Power supply state control method and flight equipment

Abstract

The invention discloses a power supply state control method and flight equipment, which are applied to the flight equipment, and the flight equipment comprises at least two power supply systems. The power supply system comprises a high-voltage system and a corresponding power supply management system; the high-voltage system comprises a high-voltage battery; the method comprises the steps that when it is detected that a high-voltage system is in a preset state, the state of an emergency power-down switch of the flight equipment is determined; if the emergency power-down switch is in a closed state, all the high-voltage systems are switched to be in a high-voltage emergency power-down state; if the emergency power-down switch is in an off state and receives an emergency power-down request, the air-ground state of the flight equipment is an air state, and at least one electrified high-voltage system is in a normal state; and if yes, switching a high-voltage system corresponding to the emergency power-down request into a high-voltage emergency power-down state by adjusting the overall power of the flight equipment. Therefore, when the high-voltage system is in the preset state, the state of the high-voltage system is adjusted in time, and impact on flight equipment during abnormal power-off is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of flight equipment, and more specifically, to a power state control method and flight equipment. Background Art

[0002] Aircraft equipment usually uses high-voltage batteries as a power source. In order to improve the safety performance of aircraft equipment, high-voltage batteries usually adopt a redundant design. However, when an abnormal power outage occurs during the operation of the aircraft equipment, the battery power loss under large load will cause an impact on the aircraft equipment, affecting the safe use of the aircraft equipment. Summary of the invention

[0003] In view of the above problems, the present application proposes a power status control method and flight equipment, which can timely adjust the state of the high-voltage system when the flight equipment experiences abnormal power failure, reduce the impact of battery power failure under high load on the flight equipment, and improve the safety of the flight equipment.

[0004] In a first aspect, an embodiment of the present application provides a power state control method, which is applied to a flight device, wherein the flight device includes at least two power systems; each power system includes a high voltage system and a corresponding power management system; the high voltage system includes a high voltage battery; the high voltage batteries of at least two power systems are arranged in parallel, and the method includes: when it is detected that the high voltage system is in a preset state, determining the state of an emergency power-off switch of the flight device; wherein the preset state includes: at least one of a high voltage initialization state, a high voltage power-on state, a high voltage charging waiting state, a high voltage charging configuration confirmation state, a high voltage charging state, and a high voltage preparation state; if the state of the emergency power-off switch is a closed state, all high voltage systems are switched to a high voltage emergency power-off state; if the state of the emergency power-off switch is an open state, and an emergency power-off request sent by any power management system is received, and the air-to-ground state of the flight device is an airborne state, and there is at least one powered-on high voltage system in a normal state; then by adjusting the overall power of the flight device, the high voltage system corresponding to the emergency power-off request is switched to a high voltage emergency power-off state.

[0005] In a second aspect, an embodiment of the present application further provides a flight device, comprising a processor, a memory, and one or more applications; the one or more applications are stored in the memory and configured to be executed by the processor to implement the above-mentioned power state control method.

[0006] The technical solution provided by the present application is applied to flight equipment, which includes at least two power supply systems; each power supply system includes a high-voltage system and a corresponding power management system; the high-voltage system includes a high-voltage battery; the high-voltage batteries of at least two power supply systems are arranged in parallel, and the method includes: when it is detected that the high-voltage system is in a preset state, determining the state of the emergency power-off switch of the flight equipment; wherein the preset state includes: at least one of a high-voltage initialization state, a high-voltage power-on state, a high-voltage charging waiting state, a high-voltage charging configuration confirmation state, a high-voltage charging state, and a high-voltage preparation state; if the state of the emergency power-off switch is a closed state, all high-voltage systems are switched to a high-voltage emergency power-off state; if the state of the emergency power-off switch is an open state, and an emergency power-off request sent by any power management system is received, and the air-to-ground state of the flight equipment is an airborne state, and there is at least one powered-on high-voltage system in a normal state; then by adjusting the whole machine power of the flight equipment, the high-voltage system corresponding to the emergency power-off request is switched to a high-voltage emergency power-off state. Therefore, when the high-voltage system is in a preset state, the corresponding high-voltage system is controlled to enter a high-voltage emergency power-off state according to the state of the emergency power-off switch and the actual conditions of the power management system, the ground state and the high-voltage system, so as to timely adjust the state of the high-voltage system and reduce the impact on the flight equipment during abnormal power-off, thereby improving the safety of the flight equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, not all embodiments. Based on the embodiments of the present application, all other embodiments and drawings obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0008] Figure 1 It is a flow chart of a power state control method provided in an embodiment of the present application.

[0009] Figure 2 It is a structural schematic diagram of a flying device provided in an embodiment of the present application.

[0010] Figure 3 It is a schematic diagram of the structure of another flying device provided in an embodiment of the present application.

[0011] Figure 4 It is a structural schematic diagram of a power state control device provided in an embodiment of the present application.

[0012] Figure 5 It is a structural schematic diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0013] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0014] Aircraft equipment usually uses high-voltage batteries as a power source. In order to improve the safety performance of aircraft equipment, high-voltage batteries usually adopt a redundant design. However, when an abnormal power outage occurs during the operation of the aircraft equipment, the battery power loss under large load will cause an impact on the aircraft equipment and affect the safety of the aircraft equipment.

[0015] In order to improve the above-mentioned problems, the present application provides a power state control method and a flight device, which are applied to the flight device, wherein the flight device includes at least two power systems; each power system includes a high voltage system and a corresponding power management system; the high voltage system includes a high voltage battery; the high voltage batteries of at least two power systems are arranged in parallel, and the method includes: when it is detected that the high voltage system is in a preset state, determining the state of the emergency power-off switch of the flight device; wherein the preset state includes: at least one of a high voltage initialization state, a high voltage power-on state, a high voltage charging waiting state, a high voltage charging configuration confirmation state, a high voltage charging state, and a high voltage preparation state; if the state of the emergency power-off switch is a closed state, all high voltage systems are switched to a high voltage emergency power-off state; if the state of the emergency power-off switch is an open state, and an emergency power-off request sent by any power management system is received, and the air-to-ground state of the flight device is an air state, and there is at least one powered-on high voltage system in a normal state; then by adjusting the whole machine power of the flight device, the high voltage system corresponding to the emergency power-off request is switched to a high voltage emergency power-off state.

[0016] Therefore, when the high-voltage system is in a preset state, the corresponding high-voltage system is controlled to enter a high-voltage emergency power-off state according to the state of the emergency power-off switch and the actual conditions of the power management system, the ground state and the high-voltage system, so as to timely adjust the state of the high-voltage system and reduce the impact on the flight equipment during abnormal power-off, thereby improving the safety of the flight equipment.

[0017] The power state control method provided by the embodiment of the present invention is described in detail below.

[0018] See also Figure 1 , Figure 1 1 is a flow chart of a power state control method provided by an embodiment of the present application. The power state control method includes steps 110 to 130.

[0019] The power state control method provided in the embodiment of the present application is applied to flight equipment. Figure 2As shown, the flying device 200 includes at least two power supply systems 210 ; each power supply system 210 includes a high voltage system 211 and a corresponding power supply management system 212 (Battery Management System, BMS).

[0020] The high-voltage system 211 includes a high-voltage battery 2111 ; the high-voltage batteries 2111 of at least two power supply systems 210 are arranged in parallel.

[0021] In step 110, when it is detected that the high voltage system is in a preset state, the state of the emergency power-off switch of the flight equipment is determined.

[0022] In an embodiment of the present application, the preset state includes at least one of a high voltage initialization state, a high voltage power-on state, a high voltage charging waiting state, a high voltage charging configuration confirmation state, a high voltage charging state, and a high voltage ready state.

[0023] In some embodiments, Figure 2 As shown, the flight device 200 may also include a central control module 220, a low-voltage wake-up button (not shown), a high-voltage power-on button (not shown), etc. The pilot may control the state of each button according to the use requirements, such as whether the button is pressed, etc. The central control module 220 may detect the state of each button and perform corresponding operations according to the state of the button.

[0024] In some implementations, the central control module 220 may use a controller such as an MCU (Microcontroller Unit), a CPU (Central Processing Unit), etc., which may be selected based on actual usage requirements.

[0025] In some embodiments, when the low-voltage wake-up button of the flight device is pressed, the central control module of the flight device performs an initialization check, and the default state of the process of all high-voltage systems is set to the high-voltage initialization state, so that all high-voltage systems enter the high-voltage initialization state.

[0026] In some embodiments, when the high voltage system is in the high voltage initialization state and a high voltage power-on button of the flight device is pressed, the process of the high voltage system switches from the high voltage initialization state to the high voltage initialization state.

[0027] In some embodiments, the aircraft device can be charged via a charging gun. When the aircraft device is connected to the charging gun, the power management system is in a power waiting state for charging, and the central control module of the aircraft device detects that the air-to-ground state of the aircraft device is a ground state, the process of the high-voltage system switches from a high-voltage initialization state to a high-voltage charging waiting state.

[0028] In some embodiments, when the flight device is connected to the charging gun and the power management system determines that the process of the high-voltage system is in a high-voltage charging waiting state, the process of the high-voltage system switches from the high-voltage charging waiting state to the high-voltage charging configuration confirmation state.

[0029] In some embodiments, when the process of the high-voltage system is in the high-voltage charging configuration confirmation state, the power management system, under the action of the central control module of the flight equipment, changes from the power waiting for charging state to the power charging state, and the process of the high-voltage system switches from the high-voltage charging configuration confirmation state to the high-voltage charging state.

[0030] In some implementations, after the power management system is fully charged or after the power management system sends a charging fault signal, the process of the high-voltage system switches from the high-voltage charging state to the high-voltage ready state.

[0031] In some embodiments, the flight device further includes an emergency power-off switch (not shown), and the user can control the state of the emergency power-off switch in an emergency to control the working state of the power supply system.

[0032] In some embodiments, the state of the emergency power-off switch of the flight device includes a closed state and an open state. When the user presses the emergency power-off switch, the flight device generates an emergency power-off closed signal to the central control module of the flight device, or when the user releases the emergency power-off switch, the flight device generates an emergency power-off disconnect signal to the central control module of the flight device. The central control module executes corresponding measures to adjust the power system according to the state of the emergency power-off switch.

[0033] When it is detected that the high voltage system is in the high voltage initialization state, the high voltage power-on state, the high voltage charging waiting state, the high voltage charging configuration confirmation state, the high voltage charging state or the high voltage preparation state, the state of the emergency power-off switch is determined in time, so that corresponding measures can be taken according to the state of the emergency power-off switch in subsequent steps, so as to reduce the impact on the flight equipment when the flight equipment is abnormally powered off, and improve the reliability and safety of the flight equipment.

[0034] In step 120, if the state of the emergency power-off switch is closed, all high-voltage systems are switched to a high-voltage emergency power-off state.

[0035] In an embodiment of the present application, the emergency power-off switch is the highest priority for users to arbitrate emergency conditions of the entire machine. When the emergency power-off switch is in a closed state, the processes controlling all high-voltage systems are switched to a high-voltage emergency power-off state.

[0036] In some embodiments, when all processes of the high-voltage system are in a high-voltage emergency power-off state, the central control unit of the flight equipment sends a switch disconnect request to all power management systems so that the power management systems control the corresponding switch modules to disconnect, thereby completing the synchronous power-off of all high-voltage systems.

[0037] By taking the state of the emergency power-off switch as the highest priority for arbitrating the emergency conditions of the entire aircraft, the system can promptly respond to the user's control of the flight equipment through the emergency power-off switch, so that when the user makes corresponding judgments based on driving experience and actual conditions, the user can promptly control the flight equipment through the emergency power-off switch to reduce the impact on the flight equipment caused by abnormalities in the power system.

[0038] In step 130, if the state of the emergency power-off switch is disconnected, and an emergency power-off request sent by any power management system is received, and the air-to-ground state of the flight equipment is in the air, and there is at least one powered-on high-voltage system in a normal state; then by adjusting the overall power of the flight equipment, the high-voltage system corresponding to the emergency power-off request is switched to a high-voltage emergency power-off state.

[0039] In some embodiments, when the state of the emergency power-off switch is off, it means that the user is unable to make a corresponding judgment based on driving experience and actual conditions, or the user is not aware of any abnormality in the power system of the aircraft device.

[0040] In an embodiment of the present application, if the state of the emergency power-off switch is disconnected, and an emergency power-off request sent by any power management system is received, and the central control module of the flight equipment detects that the ground state of the flight equipment is the air state, and there is at least one powered-on high-voltage system in a normal state, the central control module of the flight equipment sends a whole-machine power adjustment request, and the flight equipment responds to the whole-machine power adjustment request to adjust the whole-machine power of the flight equipment, thereby causing the high-voltage system corresponding to the power management system that issued the emergency power-off request to enter a high-voltage emergency power-off state.

[0041] More specifically, in some embodiments, the step of switching the high-voltage system corresponding to the emergency power-off request to a high-voltage emergency power-off state by adjusting the power of the flight equipment may include the following steps.

[0042] (1) Perform a power downgrade operation to adjust the overall power of the flight equipment to below a preset downgrade threshold.

[0043] In an embodiment of the present application, each power supply system further includes a switch module, and the switch module is used to control the on-off of a path where the corresponding high-voltage system is located.

[0044] In some embodiments, the switch module can be a main relay, which is arranged in the circuit where the high-voltage battery is located. When the main relay is in a closed state, the circuit where the high-voltage battery is located is in a conductive state; and when the main relay is in an open state, the circuit where the high-voltage battery is located is in a disconnected state.

[0045] In some embodiments, Figure 2 As shown, the flight device 200 may further include a power distribution module 230, a flight control module 240, and a flight management module 250. In some embodiments, the power distribution module may adopt a power distribution unit (PDU). In some embodiments, the flight control module may adopt a flight control computer (FCC), such as a flight controller. The flight management module may adopt a flight management computer (FMC). The flight management module may convert control instructions of the flight control module and the central control module to control the power system.

[0046] In actual use, the whole machine power can be adjusted by the flight control module. Specifically, in some embodiments, the step of performing a power degradation operation to adjust the whole machine power of the flight device to below a preset degradation threshold may include the step of sending a power degradation request to the flight control module so that the flight control module adjusts the whole machine power of the flight device to below the preset degradation threshold.

[0047] In some implementations, the preset degradation threshold is related to the power management system and the power distribution module, and the value of the preset degradation threshold may be a current threshold for load power-off allowed by the power management system and the power distribution module.

[0048] In an embodiment of the present application, after determining that the state of the emergency power-off switch is in the disconnected state, receiving an emergency power-off request sent by any power management system, and the central control module of the flight equipment detects that the ground state of the flight equipment is in the air state, and there is at least one powered-on high-voltage system in a normal state, the central control module of the flight equipment sends a power degradation request to the flight control module, the flight control module receives and responds to the power degradation request, adjusts the flight envelope power of the flight equipment, and adjusts the overall power of the flight equipment to below the preset degradation threshold.

[0049] (2) If the total power of the flight equipment is below a preset degradation threshold, the high-voltage system corresponding to the emergency power-off request is switched to a high-voltage emergency power-off state.

[0050] In an embodiment of the present application, the central control module monitors that the overall power of the flight equipment is below a preset degradation threshold, and controls the high-voltage system corresponding to the power management system that issues an emergency power-off request to enter a high-voltage emergency power-off state.

[0051] In some embodiments, the step of performing a power degradation operation to adjust the overall power of the flight equipment to below a preset degradation threshold may include the following steps: if the overall power of the flight equipment is below the preset degradation threshold, the high-voltage system corresponding to the emergency power-off request is switched to a high-voltage emergency power-off state, and a switch disconnect request is sent to the power management system corresponding to the high-voltage system in the high-voltage emergency power-off state to control the corresponding switch module to disconnect.

[0052] In an embodiment of the present application, the central control module monitors that the overall power of the flight equipment is below a preset degradation threshold, and the corresponding high-voltage system enters a high-voltage emergency power-off state. When it is determined that the corresponding high-voltage system is in a high-voltage emergency power-off state, the central control module sends a switch disconnect request to the power management system that issued the emergency power-off request. The corresponding power management system receives and responds to the switch disconnect request, and disconnects the corresponding switch module to disconnect the path of the circuit where the corresponding high-voltage battery is located.

[0053] (3) After the high-voltage system corresponding to the emergency power-off request is switched to the high-voltage emergency power-off state, a power recovery operation is performed to adjust the overall power of the flight equipment to a normal power threshold.

[0054] In an embodiment of the present application, after the central control unit detects that the path of the circuit where the corresponding high-voltage battery is located is disconnected, that is, the high-voltage system corresponding to the emergency power-off request is switched to a high-voltage emergency power-off state, the central control module controls the flight equipment to perform a power recovery operation to adjust the overall power of the flight equipment to a normal power threshold.

[0055] More specifically, in some embodiments, the step of performing a power recovery operation to adjust the overall power of the flight equipment to a normal power threshold includes the following steps: sending a power recovery request to a flight control module; so that the flight control module adjusts the overall power of the flight equipment to a normal power threshold.

[0056] In an embodiment of the present application, after the central control module detects that the path of the circuit where the corresponding high-voltage battery is located is disconnected, the central control module sends a power reset request to the flight control module, the flight control module receives and responds to the power reset request, and the flight control module adjusts the flight envelope power of the flight equipment to adjust the overall power of the flight equipment to a normal power threshold.

[0057] According to the ground-in-air state of the flight equipment and the abnormal power-off conditions of the whole machine power arbitration, the impact of the battery heavy load power loss on the flight equipment when the flight equipment is abnormally powered off is reduced, so as to improve the reliability and safety of the flight equipment. When the ground-in-air state of the flight equipment is the airborne state, the abnormal power-off of a single battery pack is a prerequisite for the realization of redundancy design.

[0058] In addition, when the ground state of the flying device is in the air, how to realize the power reduction operation of multiple battery packs is also a prerequisite for the realization of redundancy design. Specifically, in some embodiments, realizing the power reduction operation of multiple battery packs may include the following steps.

[0059] (1) If any high-voltage system is in the high-voltage standby state and its corresponding battery management system is in the power reduction state, the high-voltage system in the high-voltage standby state is switched to the high-voltage power reduction state.

[0060] In some embodiments, if the temperature of the power management system is detected to be in an over-temperature state or a fault occurs, the power management system is controlled to enter a power reduction state. When it is detected that the power management system exceeds a normal threshold, it can be determined that the temperature of the power management system is in an over-temperature state.

[0061] (2) When it is detected that any high-voltage system is in a power reduction state, the discharge parameters of all battery management systems are obtained.

[0062] In some implementations, the discharge parameter may be power information such as instantaneous maximum discharge power, constant maximum discharge power, and average discharge power of the battery management system. In an embodiment of the present application, the discharge parameter is instantaneous maximum discharge power.

[0063] (3) Determine the total degradation threshold based on the discharge parameters and determine the corresponding degraded flight power.

[0064] In the embodiment of the present application, the value of the total degradation threshold is the sum of the instantaneous maximum discharge powers of all high-voltage systems. It is understandable that the value of the total degradation threshold can be flexibly adjusted according to actual conditions.

[0065] (4) According to the degraded flight power, adjust the total power of the flight equipment to below the degraded flight power.

[0066] In some embodiments, if the temperature of the power management system returns to a normal threshold, or the fault of the power management system is eliminated, the power management system switches from a power reduction state to a battery standby state to restore the power of the entire machine, which may specifically include the following steps.

[0067] (1) If it is detected that the battery management system switches from the power reduction state to the power preparation state, the high-voltage system corresponding to the battery management system switched to the power preparation state is controlled to switch from the high-voltage power reduction state to the high-voltage preparation state.

[0068] (2) When it is detected that all high-voltage systems are in the high-voltage standby state, the overall power of the flight equipment is adjusted to the normal power threshold.

[0069] When any high-voltage system is in the high-voltage standby state and the corresponding power management system is in the battery power reduction state, the power of the entire machine is adjusted to achieve power reduction operation of multiple battery packs.

[0070] It is worth noting that since the flight equipment includes multiple power supply systems and the high-voltage batteries of the multiple power supply systems are arranged in parallel, if the high-voltage batteries of the multiple power supply systems are powered on asynchronously, a current surge will be generated when the switch module is closed, which will affect the stability of the flight equipment. In order to synchronize the power-on of the high-voltage batteries of the multiple power supply systems, in some embodiments, when the charging gun of the flight equipment is in an unconnected state, if it is determined that the flight equipment meets the preset power-on conditions, the power supply system is controlled to perform a power-on operation.

[0071] In an embodiment of the present application, if the power management system does not detect that the aircraft device is connected to a charging gun, it is determined whether the aircraft device meets the preset power-on condition. Specifically, in some embodiments, the step of determining that the aircraft device meets the preset power-on condition may include the step of: if the high-voltage system is in a high-voltage initial state, and the state of the high-voltage power-on switch of the aircraft device is a closed state, it is determined that the aircraft device meets the preset power-on condition.

[0072] Further, in some embodiments, the step of controlling the power supply system to perform a power-on operation when the charging gun of the aircraft device is in an unconnected state and determining that the aircraft device meets a preset power-on condition, and determining that all high-voltage systems have no high-voltage suppression faults, may include the step of controlling the power supply system to perform a power-on operation when the charging gun of the aircraft device is in an unconnected state and determining that the aircraft device meets a preset power-on condition, and determining that all high-voltage systems have no high-voltage suppression faults.

[0073] In some embodiments, high voltage suppression faults include communication abnormalities, low voltage faults, high voltage interlocks, wiring harness abnormalities (e.g., insulation harness abnormalities), power management system faults, motor faults, high voltage battery overtemperature, high voltage battery thermal runaway, or high voltage battery voltage deviation being too large.

[0074] If the power management system does not detect that the flight device is connected to a charging gun, the high-voltage system is in the high-voltage initial state, the high-voltage power-on switch is in the closed state, and there is no high-voltage suppression fault, then the power management system is controlled to perform a power-on operation. Specifically, in some embodiments, the step of controlling the power management system to perform a power-on operation may include the following steps.

[0075] (1) Switch the high voltage system to the power-on request state.

[0076] In an embodiment of the present application, the high voltage system switches from a high voltage initial state to a power-on request state.

[0077] (2) Send a switch closing request to the power management system to control the battery management system to perform pre-charging processing.

[0078] In an embodiment of the present application, when the high voltage system enters a power-on request state, the central control module sends a switch closing request to the power management system. When the power management system receives the switch closing request, the power management system performs a pre-charging process.

[0079] (3) After determining that the battery management system has completed the pre-charging process, the battery management system controls the corresponding switch module to close.

[0080] In an embodiment of the present application, after the battery management system completes the pre-charging process, the battery management system automatically controls the corresponding switch module to close.

[0081] (4) Switching the high-voltage system to a high-voltage standby state; and switching the battery management system to a power standby state.

[0082] In an embodiment of the present application, after the battery management system automatically controls the corresponding switch module to close, the process of the high-voltage system switches from the power-on request state to the high-voltage ready state, and the battery management system switches to the power ready state.

[0083] By setting the conditions for powering on the flight equipment, the pilot only needs to operate the high-voltage power-on switch to achieve synchronous power-on of the high-voltage system, thereby solving the problem of battery surges, reducing the layout of additional operating switches, reducing the cost of the flight equipment, and simplifying the operation.

[0084] In some implementations, if it is determined that the flying device meets a preset charging condition, the power system is controlled to perform a charging operation.

[0085] Further, in some embodiments, if it is determined that the charging gun of the aircraft device is in a connected state, the aircraft device is determined to be in a ground state, and the high-voltage system is determined to be in an initial state, it is determined that the aircraft device meets the preset charging conditions.

[0086] In an embodiment of the present application, the power management system detects that the flight device is connected to the charging gun, the central control module detects that the air-to-ground state of the flight device is the ground state, and the process of the high-voltage system is in the initial state, and controls the power system to perform the charging operation. Specifically, in some embodiments, the step of controlling the power system to perform the charging operation may include the following steps.

[0087] (1) When the power management system determines that the charging gun of the flight equipment is in the connected state, the power management system switches to the power waiting charging state.

[0088] (2) When it is determined that the flight equipment is on the ground, the high voltage system is switched to the high voltage charging standby state.

[0089] In an embodiment of the present application, after the power management system enters the power waiting state for charging, the central control module determines the air-to-ground state of the flight equipment. When the central control module determines that the air-to-ground state of the flight equipment is the ground state, the process of the high-voltage system switches from the high-voltage initial state to the high-voltage charging waiting state.

[0090] (3) When the high-voltage system is in a high-voltage charging waiting state, a switch closing request is sent to the power management system to control the battery management system to perform pre-charging processing.

[0091] In an embodiment of the present application, when the high-voltage system process enters the high-voltage charging waiting state, the central control module sends a switch closing request to the power management system, the power management system receives and responds to the switch closing request, and the battery management system automatically performs pre-charging processing.

[0092] (4) After determining that the battery management system has completed the pre-charging process, the battery management system controls the corresponding switch module to close.

[0093] In an embodiment of the present application, after the battery management system completes the pre-charging process, the battery management system controls the corresponding switch module to close.

[0094] (5) After the battery management system confirms that the charging configuration status of the flight equipment is waiting for charging, the high-voltage system is switched to the high-voltage charging configuration confirmation state.

[0095] In an embodiment of the present application, the process of the high-voltage system switches from a high-voltage charging waiting state to a high-voltage charging configuration confirmation state. After the process of the high-voltage system enters the high-voltage charging configuration confirmation state, the central control module sends a charging request to the battery management system.

[0096] (6) Sending a charging request to the battery management system; and switching the battery management system to a power supply charging state and switching the high-voltage system to a high-voltage charging state.

[0097] In an embodiment of the present application, after the battery management system receives and responds to the charging request, the battery management system switches the process of the high-voltage system to a high-voltage charging state.

[0098] (7) After receiving the charging completion signal sent by the power management system, the high-voltage system is switched to the high-voltage charging completion state to send a switch disconnection request and a charging disconnection request to the power management system.

[0099] In an embodiment of the present application, the charging completion signal includes a full charge signal or a charging fault signal. After the high voltage system process is in the high voltage charging completion state, the central control module sends a charging disconnection request and a switch disconnection request to the power management system to stop the charging operation.

[0100] In some embodiments, the flying device further includes a motor control module and a flight control module. In some embodiments, the motor control module may be a motor controller. In some embodiments, the flight control module may be a flight controller. It is worth noting that there is more than one charging type for the flying device, and the charging type can be determined by the communication status between the motor control module and the flight control module.

[0101] Specifically, in some embodiments, if it is determined that the flight device meets the preset charging conditions, then controlling the power system to perform the charging operation may include the following steps.

[0102] (1) If it is determined that the flight device meets the preset charging conditions, the charging type is determined according to the first communication state of the motor control module and the second communication state of the flight control module.

[0103] (2) Determine the charging protection method for the flight equipment based on the charging type.

[0104] (3) Execute charging protection mode.

[0105] (4) Control the power supply system to perform charging operations.

[0106] In some embodiments, the step of determining the charging type according to the first communication status of the motor control module and the second communication status of the flight control module may include the following steps: if it is determined according to the first communication status and the second communication status that there is no communication failure in the motor control module and the flight control module, then the charging type is determined to be the whole-machine charging type; if it is determined according to the first communication status and the second communication status that there is a communication failure in the motor control module and / or the flight control module, then the charging type is determined to be the battery pack disassembly charging type.

[0107] In an embodiment of the present application, if it is detected that the first communication state of each motor control module is no communication failure, and the second communication state of the flight control module is no communication failure, the charging type is determined to be the whole machine charging type.

[0108] In an embodiment of the present application, if it is determined that the charging type is the whole-machine charging type, the central management unit sends a shutdown request to the flight control module to put the flight device in a propeller-stopped state.

[0109] In an embodiment of the present application, if it is detected that the first communication state of each motor control module is a communication failure and the second communication state of the flight control module is a communication failure, the charging type is determined to be a battery pack removal charging type.

[0110] In an embodiment of the present application, if the charging type is determined to be a battery pack removal charging type, only the emergency power-off state of a single power management system is responded to as a battery protection condition for the charging process to cancel the voltage deviation monitoring of different high-voltage systems, thereby avoiding the situation where the high-voltage battery pack data is inconsistent with the high-voltage system configured in the entire machine, resulting in the flight equipment being unable to charge normally.

[0111] After the flight equipment completes normal flight, when the flight equipment meets the corresponding conditions, the flight equipment can perform a normal power-off operation. Specifically, in some embodiments, when it is detected that the high-voltage system is in a high-voltage standby state and no emergency power-off signal is received from the power management system, if the flight equipment meets the preset power-off conditions, the high-voltage system is switched to a high-voltage normal power-off state.

[0112] In some embodiments, the preset power-on condition includes that the aircraft device is in a ground state and the state of the high-voltage power-off switch is in a closed state. The pilot can press the high-voltage power-off switch to make the aircraft device generate a power-off request, the central control module detects that the ground state of the aircraft device is the ground state, and does not receive an emergency power-off signal sent by the power management system, and the aircraft device responds to the power-off request to switch the process of the high-voltage system from the high-voltage preparation state to the high-voltage normal power-off state to complete the normal power-off operation.

[0113] In some embodiments, when the process of the high-voltage system is in the high-voltage initial state and the battery management system does not detect that the flight equipment is connected to the charging gun, if abnormalities are detected in the CAN communication diagnosis, the flight control module and the battery management system, the process of the high-voltage system is controlled to switch from the high-voltage initial state to the high-voltage failure protection state.

[0114] In some embodiments, when the process of the high-voltage system is in any process except the charging process and the flight controller detects that the air-to-ground state of the flight equipment is the ground state, if a high-voltage suppression fault occurs (high-voltage suppression fault includes communication abnormality, low-voltage fault, high-voltage interlock, wiring harness abnormality (such as insulation harness abnormality), power management system fault, motor fault, high-voltage battery over-temperature, high-voltage battery thermal runaway or high-voltage battery voltage deviation is too large, etc.), the process of the high-voltage system enters a high-voltage failure protection state.

[0115] In some embodiments, when the process of the high-voltage system is in a high-voltage power-on request state, a failure or failure to respond occurs when the battery management system performs pre-charging processing, and the process of the high-voltage system enters a high-voltage failure protection state.

[0116] In some embodiments, when the high voltage system process enters a high voltage failure protection state, the flight controller sends a switch disconnect request to the battery management system and generates a fault prompt message.

[0117] A control method provided in an embodiment of the present application is applied to a flight device, wherein the flight device includes at least two power supply systems; each power supply system includes a high voltage system and a corresponding power supply management system; the high voltage system includes a high voltage battery; the high voltage batteries of at least two power supply systems are arranged in parallel, and the control method includes: when it is detected that the high voltage system is in a preset state, determining the state of an emergency power-off switch of the flight device; wherein the preset state includes: at least one of a high voltage initialization state, a high voltage power-on state, a high voltage charging waiting state, a high voltage charging configuration confirmation state, a high voltage charging state, and a high voltage preparation state; if the state of the emergency power-off switch is a closed state, all high voltage systems are switched to a high voltage emergency power-off state; if the state of the emergency power-off switch is an open state, and an emergency power-off request sent by any power supply management system is received, and the air-to-ground state of the flight device is an airborne state, and there is at least one powered-on high voltage system in a normal state; then by adjusting the whole machine power of the flight device, the high voltage system corresponding to the emergency power-off request is switched to a high voltage emergency power-off state. Therefore, when the high-voltage system is in a preset state, the corresponding high-voltage system is controlled to enter a high-voltage emergency power-off state according to the state of the emergency power-off switch and the actual conditions of the power management system, the ground state and the high-voltage system, so as to timely adjust the state of the high-voltage system and reduce the impact on the flight equipment during abnormal power-off, thereby improving the safety of the flight equipment.

[0118] See also Figure 3 , Figure 3The structural schematic diagram of the flying device 300 provided in the embodiment of the present application, the flying device 300 in the present application can be a flying vehicle and an electric aircraft, and the flying device 300 in the present application can include one or more of the following components: a processor 310, a memory 320 and one or more applications, wherein the one or more applications can be stored in the memory 320 and configured to be executed by one or more processors 310, and the one or more programs are configured to execute the power state control method as described in the aforementioned method embodiment.

[0119] The processor 310 may include one or more processing cores. The processor 310 uses various interfaces and lines to connect various parts of the entire flight device 300, and executes various functions and processes data of the flight device 300 by running or executing instructions, programs, code sets or instruction sets stored in the memory 320, and calling data stored in the memory 320. Optionally, the processor 310 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 310 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 310, but may be implemented separately through a communication chip.

[0120] The memory 320 may include a random access memory (RAM) or a read-only memory (ROM). The memory 320 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 320 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the following various method embodiments, etc. The data storage area may also store data created by the flight device 300 during use.

[0121] See also Figure 4The embodiment of the present application also provides a power state control device 400, which is applied to an aircraft device, and the aircraft device includes at least two power systems; each power system includes a high-voltage system and a corresponding power management system; the high-voltage system includes a high-voltage battery; the high-voltage batteries of at least two power systems are arranged in parallel, and the power state control device 400 includes: a state detection module 410, a first switching module 420 and a second switching module 430.

[0122] Among them, the status detection module 410 is used to determine the status of the emergency power-off switch of the flight equipment when it is detected that the high-voltage system is in a preset state; wherein the preset state includes: at least one of: high-voltage initialization state, high-voltage power-on state, high-voltage charging waiting state, high-voltage charging configuration confirmation state, high-voltage charging state and high-voltage ready state.

[0123] The first switching module 420 is used to switch all high-voltage systems to a high-voltage emergency power-off state if the state of the emergency power-off switch is closed;

[0124] The second switching module 430 is used to switch the high-voltage system corresponding to the emergency power-off request to a high-voltage emergency power-off state by adjusting the overall power of the flight equipment if the emergency power-off switch is in the disconnected state and an emergency power-off request is received from any power management system, the air-to-ground state of the flight equipment is in the air, and there is at least one powered-on high-voltage system in a normal state.

[0125] It should be noted that, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. Any processing method described in the method embodiment can be implemented by the corresponding processing module in the device embodiment, and will not be described one by one in the device embodiment.

[0126] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0127] Please refer to Figure 5 , which shows a structural block diagram of a computer-readable storage medium 500 provided in an embodiment of the present application. The computer-readable storage medium 500 stores a program code 510, and the program code 510 can be called by a processor to execute the power state control method described in the above method embodiment.

[0128] The computer-readable storage medium 500 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium 500 has a storage space for program codes that execute any method steps in the above-mentioned power state control method. These program codes 510 can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A power state control method, characterized in that: Applied to an aircraft device, the aircraft device comprises at least two power supply systems; each of the power supply systems comprises a high voltage system and a corresponding power supply management system; the high voltage system comprises a high voltage battery; the high voltage batteries of the at least two power supply systems are arranged in parallel; the method comprises: When it is detected that the high voltage system is in a preset state, determining the state of the emergency power-off switch of the flight equipment; wherein the preset state includes: at least one of a high voltage initialization state, a high voltage power-on state, a high voltage charging waiting state, a high voltage charging configuration confirmation state, a high voltage charging state, and a high voltage ready state; If the state of the emergency power-off switch is closed, all high-voltage systems are switched to a high-voltage emergency power-off state; If the state of the emergency power-off switch is disconnected, and an emergency power-off request sent by any of the power management systems is received, and the air-to-ground state of the aircraft equipment is in the air, and there is at least one of the powered-on high-voltage systems in a normal state; then by adjusting the overall power of the aircraft equipment, the high-voltage system corresponding to the emergency power-off request is switched to a high-voltage emergency power-off state.

2. The power state control method according to claim 1, characterized in that: The step of adjusting the power of the flight equipment to switch the high-voltage system corresponding to the emergency power-off request to a high-voltage emergency power-off state includes: Performing a power degradation operation to adjust the entire power of the flight equipment to below a preset degradation threshold; If the whole power of the flight equipment is below the preset degradation threshold, the high-voltage system corresponding to the emergency power-off request is switched to a high-voltage emergency power-off state; After the high-voltage system corresponding to the emergency power-off request is switched to a high-voltage emergency power-off state, a power recovery operation is performed to adjust the entire power of the flight equipment to a normal power threshold.

3. The power state control method according to claim 2, characterized in that: Each of the power supply systems further includes a switch module, and the switch module is used to control the on / off of the corresponding path where the high voltage system is located; the flight equipment further includes: a power distribution module and a flight control module; The performing of the power degradation operation to adjust the whole power of the flight equipment to below a preset degradation threshold includes: Sending a power degradation request to the flight control module; so that the flight control module adjusts the whole machine power of the flight equipment to below the preset degradation threshold; If the whole power of the flight equipment is below a preset degradation threshold, switching the high-voltage system corresponding to the emergency power-off request to a high-voltage emergency power-off state includes: If the whole power of the flight equipment is below the preset degradation threshold, the high-voltage system corresponding to the emergency power-off request is switched to a high-voltage emergency power-off state; Sending a switch disconnection request to a power management system corresponding to a high voltage system in a high voltage emergency power-off state to control the corresponding switch module to disconnect; The performing of the power recovery operation to adjust the whole power of the flight equipment to a normal power threshold includes: Sending a power recovery request to the flight control module; so that the flight control module adjusts the entire power of the flight equipment to a normal power threshold.

4. The power state control method according to claim 1, characterized in that: The method further comprises: If any of the high-voltage systems is in a high-voltage ready state and its corresponding battery management system is in a power reduction state, the high-voltage system in the high-voltage ready state is switched to a high-voltage power reduction state; When it is detected that any of the high-voltage systems is in the power reduction state, obtaining discharge parameters of all battery management systems; Determine a total degradation threshold according to the discharge parameter, and determine a corresponding degraded flight power; According to the degraded flight power, the whole machine power of the flight equipment is adjusted to be below the degraded flight power.

5. The power state control method according to claim 4, characterized in that: The method further comprises: If it is detected that the battery management system switches from the power reduction state to the power preparation state, the high-voltage system corresponding to the battery management system switched to the power preparation state is controlled to switch from the high-voltage power reduction state to the high-voltage preparation state; When it is detected that all high-voltage systems are in the high-voltage ready state, the whole machine power of the flight equipment is adjusted to a normal power threshold.

6. The power state control method according to claim 1, characterized in that: The method further comprises: When the charging gun of the aircraft device is in an unconnected state, if it is determined that the aircraft device meets a preset power-on condition, the power supply system is controlled to perform a power-on operation.

7. The power state control method according to claim 6, characterized in that: When the charging gun of the aircraft device is in an unconnected state, if it is determined that the aircraft device meets a preset power-on condition, controlling the power supply system to perform a power-on operation includes: When the charging gun of the aircraft device is in an unconnected state, if it is determined that the aircraft device meets a preset power-on condition and it is determined that all high-voltage systems have no high-voltage suppression fault, the power supply system is controlled to perform a power-on operation.

8. The power state control method according to claim 6, characterized in that: The determining that the flight device meets a preset power-on condition includes: If the high voltage system is in a high voltage initial state, and the state of the high voltage power-on switch of the flight equipment is a closed state, it is determined that the flight equipment meets a preset power-on condition.

9. The power state control method according to claim 8, characterized in that: The power supply system further comprises a switch module, and the switch module is used to control the on / off of the corresponding path where the high voltage system is located; The controlling the power supply system to perform a power-on operation includes: Switching the high voltage system to a power-on request state; Sending a switch closing request to the power management system to control the battery management system to perform pre-charging processing; After determining that the battery management system has completed the pre-charging process, the battery management system controls the corresponding switch module to close; Switching the high-voltage system to a high-voltage standby state; and The battery management system is switched to a power ready state.

10. The power state control method according to claim 1, characterized in that: The method further comprises: If it is determined that the flying device meets the preset charging condition, the power supply system is controlled to perform a charging operation.

11. The power state control method according to claim 10, characterized in that: The flying device further includes a motor control module and a flight control module; if it is determined that the flying device meets a preset charging condition, controlling the power supply system to perform a charging operation includes: If it is determined that the flight device meets the preset charging condition, determining the charging type according to the first communication state of the motor control module and the second communication state of the flight control module; Determining a charging protection mode of the aircraft device according to the charging type; Execute the charging protection mode; The power supply system is controlled to perform a charging operation.

12. The power state control method according to claim 11, characterized in that: The determining the charging type according to the first communication state of the motor control module and the second communication state of the flight control module includes: If it is determined according to the first communication state and the second communication state that neither the motor control module nor the flight control module has a communication failure, then the charging type is determined to be a whole-machine charging type; If it is determined that a communication failure exists in the motor control module and / or the flight control module according to the first communication status and the second communication status, the charging type is determined to be a battery pack removal charging type.

13. The power state control method according to claim 10, characterized in that: The method further comprises: If it is determined that the charging gun of the aircraft device is in a connected state, the aircraft device is in a ground state, and the high-voltage system is in an initial state, it is determined that the aircraft device meets the preset charging conditions.

14. The power state control method according to claim 13, characterized in that: The power supply system further comprises a switch module, and the switch module is used to control the on / off of the corresponding path where the high voltage system is located; The controlling the power supply system to perform a charging operation includes: When the power management system determines that the charging gun of the aircraft device is in a connected state, the power management system switches to a power waiting charging state; When it is determined that the flight equipment is in a ground state, switching the high voltage system to a high voltage charging waiting state; When the high-voltage system is in the high-voltage charging waiting state, sending a switch closing request to the power management system to control the battery management system to perform pre-charging processing; After determining that the battery management system has completed the pre-charging process, the battery management system controls the corresponding switch module to close; After the battery management system confirms that the charging configuration state of the flight equipment is waiting for charging, switching the high-voltage system to the high-voltage charging configuration confirmation state; Sending a charging request to the battery management system; switching the battery management system to a power supply charging state; and switching the high-voltage system to a high-voltage charging state; After receiving the charging completion signal sent by the power management system, the high-voltage system is switched to a high-voltage charging completion state to send a switch disconnection request and a charging disconnection request to the power management system; wherein the charging completion signal includes: a full charge signal or a charging fault signal.

15. The power state control method according to claim 1, characterized in that: The method further comprises: When it is detected that the high-voltage system is in a high-voltage standby state and no emergency power-off signal is received from the power management system, if the flight equipment meets the preset power-off conditions, the high-voltage system is switched to a high-voltage normal power-off state.

16. The power state control method according to claim 15, characterized in that: The preset power-on condition includes that the flight equipment is in a ground state and the state of the high-voltage power switch is a closed state.

17. A flying device, characterized in that: include: one or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and are configured to be executed by the one or more processors according to the power state control method as claimed in any one of claims 1 to 16.

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