Wireless charging control method, wireless charging module and unmanned aerial vehicle system

Abstract

The application provides a wireless charging control method, a wireless charging module and a UAV system. The method comprises: when the wireless charging module is started, a task set is created, the task set comprising a communication task and a running control task; the parameter set of the UAV is obtained through the communication task; and the original side module in the wireless charging module is controlled to run according to the parameter set through a charging control function in the running control task, wherein when the control mode is a charging mode, the charging strategy corresponding to the battery model, the residual power and the battery temperature is selected through the charging control function, the original side module is controlled to emit electromagnetic waves to the secondary side module to charge the UAV. In this way, the charging mode can be dynamically adjusted in combination with the battery model, the residual power and the battery temperature during the charging process, the expansibility and the self-adjusting capability of the system are improved, and then the application range of the wireless charging of the UAV is expanded.

Description

Technical Field

[0001] This invention relates to the field of wireless charging technology, and more specifically, to a wireless charging control method, a wireless charging module, and a drone system. Background Technology

[0002] As drones continue to develop, their charging methods are also constantly evolving. Currently, in addition to traditional wired charging, drones are now offering wireless charging. However, the current control methods for wireless charging are relatively limited. For example, a wireless charger typically only supports drones / batteries of the same model and cannot charge other models. This results in poor scalability and self-adjustment capabilities, restricting the applicability of wireless charging for drones. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a wireless charging control method, a wireless charging module, and a drone system, which can improve the problems of relatively simple control methods, poor scalability, and poor self-adjustment capability of wireless charging.

[0004] To achieve the above technical objectives, the technical solution adopted in this application is as follows:

[0005] In a first aspect, embodiments of this application provide a wireless charging control method applied to a wireless charging module with an operating system, the wireless charging module being used for communicative connection with a secondary module mounted on a drone, the method comprising:

[0006] When the wireless charging module is started, a task set is created, which includes communication tasks and operation control tasks. The task set also includes at least one of status display tasks, monitoring and detection tasks, and timer tasks. The operation control tasks include a startup function, a communication establishment function, and a charging control function.

[0007] The communication task obtains the parameter set of the drone, which includes the drone's control mode, battery model, remaining battery power, and battery temperature.

[0008] The primary-side module in the wireless charging module is controlled to operate according to the parameter set by the charging control function in the operation control task. When the control mode is charging mode, the charging control function selects a charging strategy corresponding to the battery model, the remaining power, and the battery temperature, and controls the primary-side module to emit electromagnetic waves to the secondary-side module to charge the drone.

[0009] In conjunction with the first aspect, in some optional embodiments, before controlling the operation of the primary-side module in the wireless charging module according to the parameter set via the charging control function in the operation control task, the method further includes:

[0010] The monitoring task detects the operating parameters of the primary-side module, including at least one of the primary-side module's input voltage, current, temperature, output phase shift angle, and communication quality.

[0011] Determine whether there is any abnormal data in the operating parameters;

[0012] When abnormal data exists in the operating parameters, an alarm message corresponding to the abnormal data is generated, and the alarm message is input into a message queue representing fault information so as to trigger an alarm through the message queue.

[0013] In conjunction with the first aspect, in some optional implementations, determining whether there is abnormal data in the operating parameters includes:

[0014] When the input voltage in the operating parameters is not within the first preset voltage range, the input voltage in the operating parameters is determined to be abnormal data;

[0015] When the current in the operating parameters is not within the first preset current range, the current in the operating parameters is determined to be abnormal data;

[0016] When the temperature in the operating parameters is not within the first preset temperature range, the temperature in the operating parameters is determined to be abnormal data;

[0017] When the timer task records a first specified duration, the secondary side module sends M data frames for communication quality detection to the primary side module. If the primary side module receives the data frames sent by the secondary side module and the number of successful verifications of the data frames is less than M, the communication quality in the running parameters is determined to be abnormal data, where M is an integer greater than or equal to 1.

[0018] When the current value output by the secondary module is less than the threshold corresponding to the phase shift angle of the primary module, the output phase shift angle in the operating parameters is determined to be abnormal data.

[0019] In conjunction with the first aspect, in some optional implementations, the operating parameters further include the output voltage of the PFC circuit, and determining whether there is abnormal data in the operating parameters includes:

[0020] When the output voltage of the PFC circuit is not within the second preset voltage range, the output voltage of the PFC circuit is determined to be abnormal data.

[0021] In conjunction with the first aspect, in some optional embodiments, before controlling the operation of the primary-side module in the wireless charging module according to the parameter set via the charging control function in the operation control task, the method further includes:

[0022] The startup function is invoked through a preset function selector;

[0023] After system initialization via the startup function, determine whether the alarm information exists in the message queue;

[0024] When the alarm information is not present in the message queue, the communication establishment function is invoked through the function selector.

[0025] The system is initialized using the established communication function, and it is determined whether the alarm information exists in the message queue.

[0026] When the communication establishment function determines that the alarm information does not exist in the message queue, the communication establishment function controls the primary side module to perform a communication handshake with the secondary side module.

[0027] When the handshake is successful, the primary side module is controlled to operate with the minimum phase shift angle;

[0028] Determine whether the control mode of the drone is takeoff mode;

[0029] When the control mode is not the takeoff mode, the charging control function is invoked through the function selector.

[0030] In conjunction with the first aspect, in some optional implementations, the primary-side module in the wireless charging module is controlled to operate according to the parameter set via the charging control function in the operation control task, including:

[0031] After initializing the system using the charging control function, it is determined whether the alarm information exists in the message queue.

[0032] When the alarm information is not present in the message queue, the phase shift angle of the primary side module is increased so that the difference between the output voltage of the secondary side module and the current battery voltage of the UAV is less than a preset threshold.

[0033] Determine whether the battery temperature is less than or equal to a first specified temperature;

[0034] When the battery temperature is less than or equal to the first specified temperature, the primary side module is controlled to emit electromagnetic waves to the secondary side module at a first preset charging power to charge the battery module in the drone.

[0035] When the battery temperature is greater than the first specified temperature and less than the second specified temperature that indicates overheating, the primary side module is controlled to emit electromagnetic waves to the secondary side module at a second preset charging power to charge the battery module, wherein the second preset charging power is less than the first preset charging power.

[0036] When the battery temperature is greater than or equal to the second specified temperature, the primary side module is controlled to stop emitting electromagnetic waves to stop charging the battery module.

[0037] In conjunction with the first aspect, in some optional implementations, controlling the operation of the primary-side module in the wireless charging module according to the parameter set via the charging control function in the operation control task further includes:

[0038] When the remaining power exceeds the preset power and the battery temperature is lower than the second specified temperature, the primary side module is controlled to emit electromagnetic waves to the secondary side module in trickle charging mode.

[0039] In conjunction with the first aspect, in some alternative implementations, the method further includes:

[0040] The status display task detects the device status of the wireless charging module and controls the status indicator module on the wireless charging module to issue a prompt corresponding to the device status.

[0041] Secondly, this application also provides a wireless charging module, which includes a processor and a memory coupled to each other. The memory stores a computer program, and when the computer program is executed by the processor, the wireless charging module performs the above-described method.

[0042] Thirdly, this application also provides a drone system, including a drone and the aforementioned wireless charging module, wherein the primary side module of the wireless charging module is wirelessly connected to the secondary side module on the drone.

[0043] The invention employing the above technical solution has the following advantages:

[0044] In the technical solution provided in this application, by utilizing the created task set, the tasks of a relatively complex closed-loop control system can be divided into various tasks within the task set, thereby facilitating refined control. Furthermore, in charging mode, a charging strategy corresponding to the battery model, remaining power, and battery temperature is selected through a charging control function. This controls the primary-side module to transmit electromagnetic waves to the secondary-side module to charge the drone. Thus, during the charging process, the charging method can be dynamically adjusted based on the battery model, remaining power, and battery temperature, improving the system's scalability and self-adjustment capabilities, thereby expanding the applicability of wireless charging for drones. Attached Figure Description

[0045] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings. It should be understood that the following drawings only illustrate some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without any inventive effort.

[0046] Figure 1 This is a schematic diagram illustrating the communication connection between the wireless charging module and the drone provided in an embodiment of this application.

[0047] Figure 2 This is a flowchart illustrating the wireless charging control method provided in an embodiment of this application.

[0048] Figure 3 This is a schematic diagram of the process for creating a task set provided in an embodiment of this application.

[0049] Figure 4A This is a flowchart illustrating the communication task provided in an embodiment of this application.

[0050] Figure 4B This is a flowchart illustrating the operation control task provided in an embodiment of this application.

[0051] Figure 5A This is a flowchart illustrating the startup function provided in an embodiment of this application.

[0052] Figure 5B This is a flowchart illustrating the communication establishment function provided in an embodiment of this application.

[0053] Figure 5C This is a flowchart illustrating the charging control function provided in an embodiment of this application.

[0054] Figure 6 This is a flowchart illustrating the status display task provided in an embodiment of this application.

[0055] Figure 7 This is a flowchart illustrating the timer task and monitoring task provided in the embodiments of this application.

[0056] Icons: 10-Drone system; 20-Wireless charging module; 21-Primary side module; 30-Drone; 31-Secondary side module; 32-Battery module. Detailed Implementation

[0057] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts are referred to by the same reference numerals in the drawings or description. Implementations not shown or described in the drawings are forms known to those skilled in the art. In the description of this application, terms such as "first" and "second" are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0058] Please refer to Figure 1 This application provides a drone system 10, which may include a wireless charging module 20 and a drone 30. The primary-side module 21 in the wireless charging module 20 and the secondary-side module 31 on the drone 30 can establish a wireless communication connection.

[0059] In this embodiment, the primary side module 21 includes a transmitting coil for wireless charging, and the secondary side module 31 on the drone 30 may include a receiving coil for wireless charging. Typically, the distance between the transmitting coil of the primary side module 21 and the receiving coil of the secondary side module 31 is within 35 mm, so that the primary side module 21 and the secondary side module 31 can cooperate with each other to achieve wireless charging of the battery module 32 on the drone 30.

[0060] The voltage and current obtained by the secondary module 31 are controlled by the phase shift angle of the full bridge on the primary module 21. The phase shift angle ranges from 0° to 180°. The larger the phase shift angle, the larger the current and voltage of the secondary module 31, and there is a linear relationship between the phase shift angle and the current and voltage of the secondary module 31.

[0061] It should be noted that the UAV system 10 may also include a host computer. The primary-side module 21 is responsible for communicating with the secondary-side module 31 and the host computer. The host computer can first send a control mode (such as takeoff mode, charging mode) command to the primary-side module 21. The primary-side module 21 sends the current mode to the secondary-side module 31 through a handshake. After the secondary-side module 31 knows the current mode, it responds accordingly, and the primary-side module 21 also executes the corresponding control according to the current mode.

[0062] Of course, in other embodiments, the primary module 21 can be compatible with the control functions of the host computer. That is, the UAV system 10 can achieve the corresponding control functions without a host computer. The difference is that the purpose of setting up a host computer is to enable the UAV system 10 to have more independent control functions.

[0063] The wireless charging module 20 may further include a processing module and a storage module. The storage module stores a computer program, which, when executed by the processing module, enables the wireless charging module 20 to perform the corresponding steps in the wireless charging control method described below.

[0064] Please refer to Figure 2 This application also provides a wireless charging control method, which can be applied to the aforementioned wireless charging module 20. The wireless charging module 20 is equipped with an operating system, and the wireless charging control method may include the following steps:

[0065] Step 110: When the wireless charging module is started, a task set is created. The task set includes communication tasks and operation control tasks. The task set also includes at least one of status display tasks, monitoring and detection tasks, and timer tasks. The operation control tasks include a startup function, a communication establishment function, and a charging control function.

[0066] Step 120: Obtain the parameter set of the UAV through the communication task. The parameter set includes the control mode of the UAV, the battery model of the UAV, the remaining power and the battery temperature.

[0067] Step 130: Using the charging control function in the operation control task, the primary side module in the wireless charging module is controlled to operate according to the parameter set. When the control mode is charging mode, the charging control function selects a charging strategy corresponding to the battery model, the remaining power, and the battery temperature, and controls the primary side module to emit electromagnetic waves to the secondary side module to charge the drone.

[0068] The steps of the wireless charging control method will be explained in detail below:

[0069] Please refer to Figure 3 In step 110, when the wireless charging module is powered on, the hardware system and peripheral interfaces on the wireless charging module begin initialization, as does the OS (Operating System). After initialization is complete, the OS task scheduler is started to establish a task set. This task set can include multiple types of tasks. For example, it may include one or more of the following: status display tasks, communication tasks, monitoring and detection tasks, operation control tasks, and timer tasks. Typically, the task set includes at least operation control tasks and communication tasks.

[0070] In this embodiment, each task in the task set has a corresponding task plan.

[0071] Please refer to the reference. Figure 4A and Figure 4B The main function of communication tasks is to facilitate external communication and data updates. For example, data can be exchanged based on communication events generated by operation control tasks.

[0072] Please refer to this again. Figure 4BThe runtime control task can be used to plan the control logic of the secondary module, including establishing communication with the secondary module, controlling the secondary module, and handling exceptions. The runtime control task can include a startup function, a communication establishment function, and a charging control function. These three functions are independent of each other; only one function is called each time the program runs. A function selector can be used to determine which function should be executed.

[0073] Please refer to Figure 5A The startup function is the default execution function of the function selector. Its main task is to determine whether the primary-side module is activated and whether the current primary-side module can meet normal operating requirements. For example, after the startup function runs and performs relevant initialization, it checks whether an alarm is detected. If no alarm is detected, and the input voltage of the primary-side module is within the first preset voltage range, and the output voltage of the PFC (Power Factor Correction) circuit is within the second preset voltage range, then the primary-side module is considered to be operating normally. If an alarm is detected, or the input voltage of the primary-side module is not within the first preset voltage range, or the output voltage of the PFC circuit is not within the second preset voltage range, then the primary-side module is not meeting normal operating requirements.

[0074] Please refer to Figure 5B The communication establishment function can be used to establish a communication handshake between the primary and secondary modules, and to select whether to enter the charging control function based on the currently activated mode.

[0075] Please refer to Figure 5C The charging control function can be used for closed-loop control of the secondary module's charging. It employs a dual closed-loop control system (current loop and voltage loop) and offers two charging control modes based on the temperature feedback from the secondary module: full power and reduced power output. A trickle charging mode is also included based on battery voltage information. The temperature feedback from the secondary module can include the temperatures of multiple parts of the drone. These temperatures, ordered from highest to lowest priority, are: drone battery temperature, drone control board temperature, drone power board temperature, and coil temperature.

[0076] Please refer to Figure 6 The status display function can display the device status. For example, it can control the indicator lights on the wireless charging module to illuminate in different ways depending on the device's status.

[0077] Please refer to Figure 7The monitoring task is mainly used to monitor the operating status of the wireless charging module. For example, parameters related to the wireless charging module, such as voltage, current, MOSFET temperature, and phase shift angle, can all be monitored. Once an abnormality is detected, a corresponding abnormal event will be triggered and placed in the fault information message queue. The monitoring task is also mainly used for communication timeout detection. For example, once a communication handshake is established with the secondary module, the communication quality between the primary and secondary modules must be constantly monitored. Once poor communication quality is detected, a corresponding abnormal event will be generated and placed in the fault information message queue.

[0078] In step 120, after the task set is created, the wireless charging module can establish a communication connection with the secondary module on the drone through the communication task. It can also obtain the drone's parameter set through the communication task. The obtained parameter set may include, but is not limited to, the drone's model, the drone's battery signal, the remaining power (or battery voltage) of the drone's battery module, and the battery temperature.

[0079] Please refer to this again. Figure 7 The task set may include monitoring tasks, and prior to step 130, the method may further include:

[0080] The monitoring task detects the operating parameters of the primary-side module, including but not limited to at least one of the following: input voltage, current, temperature, output phase shift angle, and communication quality of the primary-side module.

[0081] Determine whether there is any abnormal data in the operating parameters;

[0082] When abnormal data exists in the operating parameters, an alarm message corresponding to the abnormal data is generated, and the alarm message is input into a message queue representing fault information so as to trigger an alarm through the message queue.

[0083] Understandingly, communication quality refers to the communication quality between the primary-side module and the secondary-side module. Communication quality can be tested in the following ways:

[0084] The timer task records the number of data frames received by the primary-side module from the secondary-side module within a first specified time period, along with the verification status of these data frames, to determine if there are any communication quality anomalies. If the primary-side module receives no data frames at all, or if each data frame verification fails, it indicates a communication anomaly. If the primary-side module receives every data frame sent by the secondary-side module and each verification passes, then communication is considered normal. The data frame verification method is a conventional method and will not be elaborated upon here.

[0085] For example, the first specified duration can be flexibly determined according to the actual situation, and is usually a shorter duration. For instance, the wireless communication between the primary and secondary sides can adopt half-duplex communication. That is, before or during the handshake, the communication mode is that the primary side sends and the secondary side receives. After the handshake is successful, the communication mode is that the secondary side sends and the primary side receives. After the primary and secondary sides successfully handshake, a timer task is used to record that within 100 milliseconds, the secondary side module sends 5 data frames to the primary side module. Under normal communication quality, the primary side module will immediately receive a data frame after the secondary side module finishes sending each data frame.

[0086] If the primary module receives 5 data frames, and the verification of each data frame is successful, then the communication quality is normal.

[0087] If the primary side module receives 4 data frames and each data frame is successfully verified, or receives 5 data frames and only 4 are successfully verified, it indicates poor communication quality, that is, there is an anomaly in the communication.

[0088] If the number of data frames received by the primary module or the number of successful verifications is less than or equal to 3, it can be determined that the communication quality is abnormal, which will seriously affect the remote control of the drone. In this case, it is usually necessary to control the drone to return to the wireless charging module so that the drone is closer to the wireless charging module, which will help improve the communication quality of wireless communication.

[0089] In this embodiment, determining whether there is abnormal data in the operating parameters includes:

[0090] When the input voltage in the operating parameters is not within the first preset voltage range, the input voltage in the operating parameters is determined to be abnormal data;

[0091] When the current in the operating parameters is not within the first preset current range, the current in the operating parameters is determined to be abnormal data;

[0092] When the temperature in the operating parameters is not within the first preset temperature range, the temperature in the operating parameters is determined to be abnormal data;

[0093] When the timer task records a first specified duration, the secondary side module sends M data frames for communication quality detection to the primary side module. If the primary side module receives the data frames sent by the secondary side module and the number of successful verifications of the data frames is less than M, the communication quality in the running parameters is determined to be abnormal data, where M is an integer greater than or equal to 1.

[0094] When the current value output by the secondary module is less than the threshold corresponding to the phase shift angle of the primary module, the output phase shift angle in the operating parameters is determined to be abnormal data.

[0095] In this embodiment, the first preset voltage range, the first preset current range, the first preset temperature range, the first specified duration, the threshold corresponding to the phase shift angle, etc., can all be flexibly determined according to the actual situation, so as to indicate that the corresponding parameters are within the normal parameter range.

[0096] For example, in the operating parameters, the input voltage of the primary side module is usually 220V AC. Therefore, the first preset voltage range can be a range of values ​​around 220V, such as 200V to 240V.

[0097] Generally speaking, the larger the phase shift angle of the primary-side module, the larger the output current of the secondary-side module. If the phase shift angle of the primary-side module is 170°, but the output current of the secondary-side module is much smaller than the rated current, then the output phase shift angle is determined to be abnormal.

[0098] In this embodiment, the operating parameters may further include the output voltage of the PFC circuit, and determining whether there is abnormal data in the operating parameters may further include:

[0099] When the output voltage of the PFC circuit is not within the second preset voltage range, the output voltage of the PFC circuit is determined to be abnormal data.

[0100] Understandably, the second preset voltage range can be flexibly determined according to actual conditions. For example, if the normal output voltage of the PFC circuit is 400V, then the second preset voltage range can be 380V to 420V.

[0101] Please refer to the reference. Figure 4B , Figure 5A , Figure 5B Prior to step 130, the method may further include:

[0102] The startup function is invoked through a preset function selector;

[0103] After system initialization via the startup function, determine whether the alarm information exists in the message queue;

[0104] When the alarm information is not present in the message queue, the communication establishment function is invoked through the function selector.

[0105] The system is initialized using the established communication function, and it is determined whether the alarm information exists in the message queue.

[0106] When the communication establishment function determines that the alarm information does not exist in the message queue, the communication establishment function controls the primary side module to perform a communication handshake with the secondary side module.

[0107] When the handshake is successful, the primary side module is controlled to operate with the minimum phase shift angle;

[0108] Determine whether the control mode of the drone is takeoff mode;

[0109] When the control mode is not the takeoff mode, the charging control function is invoked through the function selector.

[0110] In this embodiment, the startup function can utilize a monitoring task to detect relevant parameters, ensuring that the primary-side module is in normal operating condition. The startup function can use the monitoring task to detect whether the primary-side module has an output enabled. If the primary-side module has an output enabled, it can further determine whether the input voltage of the primary-side module is within a first preset voltage range. If the input voltage is within the first preset voltage range, it indicates that the input voltage is normal. At this time, it can be detected whether the output voltage of the PFC circuit is within a second preset voltage range.

[0111] If the output voltage of the PFC circuit is within the second preset voltage range, the function selector is triggered to select the communication establishment function, and the communication connection between the primary side module and the secondary side module is established through the communication establishment function.

[0112] Please refer to this again. Figure 5B When the communication function is executed, the system is first initialized. Then, it checks the message queue for alarm messages. If no alarm messages are found, it indicates that the primary module is currently operating normally. Next, the primary module initiates a handshake with the secondary module. If the handshake is successful, the primary module's phase angle is controlled to the minimum phase angle (e.g., 5°) to prepare for subsequent wireless charging. Then, it checks if the drone is in takeoff mode. If not, the function selector is triggered, calling the charging control function for charging control. If the drone is in takeoff mode, the primary module's phase angle is maintained at the minimum phase angle. At the minimum phase angle, the electrical energy converted from the electromagnetic waves received by the secondary module from the primary module is typically only enough to power the secondary module and cannot charge the battery module.

[0113] Step 130 may include:

[0114] After initializing the system using the charging control function, it is determined whether the alarm information exists in the message queue.

[0115] When the alarm information is not present in the message queue, the phase shift angle of the primary side module is increased so that the difference between the output voltage of the secondary side module and the current battery voltage of the UAV is less than a preset threshold.

[0116] Determine whether the battery temperature is less than or equal to a first specified temperature;

[0117] When the battery temperature is less than or equal to the first specified temperature, the primary side module is controlled to emit electromagnetic waves to the secondary side module at a first preset charging power to charge the battery module in the drone.

[0118] When the battery temperature is greater than the first specified temperature and less than the second specified temperature that indicates overheating, the primary side module is controlled to emit electromagnetic waves to the secondary side module at a second preset charging power to charge the battery module, wherein the second preset charging power is less than the first preset charging power.

[0119] When the battery temperature is greater than or equal to the second specified temperature, the primary side module is controlled to stop emitting electromagnetic waves to stop charging the battery module.

[0120] Please refer to this again. Figure 5C In this embodiment, after the charging control function initializes the system, the output voltage of the secondary module gradually increases during the phase shift angle increase. When the output voltage of the secondary module is the same as or close to the battery voltage of the battery module, the MOSFET between the battery module and the secondary module can be turned on, allowing the secondary module to charge the battery module. The MOSFET primarily functions as a switch.

[0121] Understandably, the preset threshold is a small voltage difference, and the output voltage of the secondary module can be equal to or slightly greater than the current battery voltage, so that the secondary module can quickly charge the battery module and avoid the voltage being too high or too low, which would affect normal charging.

[0122] If the battery module is a lithium-ion battery, the operating temperature range of lithium-ion batteries is typically -20℃ to 60℃, with better performance occurring between 0℃ and 40℃. In this case, the first specified temperature can be 40℃, and the second specified temperature can be 60℃. The first preset charging power can refer to the full-load power. The second preset charging power can be half-load power or 70% of the full-load power to avoid overheating of the battery module due to high-power charging.

[0123] Step 130 may also include:

[0124] When the remaining power exceeds the preset power and the battery temperature is lower than the second specified temperature, the primary side module is controlled to emit electromagnetic waves to the secondary side module in trickle charging mode.

[0125] Understandably, the preset battery level is close to full capacity and can be flexibly determined based on actual conditions. For example, the preset battery level can be 98% of full capacity. When the remaining battery level is close to full capacity and the battery temperature has not overheated (i.e., the temperature is below the second specified temperature), electromagnetic waves can be emitted to the secondary module in trickle charging mode to perform trickle charging, thereby reducing the impact of virtual charge and improving the battery's range.

[0126] In this embodiment, the method may further include:

[0127] The status display task detects the device status of the wireless charging module and controls the status indicator module on the wireless charging module to issue a prompt corresponding to the device status.

[0128] The status indicator module can be one or more indicator lights, which can issue different prompts according to the working status of the wireless charging module. For example, when the wireless charging module is operating normally, the indicator light emits green light; when the wireless charging module has a serious malfunction and cannot operate normally, the indicator light flashes red light.

[0129] Based on the above design, the operation control task is subdivided into multiple function functions, each of which can also be called a step. Each step has its own function, and the steps are independent of each other; each step has its own specific task, and through a function selector as a bridge, each step is connected in series. When the work of all steps is completed, the entire closed-loop control system can successfully achieve the corresponding operation. It is worth mentioning that the same alarm may have different meanings in different steps. That is, the alarm conditions may differ in different steps. For example, in the startup function, there may be alarms such as abnormal phase angle, abnormal PFC output, and abnormal input undervoltage, while in the communication establishment function, there may be alarms such as communication timeout (i.e., abnormal communication quality), and in the charging control function, there may be alarms such as overcurrent, high temperature (e.g., temperature exceeding 60℃), and medium temperature (e.g., temperature in the range of 40℃ to 60℃).

[0130] In this embodiment, when wirelessly charging the drone, the drone system adopts a three-stage charging method, which can minimize the impact on the battery during the charging process.

[0131] The first segment occurs after the primary and secondary side modules have successfully completed their handshake. At this point, the secondary side module will package the battery information and send it to the primary side module. The primary side module will read the battery voltage value and then adjust its shift angle to keep the secondary side module voltage close to the battery voltage.

[0132] The second part: When the secondary module detects that the current voltage is near the battery voltage, it will turn on the MOSFET to charge the battery module. At this time, the primary module controls the current to rise from 0 at a certain rate. When it rises to the maximum value, it will maintain that value.

[0133] The third paragraph: When the battery is close to full charge, trickle charging is used to reduce the impact of dummy charge and thus improve the battery's range.

[0134] In this embodiment, the UAV system has a certain temperature control capability. Under normal circumstances, with full power output control, the temperature rise is generally very stable. However, when the device operates in a relatively high ambient temperature, overheating can easily occur. Therefore, the temperature can be divided into three segments: low temperature [-20℃, 40℃], medium temperature [40℃, 60℃], and high temperature (60℃, +∞). If the temperature has reached the medium temperature, the primary-side module will adjust its current loop according to the rate of temperature rise. By reducing the phase shift angle through the current loop, the output power of the primary-side module is reduced, thereby achieving the purpose of reducing or stabilizing the temperature rise. Of course, if the ambient temperature is too harsh and the temperature control has lost its function, a high temperature is triggered, and the device is directly shut down to stop charging.

[0135] If battery overcurrent is detected during charging, the wireless charging module will reduce the output current.

[0136] In this embodiment, the processing module can be an integrated circuit chip with signal processing capabilities. The processing module can be a general-purpose processor. For example, the processor can be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0137] The storage module can be, but is not limited to, random access memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, etc. In this embodiment, the storage module can be used to store the parameter set of the UAV, the operating parameters of the primary module, etc. Of course, the storage module can also be used to store programs, which the processing module executes after receiving the execution instruction.

[0138] Understandable Figure 1The wireless charging module structure shown is only a schematic diagram; the wireless charging module may also include components that are larger than... Figure 1 More components are shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0139] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the wireless charging module described above can be referred to the corresponding steps in the aforementioned method, and will not be elaborated further here.

[0140] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when executed on a computer, causes the computer to perform the wireless charging control method as described in the above embodiments.

[0141] Based on the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by hardware or by using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (such as CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, wireless charging module, or network device, etc.) to execute the methods described in the various implementation scenarios of this application.

[0142] In summary, this application provides a wireless charging control method, a wireless charging module, and a drone system. In this solution, by creating a task set, the tasks of a relatively complex closed-loop control system can be divided into various tasks within the task set, thereby facilitating refined control. Furthermore, in charging mode, a charging strategy corresponding to the battery model, remaining power, and battery temperature is selected through a charging control function. This controls the primary module to transmit electromagnetic waves to the secondary module to charge the drone. Thus, during the charging process, the charging method can be dynamically adjusted based on the battery model, remaining power, and battery temperature, improving the system's scalability and self-adjustment capabilities, thereby expanding the applicability of wireless charging for drones.

[0143] In the embodiments provided in this application, it should be understood that the disclosed apparatus, systems, and methods can also be implemented in other ways. The apparatus, systems, and methods embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which includes one or more executable instructions for implementing a specified logical function. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0144] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A wireless charging control method, characterized in that, A wireless charging module with an operating system is applied to a wireless charging module for communicating with a secondary side module mounted on a drone. The method includes: When the wireless charging module is started, a task set is created, which includes communication tasks and operation control tasks. The task set also includes at least one of status display tasks, monitoring and detection tasks, and timer tasks. The operation control tasks include a startup function, a communication establishment function, and a charging control function. The communication task obtains the parameter set of the drone, which includes the drone's control mode, battery model, remaining battery power, and battery temperature. The primary-side module in the wireless charging module is controlled to operate according to the parameter set by the charging control function in the operation control task. When the control mode is charging mode, the charging control function selects a charging strategy corresponding to the battery model, the remaining power and the battery temperature, and controls the primary-side module to emit electromagnetic waves to the secondary-side module to charge the drone. The method further includes, before controlling the operation of the primary-side module in the wireless charging module according to the parameter set via the charging control function in the operation control task: The monitoring tasks in the task set are used to detect the operating parameters of the primary side module. The operating parameters include at least one of the following: input voltage, current, temperature, output phase shift angle, and communication quality of the primary side module. Determine whether there is any abnormal data in the operating parameters; When the abnormal data exists in the operating parameters, an alarm message corresponding to the abnormal data is generated, and the alarm message is input into a message queue representing fault information so as to trigger an alarm through the message queue. The determination of whether there is abnormal data in the operating parameters includes: When the input voltage in the operating parameters is not within the first preset voltage range, the input voltage in the operating parameters is determined to be abnormal data; When the current in the operating parameters is not within the first preset current range, the current in the operating parameters is determined to be abnormal data; When the temperature in the operating parameters is not within the first preset temperature range, the temperature in the operating parameters is determined to be abnormal data; When the timer task records a first specified duration, the secondary side module sends M data frames for communication quality detection to the primary side module. If the primary side module receives the data frames sent by the secondary side module and the number of successful verifications of the data frames is less than M, the communication quality in the running parameters is determined to be abnormal data, where M is an integer greater than or equal to 1. When the current value output by the secondary module is less than the threshold corresponding to the phase shift angle of the primary module, the output phase shift angle in the operating parameters is determined to be abnormal data.

2. The method according to claim 1, characterized in that, The operating parameters also include the output voltage of the PFC circuit. Determining whether there is abnormal data in the operating parameters includes: When the output voltage of the PFC circuit is not within the second preset voltage range, the output voltage of the PFC circuit is determined to be abnormal data.

3. The method according to claim 1, characterized in that, Before controlling the operation of the primary-side module in the wireless charging module according to the parameter set via the charging control function in the operation control task, the method further includes: The startup function is invoked through a preset function selector; After system initialization via the startup function, determine whether the alarm information exists in the message queue; When the alarm information is not present in the message queue, the communication establishment function is invoked through the function selector. The system is initialized using the established communication function, and it is determined whether the alarm information exists in the message queue. When the communication establishment function determines that the alarm information does not exist in the message queue, the communication establishment function controls the primary side module to perform a communication handshake with the secondary side module. When the handshake is successful, the primary side module is controlled to operate with the minimum phase shift angle; Determine whether the control mode of the drone is takeoff mode; When the control mode is not the takeoff mode, the charging control function is invoked through the function selector.

4. The method according to claim 3, characterized in that, The operation of the primary-side module in the wireless charging module is controlled according to the parameter set via the charging control function in the operation control task, including: After initializing the system using the charging control function, it is determined whether the alarm information exists in the message queue. When the alarm information is not present in the message queue, the phase shift angle of the primary side module is increased so that the difference between the output voltage of the secondary side module and the current battery voltage of the UAV is less than a preset threshold. Determine whether the battery temperature is less than or equal to a first specified temperature; When the battery temperature is less than or equal to the first specified temperature, the primary side module is controlled to emit electromagnetic waves to the secondary side module at a first preset charging power to charge the battery module in the drone. When the battery temperature is greater than the first specified temperature and less than the second specified temperature that indicates overheating, the primary side module is controlled to emit electromagnetic waves to the secondary side module at a second preset charging power to charge the battery module, wherein the second preset charging power is less than the first preset charging power. When the battery temperature is greater than or equal to the second specified temperature, the primary side module is controlled to stop emitting electromagnetic waves to stop charging the battery module.

5. The method according to claim 1, characterized in that, The operation of the primary-side module in the wireless charging module is controlled according to the parameter set via the charging control function in the operation control task, and further includes: When the remaining power exceeds the preset power and the battery temperature is lower than the second specified temperature, the primary side module is controlled to emit electromagnetic waves to the secondary side module in trickle charging mode.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: The status display task detects the device status of the wireless charging module and controls the status indicator module on the wireless charging module to issue a prompt corresponding to the device status.

7. A wireless charging module, characterized in that, The wireless charging module includes a processor and a memory coupled to each other. The memory stores a computer program. When the computer program is executed by the processor, the wireless charging module performs the method as described in any one of claims 1 to 6.

8. An unmanned aerial vehicle (UAV) system, characterized in that, The device includes a drone and the wireless charging module as described in claim 7, wherein the primary side module of the wireless charging module is wirelessly connected to the secondary side module on the drone.

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