Dual-battery power management method and system for dual-rotor unmanned aerial vehicle

Abstract

The invention relates to the field of battery management, and discloses a dual-battery electric quantity management method and system for a dual-rotor unmanned aerial vehicle, and the method comprises the steps: obtaining a first output voltage of a first voltage stabilization unit when the unmanned aerial vehicle flies by using a first battery, and determining a voltage drop range of the first output voltage relative to a standard output voltage, when the voltage drop amplitude is greater than or equal to a preset voltage drop amplitude, acquiring a first power consumption rate; when the power consumption rate is greater than or equal to a preset consumption rate, rapidly switching the power supply of the unmanned aerial vehicle from the first battery to a second battery; and when the power consumption rate is smaller than the preset consumption rate, gradually switching the power supply of the unmanned aerial vehicle from the first battery to the second battery. In the first time period, the output power of the first voltage stabilizing unit is uniformly reduced, and the output power of the second voltage stabilizing unit is uniformly increased. According to the invention, the electric quantity of the double batteries of the unmanned aerial vehicle can be efficiently managed.

Description

Technical Field

[0001] The present application relates to the field of battery management technology, and more specifically, to a dual-battery power management method and system for a dual-rotor drone. Background Art

[0002] Battery power management for unmanned aerial vehicles (UAVs) is a key step in ensuring their safe and efficient operation. With the widespread application of UAVs in various fields, such as aerial photography, logistics, agriculture, search and rescue, the demand for optimizing battery performance and management strategies is growing. The flight time of UAVs is limited by battery capacity, and long-term flight missions require more efficient power management.

[0003] At present, battery power management includes monitoring battery voltage, recording current consumption, and monitoring battery temperature to monitor the battery status and evaluate the remaining power (State of Charge, SOC), and then the remaining flight time of the drone can be calculated in combination with the battery capacity. In some critical missions or long-flight drone applications, when the drone is powered by multiple batteries, multi-battery switching technology between multiple batteries is used to improve system reliability and extend flight time. However, in the current drone multi-battery management technology, power supply management for multiple batteries is often based only on a single factor of battery voltage, recording current consumption, or monitoring battery temperature, resulting in low accuracy in judging the power of multiple batteries in the drone and poor power management of multiple batteries in the drone. Summary of the invention

[0004] The purpose of this application is to provide a dual-battery power management method and system for a twin-rotor UAV, which solves the technical problem of poor power management of multiple batteries of the UAV and achieves the technical effect of efficiently managing the power of the dual batteries of the UAV.

[0005] An embodiment of the present application provides a dual-battery power management method for a dual-rotor drone, the method comprising: obtaining a first output voltage of a first voltage stabilizing unit when the drone is flying using a first battery, and determining a voltage drop amplitude of the first output voltage relative to a standard output voltage, and when the voltage drop amplitude is greater than or equal to a preset voltage drop amplitude, obtaining a first power consumption rate; when the power consumption rate is greater than or equal to the preset consumption rate, quickly switching the power supply of the drone from the first battery to the second battery; when the power consumption rate is less than the preset consumption rate, gradually switching the power supply of the drone from the first battery to the second battery.

[0006] In a possible implementation, the power supply of the drone is gradually switched from the first battery to the second battery, including: in a first time period, supplying power to the first voltage stabilizing unit through the first battery, and supplying power to the second voltage stabilizing unit through the second battery, and supplying power to the drone through the first voltage stabilizing unit and the second voltage stabilizing power supply at the same time, and uniformly reducing the output power of the first voltage stabilizing unit and uniformly increasing the output power of the second voltage stabilizing unit in the first time period; in a second time period after the first time period, stopping supplying power to the first voltage stabilizing unit through the first battery, and supplying power to the drone through the second voltage stabilizing unit.

[0007] In another possible implementation, gradually reducing the output power of the first voltage stabilizing unit and gradually increasing the output power of the second voltage stabilizing power supply within a first time period also includes: determining a first supplementary power value of the first voltage stabilizing unit according to the remaining power of the first battery, and determining a second supplementary power value of the second voltage stabilizing power supply according to the remaining power of the second battery, and when gradually reducing the output power of the first voltage stabilizing unit and gradually increasing the output power of the second voltage stabilizing unit within the first time period, adding the first supplementary power value to the output power of the first voltage stabilizing unit and adding the second supplementary power value to the output power of the second voltage stabilizing unit.

[0008] In another possible implementation, the output power of the first voltage stabilizing unit is gradually reduced and the output power of the second voltage stabilizing power supply is gradually increased within a first time period, and the method also includes: obtaining the flight speed of the UAV, and determining the ratio of the flight speed to the standard speed as a flight speed factor; obtaining the ratio of the maximum flight swing angle and the safe swing angle of the UAV within a preset historical time period as a flight stability factor; taking the product of the UAV's flight speed factor, the flight stability factor and the standard switching time as the first time period; wherein the standard switching time is determined based on the hardware characteristics of the UAV.

[0009] In another possible implementation, gradually switching the power supply of the drone from the first battery to the second battery also includes: determining a first power supply output characteristic of the first voltage stabilizing unit and a second power supply output characteristic of the second voltage stabilizing unit within a first time period; when the first power supply output characteristic meets the abnormal power supply output characteristic, within the first time period, power is supplied to the second voltage stabilizing unit through the first battery, power is supplied to the second voltage stabilizing unit through the second battery, power is supplied to the drone through the second regulated power supply, and within a second time period after the first time period, power is stopped from being supplied to the second voltage stabilizing unit through the first battery; when the second power supply output characteristic meets the abnormal power supply output characteristic, within the first time period, power is supplied to the first voltage stabilizing unit through the first battery, power is supplied to the first voltage stabilizing unit through the second battery, power is supplied to the drone through the first regulated power supply, and within the second time period after the first time period, power is stopped from being supplied to the first voltage stabilizing unit through the first battery.

[0010] In another possible implementation, the power supply of the drone is gradually switched from the first battery to the second battery, and further includes: when the first battery supplies power to the second voltage stabilizing unit and the second battery supplies power to the second voltage stabilizing unit in the first time period, obtaining the second temperature rise value of the second voltage stabilizing unit in the preset time period, and when the second temperature rise value is greater than or equal to the preset temperature rise value, stopping supplying power to the second voltage stabilizing unit through the first battery in the first time period, determining the alternate landing strategy of the drone in the first time period, and controlling the drone to make an alternate landing. When the first battery supplies power to the first voltage stabilizing unit and the second battery supplies power to the first voltage stabilizing unit in the first time period, obtaining the first temperature rise value of the first voltage stabilizing unit in the preset time period, and when the first temperature rise value is greater than or equal to the preset temperature rise value, stopping supplying power to the first voltage stabilizing unit through the first battery in the first time period, determining the alternate landing strategy of the drone in the first time period, and controlling the drone to make an alternate landing.

[0011] In another possible implementation, the method also includes: when the voltage drop is greater than or equal to a preset voltage drop, determining a corrected reserve power according to a power consumption rate, and when the remaining power of the first battery is less than the corrected reserve power, and when the power consumption rate is greater than or equal to a preset consumption rate, quickly switching the power supply of the UAV from the first battery to the second battery; when the remaining power of the first battery is less than the corrected reserve power, and when the power consumption rate is less than the preset consumption rate, gradually switching the power supply of the UAV from the first battery to the second battery; wherein the corrected reserve power is used for emergency landing when a UAV fails.

[0012] In another possible implementation, the modified reserve power is determined based on the power consumption rate, including: determining the ratio of the power consumption rate to the standard power consumption rate in a preset historical time period as a power consumption rate factor; and taking the product of the power consumption rate factor and the standard reserve power as the modified reserve power.

[0013] An embodiment of the present application also provides a dual-battery power management system for a dual-rotor drone, comprising a unit for executing any of the methods described above.

[0014] An embodiment of the present application also provides a dual-battery power management system for a dual-rotor drone, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the methods described above when executing the computer program.

[0015] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the above items is implemented.

[0016] An embodiment of the present application also provides a computer program product, including a computer program, which implements the steps of any of the methods described above when executed by a processor.

[0017] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0018] The embodiment of the present application provides a dual-battery power management method for a dual-rotor UAV, and the method includes: obtaining a first output voltage of a first voltage stabilizing unit of the UAV during flight using a first battery, and determining a voltage drop amplitude of the first output voltage relative to a standard output voltage, and when the voltage drop amplitude is greater than or equal to a preset voltage drop amplitude, obtaining a first power consumption rate; when the power consumption rate is greater than or equal to a preset consumption rate, quickly switching the power supply of the UAV from the first battery to the second battery; when the power consumption rate is less than the preset consumption rate, gradually switching the power supply of the UAV from the first battery to the second battery. The dual-battery power management method for a dual-rotor UAV in the embodiment of the present application can switch the power supply battery in combination with the voltage drop amplitude and the power consumption rate when working, and can control the switching speed of the power supply battery, thereby ensuring the stability of the UAV flight process and extending the flight time of the UAV as much as possible, thereby improving the control effect of the dual-battery power management. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 A schematic diagram of a flow chart of a dual-battery power management method for a dual-rotor drone provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the structure of a UAV to which a dual-battery power management method for a dual-rotor UAV is applied provided in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of the system architecture of a UAV to which a dual-battery power management method for a dual-rotor UAV in an embodiment of the present application is applied;

[0023] Figure 4 A schematic flow chart of a second dual-battery power management method for a dual-rotor drone provided in an embodiment of the present application;

[0024] Figure 5A schematic diagram of a flow chart of a third dual-battery power management method for a dual-rotor drone provided in an embodiment of the present application;

[0025] Figure 6 A schematic diagram of the logical structure of a dual-battery power management system for a dual-rotor drone provided in an embodiment of the present application;

[0026] Figure 7 A schematic diagram of the physical structure of a dual-battery power management system for a dual-rotor drone provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0028] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0029] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0030] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0031] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0032] In the current multi-battery management technology for drones, power supply management for multiple batteries is often performed based on only a single factor, such as battery voltage, recording current consumption, or monitoring battery temperature. This results in low accuracy in judging the power supply of multiple batteries for drones and poor power management effect for multiple batteries of drones.

[0033] Based on the above reasons, the embodiment of the present application provides a dual-battery power management method for a dual-rotor drone, the method comprising: obtaining the first output voltage of the first voltage stabilizing unit of the drone during flight using the first battery, and determining the voltage drop amplitude of the first output voltage relative to the standard output voltage, when the voltage drop amplitude is greater than or equal to the preset voltage drop amplitude, obtaining the first power consumption rate; when the power consumption rate is greater than or equal to the preset consumption rate, quickly switching the power supply of the drone from the first battery to the second battery; when the power consumption rate is less than the preset consumption rate, gradually switching the power supply of the drone from the first battery to the second battery. The dual-battery power management method for a dual-rotor drone in the embodiment of the present application can switch the power supply battery in combination with the voltage drop amplitude and the power consumption rate when working, and can control the switching speed of the power supply battery, while ensuring the stability of the drone flight process, extending the flight time of the drone as much as possible, and improving the control effect of the dual-battery power management.

[0034] In some scenarios, a dual-battery power management method for a twin-rotor UAV according to an embodiment of the present application can be applied to the control of the battery power of a dual-battery UAV, which can accurately control the battery power of the UAV and improve the dual-battery power control effect of the UAV.

[0035] The following is a specific example of a dual-battery power management method for a dual-rotor drone provided in an embodiment of the present application.

[0036] Figure 1 A schematic diagram of a dual battery power management method for a dual-rotor drone provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method includes S110 to S120, and S110 to S120 are described in detail below.

[0037] S110, obtaining a first output voltage of a first voltage stabilizing unit when the drone is flying using a first battery, and determining a voltage drop of the first output voltage relative to a standard output voltage, and when the voltage drop is greater than or equal to a preset voltage drop, obtaining a first power consumption rate.

[0038] Figure 2 A schematic diagram of the structure of a UAV to which a dual-battery power management method for a dual-rotor UAV is applied provided in an embodiment of the present application, such as Figure 2 As shown, the dual-rotor UAV 1 applied by the present method may include two rotors, and the dual-rotor UAV 1 includes a first battery 11 and a second battery 12, so that the dual-rotor UAV 1 can power the UAV through the first battery 11 and the second battery 12. The present application can improve the management effect of the battery power by managing the power supply of the first battery 11 and the second battery 12.

[0039] Figure 3 Schematic diagram of the system architecture of a UAV to which a dual-battery power management method for a dual-rotor UAV in an embodiment of the present application is applied. Figure 3 As shown, the dual-rotor drone 1 can be powered by a first battery 11 and a second battery 12. Figure 3 The solid arrows and dotted arrows in the figure represent the power supply relationship.

[0040] During the flight of the UAV, the first output voltage of the first voltage stabilizing unit when the UAV is flying using the first battery can be obtained. The first battery is used to power the first voltage stabilizing unit. The first voltage stabilizing unit is used to improve the voltage stability of the first battery. During operation, the first voltage stabilizing unit can step down the voltage of the first battery. The first voltage stabilizing unit does not have the ability to boost the voltage of the first battery. Therefore, the voltage drop of the first output voltage relative to the standard output voltage can be determined, and then the change in the power supply voltage of the first battery can be determined according to the voltage drop.

[0041] After obtaining the voltage drop amplitude, when the voltage drop amplitude is greater than or equal to the preset voltage drop amplitude, it means that the voltage drop amplitude exceeds the preset value, then the first power consumption rate can be further obtained, and then different switching strategies can be adopted according to different power consumption rates.

[0042] S120: When the power consumption rate is greater than or equal to a preset consumption rate, quickly switch the power supply of the drone from the first battery to the second battery. When the power consumption rate is less than the preset consumption rate, gradually switch the power supply of the drone from the first battery to the second battery.

[0043] When the power consumption rate is greater than or equal to the preset consumption rate, the power supply of the UAV is quickly switched from the first battery to the second battery. This means that when the current load of the UAV is high and the power consumption rate is high, in order to ensure that the UAV can meet the high load carrying capacity, it can be quickly switched to the second battery for power supply to ensure the stability of the UAV flight.

[0044] Exemplarily, when the power supply of the drone is quickly switched from the first battery to the second battery, the power supply of the drone can be completely switched from the first battery to the second battery immediately.

[0045] When the power consumption rate is lower than the preset consumption rate, the power supply of the UAV is gradually switched from the first battery to the second battery, indicating that the current load of the UAV is low and the power consumption rate is low. In order to extend the flight time of the UAV as much as possible, the power supply of the UAV can be gradually switched from the first battery to the second battery, thereby avoiding system instability during the battery switching process and extending the flight time of the UAV as much as possible.

[0046] The beneficial effect of the above implementation method is that by combining the two factors of voltage drop and power consumption rate, more accurate power management is achieved, overcoming the problem of inaccurate judgment of a single factor, effectively extending the flight time of the drone, and ensuring the reliability of the drone's control system.

[0047] The beneficial effect of the above-mentioned implementation method is that in the actual application of the UAV, when the voltage drop exceeds the preset value, the power consumption rate is obtained, and according to the different power consumption rates, when the power consumption rate is high, a strategy of fast switching batteries is adopted, which can improve the stability of the power supply source of the UAV; when the power consumption rate is low, a strategy of slow switching batteries is adopted, thereby effectively extending the flight time of the UAV and improving the stability of battery switching.

[0048] In some implementations, in the above S120, gradually switching the power supply of the drone from the first battery to the second battery includes: in a first time period, supplying power to the first voltage stabilizing unit through the first battery, and supplying power to the second voltage stabilizing unit through the second battery, and supplying power to the drone through the first voltage stabilizing unit and the second voltage stabilizing power supply at the same time, and uniformly reducing the output power of the first voltage stabilizing unit and uniformly increasing the output power of the second voltage stabilizing unit in the first time period. In a second time period after the first time period, stopping supplying power to the first voltage stabilizing unit through the first battery, and supplying power to the drone through the second voltage stabilizing unit.

[0049] In the first time period, the first voltage stabilizing unit is powered by the first battery, and the second voltage stabilizing unit is powered by the second battery. The UAV is powered by the first voltage stabilizing unit and the second voltage stabilizing power supply at the same time. In this process, the output power of the first voltage stabilizing unit is uniformly reduced and the output power of the second voltage stabilizing unit is uniformly increased in the first time period, so that a smooth transition of the power supply switching process can be achieved.

[0050] For example, the above-mentioned technical feature of gradual switching of battery power supply has multiple possible implementations. For example, the output power of the first voltage stabilizing unit and the second voltage stabilizing unit can be adjusted according to a preset linear function through circuit control; or the output power of the two voltage stabilizing units can be dynamically adjusted according to parameters such as battery voltage and current monitored in real time through a software algorithm.

[0051] Exemplarily, multiple sub-time periods may be set within the first time period, and a small power adjustment may be performed within each sub-time period to achieve a smoother switching process.

[0052] In a second time period after the first time period, the first battery stops supplying power to the first voltage stabilizing unit, and the second voltage stabilizing unit supplies power to the drone, thereby completing the entire power supply battery switching process.

[0053] The beneficial effect of the above implementation is that, when the load is light, the flight time of the drone can be increased by simultaneously supplying power through the first battery and the second battery.

[0054] In some implementations, in the above-mentioned S120, the output power of the first voltage stabilizing unit is gradually reduced and the output power of the second voltage stabilizing power supply is gradually increased within the first time period, and it also includes: determining a first supplementary power value of the first voltage stabilizing unit according to the remaining power of the first battery, and according to the second supplementary power value of the second voltage stabilizing power supply of the remaining power of the second battery, when the output power of the first voltage stabilizing unit is gradually reduced and the output power of the second voltage stabilizing unit is gradually increased within the first time period, the first supplementary power value is added to the output power of the first voltage stabilizing unit, and the second supplementary power value is added to the output power of the second voltage stabilizing unit.

[0055] When performing power control, the first supplementary power value of the first voltage stabilizing unit can be determined according to the remaining power of the first battery, and the second supplementary power value of the second voltage stabilizing power supply can be determined according to the remaining power of the second battery. When the output power of the first voltage stabilizing unit is gradually reduced and the output power of the second voltage stabilizing unit is gradually increased within a first time period, the first supplementary power value is added to the output power of the first voltage stabilizing unit, and the second supplementary power value is added to the output power of the second voltage stabilizing unit. This can more accurately manage power during battery switching and provide safety redundancy for output power, thereby avoiding the problem of insufficient flight stability of the UAV due to inaccurate power judgment.

[0056] Exemplarily, the first supplementary power value may be 2% of the current flight power value of the UAV, and the second supplementary power value may be 2% of the current flight power value of the UAV.

[0057] The beneficial effect of the above-mentioned implementation method is that by increasing the supplementary power value during the battery switching process, the problem of inaccurate power management in the prior art is solved, a safety redundancy is provided for the flight power of the UAV, the flight time and system reliability of the UAV are improved, and power management can be performed more accurately during the battery power switching process, thereby effectively extending the flight time of the UAV and ensuring the stability of the UAV flight.

[0058] Figure 4A schematic diagram of a second dual-battery power management method for a dual-rotor drone provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, in the above method, the output power of the first voltage stabilizing unit is gradually reduced and the output power of the second voltage stabilizing power supply is gradually increased within the first time period, and also includes S121 to S122, and S121 to S122 are specifically described below.

[0059] S121, obtaining the flight speed of the drone, and determining the ratio of the flight speed to the standard speed as the flight speed factor. Obtaining the ratio of the maximum flight swing angle and the safe swing angle of the drone in a preset historical time period as the flight stability factor.

[0060] In an embodiment of the present application, the length of the first time period is determined by obtaining the flight speed and flight swing angle of the drone, wherein the flight speed factor is determined by the ratio of the flight speed to the standard speed, and the flight stability factor is determined by the ratio of the maximum flight swing angle to the safe swing angle.

[0061] S122: taking the product of the flight speed factor, the flight stability factor and the standard switching time of the UAV as the first time period, wherein the standard switching time is determined according to the hardware characteristics of the UAV.

[0062] When determining the standard switching time, the product of the flight speed factor, the flight stability factor and the standard switching time ultimately determines the length of the first time period, and then the battery switching time of the drone can be comprehensively determined based on the flight speed factor and the flight stability factor.

[0063] Exemplarily, the standard switching time is predetermined based on the hardware characteristics of the drone. The circuit reaction times of the hardware characteristics of different drones are different, so it can be better adapted to the circuit characteristics of different drones.

[0064] Exemplarily, when the standard switching time is predetermined according to the hardware characteristics of the drone, it can be determined according to a test value.

[0065] The beneficial effect of the above-mentioned implementation method is that it can dynamically adjust the battery switching time period according to the actual flight status of the UAV, thereby improving the accuracy and reliability of battery management. By considering the flight speed and flight stability, it can more accurately judge the optimal duration of the battery switching stage, avoiding flight instability or power waste caused by untimely or premature battery switching, and can effectively extend the flight time of the UAV, and can improve the efficiency and safety of completing the flight mission.

[0066] The beneficial effect of the above implementation is that the standard switching time is predetermined according to the hardware characteristics of the drone, so that the battery switching process can adapt to the hardware characteristics of the drone.

[0067] Figure 5 A schematic diagram of a flow chart of a third dual-battery power management method for a dual-rotor drone provided in an embodiment of the present application is shown as follows: Figure 5 As shown, in the above S120, the power supply of the drone is gradually switched from the first battery to the second battery, and also includes S123 to S124. S123 to S124 are specifically described below.

[0068] S123: Determine a first power supply output characteristic of the first voltage stabilizing unit and a second power supply output characteristic of the second voltage stabilizing unit within a first time period.

[0069] In an embodiment of the present application, in the multi-battery management of the drone, the battery power supply is gradually switched to extend the flight time of the drone as much as possible. By determining the power supply output characteristics of the first voltage stabilizing unit and the second voltage stabilizing unit within a first time period, abnormal power supply conditions can be effectively identified, which can further improve the power supply stability of the drone.

[0070] In the embodiment of the present application, the first power supply output characteristic of the first voltage stabilizing unit and the second power supply output characteristic of the second voltage stabilizing unit in the first time period can be determined, and then the power supply state of the drone can be determined according to the first power supply output characteristic and the second power supply output characteristic.

[0071] Exemplarily, the first power supply output characteristic may be a fluctuation amplitude of the output voltage of the first voltage stabilizing unit.

[0072] Exemplarily, the second power supply output characteristic may be a fluctuation amplitude of the output voltage of the second voltage stabilizing unit.

[0073] S124. When the first power supply output characteristic meets the abnormal power supply output characteristic, power is supplied to the second voltage stabilizing unit through the first battery and to the second voltage stabilizing unit through the second battery in the first time period, and power is supplied to the UAV through the second voltage stabilizing power supply, and power is stopped from being supplied to the second voltage stabilizing unit through the first battery in the second time period after the first time period. When the second power supply output characteristic meets the abnormal power supply output characteristic, power is supplied to the first voltage stabilizing unit through the first battery and to the first voltage stabilizing unit through the second battery in the first time period, and power is supplied to the UAV through the first voltage stabilizing power supply, and power is stopped from being supplied to the first voltage stabilizing unit through the first battery in the second time period after the first time period.

[0074] During detection, when the first power supply output characteristic meets the abnormal power supply output characteristic, power is supplied to the second voltage stabilizing unit through the first battery and the second voltage stabilizing unit through the second battery within a first time period, and power is supplied to the drone through the second regulated power supply, and power is stopped from being supplied to the second voltage stabilizing unit through the first battery within a second time period after the first time period. Powering the second voltage stabilizing unit through the first battery can ensure that the drone can continue to be stably powered by the second voltage stabilizing unit.

[0075] During detection, when the second power supply output characteristic meets the abnormal power supply output characteristic, power is supplied to the first voltage stabilizing unit through the first battery and power is supplied to the first voltage stabilizing unit through the second battery within a first time period, and power is supplied to the drone through the first voltage stabilizing power supply, and power is stopped from being supplied to the first voltage stabilizing unit through the first battery within a second time period after the first time period, and power is supplied to the first voltage stabilizing unit through the first battery, thereby ensuring that the drone can continue to be stably powered by the first voltage stabilizing unit.

[0076] The beneficial effect of the above-mentioned implementation method is that during the first time period of switching power supply, the UAV can monitor the status of the voltage stabilizing unit in real time, and adjust the power supply strategy of the voltage stabilizing unit when abnormal power supply is found, thereby avoiding flight interruptions or failures caused by abnormal power supply, and improving the power supply reliability and flight safety of the UAV.

[0077] In some implementations, in the above-mentioned S120, the power supply of the drone is gradually switched from the first battery to the second battery, and further includes: when the first battery supplies power to the second voltage stabilizing unit and the second battery supplies power to the second voltage stabilizing unit in the first time period, obtaining a second temperature rise value of the second voltage stabilizing unit in the preset time period, and when the second temperature rise value is greater than or equal to the preset temperature rise value, stopping supplying power to the second voltage stabilizing unit through the first battery in the first time period, determining the alternate landing strategy of the drone in the first time period, and controlling the drone to make an alternate landing. When the first battery supplies power to the first voltage stabilizing unit and the second battery supplies power to the first voltage stabilizing unit in the first time period, obtaining a first temperature rise value of the first voltage stabilizing unit in the preset time period, and when the first temperature rise value is greater than or equal to the preset temperature rise value, stopping supplying power to the first voltage stabilizing unit through the first battery in the first time period, determining the alternate landing strategy of the drone in the first time period, and controlling the drone to make an alternate landing.

[0078] In order to further ensure the stability of the working state of the UAV, power can be supplied to the second voltage stabilizing unit through the first battery within a first time period, and power can be supplied to the second voltage stabilizing unit through the second battery. At this time, the first voltage stabilizing unit does not participate in the power supply and the current of the second voltage stabilizing unit is large. The second temperature rise value of the second voltage stabilizing unit within a preset time period can be obtained. When the second temperature rise value is greater than or equal to the preset temperature rise value, it indicates that the temperature of the second voltage stabilizing unit is abnormal. Then, power supply to the second voltage stabilizing unit through the first battery can be stopped within the first time period, and the UAV's alternate landing strategy can be determined within the first time period, and the UAV can be controlled to make an alternate landing, so as to improve the safety of the UAV in flight.

[0079] In order to further ensure the stability of the working state of the UAV, when the first battery can be used to supply power to the first voltage stabilizing unit and the second battery can be used to supply power to the first voltage stabilizing unit within a first time period, the second voltage stabilizing unit does not participate in the power supply and the current of the first voltage stabilizing unit is larger. The first temperature rise value of the first voltage stabilizing unit within a preset time period can be obtained. When the first temperature rise value is greater than or equal to the preset temperature rise value, it indicates that the temperature of the first voltage stabilizing unit is abnormal. Then, the power supply to the first voltage stabilizing unit through the first battery can be stopped within the first time period, and the UAV's alternate landing strategy can be determined within the first time period, and the UAV can be controlled to perform the alternate landing, so as to improve the safety of the UAV in flight.

[0080] Exemplarily, the temperature sensor can be used to monitor the temperature rise value of the first voltage stabilizing unit or the second voltage stabilizing unit in real time. The temperature sensor can be of various types such as thermocouples, thermistors or infrared temperature sensors. The preset value of the temperature rise value can be adjusted according to the specific application scenario of the UAV and the working characteristics of the first voltage stabilizing unit or the second voltage stabilizing unit. For example, in a high temperature environment, the preset temperature rise value can be appropriately increased to ensure the normal operation of the UAV.

[0081] Exemplarily, the alternate landing strategy may include selecting the nearest safe landing point, gradually reducing the flight altitude and speed, and other measures to ensure the safe landing of the drone.

[0082] The beneficial effect of the above-mentioned implementation method is that when the first battery supplies power to the second voltage stabilizing unit during the first time period and when the second battery supplies power to the second voltage stabilizing unit, when the temperature of the second voltage stabilizing unit is abnormal, the drone is controlled to make an emergency landing to improve the safety of the drone during flight.

[0083] The beneficial effect of the above-mentioned implementation method is that when the first battery is used to supply power to the first voltage stabilizing unit and the second battery is used to supply power to the first voltage stabilizing unit during the first time period, when the temperature of the first voltage stabilizing unit is abnormal, the UAV is controlled to make an emergency landing to improve the safety of the UAV during flight.

[0084] The beneficial effect of the above-mentioned implementation method is that when controlling the UAV to make an emergency landing, the first battery stops supplying power to the second voltage stabilizing unit within the first time period, and the UAV's emergency landing strategy is determined within the first time period, thereby improving the UAV's emergency landing reaction speed and preventing the UAV from losing control and falling.

[0085] In some implementations, the above method further includes: when the voltage drop is greater than or equal to the preset voltage drop, determining a corrected reserve power according to the power consumption rate, and when the remaining power of the first battery is less than the corrected reserve power, and when the power consumption rate is greater than or equal to the preset consumption rate, quickly switching the power supply of the drone from the first battery to the second battery. When the remaining power of the first battery is less than the corrected reserve power, and when the power consumption rate is less than the preset consumption rate, gradually switching the power supply of the drone from the first battery to the second battery. The corrected reserve power is used for alternate landing when a drone fails.

[0086] When the voltage drop is greater than or equal to the preset voltage drop, the corrected reserve power is determined according to the power consumption rate. When the remaining power of the first battery is less than the corrected reserve power, and when the power consumption rate is greater than or equal to the preset consumption rate, it means that the current load of the UAV is large, and the power supply of the UAV can be quickly switched from the first battery to the second battery. The first battery can be used to reserve a corrected reserve power for the UAV for emergency landing, so as to avoid excessive consumption of the reserve power in the first battery, thereby ensuring the safety of the UAV during the emergency landing stage.

[0087] When controlling the power, when the remaining power of the first battery is less than the corrected standby power, and when the power consumption rate is less than the preset consumption rate, it means that the current load of the UAV is small, and the power supply of the UAV can be gradually switched from the first battery to the second battery. The first battery can be used to reserve the corrected standby power for the UAV for emergency landing, and when the load is small, the first battery and the second battery can cooperate with each other to power the UAV during battery switching. By gradually switching the batteries, the remaining power can be fully utilized to extend the flight time, and in the case of a small load, sufficient power for emergency landing can be reserved for the UAV.

[0088] The beneficial effect of the above-mentioned implementation method is that battery switching management is performed based on the power consumption rate and the remaining power, avoiding the problem of inaccurate battery switching management judgment and poor management effect caused by battery switching management based on only a single factor, improving the accuracy and reliability of the drone's battery switching management, and ensuring that the drone can make a safe emergency landing in the event of a failure.

[0089] The beneficial effect of the above implementation method is that by determining and correcting the reserve power based on the power consumption rate, it is possible to ensure that the drone has sufficient power for standby landing under different loads, thereby improving the safety of drone flight.

[0090] In some implementations, determining the modified reserve power according to the power consumption rate includes: determining a ratio of the power consumption rate to the standard power consumption rate in a preset historical time period as a power consumption rate factor, and taking the product of the power consumption rate factor and the standard reserve power as the modified reserve power.

[0091] In the embodiment of the present application, the power consumption rate and the standard power consumption rate within a preset historical time period can be determined first, and the preset historical time period can be a time period within 5 minutes starting from the current moment.

[0092] For example, the standard power consumption rate may be determined based on design parameters or experimental data of the drone.

[0093] After obtaining the power consumption rate and the standard power consumption rate within a preset historical time period, the ratio of the two can be used as the power consumption rate factor. The power consumption rate factor reflects the change in the current power consumption rate relative to the standard power consumption rate, and the corrected standby power can be calculated using the power consumption rate factor.

[0094] After obtaining the power consumption rate factor, the power consumption rate factor can be multiplied by the standard reserve power to obtain the corrected reserve power.

[0095] Exemplarily, the standard reserve power can be the minimum power required for the drone to land in an emergency. For example, the standard reserve power can be determined based on the power required for the drone to land safely from the current altitude. By multiplying the power consumption rate factor with the standard reserve power, a more accurate corrected reserve power can be obtained, thereby improving the safety of the drone in an emergency.

[0096] The beneficial effect of the above implementation method is that by introducing the power consumption rate factor to correct the reserve power, the calculation of the reserve power is more accurate, which can better adapt to the actual use of the drone, and can more accurately evaluate the remaining power of the battery, thereby improving the safety and reliability of the drone in emergency situations.

[0097] An embodiment of the present application also provides a dual-battery power management system for a dual-rotor drone, comprising a unit for executing any of the methods described above.

[0098] Figure 6 A schematic diagram of the logical structure of a dual-battery power management system for a dual-rotor drone provided in an embodiment of the present application is shown in FIG. Figure 6As shown, the system 2 of this embodiment includes a processing unit 21, a storage unit 22 and a transceiver unit 23. The processing unit 21 is used to process data, the storage unit 22 is used to store data, and the transceiver unit 23 is used to send and receive data. The processing unit 21, the storage unit 22 and the transceiver unit 23 cooperate with each other to implement the above method. The beneficial effects of the embodiment of the present application have been described in the above method and will not be repeated here.

[0099] An embodiment of the present application also provides a dual-battery power management system for a dual-rotor drone, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the methods described above when executing the computer program.

[0100] Figure 7 A schematic diagram of the physical structure of a dual-battery power management system for a dual-rotor drone provided in an embodiment of the present application, such as Figure 7 As shown, the system 3 of this embodiment includes: at least one processor 30 ( Figure 7 Only one processor 30 is shown in the figure), a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30. When the processor 30 executes the computer program 32, the steps in any of the above-mentioned method embodiments are implemented. The beneficial effects of the embodiments of the present application have been described in the above-mentioned methods and will not be repeated here.

[0101] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0102] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0103] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0104] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0105] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0106] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0107] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0108] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0109] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0110] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A dual-battery power management method for a dual-rotor drone, characterized in that: The method comprises: Acquire a first output voltage of a first voltage stabilizing unit when the drone is flying using a first battery, and determine a voltage drop of the first output voltage relative to a standard output voltage, and when the voltage drop is greater than or equal to a preset voltage drop, acquire a first power consumption rate; When the power consumption rate is greater than or equal to the preset consumption rate, the power supply of the drone is quickly switched from the first battery to the second battery; when the power consumption rate is less than the preset consumption rate, the power supply of the drone is gradually switched from the first battery to the second battery.

2. The method according to claim 1, characterized in that Gradually switching the power supply of the drone from the first battery to the second battery includes: In a first time period, power is supplied to the first voltage stabilizing unit through the first battery, and power is supplied to the second voltage stabilizing unit through the second battery. Power is supplied to the UAV through the first voltage stabilizing unit and the second voltage stabilizing power supply at the same time. The output power of the first voltage stabilizing unit is uniformly reduced and the output power of the second voltage stabilizing unit is uniformly increased in the first time period. In a second time period after the first time period, power supply to the first voltage stabilizing unit through the first battery is stopped, and power is supplied to the UAV through the second voltage stabilizing unit.

3. The method according to claim 2, characterized in that Gradually reducing the output power of the first voltage stabilizing unit and gradually increasing the output power of the second voltage stabilizing power supply within the first time period, further comprising: A first supplementary power value of the first voltage stabilizing unit is determined according to the remaining power of the first battery, and a second supplementary power value of the second voltage stabilizing power source is determined according to the remaining power of the second battery; when the output power of the first voltage stabilizing unit is gradually reduced and the output power of the second voltage stabilizing unit is gradually increased within a first time period, the first supplementary power value is added to the output power of the first voltage stabilizing unit and the second supplementary power value is added to the output power of the second voltage stabilizing unit.

4. The method according to claim 3, characterized in that Gradually reducing the output power of the first voltage stabilizing unit and gradually increasing the output power of the second voltage stabilizing power supply within the first time period, further comprising: Obtain the flight speed of the drone, and determine the ratio of the flight speed to the standard speed as the flight speed factor; obtain the ratio of the maximum flight swing angle and the safe swing angle of the drone within a preset historical time period as the flight stability factor; The product of the UAV's flight speed factor, flight stability factor and standard switching time is used as the first time period; wherein the standard switching time is determined according to the hardware characteristics of the UAV.

5. The method according to claim 4, characterized in that Gradually switching the power supply of the drone from the first battery to the second battery, further comprising: Determine a first power supply output characteristic of a first voltage stabilizing unit and a second power supply output characteristic of a second voltage stabilizing unit within a first time period; When the first power supply output characteristic meets the abnormal power supply output characteristic, power is supplied to the second voltage stabilizing unit through the first battery and the second voltage stabilizing unit through the second battery in a first time period, power is supplied to the UAV through the second voltage stabilizing power supply, and power is stopped from being supplied to the second voltage stabilizing unit through the first battery in a second time period after the first time period; when the second power supply output characteristic meets the abnormal power supply output characteristic, power is supplied to the first voltage stabilizing unit through the first battery and the first voltage stabilizing unit through the second battery in a first time period, power is supplied to the UAV through the first voltage stabilizing power supply, and power is stopped from being supplied to the first voltage stabilizing unit through the first battery in the second time period after the first time period.

6. The method according to claim 5, characterized in that Gradually switching the power supply of the drone from the first battery to the second battery, further comprising: When the first battery supplies power to the second voltage stabilizing unit and the second battery supplies power to the second voltage stabilizing unit in a first time period, the second temperature rise value of the second voltage stabilizing unit in a preset time period is obtained, and when the second temperature rise value is greater than or equal to the preset temperature rise value, the first battery stops supplying power to the second voltage stabilizing unit in the first time period, and the alternate landing strategy of the UAV is determined in the first time period, and the UAV is controlled to make an alternate landing. When the first battery supplies power to the first voltage stabilizing unit and the second battery supplies power to the first voltage stabilizing unit in a first time period, the first temperature rise value of the first voltage stabilizing unit in a preset time period is obtained, and when the first temperature rise value is greater than or equal to the preset temperature rise value, the first battery stops supplying power to the first voltage stabilizing unit in the first time period, and the alternate landing strategy of the UAV is determined in the first time period, and the UAV is controlled to make an alternate landing.

7. A dual-battery power management system for a dual-rotor UAV, characterized in that: Comprising means for performing the method according to any one of claims 1 to 6.

8. A dual-battery power management system for a dual-rotor drone, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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