Unmanned aerial vehicle wireless charging control method, unmanned aerial vehicle and unmanned aerial vehicle system

Abstract

The application provides a UAV wireless charging control method, a UAV and a UAV system. The method comprises the following steps: creating a task set when a handshake is performed; running a monitoring communication task in the task set to obtain a parameter set of the UAV; sending the parameter set to a wireless charging module through the communication task when a charging request sent by the wireless charging module is received; receiving a control instruction sent by the wireless charging module according to the parameter set; calling a battery control function corresponding to a battery model in a running control task according to the control instruction; and controlling a secondary side module to run through the battery control function according to the control instruction and the parameter set. When the control mode of the UAV is a charging mode, the battery control function selects a charging strategy corresponding to the battery model, a remaining power and a battery temperature, and controls the secondary side module to receive electromagnetic waves emitted by a primary side module to charge the UAV. In this way, the expandability and the adaptive capacity of the wireless charging of the UAV are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle wireless charging control method, an unmanned aerial vehicle and an unmanned aerial vehicle system. BACKGROUND

[0002] With the continuous development of unmanned aerial vehicles, the charging methods of unmanned aerial vehicles are also constantly innovating. At present, wireless charging is added to the traditional wired charging method of unmanned aerial vehicles. The current wireless charging control method is relatively single, for example, it cannot flexibly adjust the charging based on the running state of the equipment, so that the expansibility and adaptive ability of the unmanned aerial vehicle charging system are insufficient. SUMMARY

[0003] Therefore, the purpose of the embodiments of the present application is to provide an unmanned aerial vehicle wireless charging control method, an unmanned aerial vehicle and an unmanned aerial vehicle system, which can improve the problem of poor expansibility and adaptive ability of unmanned aerial vehicle wireless charging.

[0004] To achieve the above technical purpose, the technical scheme adopted by the present application is as follows:

[0005] In a first aspect, the embodiments of the present application provide an unmanned aerial vehicle wireless charging control method applied to an unmanned aerial vehicle having a secondary side module, the secondary side module being used for communication connection with a primary side module in a wireless charging module, and the method comprising:

[0006] When the primary side module and the secondary side module handshake, a task set is created, the task set comprising a monitoring task, a communication task and a running control task, wherein the task set further comprises at least one of a state display task and a timer task, and the running control task comprises a start function, a communication function and a battery control function;

[0007] The parameter set of the unmanned aerial vehicle is obtained through the communication task, the parameter set comprising the control mode of the unmanned aerial vehicle, the battery model, the remaining power and the battery temperature of the unmanned aerial vehicle;

[0008] When receiving a charging request sent by the wireless charging module, the parameter set is sent to the wireless charging module through the communication task;

[0009] The control instruction sent by the wireless charging module according to the parameter set is received;

[0010] The battery control function corresponding to the battery model in the running control task is called according to the control instruction;

[0011] control the secondary side module to run according to the control instruction and the parameter set through the battery control function, wherein when the control mode of the UAV is the charging mode, a charging strategy corresponding to the battery model, the residual power and the battery temperature is selected through the battery control function, and the secondary side module is controlled to receive the electromagnetic wave emitted by the primary side module to charge the UAV.

[0012] With reference to the first aspect, in some optional embodiments, before the secondary side module is controlled to run according to the control instruction and the parameter set through the battery control function, the method further includes:

[0013] determining whether the parameter set has abnormal data;

[0014] when the parameter set has the abnormal data, generating alarm information corresponding to the abnormal data, and inputting the alarm information into a message queue representing fault information to alarm through the message queue.

[0015] With reference to the first aspect, in some optional embodiments, the parameter set further includes an output voltage, an output current and a communication quality of the secondary side module, and the determination of whether the parameter set has abnormal data includes:

[0016] when the output voltage in the parameter set is not within a preset voltage range, determining that the output voltage in the parameter set is abnormal data;

[0017] when the output current in the parameter set is not within a preset current range, determining that the current in the parameter set is abnormal data;

[0018] when the battery temperature in the parameter set is not within a preset temperature range, determining that the battery temperature in the parameter set is abnormal data;

[0019] when the number of request messages for the communication quality detection received by the secondary side module from the primary side module within a specified time length is less than a specified number of times through the timer task, determining that the communication quality in the parameter set is abnormal data.

[0020] With reference to the first aspect, in some optional embodiments, before the secondary side module is controlled to run according to the control instruction and the parameter set through the battery control function, the method further includes:

[0021] calling the start function through a preset function selector;

[0022] after the system is initialized through the start function, determining whether the alarm information exists in the message queue;

[0023] determining whether the communication handshake between the secondary side module and the primary side module is successful when the alarm information does not exist in the message queue;

[0024] calling the communication establishment function through the function selector when the communication handshake is successful;

[0025] performing system initialization through the communication establishment function and determining whether the alarm information exists in the message queue;

[0026] obtaining the battery model and the control mode of the UAV through the communication establishment function when the communication establishment function determines that the alarm information does not exist in the message queue;

[0027] calling the battery control function through the function selector when the control mode is not the debugging mode;

[0028] performing charging control based on preset simulation battery data corresponding to the debugging mode when the control mode is the debugging mode.

[0029] In combination with the first aspect, in some optional embodiments, controlling the secondary side module to operate according to the control instruction and the parameter set through the battery control function includes:

[0030] determining whether the alarm information exists in the message queue after system initialization through the battery control function according to the control instruction;

[0031] determining whether the control mode in the parameter set is the take-off mode when the alarm information does not exist in the message queue;

[0032] determining whether the battery temperature is less than or equal to a first specified temperature if the control mode is not the take-off mode;

[0033] controlling the secondary side module to charge the battery module in the UAV at a first preset charging power when the battery temperature is less than or equal to the first specified temperature;

[0034] controlling the secondary side module to charge the battery module at a second preset charging power when the battery temperature is greater than the first specified temperature and less than a second specified temperature representing over-temperature, wherein the second preset charging power is less than the first preset charging power;

[0035] controlling the secondary side module to stop charging the battery module when the battery temperature is greater than or equal to the second specified temperature.

[0036] In combination with the first aspect, in some optional embodiments, the method further includes:

[0037] When the detector of the secondary side module detects detection information representing that the secondary side module is separated from the primary side module, prompt information is generated and sent to the primary side module, so that the primary side module turns off the coil of the primary side module according to the prompt information.

[0038] With reference to the first aspect, in some optional embodiments, the method further includes:

[0039] Through the state display task, the device state of the unmanned aerial vehicle is detected, and the device state is sent to the wireless charging module, so that the state indication module on the wireless charging module gives a prompt corresponding to the device state.

[0040] With reference to the first aspect, in some optional embodiments, the method further includes:

[0041] When the output voltage of the secondary side module exceeds a preset voltage range, or the output current of the secondary side module exceeds a preset current range, the MOS tube between the secondary side module and the battery module is turned off to stop charging the battery module.

[0042] In the second aspect, the embodiments of the present application further provide an unmanned aerial vehicle, which includes a secondary side module, a processor and a memory coupled with each other, and the memory stores a computer program. When the computer program is executed by the processor, the unmanned aerial vehicle executes the method described above.

[0043] In the third aspect, the embodiments of the present application further provide an unmanned aerial vehicle system, which includes a wireless charging module and the unmanned aerial vehicle described above, and the primary side module in the wireless charging module is wirelessly connected with the secondary side module on the unmanned aerial vehicle.

[0044] The application with the above technical solution has the following advantages:

[0045] In the technical solution provided in the present application, by creating a task set on the side of the unmanned aerial vehicle, the tasks of a relatively complex closed-loop control system can be divided into tasks in the task set, thereby facilitating fine control. In addition, by calling a battery control function corresponding to the battery model, compatibility with different models of batteries can be achieved, and the scalability of the system is improved. In the charging mode, the battery control function selects a charging strategy corresponding to the battery model, the remaining power and the battery temperature, controls the secondary side module to receive the electromagnetic wave emitted by the primary side module, and charges the unmanned aerial vehicle. In this way, the charging method can be flexibly adjusted based on factors such as the battery model, the remaining power and the battery temperature, which is conducive to expanding the application range of wireless charging of the unmanned aerial vehicle, and improving the self-adjusting ability of the system, and realizing fine control of charging. BRIEF DESCRIPTION OF DRAWINGS

[0046] The application can be further illustrated by the non-limiting embodiments shown in the accompanying drawings. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0047] Figure 1 The communication connection diagram of the wireless charging module and the unmanned aerial vehicle provided for the embodiments of the application.

[0048] Figure 2 The flowchart of the unmanned aerial vehicle wireless charging control method provided for the embodiments of the application.

[0049] Figure 3 The flowchart of creating a task set provided for the embodiments of the application.

[0050] Figure 4 The flowchart of a communication task provided for the embodiments of the application.

[0051] Figure 5 The flowchart of running a control task provided for the embodiments of the application.

[0052] Figure 6 The flowchart of starting a function provided for the embodiments of the application.

[0053] Figure 7 The flowchart of establishing a communication function provided for the embodiments of the application.

[0054] Figure 8 The flowchart of a charging control function provided for the embodiments of the application.

[0055] Figure 9 The flowchart of a state display task provided for the embodiments of the application.

[0056] Figure 10 The flowchart of a timer task and a monitoring task provided for the embodiments of the application.

[0057] Icon: 10-unmanned aerial vehicle system; 20-wireless charging module; 21-primary side module; 30-unmanned aerial vehicle; 31-secondary side module; 32-battery module. DETAILED DESCRIPTION

[0058] The 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 denoted by the same reference numerals in the accompanying drawings or description, and the implementation not shown or described in the drawings is known to those skilled in the art. In the description of the application, the terms "first", "second", etc. are only used for differentiation and cannot be understood as indicating or implying relative importance.

[0059] Please refer to Figure 1 The embodiments of the present application provide a UAV system 10, which can include a wireless charging module 20 and a UAV 30. The primary side module 21 in the wireless charging module 20 and the secondary side module 31 on the UAV 30 can establish a wireless communication connection.

[0060] In the embodiments, the UAV 30 can include a secondary side module 31, a battery module 32, a processing module and a storage module. The storage module stores a computer program, which, when executed by the processing module, enables the UAV 30 to perform the corresponding steps in the UAV wireless charging control method described below.

[0061] In the embodiments, the primary side module 21 includes a transmitting coil for wireless charging, and the secondary side module 31 on the UAV 30 can include a receiving coil for wireless charging. Generally, 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 UAV 30.

[0062] The voltage and current size obtained by the secondary side module 31 are controlled by the size of the full-bridge phase shift angle on the primary side 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 side module 31, and the phase shift angle and the current and voltage of the secondary side module 31 are in a linear relationship. The secondary side is developed with an OS (Operating System).

[0063] The secondary side module 31 is activated by the primary side module 21 during handshaking. Normally, the secondary side module 31 must be powered off for safety during the flight of the UAV 30. The relationship between the secondary side module 31 and the UAV 30 is as follows:

[0064] First, the UAV 30 falls from the sky to the landing pad, at which time the hardware system of the UAV (excluding the secondary side module 31) is powered on, and the secondary side module 31 is powered off. When charging is needed, the secondary side module 31 is powered on by the primary side module 21 through handshaking, thereby charging the battery of the UAV 30.

[0065] The second, the drone 30 has been shut down in the hangar, at this time the need for side module 31 to start the battery, activate the drone 30. After activating the drone 30, if the drone 30 enters the flight mode, the side module 31 is powered off.

[0066] Please refer again Figure 1 In the drone, the side module and the battery module are connected through the MOS tube. The MOS tube is also connected with the processing module. The MOS tube can be controlled by the processing module, and the conduction or turn-off of the side module and the battery module can be realized, that is, the MOS tube plays the role of switch between the side module and the battery module.

[0067] Please refer to Figure 2 The application also provides a drone wireless charging control method, which can be applied to the above-mentioned drone, and each step of the method is executed or implemented by the drone. The drone wireless charging control method can include the following steps:

[0068] Step 110, when the primary module and the secondary module handshake, create a task set, the task set includes monitoring tasks, communication tasks and running control tasks, wherein the task set further includes at least one of state display tasks and timer tasks, and the running control task includes start function, communication function and battery control function;

[0069] Step 120, through the communication task, obtain the parameter set of the drone, the parameter set includes the control mode of the drone, the battery model of the drone, the remaining power and the battery temperature;

[0070] Step 130, when receiving the charging request sent by the wireless charging module, sending the parameter set to the wireless charging module through the communication task;

[0071] Step 140, receiving the control instruction sent by the wireless charging module according to the parameter set;

[0072] Step 150, according to the control instruction, calling the battery control function corresponding to the battery model in the running control task;

[0073] Step 160, through the battery control function, controlling the secondary module to run according to the control instruction and the parameter set, wherein when the control mode of the drone is charging mode, the battery control function selects the charging strategy corresponding to the battery model, the remaining power and the battery temperature, and controls the secondary module to receive the electromagnetic wave emitted by the primary module to charge the drone.

[0074] The steps of the drone wireless charging control method will be described in detail as follows:

[0075] Referring to Figure 3 In step 110, when the primary module and the secondary module handshake, the hardware system and peripheral interface on the UAV begin to initialize, and OS initialization is performed. After the initialization is completed, the OS task scheduler is started to establish a task set. The task set can include multiple types of tasks. For example, the task set can include one or more of a state display task, a communication task, a monitoring task, a running control task, and a timer task. Generally, the task set at least includes the monitoring task, the communication task, and the running control task.

[0076] It should be noted that when the wireless charging module is powered on and started, the task set can also be established on the primary module of the wireless charging module. The task set created by the wireless charging module is the same as or similar to the task set created by the UAV. The difference is that in the running control task created by the wireless charging module, the start function, the communication establishment function, and the charging control function are included. In the running control task created on the UAV side, the start function, the communication establishment function, and multiple battery control functions are included.

[0077] In this embodiment, on the UAV side, each task in the task set has a corresponding task plan.

[0078] Referring to Figure 4 and Figure 5 The main function of the communication task is to interact with the outside and update data. For example, data interaction can be performed according to a communication event generated by the running control task.

[0079] Referring to Figure 5 The running control task can control and manage the control logic of the secondary module, including communication establishment with the primary module, charging control, and exception handling. In the running control task, the start function, the communication establishment function, and the battery control function are all independent of each other. Each time the program is run, only one type of function is called, and the function selector can be used to determine which function is currently running.

[0080] Referring to Figure 6 The start function is the default execution function of the function selector. Its main work is to establish a handshake with the primary module. In this stage, the working mode of the secondary module can be determined.

[0081] Referring to Figure 7 The communication establishment function can be used to detect the battery model of the currently connected battery module and identify whether the UAV is in a debugging mode. If the UAV is not in the debugging mode, the function selector is triggered to call the corresponding battery control function according to the current related battery model.

[0082] Referring to Figure 8The battery control function can be used to control the battery module to perform relevant control operations, such as controlling the opening and closing of the charging line between the secondary side module and the battery module. Different types of battery modules have corresponding battery control functions, and different battery control functions are independent of each other. The communication function is used to determine which battery control function to call. If the UAV is in the take-off mode, the relevant logic based on the take-off mode control is processed; if it is not in the take-off mode, the charging control logic processing can be performed.

[0083] Please refer to Figure 9 The state display task can display the device state, such as controlling the indicator light on the wireless charging module to emit light in different states according to the different states of the device.

[0084] Please refer to Figure 10 The monitoring task is mainly used to monitor the running state of the wireless charging module, such as the voltage, current, temperature of the MOS tube, and phase shift angle of the wireless charging module. Once there is an abnormality, the corresponding abnormal event is triggered and placed in the message queue of the fault information. The timer task is mainly used for communication timeout detection, such as establishing communication handshake with the secondary side module. Once the communication quality of the primary side module and the secondary side module is detected to be poor, the corresponding abnormal event is generated and placed in the message queue.

[0085] After the task set is created, in step 120, the internal communication of the UAV can be performed through the communication task to obtain various parameters of the UAV to form a parameter set. The obtained parameter set can include but is not limited to the control mode of the UAV, the battery model of the UAV, the remaining power, the battery temperature, the output voltage of the secondary side module, the output current, and the communication quality.

[0086] In step 130, by sending the parameter set to the wireless charging module, the wireless charging module can perform charging control based on the real-time running state information of the UAV, which is beneficial to improve the flexibility of control.

[0087] In step 140, the control instruction received by the secondary side module of the UAV is generated by the wireless charging module based on the parameter set of the UAV. The control instruction can include the charging strategy of the secondary side module to the battery module.

[0088] In step 150, different UAVs may access different batteries, so each battery has a corresponding battery control function. Therefore, by calling the battery control function corresponding to the battery model, it is beneficial to finely control the charging of different types of battery modules.

[0089] Understandably, each type of battery module has a corresponding battery control function. Each battery control function is independent of each other, and their commonality is the external interface, that is, the called interface is unified, but the internal battery operation is customized, so according to the characteristics of each different type of battery, the battery module can be processed individually without affecting the main body. That is, define each battery module of the secondary side module as a library, the library has multiple battery compartments, each compartment can store a battery, and the external interface of each compartment is unified, but the internal battery interface is a customized interface. The primary side module is an execution mechanism, and the execution mechanism only needs to be connected to the library. In this way, the scalability of the unmanned aerial vehicle wireless charging can be improved.

[0090] Before step 160, the method can further include:

[0091] determining whether the parameter set has abnormal data;

[0092] When the parameter set has the abnormal data, generating alarm information corresponding to the abnormal data, and inputting the alarm information into a message queue representing fault information to alarm through the message queue.

[0093] The parameter set further includes an output voltage, an output current, and a communication quality of the secondary side module. The determination of whether the parameter set has abnormal data includes:

[0094] When the output voltage in the parameter set is not within a preset voltage range, determining that the output voltage in the parameter set is abnormal data;

[0095] When the output current in the parameter set is not within a preset current range, determining that the current in the parameter set is abnormal data;

[0096] When the battery temperature in the parameter set is not within a preset temperature range, determining that the battery temperature in the parameter set is abnormal data;

[0097] When the secondary side module sends M data frames for communication quality detection to the primary side module within a specified time length recorded by the timer task, and the number of times that the primary side module receives the data frames sent by the secondary side module and successfully checks the data frames is less than M, determining that the communication quality in the operating parameter is abnormal data, where M is an integer greater than or equal to 1.

[0098] Understandably, the preset voltage range, the preset current range, the preset temperature range, the specified time length, and the threshold corresponding to the phase shift angle can be flexibly determined according to actual conditions, and are used to indicate that the corresponding parameter is within a normal parameter range. By using the timer task, the detection of communication timeout and communication failure can be realized.

[0099] In the embodiment, the secondary side module can also have a disengagement detection function. For example, after the primary side (a short form of the primary side module) and the secondary side (a short form of the secondary side module) handshake, the minimum phase shift angle of the primary side can make the detector of the secondary side always in an open state (grounded). When the secondary side is far away from the primary side, the detector changes from an open state to a closed state (high level). That is, when the distance between the coil of the primary side and the coil of the secondary side exceeds a specified distance, it is considered that the secondary side is disengaged from the primary side. The specified distance can be flexibly set according to actual conditions. Once it is detected that the detector changes from an open state to a closed state, the secondary side triggers a disengagement event and informs the primary side, so that the coil of the primary side is closed.

[0100] Understandably, during the period when the secondary side is far away from / disengaged from the primary side, the voltage of the coil of the primary side is relatively high. When the secondary side is dragged, the voltage of the coil of the primary side is not lower than 3000V (the voltage corresponding to different battery models can be different). At this time, the coil of the primary side should be protected as soon as possible to avoid the breakdown of components due to high voltage. In addition, when there is no secondary side, that is, the distance between the secondary side and the primary side is far (the distance can be set according to actual conditions), the primary side should be in an inoperative state.

[0101] Before step 160, the method can comprise:

[0102] calling the start function through a preset function selector;

[0103] after system initialization by the start function, judging whether the alarm information exists in the message queue;

[0104] when the alarm information does not exist in the message queue, judging whether the communication handshake between the secondary side module and the primary side module is successful;

[0105] when the communication handshake is successful, calling the communication establishment function through the function selector;

[0106] performing system initialization by the communication establishment function, and judging whether the alarm information exists in the message queue;

[0107] when the communication establishment function determines that the alarm information does not exist in the message queue, acquiring the battery model and the control mode of the unmanned aerial vehicle through the communication establishment function;

[0108] when the control mode is not the debugging mode, calling the battery control function through the function selector;

[0109] when the control mode is the debugging mode, performing charging control based on preset simulated battery data corresponding to the debugging mode.

[0110] Please refer to Figure 6 and Figure 7When the start function called by the function selector runs, the operating system of the UAV is automatically initialized, for example, the hardware system and peripheral interface are initialized. Then, in combination Figure 10 The monitoring task monitors the monitoring situation of the current link (for example, whether there is alarm information in the current fault information message queue), to determine whether to alarm. If there is alarm information in the message queue, abnormal processing (for example, alarm prompt) is performed. If there is no alarm information in the message queue, it is further detected whether the communication handshake between the secondary side module and the primary side module is successful. If the handshake is successful, the function selector is triggered to call the communication establishment function.

[0111] When the communication establishment function runs, related initialization is also performed, and whether to alarm is determined. The initialization process and the alarm determination process are similar to the initialization process and the alarm determination process of the start function, and will not be repeated here.

[0112] When it is found in the message queue that there is alarm information in the step of running the communication establishment function, abnormal processing is performed, for example, the function selector is triggered to reselect the start function to re-run from the start function. If there is no alarm information in the message queue, the battery model and the control mode of the UAV are obtained.

[0113] If the control mode is the debugging mode, the related simulation test of the battery charging is performed based on the preset simulation battery data corresponding to the debugging mode. The preset simulation battery data can be flexibly determined according to the actual situation, for example, the simulation battery data can include but is not limited to battery temperature, remaining power, etc., which is not limited here.

[0114] If the control mode is not the debugging mode (for example, the current control mode is the charging mode), the function selector selects the battery control function to perform charging control, that is, step 160 is entered.

[0115] It should be noted that in the start function, the communication establishment function, and the battery control function of the control running task, there is a step of determining whether to alarm. The meaning of alarm is different in different steps, for example, the overvoltage alarm triggered in the start function is different from the overvoltage alarm triggered in the battery control function. The start function usually does not have high voltage, if the overvoltage alarm is triggered during the start function, it may be that the hardware has an abnormality, at which time the UAV needs to be controlled to stop working immediately.

[0116] And in the battery control function, because there will be a load after the throw, the period is easy to overpressure, this is normal, only need to carry on the relevant logic processing. For example, when the output voltage of the secondary side module exceeds the preset voltage range, the MOS tube is turned off to stop charging the battery module. Then, the primary side module reduces the phase shift angle to reduce the output voltage of the secondary side module, until the output voltage of the secondary side module is equal to or slightly greater than the voltage of the battery module, and in the preset voltage range, the MOS tube is turned on, so that the secondary side module can continue to charge the battery module.

[0117] Step 160 can include:

[0118] After the system initialization according to the control instruction by the battery control function, it is judged whether the alarm information exists in the message queue;

[0119] When the alarm information does not exist in the message queue, it is judged whether the control mode in the parameter set is the take-off mode;

[0120] If the control mode is not the take-off mode, it is judged whether the battery temperature is less than or equal to the first specified temperature;

[0121] When the battery temperature is less than or equal to the first specified temperature, the secondary side module is controlled to charge the battery module in the unmanned aerial vehicle at a first preset charging power;

[0122] When the battery temperature is greater than the first specified temperature and less than the second specified temperature representing over-temperature, the secondary side module is controlled to charge the battery module at a second preset charging power, wherein the second preset charging power is less than the first preset charging power;

[0123] When the battery temperature is greater than or equal to the second specified temperature, the secondary side module is controlled to stop charging the battery module.

[0124] If the battery module is a lithium ion battery, the working temperature range of the lithium ion battery is usually-20℃-60℃, and the battery performance can be better at 0℃-40℃. At this time, 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 high-power charging causing the temperature of the battery module to be too high.

[0125] Please refer to Figure 8 In the battery control function running this link, after completing the initialization, it is judged whether there is new alarm information in the message queue in combination with the processing of the monitoring task. If there is alarm information in the message queue, corresponding processing can be performed according to the severity of the alarm information.

[0126] For example, if the battery module is a lithium ion battery, the temperature of the battery can be divided into three stages, namely low temperature [-20℃, 40℃), medium temperature [40℃, 60℃], and high temperature (60℃, +∞). If the monitoring task detects that the battery temperature is in the high temperature stage, an alarm information representing a fatal condition can be generated, and at this time, the battery control function can perform abnormal processing based on the fatal alarm information, such as stopping charging the UAV or controlling the UAV to return to the wireless charging module. If the battery temperature is in the medium temperature stage, an alarm information representing a non-fatal condition can be generated, and at this time, the battery control function can record based on the non-fatal alarm information and update the current parameter information of the battery module, such as the battery temperature, the charging power, etc.

[0127] If the battery temperature is in the low temperature stage, it can be defaulted that the battery temperature is normal, and no alarm information needs to be generated, and at this time, the battery control function also updates the related parameter information of the battery module.

[0128] After completing the update of the related parameter information of the battery module, it is further determined whether the control mode of the UAV is in the take-off mode. If the UAV is in the take-off mode, take-off control related logic processing is performed, which is a conventional way and will not be described here.

[0129] On the UAV side, if the UAV is not in the take-off mode (for example, in the charging mode), charging related logic processing is performed.

[0130] Understandably, after the primary side module and the secondary side module successfully handshake, on the wireless charging module side, the phase shift angle of the primary side module is controlled to be the minimum phase shift angle to prepare for subsequent wireless charging. For example, during the charging mode of the UAV, after the battery control function performs system initialization, the primary side module increases the phase shift angle, and during the period when the primary side module increases the phase shift angle, the output voltage of the secondary side module also gradually increases. When the output voltage of the secondary side module is the same as or close to the battery voltage of the battery module, the MOS tube between the battery module and the secondary side module can be turned on, so that the secondary side module can charge the battery module. The MOS tube mainly plays a switching role.

[0131] During the charging process, the output voltage of the secondary side module can be equal to or slightly greater than the current battery voltage, so that the secondary side module can quickly charge the battery module, avoiding that the voltage is too large or too small to affect normal charging.

[0132] The monitoring task can also detect disengagement of the secondary side module to facilitate disengagement protection during charging. When the detector of the secondary side module detects detection information indicating that the secondary side module is in a disengaged state, a prompt message indicating that the secondary side module has been disengaged can be generated and sent to the message queue on the primary side module side. When the primary side module receives the message, the coil of the primary side module is turned off to achieve disengagement protection.

[0133] In the embodiment, the method can further include:

[0134] When the output voltage of the secondary side module exceeds the preset voltage range, or the output current of the secondary side module exceeds the preset current range, the MOS tube between the secondary side module and the battery module is turned off to stop charging the battery module.

[0135] The preset voltage range and the preset current range can be flexibly set according to actual conditions, and overvoltage, undervoltage, overcurrent, etc. during charging can be detected, and charging can be turned off in time when overvoltage, undervoltage, overcurrent, etc. occurs, to avoid overvoltage, undervoltage, overcurrent, etc. causing charging hazards and improve charging safety. For example, when the output current of the secondary side module exceeds the preset current range, the system reduces the output current.

[0136] In the embodiment, the method can further include:

[0137] Through the state display task, the device state of the unmanned aerial vehicle is detected, and the device state is sent to the wireless charging module, so that the state indication module on the wireless charging module sends a prompt corresponding to the device state.

[0138] The state indication module can be one or more indicator lights, which can emit different prompts according to the working state of the unmanned aerial vehicle. For example, when the unmanned aerial vehicle is running normally, the indicator light emits green light, and when the unmanned aerial vehicle (such as the secondary side module) has a serious abnormality and cannot run normally, the indicator light flashes red light.

[0139] Based on the above design, the operation control task is subdivided into multiple function functions, each function function 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 work, and through the function selector as a bridge, each step is connected together, and when the work of all steps is completed, the whole closed-loop control system can also successfully realize the corresponding operation. The secondary side module can realize disengagement protection, battery overcurrent protection, high temperature, medium temperature, low temperature, communication timeout, battery communication failure, battery full, overcurrent, overvoltage detection, and timely take corresponding protection measures when a fault occurs.

[0140] In the embodiment, when the unmanned aerial vehicle is wirelessly charged, the unmanned aerial vehicle system adopts a 3-stage charging mode, so that the influence on the battery during charging is minimized.

[0141] The first stage: this stage occurs after the handshake of the original and auxiliary modules, at this time, the auxiliary module will package the battery information and send it to the original module, and the original module reads the battery voltage value, at this time, the original module will adjust its shift angle to maintain the voltage of the auxiliary module near the battery voltage.

[0142] The second stage: the auxiliary module will start the MOS tube to charge the battery module only when it detects that the current voltage is near the battery voltage, at this time, the original module controls the current to rise at a certain rate from 0, and when it rises to the maximum value, it is maintained.

[0143] The third stage: when the battery is close to full, the original module adopts trickle charging, which reduces the influence of virtual electricity and improves the endurance of the battery.

[0144] In the embodiment, the unmanned aerial vehicle system has certain temperature control capability. Under normal circumstances, the full power output control is generally stable, but when the device works in a high ambient temperature environment, over-temperature phenomenon is easy to occur, therefore, the temperature can be cut into three stages, which are low temperature [-20℃, 40℃], medium temperature [40℃, 60℃] and high temperature (60℃, +∞). If the temperature has reached the medium temperature, the original module will adjust its current loop according to the size of the temperature rise rate, and reduce the output power of the original module by reducing the phase shift angle through the current loop, so as to achieve the purpose of reducing or stabilizing the temperature rise. Of course, if the environmental temperature is too severe, at this time, the temperature control has lost its effect, and the high temperature is triggered to directly shut down the device and stop charging.

[0145] If the battery overcurrent is identified during charging, the wireless charging module will reduce the output current.

[0146] In the embodiment, the processing module can be an integrated circuit chip with signal processing capability. The processing module can be a general 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 device, a discrete gate or transistor logic device, a discrete hardware component, which can realize or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application.

[0147] The storage module can be, but is not limited to, a random access memory, a read only memory, a programmable read only memory, an erasable programmable read only memory, an electrically erasable programmable read only memory, etc. In the embodiment, the storage module can be used to store the control mode of the unmanned aerial vehicle, the battery model, the residual power, the battery temperature, etc. Of course, the storage module can also be used to store a program, and the processing module executes the program after receiving an execution instruction.

[0148] It can be understood that, Figure 1 The unmanned aerial vehicle structure shown in the embodiment is only a structural schematic diagram, and the unmanned aerial vehicle can further include more components than those shown in the embodiment. Figure 1 The components shown in the embodiment can be implemented by hardware, software or a combination thereof. Figure 1 It should be noted that, for the convenience and brevity of description, the specific working process of the unmanned aerial vehicle described above can be understood by referring to the corresponding process of each step in the foregoing method, and will not be described in more detail.

[0149] It should be noted that, for the convenience and brevity of description, the specific working process of the unmanned aerial vehicle described above can be understood by referring to the corresponding process of each step in the foregoing method, and will not be described in more detail.

[0150] The embodiment of the application further provides a computer readable storage medium. The computer readable storage medium stores a computer program. When the computer program is run on a computer, the computer executes the unmanned aerial vehicle wireless charging control method as described in the foregoing embodiment.

[0151] Through the description of the foregoing embodiments, those skilled in the art can clearly understand that the application can be implemented by hardware, or can be implemented by means of software and a necessary general hardware platform. Based on this understanding, the technical solution of the application can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.), and includes a plurality of instructions for causing a computer device (which can be a personal computer, an unmanned aerial vehicle, or a network device, etc.) to execute the method described in each embodiment of the application.

[0152] In the embodiments of the present disclosure, it should be understood that the disclosed apparatus, system and method can also be implemented in other ways. The apparatus, system and method embodiments described above are only illustrative, for example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the system, method and computer program product according to the embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a special-purpose hardware-based system for implementing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions. In addition, the functional modules in the various embodiments of the present disclosure can be integrated together to form a separate part, or each module can exist independently, or two or more modules can be integrated to form a separate part.

[0153] The above only describes the embodiments of the present disclosure and is not used to limit the protection scope of the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A wireless charging control method for unmanned aerial vehicles (UAVs), characterized in that, A secondary edge module used in a drone, the secondary edge module being used for communicative connection with the primary edge module in a wireless charging module, the method comprising: When the primary side module and the secondary side module handshake, a task set is created. The task set includes monitoring tasks, communication tasks, and operation control tasks. The task set also includes at least one of status display tasks and timer tasks. The operation control tasks include a startup function, a communication establishment function, and a battery 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. Upon receiving a charging request from the wireless charging module, the parameter set is sent to the wireless charging module via the communication task. Receive control commands sent by the wireless charging module according to the parameter set; The control command calls the battery control function corresponding to the battery model in the operation control task; Determine whether there is abnormal data in the parameter set; when there is abnormal data in the parameter set, generate alarm information corresponding to the abnormal data, and input the alarm information into a message queue representing fault information so as to trigger an alarm through the message queue; 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, determine whether the communication handshake between the secondary side module and the primary side module is successful. When the communication handshake is successful, the communication establishment function is called 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 battery model and control mode of the UAV are obtained through the communication establishment function. When the control mode is not debug mode, the battery control function is called through the function selector; When the control mode is debug mode, charging control is performed based on preset simulated battery data corresponding to the debug mode; The battery control function controls the operation of the secondary module according to the control command and the parameter set. When the control mode of the UAV is charging mode, the battery control function selects a charging strategy corresponding to the battery model, the remaining power and the battery temperature, and controls the secondary module to receive electromagnetic waves emitted by the primary module to charge the UAV. The battery control function controls the operation of the secondary module according to the control instructions and the parameter set, including: After initializing the system according to the control command through the battery 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, determine whether the control mode in the parameter set is takeoff mode; If the control mode is not the takeoff mode, then determine whether the battery temperature is less than or equal to the first specified temperature; When the battery temperature is less than or equal to the first specified temperature, the secondary module is controlled to charge the battery module in the drone at a first preset charging power. When the battery temperature is greater than the first specified temperature and less than the second specified temperature that indicates overheating, the secondary module is controlled to charge the battery module with a second preset charging power, 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 secondary module is controlled to stop charging the battery module.

2. The method according to claim 1, characterized in that, The parameter set also includes the output voltage, output current, and communication quality of the secondary module. Determining whether the parameter set contains abnormal data includes: When the output voltage of the parameter set is not within the preset voltage range, the output voltage of the parameter set is determined to be abnormal data; When the output current in the parameter set is not within the preset current range, the current in the parameter set is determined to be abnormal data. When the battery temperature in the parameter set is not within the preset temperature range, the battery temperature in the parameter set is determined to be abnormal data. If, within a specified time period, the secondary module receives fewer than a specified number of request messages for communication quality detection from the primary module, the communication quality in the parameter set is determined to be abnormal data.

3. The method according to claim 1, characterized in that, The method further includes: When the detector of the secondary side module detects detection information indicating that the secondary side module has detached from the primary side module, it generates a prompt message and sends the prompt message to the primary side module so that the primary side module turns off its coil according to the prompt message.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: The status display task detects the device status of the drone and sends the device status to the wireless charging module, so that the status indication module on the wireless charging module issues a prompt corresponding to the device status.

5. The method according to any one of claims 1-3, characterized in that, The method further includes: When the output voltage of the secondary module exceeds a preset voltage range, or the output current of the secondary module exceeds a preset current range, the MOSFET between the secondary module and the battery module in the drone is turned off to stop charging the battery module.

6. A drone, characterized in that, The drone includes a secondary module, a processor coupled to each other, and a memory. The memory stores a computer program, which, when executed by the processor, causes the drone to perform the method as described in any one of claims 1-5.

7. An unmanned aerial vehicle (UAV) system, characterized in that, The invention includes a wireless charging module and the drone as described in claim 6, 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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