Dual battery power management method and system for dual rotor drones

Abstract

The application relates to the field of battery management, and discloses a dual-battery power management method and system for a dual-rotor unmanned aerial vehicle. The method comprises the following steps: acquiring a first output voltage of a first voltage stabilizing unit in the process of flying the unmanned aerial vehicle by using a first battery, and determining a voltage drop amplitude 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, quickly switching the power supply source of the unmanned aerial vehicle from the first battery to a second battery; when the power consumption rate is less than the preset consumption rate, gradually switching the power supply source of the unmanned aerial vehicle from the first battery to the second battery. 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 a first time period. The application can efficiently manage the power of the dual batteries of the unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery management, more particularly to a dual-battery power management method and system for a dual-rotor unmanned aerial vehicle. BACKGROUND

[0002] Battery power management of an unmanned aerial vehicle (UAV) is a key link to ensure its safe and efficient operation. With the wide application of UAVs in various fields, such as aerial photography, logistics, agriculture, search and rescue, etc., the demand for optimization of battery performance and management strategies is increasing. The flight time of a UAV is limited by the battery capacity, and more efficient power management is needed for long flight missions.

[0003] Currently, battery power management involves monitoring battery voltage, recording current consumption, and monitoring battery temperature to monitor and evaluate the remaining power (State of Charge, SOC) of the battery, and then calculating the remaining flight time of the UAV in combination with the battery capacity. In some critical tasks or long flight UAV applications, multi-battery switching technology between multiple batteries is used to improve system reliability and extend flight time when the UAV is powered by multiple batteries. However, in current multi-battery management technology for UAVs, power management of multiple batteries is often based on only one factor among battery voltage, recorded current consumption, or monitored battery temperature, resulting in low accuracy in judging the power of multiple batteries powering the UAV and poor power management of multiple batteries of the UAV. SUMMARY

[0004] The purpose of the present application is to provide a dual-battery power management method and system for a dual-rotor unmanned aerial vehicle, which solves the technical problem of poor power management of multiple batteries of a UAV and achieves the technical effect of efficient management of the power of dual batteries of a UAV.

[0005] The dual-battery power management method for a dual-rotor unmanned aerial vehicle provided by the embodiments of the present application comprises: obtaining the first output voltage of the first voltage stabilizing unit in the flight of the unmanned aerial vehicle 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 unmanned aerial vehicle from the first battery to the second battery; and when the power consumption rate is less than the preset consumption rate, gradually switching the power supply of the unmanned aerial vehicle from the first battery to the second battery.

[0006] In a possible implementation, the gradual switching of the power supply of the unmanned aerial vehicle from the first battery to the second battery comprises: in a first time period, supplying power to the first voltage stabilizing unit by the first battery and supplying power to the second voltage stabilizing unit by the second battery, while supplying power to the unmanned aerial vehicle by the first voltage stabilizing unit and the second voltage stabilizing unit 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 by the first battery and supplying power to the unmanned aerial vehicle by the second voltage stabilizing unit.

[0007] In another possible implementation, the gradual reduction of the output power of the first voltage stabilizing unit and the gradual increase of the output power of the second voltage stabilizing unit in the first time period further comprise: 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 unit according to the remaining power of the second battery, and 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 in 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 gradual reduction of the output power of the first voltage stabilizing unit and the gradual increase of the output power of the second voltage stabilizing unit in the first time period further comprise: obtaining a flight speed of the unmanned aerial vehicle, and determining a ratio of the flight speed to a standard speed as a flight speed factor; obtaining a ratio of a maximum flight swing angle of the unmanned aerial vehicle in a preset historical time period to a safe swing angle as a flight stability factor; and taking a product of the flight speed factor, the flight stability factor, and a standard switching time as the first time period, wherein the standard switching time is determined according to hardware characteristics of the unmanned aerial vehicle.

[0009] In another possible implementation, the gradual switching of the power supply of the unmanned aerial vehicle from the first battery to the second battery further comprises: 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 in the first time period; when the first power supply output characteristic conforms to an abnormal power supply output characteristic, supplying power to the second voltage stabilizing unit by the first battery and supplying power to the second voltage stabilizing unit by the second battery in the first time period, supplying power to the unmanned aerial vehicle by the second voltage stabilizing unit, and stopping supplying power to the second voltage stabilizing unit by the first battery in a second time period after the first time period; and when the second power supply output characteristic conforms to the abnormal power supply output characteristic, supplying power to the first voltage stabilizing unit by the first battery and supplying power to the first voltage stabilizing unit by the second battery in the first time period, supplying power to the unmanned aerial vehicle by the first voltage stabilizing unit, and stopping supplying power to the first voltage stabilizing unit by the first battery in the second time period after the first time period.

[0010] In another possible implementation, the step of gradually switching the power supply of the UAV from the first battery to the second battery further includes: obtaining a second temperature rise value of the second voltage stabilizing unit in a preset time period when the first voltage stabilizing unit is powered by the first battery and the second voltage stabilizing unit is powered by the second battery in the first time period, stopping powering the second voltage stabilizing unit by the first battery in the first time period when the second temperature rise value is greater than or equal to the preset temperature rise value, determining the emergency landing strategy of the UAV in the first time period, and controlling the UAV to perform emergency landing.

[0011] In another possible implementation, the method further includes: determining a corrected reserve power according to the power consumption rate when the voltage drop amplitude is greater than or equal to the preset voltage drop amplitude, 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 the power consumption rate is greater than or equal to the preset consumption rate; gradually 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 the power consumption rate is less than the preset consumption rate; and wherein the corrected reserve power is used for emergency landing when the UAV fails.

[0012] In another possible implementation, the step of determining the corrected 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 multiplying the power consumption rate factor and the standard reserve power to obtain the corrected reserve power.

[0013] The embodiments of the present application further provide a dual-battery power management system for a dual-rotor UAV, which includes units for performing the method according to any one of the preceding embodiments.

[0014] The embodiments of the present application further provide a dual-battery power management system for a dual-rotor UAV, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to any one of the preceding embodiments when executing the computer program.

[0015] The embodiments of the present application further provide a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the method according to any one of the preceding embodiments.

[0016] The embodiment of the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method according to any one of the above.

[0017] The embodiment of the present application has the beneficial effects that:

[0018] The embodiment of the present application provides a dual-battery power management method for a dual-rotor unmanned aerial vehicle, and the method comprises the following steps: acquiring a first output voltage of a first voltage stabilizing unit in the process of flying the unmanned aerial vehicle by using a first battery, and determining a voltage drop amplitude 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, quickly switching a power supply of the unmanned aerial vehicle from the first battery to a second battery; and when the power consumption rate is less than the preset consumption rate, gradually switching the power supply of the unmanned aerial vehicle from the first battery to the second battery. The dual-battery power management method for the dual-rotor unmanned aerial vehicle 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, and can control the switching speed of the power supply battery, thereby prolonging the flight time of the unmanned aerial vehicle as much as possible while ensuring the stability of the flight process of the unmanned aerial vehicle, and improving the control effect of the dual-battery power management. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative labor.

[0020] Figure 1 A flowchart of a dual-battery power management method for a dual-rotor unmanned aerial vehicle is provided for the embodiment of the present application.

[0021] Figure 2 A structural schematic diagram of an unmanned aerial vehicle to which a dual-battery power management method for a dual-rotor unmanned aerial vehicle is applied is provided for the embodiment of the present application.

[0022] Figure 3 A system architecture schematic diagram of an unmanned aerial vehicle to which a dual-battery power management method for a dual-rotor unmanned aerial vehicle is applied is provided for the embodiment of the present application.

[0023] Figure 4 A flowchart of a second dual-battery power management method for a dual-rotor unmanned aerial vehicle is provided for the embodiment of the present application.

[0024] Figure 5A third flowchart of a dual-battery power management method for a dual-rotor unmanned aerial vehicle is provided for the embodiments of the present application.

[0025] Figure 6 A logic structure diagram of a dual-battery power management system for a dual-rotor unmanned aerial vehicle is provided for the embodiments of the present application.

[0026] Figure 7 An entity structure diagram of a dual-battery power management system for a dual-rotor unmanned aerial vehicle is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0027] It should be understood that the term "includes" when used in the specification and the appended claims herein, specifies the presence of stated features, integers, steps, operations, elements, and / or components but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0028] It should also be understood that the term "and / or" when used in the specification and the appended claims herein, means any one and / or all possible combinations of one or more of the associated listed items.

[0029] As used in the description of the application and the appended claims herein, the term "if" can be interpreted as meaning "when" or "once" or "in response to a determination" or "in response to a detection" depending on the context. Similarly, the phrase "if determined" or "if detected [the described condition or event]" can be interpreted as meaning "once determined" or "in response to a determination" or "once detected [the described condition or event]" or "in response to a detection [the described condition or event]" depending on the context.

[0030] In addition, in the description and the appended claims of the application, the terms "first", "second", "third", and the like are used merely to distinguish descriptions and are not to be construed as indicating or implying relative importance.

[0031] Reference in the specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases "in one embodiment" or "in some embodiments" in various places in the specification are not necessarily all referring to the same embodiment, although it can be. The terms "including," "containing," "having," and variations thereof are meant to encompass the terms "including but not limited to." None of the elements described in this application are essential to the application, unless otherwise specifically indicated.

[0032] In current multi-battery management technology of unmanned aerial vehicles, power supply management is often performed on multiple batteries only according to a single factor of battery voltage, recorded current consumption or monitored battery temperature, resulting in low accuracy of power supply judgment for multiple batteries of the unmanned aerial vehicle and poor power management effect for multiple batteries of the unmanned aerial vehicle.

[0033] Based on the above reasons, the embodiment of the present application provides a dual-battery power management method for a dual-rotor unmanned aerial vehicle. The method comprises the following steps: acquiring a first output voltage of a first voltage stabilizing unit in the flight of the unmanned aerial vehicle using a first battery, and determining a voltage drop amplitude 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, quickly switching the power supply source of the unmanned aerial vehicle from the first battery to a second battery; and when the power consumption rate is less than the preset consumption rate, gradually switching the power supply source of the unmanned aerial vehicle from the first battery to the second battery. The dual-battery power management method for the dual-rotor unmanned aerial vehicle 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, and can control the switching speed of the power supply battery, thereby ensuring the stability of the flight process of the unmanned aerial vehicle and prolonging the flight time of the unmanned aerial vehicle as much as possible, and improving the control effect of dual-battery power management.

[0034] In some scenarios, the dual-battery power management method for the dual-rotor unmanned aerial vehicle provided by the embodiment of the present application can be applied to the control of the battery power of the dual-battery unmanned aerial vehicle, and can accurately control the battery power of the unmanned aerial vehicle, thereby improving the dual-battery power control effect of the unmanned aerial vehicle.

[0035] The dual-battery power management method for the dual-rotor unmanned aerial vehicle provided by the embodiment of the present application will be described in detail below with reference to specific examples.

[0036] Figure 1 As shown in the flowchart of the dual-battery power management method for the dual-rotor unmanned aerial vehicle provided by the embodiment of the present application, Figure 1 the method comprises S110 to S120, which will be described in detail below.

[0037] S110, acquiring a first output voltage of a first voltage stabilizing unit in the flight of the unmanned aerial vehicle using a first battery, and determining a voltage drop amplitude 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.

[0038] Figure 2 The structure diagram of the unmanned aerial vehicle to which the dual-battery power management method for the dual-rotor unmanned aerial vehicle provided by the embodiment of the present application is applied is shown inFigure 2 As shown, the dual-rotor unmanned aerial vehicle 1 to which the method is applied can include two rotors, and the dual-rotor unmanned aerial vehicle 1 includes a first battery 11 and a second battery 12, so that the dual-rotor unmanned aerial vehicle 1 can supply power to the unmanned aerial vehicle through the first battery 11 and the second battery 12. The 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 The system architecture diagram of the unmanned aerial vehicle applied to the dual-battery power management method for the dual-rotor unmanned aerial vehicle in the embodiment of the application is as shown in Figure 3 As shown, the dual-rotor unmanned aerial vehicle 1 can supply power to the unmanned aerial vehicle through the first battery 11 and the second battery 12, Figure 3 The solid arrows and the dashed arrows in the figure represent the power supply relationship.

[0040] In the flight process of the unmanned aerial vehicle, the first output voltage of the first voltage stabilizing unit in the flight process of the unmanned aerial vehicle using the first battery can be obtained. The first battery is used to supply power to the first voltage stabilizing unit, and the first voltage stabilizing unit is used to improve the voltage stability of the first battery. In the working process, the first voltage stabilizing unit can perform voltage step-down processing on the voltage of the first battery. The first voltage stabilizing unit does not have the voltage step-up capability of the voltage of the first battery. Therefore, the voltage drop amplitude of the first output voltage relative to the standard output voltage can be determined, and then the change of the power supply voltage of the first battery can be determined according to the voltage drop amplitude.

[0041] After obtaining the voltage drop amplitude, when the voltage drop amplitude is greater than or equal to the preset voltage drop amplitude, it indicates 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 taken according to the different power consumption rates.

[0042] S120, when the power consumption rate is greater than or equal to the preset consumption rate, the power supply source of the unmanned aerial vehicle 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 source of the unmanned aerial vehicle is gradually switched 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 source of the unmanned aerial vehicle is quickly switched from the first battery to the second battery. When the load of the current unmanned aerial vehicle is high and the power consumption rate is high, in order to ensure that the unmanned aerial vehicle can meet the carrying capacity of the high load, the power supply can be quickly switched to the second battery to ensure the stability of the unmanned aerial vehicle flight.

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

[0045] When the power consumption rate is less than the preset consumption rate, the power supply of the unmanned aerial vehicle is gradually switched from the first battery to the second battery. When the current load of the unmanned aerial vehicle is low and the power consumption rate is low, the power supply of the unmanned aerial vehicle is gradually switched from the first battery to the second battery to prolong the flight time of the unmanned aerial vehicle as much as possible, thereby avoiding system instability during the battery switching process and prolonging the flight time of the unmanned aerial vehicle as much as possible.

[0046] The above-mentioned implementation mode has the beneficial effect of combining the voltage drop amplitude and the power consumption rate to achieve more accurate power management, overcoming the problem of inaccurate single-factor judgment, effectively prolonging the flight time of the unmanned aerial vehicle, and ensuring the reliability of the control system of the unmanned aerial vehicle.

[0047] The above-mentioned implementation mode also has the beneficial effect of being applied in the actual application of the unmanned aerial vehicle. When the voltage drop amplitude 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, the strategy of quickly switching the battery is adopted to improve the stability of the power supply source of the unmanned aerial vehicle; when the power consumption rate is low, the strategy of slowly switching the battery is adopted to effectively prolong the flight time of the unmanned aerial vehicle and improve the stability of the battery switching.

[0048] In some implementation modes, in S120, the power supply of the unmanned aerial vehicle is gradually switched from the first battery to the second battery, including: in a first time period, the first battery supplies power to the first voltage stabilizing unit, and the second battery supplies power to the second voltage stabilizing unit, while the first voltage stabilizing unit and the second voltage stabilizing unit supply power to the unmanned aerial vehicle at the same time, and 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, the first battery stops supplying power to the first voltage stabilizing unit, and the second voltage stabilizing unit supplies power to the unmanned aerial vehicle.

[0049] In the first time period, the first battery supplies power to the first voltage stabilizing unit, and the second battery supplies power to the second voltage stabilizing unit, while the first voltage stabilizing unit and the second voltage stabilizing unit supply power to the unmanned aerial vehicle at the same time, and 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, which can realize smooth transition of the power supply switching process.

[0050] Exemplarily, the above-mentioned gradually switched battery power supply has multiple possible implementation modes. 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 real-time monitored battery voltage, current and other parameters through a software algorithm.

[0051] Exemplarily, a plurality of sub-time periods can also be set in the first time period, and a small power adjustment is made in each sub-time period to achieve a more smooth switching process.

[0052] In the second time period after the first time period, the power supply from the first battery to the first voltage stabilizing unit is stopped, and the power supply from the second voltage stabilizing unit to the unmanned aerial vehicle is realized, realizing the switching process of the entire power supply battery.

[0053] The beneficial effect of the above implementation manner is that in the case of small load, the flight time of the unmanned aerial vehicle can be improved by simultaneously supplying power by the first battery and the second battery.

[0054] In some implementation manners, in the 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 in the first time period, and the S120 further 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 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 in 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 the power control is performed, 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, and 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 in 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, which can more accurately manage the power during the battery switching process and provide a safe redundancy for the output power, avoiding the problem of insufficient flight stability of the unmanned aerial vehicle caused by inaccurate power judgment.

[0056] Exemplarily, the first supplementary power value can be 2% of the current flight power value of the unmanned aerial vehicle, and the second supplementary power value can be 2% of the current flight power value of the unmanned aerial vehicle.

[0057] The beneficial effect of the above implementation manner 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 safe redundancy is provided for the flight power of the unmanned aerial vehicle, the flight time and system reliability of the unmanned aerial vehicle are improved, the power management during the battery power supply switching process can be more accurately performed, thereby effectively prolonging the flight time of the unmanned aerial vehicle and ensuring the stability of the unmanned aerial vehicle flight.

[0058] Figure 4A flowchart of a second battery power management method for a dual-rotor unmanned aerial vehicle is provided in the embodiments of the present application, as shown in Figure 4 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 unit is gradually increased in the first time period, and the method further includes S121 to S122, which are described below.

[0059] S121, the flight speed of the unmanned aerial vehicle is obtained, and a ratio of the flight speed to a standard speed is determined as a flight speed factor. A ratio of a maximum flight swing angle to a safe swing angle of the unmanned aerial vehicle in a preset historical time period is obtained as a flight stability factor.

[0060] In the embodiments of the present application, the length of the first time period is determined by obtaining the flight speed and the flight swing angle of the unmanned aerial vehicle, 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, the product of the flight speed factor, the flight stability factor and the standard switching time of the unmanned aerial vehicle is taken as the first time period. The standard switching time is determined according to the hardware characteristics of the unmanned aerial vehicle.

[0062] In determining the standard switching time, the product of the flight speed factor, the flight stability factor and the standard switching time finally determines the length of the first time period, and the battery switching time of the unmanned aerial vehicle can be determined comprehensively according to the flight speed factor and the flight stability factor.

[0063] For example, the standard switching time is determined in advance according to the hardware characteristics of the unmanned aerial vehicle. The circuit reaction time of different hardware characteristics of different unmanned aerial vehicles is different, so it can better adapt to the circuit characteristics of different unmanned aerial vehicles.

[0064] For example, when the standard switching time is determined in advance according to the hardware characteristics of the unmanned aerial vehicle, it can be determined according to the test value.

[0065] The above-mentioned implementation mode has the beneficial effect that the time period of battery switching can be dynamically adjusted according to the actual flight state of the unmanned aerial vehicle, thereby improving the accuracy and reliability of battery management. By considering the flight speed and flight stability, the optimal duration of the battery switching stage can be more accurately determined, and the problems of flight instability or power waste caused by untimely or too early battery switching can be avoided. The flight time of the unmanned aerial vehicle can be effectively prolonged, and the completion efficiency and safety of the flight task can be improved.

[0066] The above-mentioned implementation mode also has the beneficial effect that the standard switching time is determined in advance according to the hardware characteristics of the unmanned aerial vehicle, so that the battery switching process can adapt to the hardware characteristics of the unmanned aerial vehicle.

[0067] Figure 5 A third flowchart of a dual-battery power management method for a dual-rotor unmanned aerial vehicle is provided in the embodiments of the present application, as shown in the figure. Figure 5 In S120, the power supply of the unmanned aerial vehicle is gradually switched from the first battery to the second battery, and S123-S124 are further included. Details of S123-S124 are described below.

[0068] S123, determine the first power supply output characteristics of the first voltage stabilizing unit and the second power supply output characteristics of the second voltage stabilizing unit in the first time period.

[0069] In the multi-battery management of the unmanned aerial vehicle, the power supply of the battery is gradually switched to prolong the endurance time of the unmanned aerial vehicle as much as possible. By determining the power supply output characteristics of the first voltage stabilizing unit and the second voltage stabilizing unit in the first time period, the abnormal power supply condition can be effectively identified, and the power supply stability of the unmanned aerial vehicle can be further improved.

[0070] In the embodiments of the present application, the first power supply output characteristics of the first voltage stabilizing unit and the second power supply output characteristics of the second voltage stabilizing unit in the first time period can be determined, and then the power supply state of the unmanned aerial vehicle is determined according to the first power supply output characteristics and the second power supply output characteristics.

[0071] For example, the first power supply output characteristics can be the fluctuation amplitude of the output voltage of the first voltage stabilizing unit.

[0072] For example, the second power supply output characteristics can be the fluctuation amplitude of the output voltage of the second voltage stabilizing unit.

[0073] S124, when the first power supply output characteristics meet the abnormal power supply output characteristics, supply power to the second voltage stabilizing unit through the first battery and supply power to the second voltage stabilizing unit through the second battery in the first time period, supply power to the unmanned aerial vehicle through the second voltage stabilizing unit, and stop supplying power 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 characteristics meet the abnormal power supply output characteristics, supply power to the first voltage stabilizing unit through the first battery and supply power to the first voltage stabilizing unit through the second battery in the first time period, supply power to the unmanned aerial vehicle through the first voltage stabilizing unit, and stop supplying power to the first voltage stabilizing unit through the first battery in the second time period after the first time period.

[0074] In the detection, when the first power supply output feature meets the abnormal power supply output feature, the first battery supplies power to the second voltage stabilization unit, the second battery supplies power to the second voltage stabilization unit, the second voltage stabilization power supplies power to the unmanned aerial vehicle in the first time period, and the first battery stops supplying power to the second voltage stabilization unit in the second time period after the first time period, the first battery supplies power to the second voltage stabilization unit, which can ensure that the unmanned aerial vehicle can continue to be stably powered by the second voltage stabilization unit.

[0075] In the detection, when the second power supply output feature meets the abnormal power supply output feature, the first battery supplies power to the first voltage stabilization unit, the second battery supplies power to the first voltage stabilization unit, the first voltage stabilization power supplies power to the unmanned aerial vehicle in the first time period, and the first battery stops supplying power to the first voltage stabilization unit in the second time period after the first time period, the first battery supplies power to the first voltage stabilization unit, which can ensure that the unmanned aerial vehicle can continue to be stably powered by the first voltage stabilization unit.

[0076] The above-mentioned implementation mode has the beneficial effect that in the first time period of switching power supply, the unmanned aerial vehicle can monitor the state of the voltage stabilization unit in real time, and adjust the voltage stabilization unit power supply strategy when an abnormal power supply condition is found, thereby avoiding flight interruption or failure caused by abnormal power supply, and improving the power supply reliability and flight safety of the unmanned aerial vehicle.

[0077] In some implementations, in the S120, the power supply source of the unmanned aerial vehicle is gradually switched from the first battery to the second battery, and the above-mentioned S120 further includes: when the first battery supplies power to the second voltage stabilization unit and the second battery supplies power to the second voltage stabilization unit in the first time period, obtaining a second temperature rise value of the second voltage stabilization unit in a preset time period, when the second temperature rise value is greater than or equal to a preset temperature rise value, stopping the first battery from supplying power to the second voltage stabilization unit in the first time period, determining a forced landing strategy of the unmanned aerial vehicle in the first time period, and controlling the unmanned aerial vehicle to force land. When the first battery supplies power to the first voltage stabilization unit and the second battery supplies power to the first voltage stabilization unit in the first time period, obtaining a first temperature rise value of the first voltage stabilization unit in a preset time period, when the first temperature rise value is greater than or equal to a preset temperature rise value, stopping the first battery from supplying power to the first voltage stabilization unit in the first time period, determining a forced landing strategy of the unmanned aerial vehicle in the first time period, and controlling the unmanned aerial vehicle to force land.

[0078] To further ensure the stability of the working state of the unmanned aerial vehicle, 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, the first voltage stabilizing unit does not participate in power supply, and the current of the second voltage stabilizing unit is large, the second temperature rise value of the second voltage stabilizing unit in the preset time period can be obtained, and 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, and then the power supply of the first battery to the second voltage stabilizing unit in the first time period can be stopped, the emergency landing strategy of the unmanned aerial vehicle in the first time period can be determined, and the unmanned aerial vehicle can be controlled to land in an emergency, so as to improve the safety of the unmanned aerial vehicle in flight.

[0079] To further ensure the stability of the working state of the unmanned aerial vehicle, 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, the first voltage stabilizing unit does not participate in power supply, and the current of the second voltage stabilizing unit is large, the second temperature rise value of the second voltage stabilizing unit in the preset time period can be obtained, and 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, and then the power supply of the first battery to the second voltage stabilizing unit in the first time period can be stopped, the emergency landing strategy of the unmanned aerial vehicle in the first time period can be determined, and the unmanned aerial vehicle can be controlled to land in an emergency, so as to improve the safety of the unmanned aerial vehicle 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 a thermocouple, a thermistor, or an infrared temperature sensor, etc. The preset value of the temperature rise value can be adjusted according to the specific application scene of the unmanned aerial vehicle 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 unmanned aerial vehicle.

[0081] Exemplarily, the emergency landing strategy can include selecting the nearest safe landing point, gradually reducing the flight height and speed, etc. to ensure the safe landing of the unmanned aerial vehicle.

[0082] The above-mentioned implementation mode has the beneficial effect that 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, the unmanned aerial vehicle is controlled to land in an emergency when the temperature of the second voltage stabilizing unit is abnormal, so as to improve the safety of the unmanned aerial vehicle in flight.

[0083] The above-mentioned implementation mode has the beneficial effect that 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, the unmanned aerial vehicle is controlled to land in an emergency when the temperature of the second voltage stabilizing unit is abnormal, so as to improve the safety of the unmanned aerial vehicle in flight.

[0084] The implementation manner has the beneficial effects that the unmanned aerial vehicle is controlled to stop supplying power to the second voltage stabilizing unit by the first battery in the first time period, and the landing strategy of the unmanned aerial vehicle is determined in the first time period, so that the landing response speed of the unmanned aerial vehicle is improved, and the unmanned aerial vehicle is prevented from falling uncontrollably.

[0085] In some implementations, the method further includes: when the voltage drop amplitude is greater than or equal to the preset voltage drop amplitude, determining a corrected reserve power 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, quickly switching the power supply of the unmanned aerial vehicle 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 unmanned aerial vehicle from the first battery to the second battery. The corrected reserve power is used for landing in case of failure of the unmanned aerial vehicle.

[0086] When the voltage drop amplitude is greater than or equal to the preset voltage drop amplitude, 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 indicates that the current load of the unmanned aerial vehicle is large, and the power supply of the unmanned aerial vehicle can be quickly switched from the first battery to the second battery. The first battery can reserve the corrected reserve power for the unmanned aerial vehicle for landing to avoid excessive consumption of the reserve power in the first battery, and the safety of the unmanned aerial vehicle in the landing stage can be ensured.

[0087] 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, it indicates that the current load of the unmanned aerial vehicle is small, and the power supply of the unmanned aerial vehicle can be gradually switched from the first battery to the second battery. The first battery can reserve the corrected reserve power for the unmanned aerial vehicle for landing, and the first battery and the second battery can cooperate to supply power to the unmanned aerial vehicle in the battery switching process in the case of small load. The remaining power can be fully utilized by gradually switching the battery, the flight time is prolonged, and sufficient reserve power for landing can be reserved for the unmanned aerial vehicle in the case of small load.

[0088] The implementation manner has the beneficial effects that the battery switching management is performed on the basis of the power consumption rate and the remaining power, the problem that the battery switching management is inaccurate and ineffective due to the single factor is avoided, the accuracy and reliability of the battery switching management of the unmanned aerial vehicle are improved, and the unmanned aerial vehicle can be safely landed in case of failure.

[0089] The implementation manner has the beneficial effect that the modified reserve power is determined based on the power consumption rate, the unmanned aerial vehicle has sufficient power reserve under different loads, and the safety of the unmanned aerial vehicle flight is improved.

[0090] In some implementation manners, the determining the modified reserve power according to the power consumption rate comprises: determining a ratio of the power consumption rate and the standard power consumption rate in a preset historical time period as a power consumption rate factor; and multiplying the power consumption rate factor and the standard reserve power to obtain the modified reserve power.

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

[0092] For example, the standard power consumption rate can be determined according to the design parameters or experimental data of the unmanned aerial vehicle.

[0093] After the power consumption rate and the standard power consumption rate in the preset historical time period are obtained, the ratio of the two can be taken as the power consumption rate factor. The power consumption rate factor reflects the change of the current power consumption rate relative to the standard power consumption rate, and then the modified reserve power can be calculated through the power consumption rate factor.

[0094] After the power consumption rate factor is obtained, the power consumption rate factor can be multiplied by the standard reserve power to obtain the modified reserve power.

[0095] For example, the standard reserve power can be the minimum reserve power required by the unmanned aerial vehicle in an emergency. For example, the standard reserve power can be determined according to the power required by the unmanned aerial vehicle to safely land from the current height to the ground. By multiplying the power consumption rate factor and the standard reserve power, a more accurate modified reserve power can be obtained, thereby improving the safety of the unmanned aerial vehicle in an emergency.

[0096] The implementation manner has the beneficial effect that the reserve power is modified by introducing the power consumption rate factor, the calculation of the reserve power is more accurate, the actual use of the unmanned aerial vehicle can be better adapted, the remaining power of the battery can be more accurately evaluated, and the safety and reliability of the unmanned aerial vehicle in an emergency are improved.

[0097] The embodiments of the present application also provide a dual-battery power management system for a dual-rotor unmanned aerial vehicle, which comprises a unit for executing the method according to any one of the above.

[0098] Figure 6 A logic structure schematic diagram of a dual-battery power management system for a dual-rotor unmanned aerial vehicle provided by the embodiments of the present application is shown in 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-described method. The beneficial effects of the embodiments of this application have been described in the above-described method and will not be repeated here.

[0099] This application also provides a dual-battery power management system for a dual-rotor drone, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method described in any of the preceding claims.

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

[0101] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0102] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to 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 embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0103] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps in the above-mentioned various method embodiments.

[0104] The embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal is caused to execute the steps in the above-mentioned various method embodiments.

[0105] The integrated unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiments by a computer program to instruct related hardware to complete, and the computer program can be stored in a computer readable storage medium. The computer program is executed by a processor to implement the steps in the above-mentioned various method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / terminal equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0106] In the above-mentioned embodiments, the description of each embodiment has its own focus. The parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0107] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0108] In the embodiments provided by the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the embodiments of the apparatus described above are merely schematic, and the division of the modules or units is merely logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0109] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0110] The above-described embodiments are merely used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should 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: acquiring a first output voltage of the first voltage stabilization unit in the first battery flight of the unmanned aerial vehicle, and determining a voltage drop amplitude 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 power consumption rate of the first battery; when the power consumption rate is greater than or equal to a preset consumption rate, quickly switching the power supply of the unmanned aerial vehicle 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 unmanned aerial vehicle from the first battery to the second battery; gradually switching the power supply of the unmanned aerial vehicle from the first battery to the second battery, comprising: in the first time period, the first battery supplies power to the first voltage stabilization unit, and the second battery supplies power to the second voltage stabilization unit, while the first voltage stabilization unit and the second voltage stabilization unit supply power to the unmanned aerial vehicle at the same time, and the output power of the first voltage stabilization unit is uniformly reduced and the output power of the second voltage stabilization unit is uniformly increased in the first time period; in the second time period after the first time period, stop supplying power to the first voltage stabilization unit by the first battery, and supply power to the unmanned aerial vehicle by the second voltage stabilization unit; gradually reducing the output power of the first voltage stabilization unit and gradually increasing the output power of the second voltage stabilization unit in the first time period, further comprising: determining a first supplementary power value of the first voltage stabilization unit according to the remaining power of the first battery, and determining a second supplementary power value of the second voltage stabilization unit according to the remaining power of the second battery, when gradually reducing the output power of the first voltage stabilization unit and gradually increasing the output power of the second voltage stabilization unit in the first time period, adding the first supplementary power value to the output power of the first voltage stabilization unit and adding the second supplementary power value to the output power of the second voltage stabilization unit; gradually reducing the output power of the first voltage stabilization unit and gradually increasing the output power of the second voltage stabilization unit in the first time period, further comprising: acquiring the flight speed of the unmanned aerial vehicle, and determining the ratio of the flight speed and the standard speed as the flight speed factor; acquiring the ratio of the maximum flight swing angle and the safe swing angle of the unmanned aerial vehicle in the preset historical time period as the flight stability factor; the product of the flight speed factor, the flight stability factor and the standard switching time of the unmanned aerial vehicle is taken as the first time period; wherein the standard switching time is determined according to the hardware characteristics of the unmanned aerial vehicle; gradually switching the power supply of the unmanned aerial vehicle from the first battery to the second battery, further comprising: determining the first power supply output characteristics of the first voltage stabilization unit and the second power supply output characteristics of the second voltage stabilization unit in the first time period; When the first power supply output feature matches the abnormal power supply output feature, the first battery supplies power to the second voltage stabilization unit, the second battery supplies power to the second voltage stabilization unit, the second voltage stabilization unit supplies power to the unmanned aerial vehicle in the first time period, and the power supply from the first battery to the second voltage stabilization unit is stopped in the second time period after the first time period; when the second power supply output feature matches the abnormal power supply output feature, the first battery supplies power to the first voltage stabilization unit, the second battery supplies power to the first voltage stabilization unit, the first voltage stabilization unit supplies power to the unmanned aerial vehicle in the first time period, and the power supply from the first battery to the first voltage stabilization unit is stopped in the second time period after the first time period.

2. The method of claim 1, wherein, The gradual switching of the power supply source of the unmanned aerial vehicle from the first battery to the second battery further comprises: When the first battery supplies power to the second voltage stabilization unit and the second battery supplies power to the second voltage stabilization unit in the first time period, a second temperature rise value of the second voltage stabilization unit in a preset time period is obtained, and when the second temperature rise value is greater than or equal to a preset temperature rise value, the power supply from the first battery to the second voltage stabilization unit is stopped in the first time period, the emergency landing strategy of the unmanned aerial vehicle is determined in the first time period, and the unmanned aerial vehicle is controlled to land in an emergency. When the first battery supplies power to the first voltage stabilization unit and the second battery supplies power to the first voltage stabilization unit in the first time period, a first temperature rise value of the first voltage stabilization unit in a preset time period is obtained, and when the first temperature rise value is greater than or equal to a preset temperature rise value, the power supply from the first battery to the first voltage stabilization unit is stopped in the first time period, the emergency landing strategy of the unmanned aerial vehicle is determined in the first time period, and the unmanned aerial vehicle is controlled to land in an emergency.

3. A dual battery power management system for a dual rotor drone, comprising: The computer program is executed by the processor to implement the method of any one of claims 1 to 2.

4. 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 computer program is executed by the processor to implement the method of any one of claims 1 to 2.

5. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 4. The computer program is executed by the processor to implement the method of any one of claims 1 to 2.

6. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the method of any one of claims 1 to 2.

Images