Voltage reverse charging circuit and parking apron charging device and system of unmanned aerial vehicle cluster

Abstract

The invention discloses a voltage reverse charging circuit and an unmanned aerial vehicle cluster parking apron charging device and system.The voltage reverse charging circuit comprises a switch module, a voltage division comparison module and a control module, one end of the switch module is used for being connected with charging voltage, and the other end of the switch module is connected with a charging circuit of an unmanned aerial vehicle cluster; the voltage division comparison module is connected with the switch module, and the voltage division comparison module is used for processing the charging voltage and then outputting an initial control voltage; the control module is connected with the switch module, the voltage division comparison module and the charging circuit, and the control module is used for being connected with an MCU module so as to control opening and closing of the switch module according to the initial control voltage, an enabling pin connected with the charging circuit and an IO port in the MCU module. Therefore, the charging circuit is charged. According to the invention, the problem of battery voltage reverse charging during unmanned aerial vehicle charging is avoided, so that the power consumption during unmanned aerial vehicle cluster charging is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of drone charging, and in particular to a voltage reverse injection circuit, a charging device and system for a drone swarm at a landing pad. Background Art

[0002] A drone is an unmanned aircraft, which can be divided into a single drone and a drone swarm according to the number. Drone swarms are a current research hotspot, and the most important civilian scenarios are light show performances and forest fire fighting. Most drones are equipped with built-in batteries and have a certain flight endurance in the air. After that, they need to return to the ground for charging or battery replacement. Currently, battery replacement is mainly manual, that is, manually opening the battery compartment, removing the old battery, and replacing it with another fully charged new battery. The characteristic of a drone swarm is that there are many flights, and hundreds or even thousands of drones can fly together at the same time. If manual battery replacement is adopted, it is very time-consuming and laborious. Existing charging methods make the battery non-removable, provide an airport for parking and charging, and support charging for a large number of drones at the same time. However, due to the problem of voltage reverse injection when the drone is charging, the power consumption of drone swarm charging is relatively large.

[0003] Therefore, in order to solve the above problems, the present invention provides a voltage reverse injection circuit, a charging device and system for a drone swarm at a landing pad with relatively low charging power consumption. Summary of the Invention

[0004] The present invention provides a voltage reverse injection circuit, a charging device and system for a drone swarm at a landing pad, aiming to solve the problem of relatively large power consumption during the charging of existing drone swarms.

[0005] To solve the above technical problems, in the first aspect of the present invention, a voltage reverse injection circuit is provided, which includes: a switch module, one end of the switch module is used to connect to a charging voltage, and the other end is connected to the charging circuit of the drone swarm; a voltage division and comparison module, which is connected to the switch module, and the voltage division and comparison module is used to process the charging voltage and output an initial control voltage; a control module, which is connected to the switch module, the voltage division and comparison module, and the charging circuit, and the control module is used to connect to the MCU module to control the opening and closing of the switch module according to the initial control voltage, the enable pin connected to the charging circuit, and the IO port in the MCU module, so as to charge the charging circuit.

[0006] Further, the switch module includes a first PMOS transistor, the drain of the first PMOS transistor is connected to the charging voltage and the voltage division and comparison module, the gate of the first PMOS transistor is connected to the control module, and the source of the first PMOS transistor is connected to the charging circuit.

[0007] Further, the switch module further includes a second resistor and a seventh resistor. One end of the second resistor is connected to the source of the first PMOS transistor, the other end is connected to one end of the seventh resistor, and the other end of the seventh resistor is connected to the control module; the gate of the first PMOS transistor is connected between the second resistor and the seventh resistor.

[0008] Further, the voltage dividing and comparing module includes a fifth PMOS transistor, a first voltage dividing module, and a second voltage dividing module. The source of the fifth PMOS transistor is connected to the first voltage dividing module. The first voltage dividing module is connected to the charging voltage, the switch module, and the second voltage dividing module. The drain of the fifth PMOS transistor is connected to the control module, and the gate of the fifth PMOS transistor is connected to the second voltage dividing module; the first voltage dividing module and the second voltage dividing module are respectively used for dividing the charging voltage to obtain a first voltage and a second voltage; the fifth PMOS transistor is used for outputting the initial control voltage according to the first voltage and the second voltage.

[0009] Further, the first voltage dividing module further includes a sixth resistor, a tenth resistor, and an eighth resistor connected in series in sequence. One end of the sixth resistor is connected to the charging voltage and the switch module, and one end of the eighth resistor is grounded; the source of the fifth PMOS transistor is connected between the sixth resistor and the tenth resistor.

[0010] Further, the second voltage dividing module further includes a nineteenth resistor and a twenty-fourth resistor. One end of the nineteenth resistor is connected to the charging voltage and the switch module, the other end is connected to one end of the twenty-fourth resistor, and the other end of the twenty-fourth resistor is grounded; the gate of the fifth PMOS transistor is connected between the nineteenth resistor and the twenty-fourth resistor.

[0011] Further, the control module includes a fourth NMOS transistor. The gate of the fourth NMOS transistor is connected to the voltage dividing and comparing module, the drain of the fourth NMOS transistor is connected to the switch module, and the source of the fourth NMOS transistor is grounded; the enable pin of the charging circuit is connected between the drain of the fourth NMOS transistor and the switch module.

[0012] Further, the control module further includes a twelfth resistor, a fourteenth resistor, and a second diode. One end of the twelfth resistor is connected to the voltage dividing and comparing module, the other end is connected to one end of the fourteenth resistor, and the other end of the fourteenth resistor is grounded; the gate of the fourth NMOS transistor is connected between the twelfth resistor and the fourteenth resistor; the positive electrode of the second diode is connected between the twelfth resistor and the fourteenth resistor, and the negative electrode of the second diode is used for connecting to the IO port in the MCU module.

[0013] In a second aspect of the present invention, there is also provided a charging device for a drone swarm on a landing pad. The charging device for the drone swarm includes a charging voltage, a charging circuit for the drone swarm, and the voltage backflow circuit described in the first aspect above. One end of the voltage backflow circuit is connected to the charging voltage, and the other end is connected to the charging circuit.

[0014] In a third aspect of the present invention, there is also provided a charging system for a drone swarm on a landing pad. The charging system for the drone swarm on the landing pad includes an MCU module, a voltage detection module, a current detection module, a temperature detection module, a lighting drive module, and the charging device for the drone swarm on the landing pad described in the second aspect above. The charging device, the voltage detection module, the current detection module, the temperature detection module, and the lighting drive module are all connected to the MCU module, and the current detection module includes a Hall-type current sensor.

[0015] The voltage backflow circuit, the charging device for the drone swarm on the landing pad, and the system disclosed in the present invention. Among them, the voltage backflow circuit is connected to the control module, the switch module, the voltage division and comparison module, the charging circuit, and the MCU module, so as to control the opening and closing of the switch module according to the initial control voltage output by the voltage division and comparison module, the enable pin connected to the charging circuit, and the IO port in the MCU module, thereby realizing the charging of the charging circuit, avoiding the problem of battery voltage backflow during drone charging, and thus reducing the power consumption during the charging of the drone swarm. The voltage backflow circuit disclosed in the present invention solves the problem of large power consumption during the charging of existing drone swarms. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a block diagram of a voltage backflow circuit provided by an embodiment of the present invention;

[0018] Figure 2 is a circuit schematic diagram of a voltage backflow circuit provided by an embodiment of the present invention;

[0019] Figure 3 is a block diagram of a charging device for a drone swarm on a landing pad provided by an embodiment of the present invention;

[0020] Figure 4 is a circuit schematic diagram of a charging device for a drone swarm on a landing pad provided by an embodiment of the present invention;

[0021] Figure 5 is a schematic block diagram of a tarmac charging system for a drone swarm provided by an embodiment of the present invention;

[0022] Figure 6 is a schematic circuit diagram of a Hall-type current sensor provided by an embodiment of the present invention;

[0023] Reference numerals: 10, voltage feedback circuit; 11, switch module; 12, voltage division and comparison module; 13, control module; Q1, first PMOS transistor; R2, second resistor; R7, seventh resistor; Q5, fifth PMOS transistor; 121, first voltage division module; 122, second voltage division module; R6, sixth resistor; R10, tenth resistor;

[0024] R8, eighth resistor; R19, nineteenth resistor; R24, twenty-fourth resistor; Q4, fourth NMOS transistor;

[0025] R12, twelfth resistor; R14, fourteenth resistor; D2, second diode; 100, tarmac charging device; 20, charging voltage; 30, charging circuit; 200, tarmac charging system; 40, MCU module; 50, voltage detection module; 60, current detection module; 70, temperature detection module; 80, light driving module. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] It should be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0028] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0029] It should be further understood that the term "and / or" used in the specification and appended claims of the present invention refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0030] Figures 1 to 2 An embodiment of the voltage reverse injection circuit provided by the present invention is shown. The voltage reverse injection circuit 10 of this embodiment includes a switch module 11, a voltage division and comparison module 12, and a control module 13. Among them, one end of the switch module 11 is used to connect to the charging voltage 20, and the other end is connected to the charging circuit 30 of the UAV cluster; the voltage division and comparison module 12 is connected to the switch module 11, and the voltage division and comparison module 12 is used to process the charging voltage 20 and then output an initial control voltage; the control module 13 is connected to the switch module 11, the voltage division and comparison module 12, and the charging circuit 30. The control module 13 is used to connect to the MCU module 40 to control the opening and closing of the switch module 11 according to the initial control voltage, the enable pin connected to the charging circuit 30, and the IO port in the MCU module 40, so as to charge the charging circuit 30. It should be noted that in this embodiment, the voltage reverse injection circuit 10 is connected to the switch module 11, the voltage division and comparison module 12, the charging circuit 30, and the MCU module 40, and the opening and closing of the switch module 11 is controlled according to the initial control voltage output by the voltage division and comparison module 12, the enable pin connected to the charging circuit 30, and the IO port in the MCU module 40, so as to charge the charging circuit 30, avoiding the problem of battery voltage reverse injection during UAV charging, thereby reducing the power consumption during UAV cluster charging.

[0031] Please refer to Figure 2, in one embodiment, such as this embodiment, the switch module 11 includes a first PMOS transistor Q1. The drain of the first PMOS transistor Q1 is connected to the charging voltage 20 and the voltage dividing and comparing module 12. The gate of the first PMOS transistor Q1 is connected to the control module 13. The source of the first PMOS transistor Q1 is connected to the charging circuit 30. Specifically, the switch module 11 further includes a second resistor R2 and a seventh resistor R7. One end of the second resistor R2 is connected to the source of the first PMOS transistor Q1, and the other end is connected to one end of the seventh resistor R7. The other end of the seventh resistor R7 is connected to the control module 13. The gate of the first PMOS transistor Q1 is connected between the second resistor R2 and the seventh resistor R7. It should be noted that in this embodiment, the first PMOS transistor Q1 acts as an electronic switch. When the charging voltage 20Vbus is required to charge the drone battery in the drone cluster, the first PMOS transistor Q1 will turn on to provide a low-impedance path. After the first PMOS transistor Q1 is turned off, if the charging output voltage Vbat in the drone cluster wants to backfeed to the bus, it will be blocked by the body diode of the first PMOS transistor Q1.

[0032] Please refer to Figure 2, in an embodiment, such as this embodiment, the voltage dividing and comparing module 12 includes a fifth PMOS transistor Q5, a first voltage dividing module 121, and a second voltage dividing module 122. The source of the fifth PMOS transistor Q5 is connected to the first voltage dividing module 121. The first voltage dividing module 121 is connected to the charging voltage 20, the switching module 11, and the second voltage dividing module 122. The drain of the fifth PMOS transistor Q5 is connected to the control module 13, and the gate of the fifth PMOS transistor Q5 is connected to the second voltage dividing module 122. The first voltage dividing module 121 and the second voltage dividing module 122 are respectively used to divide the charging voltage 20 to obtain a first voltage and a second voltage. The fifth PMOS transistor Q5 is used to output the initial control voltage according to the first voltage and the second voltage. Specifically, the first voltage dividing module 121 further includes a sixth resistor R6, a tenth resistor R10, and an eighth resistor R8 connected in series in sequence. One end of the sixth resistor R6 is connected to the charging voltage 20 and the switching module 11, and one end of the eighth resistor R8 is grounded. The source of the fifth PMOS transistor Q5 is connected between the sixth resistor R6 and the tenth resistor R10. The second voltage dividing module 122 further includes a nineteenth resistor R19 and a twenty-fourth resistor R24. One end of the nineteenth resistor R19 is connected to the charging voltage 20 and the switching module 11, and the other end is connected to one end of the twenty-fourth resistor R24. The other end of the twenty-fourth resistor R24 is grounded. The gate of the fifth PMOS transistor Q5 is connected between the nineteenth resistor R19 and the twenty-fourth resistor R24. More specifically, one end of the sixth resistor R6 is connected to the charging voltage 20 and the drain of the first PMOS transistor Q1, and one end of the nineteenth resistor R19 is connected to the charging voltage 20 and the drain of the first PMOS transistor Q1. It should be noted that in this embodiment, the opening and closing of the first PMOS transistor Q1 are controlled by the fifth PMOS transistor Q5, the first voltage dividing module 121, and the second voltage dividing module 122. Specifically, because the gate-source withstand voltage of the PMOS transistor is relatively low, the charging voltage 20Vbus is first subjected to a resistor voltage division to reduce the voltage value. That is, the charging voltage 20Vbus is divided by the sixth resistor R6, the tenth resistor R10, and the eighth resistor R8 in the first voltage module to obtain the first voltage Vs, and the charging voltage 20Vbus is divided by the nineteenth resistor R19 and the twenty-fourth resistor R24 in the second voltage module to obtain the second voltage Vg. According to the characteristics of the PMOS transistor, when Vs - Vg > Vgs(th), the fifth PMOS transistor Q5 will conduct, where Vgs(th) represents the threshold value of the turn-on voltage difference of the PMOS transistor, and Vgs(th) is usually set between 0.7 and 1.3V.Understandably, by flexibly setting the voltage division value, that is, by flexibly setting the first voltage and the second voltage, the charging voltage 20Vbus can make the fifth PMOS transistor Q5 conduct only when it is greater than the preset voltage. The preset voltage should be set higher than the full charge voltage of the drone battery and lower than the minimum operating voltage of the dedicated mobile charger for the drone. It should also be noted that in practical applications, it is more appropriate to set the preset voltage at about 18V. The tenth resistor R10 is used to finely adjust the voltage division value to adapt to the errors of the conduction thresholds of the fifth PMOS transistors Q5 in different batches or models.

[0033] Please refer to Figure 2, in one embodiment, such as this embodiment, the control module 13 includes a fourth NMOS transistor Q4. The gate of the fourth NMOS transistor Q4 is connected to the voltage dividing and comparing module 12. The drain of the fourth NMOS transistor Q4 is connected to the switching module 11. The source of the fourth NMOS transistor Q4 is grounded. The enable pin of the charging circuit 30 is connected between the drain of the fourth NMOS transistor Q4 and the switching module 11. Specifically, the control module 13 further includes a twelfth resistor R12, a fourteenth resistor R14, and a second diode D2. One end of the twelfth resistor R12 is connected to the voltage dividing and comparing module 12, and the other end is connected to one end of the fourteenth resistor R14. The other end of the fourteenth resistor R14 is grounded. The gate of the fourth NMOS transistor Q4 is connected between the twelfth resistor R12 and the fourteenth resistor R14. The positive electrode of the second diode D2 is connected between the twelfth resistor R12 and the fourteenth resistor R14, and the negative electrode of the second diode D2 is used to connect to the IO port in the MCU module 40. More specifically, the gate of the fourth NMOS transistor Q4 is connected to the drain of the fifth PMOS transistor Q5 via the twelfth resistor R12. The drain of the fourth NMOS transistor Q4 is connected to the seventh resistor R7. It should be noted that in this embodiment, the DC_EN network between the drain of the fifth PMOS transistor Q5 and the twelfth resistor R12 is controlled by the enable pin of the 3.8V DCDC. Only when the charging voltage 20Vbus is greater than the preset voltage of the fifth PMOS transistor Q5, will a 3.8V power supply be output and supply power to other low-voltage parts. The output initial control voltage of the fifth PMOS transistor Q5 is divided again by the twelfth resistor R12 and the fourteenth resistor R14 to control the fourth NMOS transistor Q4 to turn on. The drain network of the fourth NMOS transistor Q4 is CE, and CE is the enable pin of the charging circuit 30. After CE is pulled low, the charging circuit 30 will start charging, and at the same time, the first PMOS transistor Q1 will turn on. It should also be noted that in this embodiment, the network connected to the second diode D2 between the twelfth resistor R12 and the fourteenth resistor R14 is EN_RST, and EN_RST is connected to the IO port of the MCU module 40. When the IO port of the MCU module 40 is pulled low, the gate of the fourth NMOS transistor Q4 will be clamped to 0.2V by the second diode D2, resulting in the fourth NMOS transistor Q4 turning off. At this time, CE is pulled high by the charging voltage 20Vbus voltage or the charging output voltage Vbat through the second resistor R2 and the seventh resistor R7 to turn off the charging. In practical applications, the IO port of the MCU module 40 is pulled low for about 100ms and then pulled high. The main purpose is to reset the charging circuit 30. It can be understood that it is also possible to continuously pull low to implement an overvoltage or overcurrent protection mechanism.It can be seen from this that the fifth PMOS transistor Q5 can start the charging circuit 30 or turn off the charging circuit 30, but the MCU module 40 can only turn off the charging circuit 30 and cannot start the charging circuit 30. This is because a second diode D2 with a one-way conduction is connected in series. In this embodiment, after passing through a second diode D2 with a one-way conduction and then connecting to the IO port of the MCU module 40, it is because the initial control voltage output by the fifth PMOS transistor Q5 is not a 3.3V level. Connecting it arbitrarily to the IO will cause current loss, and the initial control voltage is lower than 3.3V under normal conditions and cannot supply power to the pulled-up IO port of the MCU module 40 through the second diode D2, thereby reducing power consumption.

[0034] Please refer to Figure 3 and Figure 4 , in an embodiment, such as this embodiment, a charging device 100 for a drone cluster on a tarmac is further provided. The charging device for the drone cluster includes a charging voltage 20, a charging circuit 30 for the drone cluster, and the above-mentioned voltage feedback circuit 10. One end of the voltage feedback circuit 10 is connected to the charging voltage 20, and the other end is connected to the charging circuit 30. It should be noted that in this embodiment, the MOS transistors in the charging circuit 30 are all external MOS types. Such a design is to improve flexibility and customizability and is suitable for application scenarios that require high-current output or specific voltage regulation. It should also be noted that in this embodiment, if the voltage feedback circuit 10 is not added between the charging voltage 20 and the charging circuit 30, since the battery of the drone is non-removable and has voltage under normal conditions, and there is a body diode inside the second NMOS transistor that can conduct in one direction, so if the charging voltage 20 has no voltage, for example, the dedicated mobile charger for the drone is removed, and the drone is still on the tarmac, the voltage of each drone will reach the input terminal Vbus through the path of the eleventh resistor R11, the first inductor L1, the second NMOS transistor Q2, and the first resistor R1 in the charging circuit 30, and there may be a situation where a high-voltage drone charges a low-voltage drone. In this embodiment, the charging voltage 20 is a voltage supplied by 6 batteries connected in series; it can be understood that in other embodiments, the charging voltage 20 can also be supplied by other numbers of batteries connected in series. For example, the charging voltage 20 is a voltage supplied by 7 batteries connected in series, as long as the number of batteries connected in series is greater than 5.

[0035] Please refer to Figure 5, in an embodiment, such as this embodiment, a landing pad charging system 200 for a drone swarm is further provided. The landing pad charging system 200 for the drone swarm includes an MCU module 40, a voltage detection module 50, a current detection module 60, a temperature detection module 70, a lighting drive module 80, and the above-mentioned landing pad charging device 100 for the drone swarm. The landing pad charging device 100, the voltage detection module 50, the current detection module 60, the temperature detection module 70, and the lighting drive module 80 are all connected to the MCU module 40. The current detection module 60 includes a Hall-type current sensor. It should be noted that in this embodiment, the MCU module 40 is connected to the landing pad charging device 100 because there is an enable pin CE in the charging circuit 30 of the landing pad charging device 100. When the CE pin is pulled to a low level, the charging circuit 30 works; when it is pulled to a high level, the charging circuit 30 stops working. The MCU module 40 resets and charges the charging circuit 30 by pulling the CE pin high and low through the IO port. In practical applications, when the MCU module 40 detects that the charging output voltage Vbat is greater than 16V and less than 16.8V and the output current is less than the current threshold, the CE pin is reset (that is, the CE pin is pulled low for 100 ms and then pulled high), and the charging circuit 30 will start charging. The MCU module 40 can detect the ambient temperature through the temperature detection module 70, and the temperature detection module 70 includes an NTC temperature sensor. It should also be noted that in this embodiment, the current detection module 60 includes a Hall-type current sensor, and the circuit of the Hall-type current sensor is as Figure 6 shown. The Hall-type current sensor uses an internal wire. When current flows through it, a magnetic field related to the current magnitude will be generated around the wire. By measuring the magnetic field magnitude, the current magnitude can be calculated, enabling the current module to have higher integration, higher efficiency, and lower loss. Understandably, the landing pad charging system 200 in this embodiment can be a drone mobile charger. In practical applications, the landing pad charging system 200 further includes an LDO (Low Dropout Regulator) module and a debugging serial port. Among them, the LDO module is an electronic device used to provide a stable output voltage even when the difference (voltage difference) between the input voltage and the output voltage is very small.

[0036] The voltage reverse injection circuit, the charging device and system for the landing pad of a drone cluster provided by the present invention. Specifically, the voltage reverse injection circuit connects the control module to the switch module, the voltage division and comparison module, the charging circuit and the MCU module. Specifically, the switch module includes the first PMOS transistor, the second resistor and the seventh resistor; the voltage division and comparison module includes the fifth PMOS transistor, the first voltage division module and the second voltage division module. The first voltage division module includes the sixth resistor, the tenth resistor and the eighth resistor connected in series in sequence, and the second voltage division module further includes the nineteenth resistor and the twenty-fourth resistor; the control module includes the fourth NMOS transistor, the twelfth resistor, the fourteenth resistor and the second diode; the drain of the first PMOS transistor is connected to the source of the fifth PMOS transistor through the sixth resistor; the gate of the fifth PMOS transistor is grounded through the twenty-fourth resistor; the drain of the fifth PMOS transistor is connected to the gate of the fourth NMOS transistor through the twelfth resistor, and the drain of the fifth PMOS transistor is grounded through the twelfth resistor and the fourteenth resistor; the positive electrode of the second diode is connected between the twelfth resistor and the fourteenth resistor, and the negative electrode of the second diode is connected to the IO of the MCU module; the enable pin of the charging circuit is connected between the seventh resistor and the drain of the fourth NMOS transistor. Controlling the opening and closing of the switch module according to the initial control voltage output by the voltage division and comparison module, the enable pin connected to the charging circuit and the IO port in the MCU module can realize charging of the charging circuit. Since the problem of battery voltage reverse injection during drone charging is avoided, the power consumption during charging of the drone cluster is reduced. The voltage reverse injection circuit disclosed by the present invention solves the problems of poor scalability and large power consumption of the existing switch array control circuit.

[0037] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A voltage back-injection circuit, characterized in that Comprising: A switch module, one end of the switch module is used to connect to a charging voltage, and the other end is connected to a charging circuit of a drone cluster; A voltage division and comparison module, which is connected to the switch module, and the voltage division and comparison module is used to process the charging voltage and output an initial control voltage; A control module, which is connected to the switch module, the voltage division and comparison module, and the charging circuit, and the control module is used to connect to an MCU module to control the opening and closing of the switch module according to the initial control voltage, an enable pin connected to the charging circuit, and an IO port in the MCU module, so as to charge the charging circuit.

2. The voltage back-injection circuit according to claim 1, wherein The switch module includes a first PMOS transistor, the drain of the first PMOS transistor is connected to the charging voltage and the voltage division and comparison module, the gate of the first PMOS transistor is connected to the control module, and the source of the first PMOS transistor is connected to the charging circuit.

3. The voltage back-injection circuit according to claim 2, wherein The switch module further includes a second resistor and a seventh resistor, one end of the second resistor is connected to the source of the first PMOS transistor, the other end is connected to one end of the seventh resistor, and the other end of the seventh resistor is connected to the control module; the gate of the first PMOS transistor is connected between the second resistor and the seventh resistor.

4. The voltage backflow circuit according to claim 1, wherein The voltage division and comparison module includes a fifth PMOS transistor, a first voltage division module, and a second voltage division module. The source of the fifth PMOS transistor is connected to the first voltage division module. The first voltage division module is connected to the charging voltage, the switch module, and the second voltage division module. The drain of the fifth PMOS transistor is connected to the control module, and the gate of the fifth PMOS transistor is connected to the second voltage division module; the first voltage division module and the second voltage division module are respectively used to divide the charging voltage to obtain a first voltage and a second voltage; the fifth PMOS transistor is used to output the initial control voltage according to the first voltage and the second voltage.

5. The voltage back-injection circuit according to claim 4, wherein The first voltage division module further includes a sixth resistor, a tenth resistor, and an eighth resistor connected in series in sequence. One end of the sixth resistor is connected to the charging voltage and the switch module, and one end of the eighth resistor is grounded; the source of the fifth PMOS transistor is connected between the sixth resistor and the tenth resistor.

6. The voltage back-injection circuit according to claim 4, wherein The second voltage division module further includes a nineteenth resistor and a twenty-fourth resistor. One end of the nineteenth resistor is connected to the charging voltage and the switch module, the other end is connected to one end of the twenty-fourth resistor, and the other end of the twenty-fourth resistor is grounded; the gate of the fifth PMOS transistor is connected between the nineteenth resistor and the twenty-fourth resistor.

7. The voltage back-injection circuit according to claim 1, wherein The control module includes a fourth NMOS transistor, the gate of the fourth NMOS transistor is connected to the voltage division and comparison module, the drain of the fourth NMOS transistor is connected to the switch module, and the source of the fourth NMOS transistor is grounded; the enable pin of the charging circuit is connected between the drain of the fourth NMOS transistor and the switch module.

8. The voltage back-injection circuit according to claim 7, wherein The control module further includes a twelfth resistor, a fourteenth resistor, and a second diode. One end of the twelfth resistor is connected to the voltage dividing and comparing module, and the other end is connected to one end of the fourteenth resistor. The other end of the fourteenth resistor is grounded. The gate of the fourth NMOS transistor is connected between the twelfth resistor and the fourteenth resistor. The positive electrode of the second diode is connected between the twelfth resistor and the fourteenth resistor, and the negative electrode of the second diode is used to connect to the IO port in the MCU module.

9. A charging device for a drone swarm landing pad, characterized in that, The charging device of the drone cluster includes a charging voltage, a charging circuit of the drone cluster, and the voltage backflow circuit according to any one of claims 1-8. One end of the voltage backflow circuit is connected to the charging voltage, and the other end is connected to the charging circuit.

10. A charging system for a drone swarm's landing pad, characterized in that, The apron charging system of the drone cluster includes an MCU module, a voltage detection module, a current detection module, a temperature detection module, a lighting drive module, and the apron charging device of the drone cluster according to claim 9. The apron charging device, the voltage detection module, the current detection module, the temperature detection module, and the lighting drive module are all connected to the MCU module. The current detection module includes a Hall-type current sensor.

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