terminal is used to connect to the second terminal of the sixth resistor R6, and the third sampling terminal is provided at the second terminal of the second resistor R2.

[0070] based on Figure 1 Please refer to the current detection circuit shown in Figure 2 , Figure 2 This is an optional flow chart of the current detection method provided in the embodiment of the present application. Figure 2 The method may include but is not limited to steps S100 to S500.

[0071] Step S100, obtaining a first voltage signal from a first sampling terminal;

[0072] Step S200, obtaining a second voltage signal from a second sampling terminal;

[0073] Step S300, calculating and obtaining a third voltage signal according to the second voltage signal and a preset voltage amplification factor;

[0074] Step S400, calculating a first current value according to the first voltage signal, the third voltage signal and the third resistor R3;

[0075] In step S500 , a target current value is calculated according to the first current value, the third voltage signal, the first resistor R1 , and the second resistor R2 .

[0076] The current detection method of the embodiment of the present application obtains a first voltage signal from a first sampling terminal and a second voltage signal from a second sampling terminal. Then, based on the second voltage signal and a preset voltage method coefficient, a third voltage signal is calculated. The first current value is calculated based on the first voltage signal, the third voltage signal, and the third resistor R3. Finally, the target current value is calculated based on the first current value, the third voltage signal, the first resistor R1, and the second voltage. This arrangement enables a simple circuit to accurately detect the current of the drone, thereby improving detection accuracy while reducing detection costs.

[0077] Please refer to Figure 3 In some embodiments of the present application, before step S300, the current detection method further includes the steps of:

[0078] The voltage amplification factor is calculated, specifically including step S600, step S700 and step S800.

[0079] Step S600, obtaining a first reference signal from a second sampling end;

[0080] Step S700, obtaining a second reference signal from a third sampling terminal;

[0081] Step S800: Calculate and obtain a voltage amplification factor according to the first reference signal and the second reference signal.

[0082] Specifically, in step S600 of some embodiments, an ADC (Analog to Digital Converter) is used to obtain the output voltage of the second sampling terminal to obtain a first reference signal, which is represented by VOUT_ADC. The voltage of the second sampling terminal is collected by a high-precision ADC sampler to obtain the first reference signal, which is represented by formula (1). Formula (1) is:

[0083] VOUT_ADC=(V ADC *ADC1) / 2 X (1)

[0084] In formula (1), X represents the number of ADC conversion bits, ADC1 is the sampling channel, V ADC The sampling voltage is set as follows, and a more accurate first reference signal can be obtained.

[0085] In step S700 of some embodiments, the voltage at the third sampling terminal is acquired through the ADC to obtain a second reference signal, which is represented by V+_ADC. The voltage at the third sampling terminal is acquired through a high-precision ADC sampler to obtain a second reference signal, which is represented by formula (2). Formula (2) is:

[0086] V+_ADC=(V ADC *ADC2) / 2 X (2)

[0087] In formula (2), X represents the number of ADC conversion bits, ADC2 is the sampling channel, and V ADC The sampling voltage is set as follows, and a more accurate second reference signal can be obtained.

[0088] In step S800 of some embodiments, the voltage amplification factor is represented by K, and the voltage amplification factor of the amplifier can be represented by formula (3), which is:

[0089] K=VOUT_ADC / V+_ADC (3)

[0090] According to formula (1) and formula (2), formula (4) can be derived, which is:

[0091] K=ADC1 / ADC2 (4)

[0092] It can be seen from formula (4) that the voltage amplification factor obtained at this time has eliminated the influence of the resistance.

[0093] If the method of the embodiment of the present application is not adopted, according to Figure 1 , we can get the voltage amplification factor K of the amplifier, which can be expressed as:

[0094] K=(R4+R5) / R4 (5)

[0095] In formula (5), due to the consistency differences and various precision errors between the fourth resistor R4 and the fifth resistor R5, the calculated voltage amplification factor does not meet the high-precision requirement.

[0096] Therefore, by adopting the technical solution of the embodiment of the present application, high-precision current detection can be achieved without changing the circuit, thereby improving the accuracy of current detection and reducing the cost of high-precision current detection.

[0097] In order to improve the accuracy of current detection when actually detecting current, it is necessary to Figure 1 The first resistor R1 and the second resistor R2 are set to be relatively small. The specific steps of the current detection method in the embodiment of the present application are described below.

[0098] In step S100 of some embodiments, a first voltage signal at a first sampling terminal is collected by an ADC sampler, which is represented by V1.

[0099] In step S200 of some embodiments, a second voltage signal at the second sampling end is collected by an ADC sampler, which is represented by V2.

[0100] In step S300 of some embodiments, a third voltage signal is calculated based on the voltage amplification factor K and the second voltage signal V2 calculated in the above steps, specifically:

[0101] V3=V2 / K (6)

[0102] Please refer to Figure 4 In some embodiments of the present application, step S400 includes but is not limited to step S410 and step S420. Figure 1 and Figure 4 , these two steps are described in detail.

[0103] Step S410, calculating a first voltage value according to the first voltage signal and the third voltage signal;

[0104] Step S420: Calculate a first current value according to the first voltage value and the third resistor R3.

[0105] Specifically, in this embodiment, the difference between the first voltage signal and the third voltage signal is calculated to obtain a first voltage value, which is used to represent the voltage difference across the third resistor R3. Then, according to Ohm's law, the voltage difference across the third resistor R3 is divided by the resistance value of the third resistor R3 to obtain a first current value, which is used to represent the magnitude of the current flowing through the third resistor R3. This can be expressed by formula (7), which is:

[0106] I3=(V1-V3) / R3 (7)

[0107] Please refer to Figure 5 In some embodiments of the present application, step S500 includes but is not limited to step S510, step S520 and step S530. Figure 1 and Figure 5 These two steps are described in detail.

[0108] Step S510, calculating a second voltage value according to the first current value and the second resistor R2;

[0109] Step S520, calculating a third voltage value according to the third voltage signal and the second voltage value;

[0110] Step S530 , calculating a target current value according to the third voltage value and the first resistor R1 .

[0111] Specifically, in this embodiment, the second voltage value is first calculated based on the first current value and the second resistor R2. The second voltage value is used to represent the voltage difference across the second resistor R2. Then, the third voltage value is calculated based on the third voltage signal and the second voltage value. The third voltage value is used to represent the voltage difference across the first resistor R1. The target current value is then calculated based on the third voltage value and the first resistor R1. This can be calculated using the following formula:

[0112] VR1=V3-I1*R2 (8)

[0113] I=VR1 / R1 (9)

[0114] In formula (8) and formula (9), VR1 represents the third voltage value, and I represents the target current value.

[0115] By setting it in this way, the consistency difference between the fourth resistor R4 and the fifth resistor R5 and the error of the device itself can be avoided. Only by simply correcting the voltage amplification factor, high-precision detection of the power current of the drone can be achieved.

[0116] Please refer to Figure 6 In some embodiments of the present application, after step S500, the current detection method further includes but is not limited to steps S900 and S1000. Figure 6 These two steps are described in detail.

[0117] Step S900, obtaining a preset current update parameter;

[0118] Step S1000: updating the target current value according to the current update parameter.

[0119] Specifically, in this embodiment, although the technical solution of the present application can eliminate the influence of the fourth resistor R4 and the fifth resistor R5, the influence of the first resistor R1, the second resistor R2 and the third resistor R3 still exists. Since the first resistor R1, the second resistor R2 and the third resistor R3 themselves have errors or inconsistencies, there is still a gap between the calculated target current value and the ideal result. Therefore, the target current value needs to be updated.

[0120] Through actual tests, it is found that under different current conditions, the calculated target current value error varies. When the drone is in a high-power driving state, the target current value cannot represent the actual current value of the drone. Therefore, by obtaining the current update parameter, the target current value is updated according to the current update parameter. This is specifically achieved through the following formula:

[0121] Y=(AD) / [1+(X / C) B ]+D (10)

[0122] In formula (10), X represents the target current value before the update, that is, the target current value calculated according to formula (9), Y represents the target current value after the update, that is, the actual current value, and A, B, C, and D are constants representing the current update parameters. The current update parameters are determined as follows:

[0123] First, under different current conditions, the actual current value Y and the target current value X are calculated. Then, the actual current value Y and the target current value X are expressed in a Cartesian direct coordinate system. Then, a large amount of data is fitted to calculate the current update parameters A, B, C, and D.

[0124] By setting it in this way, the accuracy of current detection can be further improved and the consistency requirements for peripheral devices can be reduced.

[0125] Please refer to Figure 7 In the second aspect, some embodiments of the present application provide a power output monitoring method, including but not limited to step S1100, step S1200, step S1300 and step S1400, and the following is combined with Figure 7 These four steps are introduced in detail.

[0126] Step S1100, collecting the power voltage of the UAV;

[0127] Step S1200, calibrating the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value;

[0128] Step S1300: Acquire a target current value; the target current value is detected by the current detection method according to any one of the embodiments of the first aspect;

[0129] Step S1400: Obtain a target monitoring result according to the target voltage value and the target current value.

[0130] The power output monitoring method of the embodiment of the present application obtains a target voltage value by calibrating the power voltage according to a preset voltage calibration coefficient, and then obtains a target monitoring result based on the target current value obtained in the above steps, thereby achieving high-precision monitoring while reducing monitoring costs.

[0131] Specifically, in this embodiment, the power voltage of the drone is collected by an ADC sampler, and the power voltage is represented by V4; then the power voltage V1 is calibrated according to a preset voltage calibration coefficient Q to obtain a target voltage value, which is represented by V5.

[0132] V5=(V4*ADC4) / (Q*2 X ) (12)

[0133] In formula (12), ADC4 represents the ADC sampling channel, and X represents the ADC conversion bit number.

[0134] By setting in this way, the target voltage value obtained by detection is more consistent with the actual voltage, thereby improving the accuracy of voltage detection. In addition, there is no need to change the circuit setting, thereby reducing the cost of voltage detection.

[0135] Finally, the target monitoring result is obtained based on the target voltage value and target current value obtained by detection, thereby realizing the monitoring of the UAV power system.

[0136] Please refer to Figure 8 , Figure 8 : is a circuit diagram of a voltage detection circuit provided in an embodiment of the present application. The voltage detection circuit includes a seventh resistor R7 and an eighth resistor R8. The power output voltage of the drone can be expressed as:

[0137] VIN*(R7 / R8)=VOUT (11)

[0138] It can be seen from formula (11) that the power output voltage of the UAV is affected by the consistency difference and error of the seventh resistor R7 and the eighth resistor R8. Therefore, it is necessary to minimize or even eliminate this influence.

[0139] In some embodiments of the present application, before step S1200, the voltage detection method further includes the following steps:

[0140] Output the preset calibration voltage to the drone;

[0141] Collect the reference voltage generated by the drone based on the calibration voltage;

[0142] The voltage calibration coefficient is calculated based on the calibration voltage and the reference voltage.

[0143] Specifically, in this embodiment, a high-precision calibration voltage is first input into the drone, and then the reference voltage generated by the drone according to the calibration voltage is collected by the ADC sampler. Then, the voltage calibration coefficient Q is calculated based on the calibration voltage and the reference voltage.

[0144] Let V6 represent the calibration voltage and V7 represent the reference voltage. The voltage calibration coefficient can be expressed by the following formula:

[0145] Q=(V7*ADC5) / (V6*2 X ) (12)

[0146] In formula (12), ADC5 represents the ADC sampling channel, and X represents the number of conversion bits.

[0147] It should be noted that the ADC sampler in the embodiment of the present application can be integrated into the central processing unit MCU or can be set separately. This application does not impose any specific restrictions on this.

[0148] Please refer to Figure 9 On the third aspect, some embodiments of the present application further propose a power output monitoring device for a UAV, which includes a collection module 1500, a first processing module 1600, an acquisition module 1700 and a second processing module 1800.

[0149] The acquisition module 1500 is used to collect the power voltage of the UAV.

[0150] The first processing module 1600 is configured to calibrate the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value.

[0151] An acquisition module 1700 is configured to acquire a target current value; the target current value is obtained by detecting the current according to any one of the current detection methods of the first aspect of the embodiment;

[0152] The second processing module 1800 is configured to obtain a target monitoring result according to the target voltage value and the target current value.

[0153] The power output monitoring device of the embodiment of the present application calibrates the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value, and then obtains a target monitoring result based on the target current value obtained in the above steps, thereby achieving high-precision monitoring while reducing monitoring costs.

[0154] It should be noted that the power output monitoring device of the embodiment of the present application corresponds to the aforementioned power output monitoring method. For specific operating procedures or monitoring steps, please refer to the aforementioned power output monitoring method, which will not be repeated here.

[0155] The present application also provides an electronic device comprising: a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for enabling communication between the processor and the memory. When the program is executed by the processor, the above-described current detection method or power output monitoring method is implemented. The electronic device can be any intelligent terminal, including a tablet computer and an in-vehicle computer.

[0156] See also Figure 10 , Figure 10 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:

[0157] The processor 1900 may be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is configured to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0158] The memory 2000 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 2000 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program codes are stored in the memory 2000 and are called by the processor 1900 to execute the current detection method or power output monitoring method of the embodiments of this application.

[0159] Input / output interface 2100, used to implement information input and output;

[0160] Communication interface 2200, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0161] bus 2300 , which transmits information between various components of the device (e.g., processor 1900 , memory 2000 , input / output interface 2100 , and communication interface 2200 );

[0162] The processor 1900 , the memory 2000 , the input / output interface 2100 and the communication interface 2200 are connected to each other in communication within the device via the bus 2300 .

[0163] An embodiment of the present application also provides a storage medium, which is a computer-readable storage medium used for computer-readable storage. The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above-mentioned current detection method or power output monitoring method.

[0164] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0165] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0166] It will be understood by those skilled in the art that Figure 1-7 The technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than those shown in the figures, or a combination of certain steps, or different steps.

[0167] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0168] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0169] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0170] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0171] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0172] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0173] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0174] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0175] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A current detection method for a drone, characterized in that: Applied to a current detection circuit, the current detection circuit comprising: a first resistor, wherein a first end of the first resistor is connected to a ground wire, and a second end of the first resistor is connected to the drone; a second resistor, wherein a first end of the second resistor is connected to the second end of the first resistor, and a second end of the second resistor is connected to the input end of the amplifier; a third resistor, a first end of the third resistor being connected to the second end of the second resistor; A first sampling terminal, used for connecting to the second terminal of the third resistor; A second sampling terminal, used for connecting to the output terminal of the amplifier; a third sampling terminal, configured to connect to the second terminal of the second resistor; The current detection method includes: Acquiring a first voltage signal from the first sampling terminal; Acquiring a second voltage signal from the second sampling terminal; Calculating the voltage amplification factor includes: obtaining a first reference signal from the second sampling end, the first reference signal being calculated based on the voltage collected by the ADC sampler corresponding to the second sampling end, and the calculation formula is: VOUT_ADC=(V ADC *ADC1) / 2 X , where X represents the number of conversion bits of the ADC sampler, ADC1 is the sampling channel of the ADC sampler corresponding to the second sampling end, and V ADC is the sampling voltage; obtain a second reference signal from the third sampling terminal, the second reference signal is calculated based on the voltage collected by the ADC sampler corresponding to the third sampling terminal, and the calculation formula is: V+ADC=(V ADC *ADC2) / 2 X , where X represents the number of conversion bits of the ADC sampler, ADC2 is the sampling channel of the ADC sampler corresponding to the third sampling end, and V ADC is the sampling voltage; the voltage amplification factor is calculated according to the first reference signal and the second reference signal, and the calculation formula of the voltage amplification factor is: K=VOUT_ADC / V+ADC=ADC1 / ADC2; Calculating a third voltage signal based on the second voltage signal and a preset voltage amplification factor; Calculating a first current value according to the first voltage signal, the third voltage signal, and the third resistance; Calculating a target current value according to the first current value, the third voltage signal, the first resistor, and the second resistor; Obtaining a preset current update parameter, wherein the current update coefficient is calculated by: representing the actual current value and the target current value in a Cartesian direct coordinate system, and performing fitting based on a plurality of represented data to calculate the current update parameter; The target current value is updated according to the current update parameter.

2. The method according to claim 1, characterized in that The calculating a first current value according to the first voltage signal, the third voltage signal, and the third resistance includes: Calculating a first voltage value according to the first voltage signal and the third voltage signal; The first current value is calculated according to the first voltage value and the third resistance.

3. The method according to claim 1, characterized in that The calculating a target current value according to the first current value, the third voltage signal, the first resistor, and the second resistor includes: Calculating a second voltage value according to the first current value and the second resistance; Calculating a third voltage value according to the third voltage signal and the second voltage value; The target current value is calculated according to the third voltage value and the first resistance.

4. A method for monitoring the power output of an unmanned aerial vehicle, characterized in that: The power output monitoring method comprises: collecting the power voltage of the UAV; Calibrate the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value; Obtaining a target current value; the target current value is detected by the current detection method according to any one of claims 1 to 3; A target monitoring result is obtained according to the target voltage value and the target current value.

5. The method according to claim 4, characterized in that Before calibrating the power voltage according to the preset voltage calibration coefficient to obtain the target voltage value, the power output monitoring method further includes: calculating the voltage calibration coefficient, specifically including: Outputting a preset calibration voltage to the drone; collecting a reference voltage generated by the drone according to the calibration voltage; The voltage calibration coefficient is obtained by calculation according to the calibration voltage and the reference voltage.

6. A power output monitoring device for an unmanned aerial vehicle, characterized in that: The device comprises: A collection module, used for collecting the power voltage of the UAV; a first processing module, configured to calibrate the power voltage according to a preset voltage calibration coefficient to obtain a target voltage value; An acquisition module, configured to acquire a target current value; the target current value is obtained by detecting the current detection method according to any one of claims 1 to 3; The second processing module is used to obtain a target monitoring result according to the target voltage value and the target current value.

7. An electronic device, characterized in that: The electronic device includes a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for implementing a connection and communication between the processor and the memory, wherein the program, when executed by the processor, implements the steps of the current detection method according to any one of claims 1 to 3; or, The steps of the power output monitoring method according to any one of claims 4 to 5.

8. A storage medium, which is a computer-readable storage medium and is used for computer-readable storage, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the current detection method according to any one of claims 1 to 3; or, The steps of the power output monitoring method according to any one of claims 4 to 5.

Images