Aircraft battery fault processing method, computer equipment and computer readable storage medium

Abstract

The embodiment of the invention discloses an aircraft battery fault processing method, computer equipment and a computer readable storage medium. The method comprises the following steps that when a fault signal is obtained in the flight process, the state of the aircraft is judged, and state information is obtained; executing fault analysis processing according to the fault signal and the state information, wherein the fault analysis processing comprises threshold analysis processing, mode analysis processing and / or automatic analysis processing; obtaining at least one processing result obtained by threshold analysis processing, mode analysis processing and / or automatic analysis processing, and summarizing all the processing results to obtain current fault information; obtaining an adjustment instruction according to the current fault information; in response to the adjustment instruction, a fault handling operation is performed, the fault handling operation including at least one of a flight plan change, an output mode change, or a battery relevance change. Therefore, the aircraft battery in the fault state can be efficiently and safely managed and controlled.

Description

Technical Field

[0001] This application belongs to the technical field of aircraft, and particularly relates to a method for handling aircraft battery failures, a computer device, and a computer-readable storage medium. Background Art

[0002] In daily life, aircraft have gradually become popular. During the use of eVTOL (electric Vertical Take-Off and Landing) aircraft, the take-off and landing phases usually involve high-rate discharge requirements. To prevent the failure of the power battery system in the air, eVTOL aircraft generally adopt a multi-battery-pack distributed layout scheme. When one of the battery packs fails, such as thermal runaway, internal short circuit, or over-temperature of a single cell, the battery pack will be forced to cut off power.

[0003] However, during take-off or landing of the aircraft, the required output power must be borne by the remaining power battery packs, which results in a significantly higher power output demand than in normal use. To ensure that the aircraft can take off or land safely under special circumstances, the output power of the power battery system often needs to exceed its normal operating range. Such high-power output will inevitably affect the normal service life of the battery. How to more efficiently and safely manage the aircraft battery in a fault state is a technical problem that needs to be solved urgently by those skilled in the art.

[0004] The foregoing description is provided to give general background information and does not necessarily constitute prior art. Summary of the Invention

[0005] Based on this, to address the above problems, a method for handling aircraft battery failures, a computer device, and a computer-readable storage medium are proposed, which can efficiently and safely manage the aircraft battery in a fault state.

[0006] The technical problems of this application are solved by adopting the following technical solutions: The present application provides a method for processing aircraft battery failures, including the following steps: When a failure signal is obtained during flight, the aircraft state is judged to obtain state information; Fault analysis and processing are performed according to the fault signal and the state information. Fault analysis and processing according to the fault signal and the state information include: performing threshold analysis processing on the fault signal; and / or, performing mode analysis processing on the state information; and / or, inputting the fault signal and the state information into a pre-trained fault analysis model, and using the fault analysis model to perform automatic analysis processing; Obtain at least one processing result obtained by threshold analysis processing, mode analysis processing, and / or automatic analysis processing, and summarize all processing results to obtain the current fault information; Obtain an adjustment instruction according to the current fault information; Respond to the adjustment instruction to perform a fault handling operation, and the fault handling operation includes at least one of flight plan change, output mode change, or battery relevance change.

[0007] In an alternative embodiment of the present application, judging the aircraft state to obtain state information includes: obtaining flight information, performing flight state judgment according to the flight information to obtain flight state information; The flight information includes at least one of flight altitude, airspeed, destination distance, ambient temperature, wind speed, and air pressure; Obtain battery information, perform battery state judgment according to the battery information to obtain battery state information; The battery information includes at least one of battery pack health, battery pack state of charge, battery pack power output demand, battery pack power limit, temperature of the battery cells in the battery pack, and single cell voltage; Summarize the flight state information and the battery state information to obtain the state information.

[0008] In an alternative embodiment of the present application, performing fault analysis and processing according to the fault signal and the state information includes: performing threshold analysis processing on the fault signal; and / or, performing mode analysis processing on the state information; and / or, inputting the fault signal and the state information into a pre-trained fault analysis model, and using the fault analysis model to perform automatic analysis processing; Obtain at least one processing result obtained by threshold analysis processing, mode analysis processing, and / or automatic analysis processing; Summarize all processing results to obtain the current fault information.

[0009] In an alternative embodiment of the present application, before performing fault analysis and processing according to the fault signal and the state information, the method further includes: obtaining a flight history data set, which is composed of multiple flight history data, and each flight history data is used to record the historical fault signal, historical state information, and historical fault information when a situation occurs; Judging whether there is a matching flight history data for the fault signal and / or the state information in the flight history data set; If it exists, obtain the historical fault information in the matching flight history data, mark the historical fault information as the current fault information and output it; If it does not exist, perform fault analysis and processing according to the fault signal and the state information to obtain the current fault information.

[0010] In an alternative embodiment of the present application, obtaining an adjustment instruction according to the current fault information includes: obtaining the fault category, fault level, and fault duration in the current fault information; judging whether the aircraft can complete the remaining flight plan according to the fault category and fault level; if not, generating a flight plan change instruction; the flight plan change instruction is used to execute the flight plan change; when the fault category belongs to the first preset battery fault, the fault level is higher than the preset level, and the fault duration is higher than the preset duration, determining the normal battery and generating a battery output mode change instruction; the battery output mode change instruction is used to execute the battery output mode change for the normal battery; when the fault category belongs to the second preset battery fault, determining the faulty battery; and generating a battery correlation change instruction; the battery correlation change instruction is used to execute the battery correlation change for the faulty battery.

[0011] In an alternative embodiment of the present application, when the fault handling operation includes a flight plan change; executing the fault handling operation includes: judging the flight state of the aircraft; if the flight state is the take-off state, controlling the aircraft to stop taking off; if the flight state is the landing state, obtaining the corrected output power after executing the battery output mode change, and landing according to the corrected output power; if the flight state is the cruise state, determining a safe landing point, obtaining the corrected output power after executing the battery output mode change; cruising to the safe landing point according to the corrected output power and landing.

[0012] In an alternative embodiment of the present application, when the fault handling operation includes a battery output mode change; executing the fault handling operation includes: obtaining the battery demand power, battery quantity information, where the battery quantity information includes the total number of batteries, the number of normal batteries, and the number of faulty batteries; calculating the corrected output power according to the battery demand power and the battery quantity information; judging whether the corrected output power is within the battery limit threshold range; if it is not within the battery limit threshold range, executing a flight plan change to control the aircraft to make a forced landing; if it is within the battery limit threshold range, adjusting the output power of the normal battery according to the corrected output power.

[0013] In an alternative embodiment of the present application, when the fault handling operation includes a battery correlation change; executing the fault handling operation includes: determining the faulty battery, and judging the battery priority of the faulty battery; determining the fault priority according to the adjustment instruction; determining the disconnection method according to the battery priority and the fault priority, where the disconnection method includes disconnecting one by one or disconnecting simultaneously; disconnecting the faulty battery according to the disconnection method.

[0014] The present application also provides a computer device, including a processor and a memory: the processor is used to execute a computer program stored in the memory to implement the method as described above.

[0015] The present application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method as described above.

[0016] Adopting the embodiments of the present application has the following beneficial effects: The present application can, during the flight of an aircraft, if a battery failure occurs, analyze the failure signal after sending it to determine a processing measure to control the aircraft to cope with the failure. The entry processing flow ensures the normal use of the battery system while meeting the demand for high-power output of the battery in case of emergencies. And through the failure signal recognition trigger mechanism, multiple output mode switches of the power battery system are realized. Combining the judgment of the aircraft state by the flight control system, the power and available power limit are intelligently adjusted. A longer flight range is achieved during the flight phase, and a higher power is achieved during the landing phase, thus ensuring the safe landing of the aircraft in case of failure. It can improve the safety and reliability of eVTOL aircraft in case of emergencies without sacrificing the battery service life.

[0017] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the drawings, details are described in detail. It should be understood that the above general description and the following detailed description are only exemplary and explanatory and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0019] Figure 1 It is a schematic flowchart of a method for handling aircraft battery failures provided in an embodiment.

[0020] Figure 2 It is a schematic flowchart of a process for obtaining status information provided in an embodiment.

[0021] Figure 3 It is a schematic flowchart of a process for failure analysis and processing provided in an embodiment.

[0022] Figure 4 It is a schematic flowchart of a process for optimizing failure analysis and processing provided in an embodiment.

[0023] Figure 5A structural schematic block diagram of a computer device provided for an embodiment. Detailed implementation manners

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0025] Regarding the reaction measures for faults that occur during the flight of an aircraft, the prior art still stays at traditional and mechanical processing methods, and does not actually combine the characteristics of the aircraft in this application to implement fault handling. Based on this, the present application proposes a method for handling aircraft battery faults. To clearly describe the method provided in this embodiment, please refer to Figures 1 to 4 , including steps S110 to S130.

[0026] Step S110: When a fault signal is obtained during flight, judge the state of the aircraft to obtain state information.

[0027] In one embodiment, in response to the aircraft obtaining a fault signal during flight. The fault signal can mainly refer to the fault signal of the power battery, including but not limited to voltage, temperature, current anomalies, thermal runaway of battery cells, etc. In addition, abnormal signals caused by the flight control system outside the battery or the external environment can also be obtained, and these may all affect the battery state. The specific fault signals can also include motor faults, high-voltage line short circuits, other electrical appliance faults, abnormal wind conditions, weightlessness, etc. issued by the system.

[0028] In one embodiment, judging the state of the aircraft to obtain state information includes: obtaining flight information, performing flight state judgment according to the flight information to obtain flight state information; the flight information includes at least one of flight altitude, flight speed, destination distance, environmental temperature, wind speed, and air pressure; obtaining battery information, performing battery state judgment according to the battery information to obtain battery state information; the battery information includes at least one of battery pack health, battery pack state of charge, battery pack power output demand, battery pack power limit, temperature of battery cells in the battery pack, and single-cell voltage; summarizing the flight state information and the battery state information to obtain state information.

[0029] In one embodiment, before analyzing and processing a battery failure, status information can also be obtained for status judgment. Specifically, it can include battery status judgment for the battery and flight status judgment for the aircraft, so as to determine whether emergency measures need to be taken for the failure after the failure is determined. Among them, the flight status judgment and the battery status judgment are parallel processes, and the specific processing flow can refer to Figure 2 .

[0030] Step S211: Obtain flight information.

[0031] Step S212: Perform a flight status judgment based on the flight information to obtain flight status information.

[0032] In one embodiment, the flight information includes at least one of flight altitude, airspeed, destination distance, ambient temperature, wind speed, and air pressure.

[0033] In one embodiment, the flight status information can include the following types of status: flight ability status, flight safety status, navigation and track status. Specifically, the flight ability status can include reachability and feasibility. Reachability is used to characterize whether the remaining battery power of the aircraft is sufficient to reach the destination, and the remaining battery power is directly related to the battery status. It can be directly judged, or additional battery information of a normal battery can be obtained, and based on the battery information, it is calculated and determined whether the remaining battery power is sufficient to reach the destination. Feasibility is to consider the influence of ambient temperature, wind speed, air pressure, and altitude on the power system, and judge whether it is feasible for the aircraft to maintain a normal flight attitude. Battery information and flight information can be obtained to determine whether the remaining battery power can maintain a normal flight attitude, thereby completing the status judgment of feasibility.

[0034] The flight safety status can specifically include: normal flight, low battery or insufficient power. Normal flight means that the battery failure has no significant impact, that is, after the failure occurs, all parameters in the flight information are within the safe range. Low battery indicates that according to the flight information, the current flight environment is complex, such as environmental factors such as wind speed, ambient temperature, and air pressure exceed the normal threshold. Even in a normal state, the motor needs to output additional power to maintain normal flight. And because of the battery failure, the remaining battery power is reduced, so it is inevitable that the remaining voyage cannot be supported, etc., corresponding to the need for an emergency landing or an early return flight. Insufficient power means that there is still a long distance to the destination in the flight information, or the current flight environment is high altitude and low air pressure, resulting in a decrease in the thrust of the propeller. It is necessary to change the output power of the remaining normal battery, increase the motor speed or lower the altitude to meet the current power demand, and because of the battery failure, the remaining normal battery cannot cope with the current environmental impact, etc.

[0035] The navigation and flight path status may specifically include the flight altitude, airspeed, attitude, operating power of each electrical appliance of the aircraft, and the route status, including whether there is a deviation from the course, whether it can reach the next waypoint as planned, or whether it is necessary to adapt to a battery failure to change the flight altitude or heading. The navigation and flight path status can be directly judged and obtained based on the flight information.

[0036] Step S221: Obtain battery information.

[0037] Step S222: Perform battery status judgment based on the battery information to obtain battery status information.

[0038] In one embodiment, the battery information includes at least one of the battery pack health, state of charge of the battery pack, power output demand of the battery pack, power limit of the battery pack, temperature of the battery cells inside the battery pack, and single cell voltage. The battery pack health (SOH, State of Health) represents the long-term health status of the battery and is usually expressed as the current capacity / rated capacity. A low SOH may mean battery degradation, a decrease in discharge capacity, and is likely to cause insufficient power supply. The state of charge (SOC, State of Charge) represents the remaining power of the current battery and is usually a percentage value from 0% to 100%. A low SOC may cause the battery voltage to decrease and the power output to be insufficient, affecting the endurance of the aircraft. The power output demand of the battery pack ( P demand ) reflects the power supply required by the current aircraft. The power limit of the battery pack ( P limit ) is set by the Battery Management System (BMS) to prevent overloading and damaging the battery. The temperature of the battery cells inside the battery pack ( T cell ) can affect the battery performance whether it is too high or too low: too high (>60°C): may trigger thermal protection or even thermal runaway; too low (<0°C): the discharge capacity decreases and the SOC display may be abnormal. The single cell voltage ( V cell ) reflects the voltage status of a single cell and is usually within a preset range. For example, for a lithium battery, the preset range can be 3.0V - 4.2V. Too low or too high may cause battery imbalance or even damage.

[0039] In one embodiment, the battery status information may include but is not limited to the following battery status types: normal power supply, low power, battery aging, insufficient power, abnormal temperature (overheat / cold), cell imbalance, abnormal power loss, and abnormal voltage (over-discharge / overcharge). The specific judgment status can be judged according to various parameters. The judgment conditions for each battery status type can refer to the situations listed in Table 1.

[0040] Table 1 Battery Status Types and Corresponding Judgment Conditions

[0041] After steps S212 and S222, execute step S230: Summarize the flight status information and the battery status information to obtain the status information.

[0042] In one embodiment, by summarizing the flight status information and the battery status information, the status information can be obtained, and the status information is used for subsequent fault analysis and processing.

[0043] Step S120: Perform fault analysis and processing according to the fault signal and the status information. Performing fault analysis and processing according to the fault signal and the status information includes: performing threshold analysis processing on the fault signal; and / or, performing pattern analysis processing on the status information; and / or, inputting the fault signal and the status information into a pre-trained fault analysis model, and using the fault analysis model to perform automatic analysis processing; obtaining at least one processing result obtained from the threshold analysis processing, the pattern analysis processing, and / or the automatic analysis processing, summarizing all the processing results to obtain the current fault information; obtaining an adjustment instruction according to the current fault information.

[0044] In one embodiment, performing fault analysis and processing by combining the fault signal and the status information can obtain the current fault information, and the current fault information may include, but is not limited to, identification of the fault type, fault duration, fault level, etc. Then, according to the current fault information, the corresponding processing measures, that is, the adjustment instruction, can be determined. For example, it is judged whether the operating requirements such as output power, duration, total flight power, temperature limit, voltage limit, etc. are met after the fault is processed. And according to the battery pack capacity, trigger forced disconnection of the faulty battery to cut off the power, change the subsequent flight plan, display flight suggestions, issue flight alerts and other corresponding instructions. That is, the adjustment instruction is processed to be used to control the drone to make adjustments for the battery fault to cope with the fault. In this embodiment, the determination of the current fault information is described first, and the process of obtaining the adjustment instruction will be described in detail later, which will not be elaborated here for the time being.

[0045] In one embodiment, the fault signal and the status information are indeed two types of data, and there are differences in the data content forms between them. Therefore, in a preferred embodiment, when performing fault analysis and processing, they can be processed separately; in other embodiments, they can also be combined for processing. In this regard, this embodiment provides a process for fault analysis and processing. For details, please refer to Figure 3 As shown, it includes steps S310 to S340. Figure 3 In it, the rounded rectangle represents a type of data, and the rectangle represents a process. This flowchart also shows the input-output relationship of the data to the process.

[0046] Step S310: Perform threshold analysis processing on the fault signal.

[0047] In one embodiment, the fault signals for the battery include, but are not limited to, abnormalities in voltage, temperature, current, thermal runaway of battery cells, etc., and all the above data are presented in numerical form. Usually, a normal threshold range is set for each value. Therefore, the threshold analysis processing can be directly completed by comparing the fault signal with its corresponding threshold range. For example, if voltage / temperature abnormalities are detected in the battery, comparing the fault signal with the corresponding threshold range can result in situations such as low voltage, high temperature, large voltage difference between single battery cells, etc., thus obtaining the corresponding processing results.

[0048] Step S320: Perform mode analysis processing on the status information.

[0049] In one embodiment, taking the battery status information as an example for the status information, the overall battery status is generally divided into normal and abnormal. The abnormal status can include low battery power, battery aging, insufficient power, temperature abnormalities, etc. And it is very likely that the battery status information indicates that the battery is simultaneously in multiple abnormal states; as well as the impacts and fault levels of each abnormal state; even more, there may be interference between abnormal states, and sometimes it will have a worse impact of 1 + 1 > 2. Therefore, for more complex status information, historical data can be combined to perform pattern recognition to determine which abnormal model the status information in the abnormal state conforms to, thereby determining the processing results. To determine whether the current battery status corresponds to a fault, the level of the fault, the impact of the fault, etc.

[0050] Step S330: Input the fault signal and the status information into a pre-trained fault analysis model, and use the fault analysis model to perform automatic analysis processing.

[0051] In one embodiment, a fault analysis model can also be pre-trained. The fault analysis model can be a classification model, such as SVM, neural network, etc. Taking the fault signal and the status information as inputs and outputting the processing results, the classification model automatically identifies the fault model, thereby obtaining the processing results.

[0052] After steps S310, S320, and S330, perform step S340: Obtain at least one processing result obtained from the threshold analysis processing, mode analysis processing, and / or automatic analysis processing; summarize all the processing results to obtain the current fault information.

[0053] In one embodiment, steps S310, S320, and S330 are parallel steps that can be independently processed without interfering with each other to obtain their respective processing results. Finally, all the obtained processing results are summarized to obtain the current fault information.

[0054] In one embodiment, before performing fault analysis and processing according to the fault signal and status information in step S120, the method further includes: obtaining a flight history data set, which is composed of multiple flight history data. Each piece of flight history data is used to record the historical fault signal, historical status information, and historical fault information when a situation occurs; determining whether there is matching flight history data for the fault signal and / or status information in the flight history data set; if so, obtaining the historical fault information in the matching flight history data, marking the historical fault information as the current fault information and outputting it; if not, performing fault analysis and processing according to the fault signal and status information to obtain the current fault information.

[0055] In one embodiment, when the aircraft uses the fault signal and status signal for fault analysis and processing, there will inevitably be a certain processing time. The impact of the fault is continuous. If the fault analysis and processing cannot quickly determine the current fault information, generate an adjustment instruction, and respond, it is very likely that more serious consequences will occur. To avoid such events, in an embodiment of the present application, the fault analysis and processing process can also be optimized, and the flight history data set can be used to improve the processing efficiency. For a clear description of this process, please refer specifically to Figure 4 , including steps S410 to S430.

[0056] After step S110, step S410 is executed: obtaining a flight history data set.

[0057] In one embodiment, during the flight of the aircraft, various problems will inevitably occur. After each problem occurs, the data can be recorded to obtain a flight history data set. The flight history data set is composed of multiple flight history data. Each piece of flight history data is used to record the historical fault signal, historical status information, and historical fault information when a situation occurs.

[0058] Step S420: determining whether there is matching flight history data for the fault signal and / or status information in the flight history data set.

[0059] If so, step S430 is executed: obtaining the historical fault information in the matching flight history data, marking the historical fault information as the current fault information and outputting it; determining an adjustment instruction according to the current fault information.

[0060] In one embodiment, before performing fault analysis and processing, the aircraft may first retrieve the fault signal and status signal for the flight history data set to determine whether there is matching flight history data therein. The retrieval process may process the frame fault signal and status signal into feature information and calculate the similarity with the feature information of the historical flight history data in the flight data set. Extract several flight history data with the highest similarity and the corresponding similarity calculation values. Determine whether the similarity calculation value is greater than a preset similarity threshold. If it is greater, it is determined that there is matching flight history data. Then directly extract the historical fault information in the historical flight data with the largest similarity calculation value as the current fault information and output it. The above direct method bypasses the fault analysis and processing, realizes rapid positioning, and increases the processing efficiency.

[0061] If not, execute step S120. After steps S120 and S430, execute step S130.

[0062] In one embodiment, on the contrary, if no matching flight history data is retrieved, the fault analysis and processing are still carried out according to the previous steps.

[0063] In one embodiment, the current fault information may include, but is not limited to, fault category, fault level, and fault duration. The fault category is the type result obtained according to the foregoing processing results. The fault duration is the duration directly determined for each type of fault. The fault level can be divided by combining the fault type, fault duration, and impact degree. For example, it can include four levels: minor, medium, severe, and critical. The minor level indicates that the current fault causes extremely minor abnormalities and does not affect flight, such as a short-term voltage drop; the medium level indicates that the current fault may affect endurance or safety and needs to be monitored, such as the battery voltage being continuously too low; the severe level indicates that the current fault affects flight safety and the flight strategy must be adjusted, such as the battery voltage being unable to maintain the motor power; the critical level indicates that the current fault may cause a crash and must be urgently processed, such as multiple batteries stopping working and the aircraft body being unable to maintain operation. Therefore, different fault levels will affect the adjustment instructions. For example, the minor level only needs to record the log and continue flying without generating adjustment instructions; the medium level will not only generate a warning prompt but also reduce the load through adjustment instructions; the severe level requires immediate return or alternate landing according to the adjustment instructions; the critical level requires emergency landing according to the adjustment instructions and triggers the safety mechanism.

[0064] In one embodiment, obtaining an adjustment instruction based on current fault information includes: acquiring the fault category, fault level, and fault duration in the current fault information; determining whether the aircraft can complete the remaining flight plan according to the fault category and fault level; if not, generating a flight plan change instruction; the flight plan change instruction is used to execute the flight plan change; when the fault category belongs to the first preset battery fault, the fault level is higher than the preset level, and the fault duration is higher than the preset duration, determining the normal battery and generating a battery output mode change instruction; the battery output mode change instruction is used to execute the battery output mode change for the normal battery; when the fault category belongs to the second preset battery fault, determining the faulty battery; and generating a battery correlation change instruction; the battery correlation change instruction is used to execute the battery correlation change for the faulty battery.

[0065] In one embodiment, the adjustment instruction is a processing method for faults, corresponding to the fault handling operation, including a flight plan change instruction, a battery output mode change instruction, and a battery correlation change instruction.

[0066] In one embodiment, it is determined whether the aircraft can complete the remaining flight plan according to the fault category and fault level. It can be calculated in combination with the remaining flight path and remaining power. Applicable situations can be, for example: low power, abnormal battery temperature but still working, or insufficient battery power, etc. If it can be satisfied, normal flight is continued, or the battery output power is adjusted and the load is reduced. If not, a flight plan change instruction is generated, and the flight plan change instruction is used to execute the flight plan change. The flight plan can not only represent the next destination that the aircraft needs to reach, but also the state that needs to be continuously maintained during the flight. Therefore, the flight plan change instruction can specifically be: optimizing the flight route: selecting the nearest landing point; reducing the flight speed: reducing the power demand and extending the endurance; reducing the load: reducing the climb rate and reducing the thrust; returning to base early: avoiding mission failure or the aircraft running out of power and crashing.

[0067] In one embodiment, when the fault category belongs to the first preset battery fault, the first preset battery fault generally refers to the situation where the faulty battery has little impact on other normal batteries, including but not limited to: limited battery power output, large difference in single cell voltage V cell with a large gap, the battery temperature T cell is on the high side but does not exceed the safe range, etc., which can be set by the user. Corresponding to the fault level, taking the previous example, it generally belongs to the medium level but not higher than the severe level. And it usually lasts for a period of time. In this case, the normal battery can be determined and a battery output mode change instruction is generated. The battery output mode change instruction is used to adjust the normal battery, and the specific operation will be described in detail later.

[0068] In one embodiment, when the fault category belongs to the second preset battery fault, the second preset battery fault generally refers to the situation where the faulty battery has a greater impact on other normal batteries, including but not limited to: cell thermal runaway fault, internal short circuit of the battery pack, over-temperature of a single cell, detection of relay adhesion, and other fault phenomena that affect safe flight, which can be specifically set by the user. Determine the faulty battery and generate a battery correlation change instruction, which is used to perform battery correlation change for the faulty battery. The specific operation will be described in detail later.

[0069] Step S130: Respond to the adjustment instruction to perform a fault handling operation.

[0070] In one embodiment, when the fault handling operation includes a flight plan change; performing the fault handling operation includes: judging the flight state of the aircraft; if the flight state belongs to the takeoff state, controlling the aircraft to stop taking off; if the flight state belongs to the landing state, obtaining the corrected output power after performing the battery output mode change, and landing according to the corrected output power; if the flight state belongs to the cruise state, determining a safe landing point, obtaining the corrected output power after performing the battery output mode change; cruising to the safe landing point according to the corrected output power and landing.

[0071] In one embodiment, the flight plan change includes flight instructions such as shortening the flight range, suggesting a change of destination, prompting to land at an alternate airport, alarming and prompting for an emergency landing, alarming and prompting for gliding + forced landing, etc. In addition, different flight plan changes can also be realized according to the flight state of the aircraft.

[0072] Make an accurate judgment according to the flight state of the aircraft, and the flight state includes the takeoff state, the landing state, and the cruise state. Once it is found that the aircraft is in the takeoff state, both the takeoff state and the landing state have relatively high short-term power requirements for the battery. If a battery fault occurs during takeoff, it is very likely that the remaining battery cannot load the aircraft to complete the takeoff, let alone maintain cruising later. Therefore, in a preferred embodiment, the flight plan change controls the process of the aircraft stopping taking off.

[0073] Similar to takeoff, landing also requires additional battery load. However, since the aircraft is already landing, to avoid crashing or exploding, a series of operations can be performed: first, obtain the corrected output power after performing the battery output mode change, and then use the corrected output power to guide the safe landing of the aircraft. The method for obtaining the corrected output power will be described later and will not be elaborated here.

[0074] When the aircraft is in the cruise state, the primary task is to determine a safe landing point, then obtain the corrected output power after the battery output mode change, and use this corrected output power to guide the aircraft to cruise to that safe landing point, and finally achieve a safe landing. The safe landing point can be a nearby one, or the takeoff point, or the originally planned next node, which is specifically determined according to the battery state of the aircraft. The appropriate landing point is selected and will not be elaborated here.

[0075] In one embodiment, when the fault handling operation includes a battery output mode change; the fault handling operation is performed, including: obtaining the battery demand power, battery quantity information, where the battery quantity information includes the total number of batteries, the number of normal batteries, and the number of faulty batteries; calculating the corrected output power according to the battery demand power and the battery quantity information; determining whether the corrected output power is within the battery limit threshold range; if it is not within the battery limit threshold range, then perform a flight plan change to control the aircraft to make a forced landing; if it is within the battery limit threshold range, then adjust the output power of the normal batteries according to the corrected output power.

[0076] In one embodiment, when a fault occurs, the aircraft usually still needs to continue to maintain the flight state to complete landing or patrolling, etc. However, due to the loss of function of the faulty battery itself, for the remaining normal batteries, in order to ensure the basic flight function of the aircraft. The output power of the normal batteries needs to be corrected. Obtain the battery demand power P total and the battery quantity information, where the battery quantity information includes the total number of batteries M the number of normal batteries, and the number of faulty batteries n . Calculate the corrected output power according to the battery demand power and the battery quantity information. The calculation process can refer to: P battery =P total *M / (M - n) (1) In the above formula, P batteryTo correct the output power, that is, the power that the remaining normal batteries need to output. In some cases, the corrected output power does not exactly match the output power of normal batteries. For example, it may exceed the upper limit of the normal output power of the batteries. Therefore, before actually adjusting the power of normal batteries, it is necessary to determine whether the corrected output power is within the battery limit threshold. If it is not within the battery limit threshold, it indicates that the remaining normal batteries cannot output according to the corrected output power and are unable to complete the remaining flight plan under load. To ensure flight safety and the service life of the batteries, in a preferred embodiment, an emergency landing is required instead of continuing to complete the original flight plan. Therefore, a flight plan change needs to be executed, specifically, to control the aircraft to make a forced landing. If it is within the battery limit threshold, it indicates that the remaining normal batteries can still carry the remaining flight plan, and the output power of the normal batteries is adjusted according to the corrected output power to complete the subsequent flight plan.

[0077] The corrected output power can trigger a change in the output mode of the battery management system (BMS) to adapt to the current flight state and the state of the power battery. For example, in the case of a forced landing command, the peak output power requirement of the battery pack increases, and the original battery discharge power limit cannot meet the emergency requirements. After fault analysis and processing, the battery will be triggered to change to a high-power output mode, and the discharge power limit and discharge voltage limit of the battery pack will be increased, etc.

[0078] For easy understanding, an example is given for illustration. Different modes in the output mode correspond to different charge and discharge cut-off voltages, peak discharge powers, and discharge power jump logics. For example, there can be the following three modes.

[0079] Mode 1: Normal mode, corresponding to all battery packs working normally. The battery discharge cut-off voltage is relatively high, such as 3.0V, and the discharge power is small, which meets the normal flight and landing of the aircraft and extends the service life of the battery system.

[0080] Mode 2: Single-pack failure mode, corresponding to a single battery pack being forced to power off. The total number of battery packs in the power system is reduced by 1. The battery discharge cut-off voltage is reduced, such as 2.5V, and the discharge power is adjusted proportionally to increase, which meets the flight and landing of the aircraft in an emergency state.

[0081] Mode 3: n-pack failure mode, corresponding to multiple battery packs being forced to power off. The total number of battery packs in the power system is reduced by 2. The battery discharge cut-off voltage is reduced, such as 2.0V, and the discharge power is adjusted proportionally to increase, which meets the emergency landing of the aircraft.

[0082] Thus, through multiple modes, not only can the corrected output power be adapted, but also different flight plans in the flight plan change can be adapted.

[0083] In one embodiment, when the fault handling operation includes a battery relevance change, the fault handling operation is performed as follows: determine the faulty battery, judge the battery priority of the faulty battery; determine the fault priority according to the adjustment instruction; determine the disconnection method according to the battery priority and the fault priority, where the disconnection method includes disconnection one by one or simultaneous disconnection; disconnect the faulty battery according to the disconnection method.

[0084] In one embodiment, the battery relevance change is for the case where the fault category of the faulty battery belongs to the second preset battery type fault, specifically including but not limited to: cell thermal runaway fault, internal short circuit of the battery pack, over-temperature of a single cell, detection of relay adhesion, etc. To avoid the impact of the faulty battery on the normal battery or system, it needs to be disconnected from the battery pack. Determine which batteries are faulty, and then evaluate these faulty batteries to determine their respective battery priorities. Next, according to the received adjustment instruction, the aircraft needs to re-determine the fault priorities of these faulty batteries. After comprehensively considering the battery priority and the fault priority, the aircraft will decide which disconnection method to use to handle these faulty batteries. There are mainly two choices for the disconnection method: disconnection one by one or simultaneous disconnection. Disconnect the faulty battery relay according to the selected disconnection method, thus avoiding the interference of the faulty battery.

[0085] In one embodiment, the three change operations in the fault handling operation are not mutually exclusive, and there is an association between them. For example, as mentioned above, for the case where the fault handling operation is to execute a flight plan change, the corrected output power calculated in the output mode change processing process needs to be utilized.

[0086] Therefore, when a battery fails during the flight of the aircraft in this application, after a fault signal is sent, the fault signal is analyzed to determine the treatment measures to control the aircraft to cope with the fault. This processing flow not only ensures the normal use of the battery system, but also meets the demand for high-power output of the battery in case of emergencies. And through the fault signal recognition trigger mechanism, multiple output mode switches of the power battery system are realized. Combining the judgment of the aircraft state by the flight control system, the power and available power limit are intelligently adjusted. A longer flight range is achieved during the flight stage, and a higher power is achieved during the landing stage, thus ensuring the safe landing of the aircraft in a fault state. It can improve the safety and reliability of the eVTOL aircraft in an emergency without sacrificing the battery service life.

[0087] Figure 5 The internal structure diagram of a computer device in an embodiment is shown. The computer device can specifically be a terminal or a server. As Figure 5As shown, the computer device includes a processor, a memory, and a network interface connected via a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the method for handling aircraft battery failures. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can execute the method for handling aircraft battery failures. Those skilled in the art can understand that Figure 5 the structure shown in Figure 5 is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0088] In one embodiment, the present application also proposes a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor is caused to execute the steps of the method described in any of the foregoing embodiments.

[0089] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it may include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application may include non-volatile and / or volatile memories. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or an external cache. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0090] It should be noted that in this text, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising such element. In addition, components, features, and elements with the same name in different embodiments of this application may have the same meaning or different meanings, and their specific meanings need to be determined based on their explanations in the specific embodiments or further in combination with the context of the specific embodiments.

[0091] It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this text, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining". Furthermore, as used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising", "including" indicate the presence of the stated features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or", "and / or", "including at least one of the following" and the like used in this application can be interpreted inclusively, or mean any one or any combination. For example, "including at least one of the following: A, B, C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C", and again, "A, B or C" or "A, B and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C". An exception to this definition only occurs when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way.

[0092] It should be understood that although the steps in the flowcharts in the embodiments of the present application are sequentially shown according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order limit for the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0093] Depending on the context, the words "if", "when" as used herein may be interpreted as "when...", "while...", "in response to determining", or "in response to detecting". Similarly, depending on the context, the phrase "if it is determined" or "if it is detected (stated condition or event)" may be interpreted as "when it is determined", "in response to determining", "when (stated condition or event) is detected", or "in response to detecting (stated condition or event)".

[0094] It should be noted that in this article, step codes such as S10, S20, etc. are adopted. The purpose is to more clearly and briefly express the corresponding content and do not constitute a substantial limitation in order. Those skilled in the art may execute S20 first and then S10, etc. during specific implementation, but these should all be within the protection scope of the present application.

[0095] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0096] The above-described embodiments only represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as a limitation on the patent scope of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for handling aircraft battery failures, characterized in that, Including the following steps: When a fault signal is obtained during flight, judge the state of the aircraft to obtain state information; Perform fault analysis and processing according to the fault signal and the state information. The performing of fault analysis and processing according to the fault signal and the state information includes: performing threshold analysis processing on the fault signal; and / or, performing mode analysis processing on the state information; and / or, inputting the fault signal and the state information into a pre-trained fault analysis model, and using the fault analysis model to perform automatic analysis processing; obtaining at least one processing result obtained by the threshold analysis processing, the mode analysis processing, and / or the automatic analysis processing, summarizing all the processing results to obtain current fault information; obtaining an adjustment instruction according to the current fault information; Respond to the adjustment instruction to perform fault handling operations, where the fault handling operations include at least one of flight plan change, output mode change, or battery correlation change.

2. The method for handling aircraft battery failures according to claim 1, characterized in that The judging the state of the aircraft to obtain state information includes: Obtain flight information, and perform flight state judgment according to the flight information to obtain flight state information; the flight information includes at least one of flight altitude, airspeed, destination distance, ambient temperature, wind speed, and air pressure; Obtain battery information, and perform battery state judgment according to the battery information to obtain battery state information; the battery information includes at least one of battery pack health, battery pack state of charge, battery pack power output demand, battery pack power limit, battery pack internal cell temperature, and single cell voltage; Summarize the flight state information and the battery state information to obtain the state information.

3. The method for processing aircraft battery faults according to claim 1, wherein, Before performing the fault analysis and processing according to the fault signal and the state information, the method further includes: Obtain a flight history data set, which is composed of multiple flight history data, and each flight history data is used to record the historical fault signal, historical state information, and historical fault information when a situation occurs; Judge whether there is matching flight history data for the fault signal and / or the state information in the flight history data set; If it exists, obtain the historical fault information in the matching flight history data, mark the historical fault information as the current fault information and output it; If it does not exist, perform fault analysis and processing on the fault signal and the state information to obtain current fault information.

4. The method for processing aircraft battery failures according to claim 1, wherein, The obtaining the adjustment instruction according to the current fault information includes: Obtain the fault category, fault level, and fault duration in the current fault information; Judge whether the aircraft can complete the remaining flight plan according to the fault category and the fault level; if it cannot be satisfied, generate a flight plan change instruction; the flight plan change instruction is used to perform the flight plan change; When the fault category belongs to the first preset battery fault, the fault level is higher than the preset level, and the fault duration is higher than the preset duration, determine the normal battery and generate a battery output mode change instruction; the battery output mode change instruction is used to perform the battery output mode change for the normal battery. When the fault category belongs to the second preset battery fault, determine the faulty battery and generate a battery association change instruction; the battery association change instruction is used to perform the battery association change for the faulty battery.

5. The method for handling aircraft battery failures according to claim 1, characterized in that, When the fault handling operation includes a flight plan change; The execution of the fault handling operation includes: Judge the flight state of the aircraft; If the flight state belongs to the takeoff state, control the aircraft to stop taking off; If the flight state belongs to the landing state, obtain the corrected output power after performing the battery output mode change, and land according to the corrected output power. If the flight state belongs to the cruise state, determine a safe landing point, obtain the corrected output power after performing the battery output mode change; cruise to the safe landing point according to the corrected output power and land.

6. The method for processing aircraft battery faults according to claim 1, wherein, When the fault handling operation includes a battery output mode change; The execution of the fault handling operation includes: Obtain the battery demand power and battery quantity information, where the battery quantity information includes the total number of batteries, the number of normal batteries, and the number of faulty batteries; Calculate the corrected output power according to the battery demand power and the battery quantity information; Judge whether the corrected output power is within the battery limit threshold range; If it is not within the battery limit threshold range, execute the flight plan change to control the aircraft to make a forced landing; If it is within the battery limit threshold range, adjust the output power of the normal battery according to the corrected output power.

7. The method for processing aircraft battery failures according to claim 1, wherein When the fault handling operation includes a battery association change; The execution of the fault handling operation includes: Determine the faulty battery, judge the battery priority of the faulty battery; determine the fault priority according to the adjustment instruction; Determine the disconnection method according to the battery priority and the fault priority, and the disconnection method includes disconnecting one by one or disconnecting simultaneously; Disconnect the faulty battery according to the disconnection method.

8. A computer device, characterized in that, Includes a processor and a memory; The processor is used to execute the computer program stored in the memory to implement the method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 7 is implemented.

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