Unmanned aerial vehicle battery charging and discharging monitoring method based on distributed battery unmanned aerial vehicle and unmanned aerial vehicle

Abstract

The invention provides an unmanned aerial vehicle battery charging and discharging monitoring method based on a distributed battery unmanned aerial vehicle and the unmanned aerial vehicle. The method comprises the following steps: acquiring charging and discharging operation state parameters of a battery module of the unmanned aerial vehicle; performing electric power adjustment processing on the charging and discharging operation state parameters and preset charging and discharging state parameters to obtain charging and discharging power adjustment; and a charging and discharging strategy adjusting signal is sent to the integrated central controller according to the charging and discharging power adjustment. After the charging and discharging operation state parameters are collected, the current charging and discharging information of each battery module in the unmanned aerial vehicle is determined, then the charging and discharging operation state parameters are compared with the preset charging and discharging state parameters, the deviation condition between the charging and discharging state of each battery module and the standard charging and discharging state is conveniently determined, and finally the charging and discharging state of each battery module is determined according to the difference value. The charging and discharging modes of all the battery modules in the unmanned aerial vehicle are adjusted, long-time high-load operation or high-power charging and discharging of the battery modules are avoided, the damage probability of the battery modules is reduced, and therefore the battery maintenance cost of the unmanned aerial vehicle is effectively reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of battery technology, and in particular to a method for monitoring battery charging and discharging of a UAV based on a distributed battery UAV and the UAV. Background Art

[0002] With the widespread application of unmanned vehicles in industrial inspections, agricultural plant protection, emergency rescue, and other fields, their endurance and energy management efficiency have become key bottlenecks restricting technological development. Currently, mainstream batteries are based on lithium-based chemistries, but their energy storage efficiency per unit volume / mass is insufficient to meet the requirements of long-duration operations.

[0003] However, existing drones, with batteries accounting for over 30% of their weight, reduce payload by over 40%, increasing the burden on the drone and limiting its flight range. Furthermore, traditional cooling solutions rely on passive convection. Prolonged high-load operation or high-power charging and discharging can cause internal battery temperatures to exceed limits, accelerating electrochemical cell aging. Battery failures require complete replacement, with single maintenance costs accounting for 20%-35% of the total equipment cost. Existing battery packs typically have their battery management systems integrated within the battery pack, requiring replacement of the BMS when the batteries are replaced, increasing equipment procurement and maintenance costs. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a drone battery charging and discharging monitoring method based on a distributed battery drone and a drone that effectively reduces the maintenance cost of the drone battery.

[0005] The purpose of this disclosure is achieved through the following technical solutions:

[0006] A method for monitoring the charging and discharging of drone batteries based on a distributed battery drone comprises: controlling the charging and discharging of each drone battery module in the distributed battery drone, wherein the distributed battery drone comprises: an airframe, a plurality of drone flight components, and a plurality of drone battery modules; each of the drone flight components comprises a drone cantilever and a drone wing, the drone cantilever being connected to the airframe, the drone wing being connected to the drone cantilever, the drone wing being located at an end of the drone cantilever away from the airframe, the drone wing being electrically connected to an integrated central controller in the airframe to enable the drone wing to rotate; each of the drone battery modules is housed in one of the drone cantilever arms, the discharge end of the drone battery module being electrically connected to a battery discharge control end of the integrated central controller and a rotating motor of the drone wing, respectively, and the charging end of the drone battery module being electrically connected to a battery charging control end of the integrated central controller;

[0007] The drone battery charging and discharging monitoring method includes:

[0008] Get the charging and discharging status parameters of the drone battery module;

[0009] Performing electric power balance processing on the charge-discharge operation state parameter and the preset charge-discharge state parameter to obtain the charge-discharge power balance;

[0010] A charge and discharge strategy adjustment signal is sent to the integrated central controller according to the charge and discharge power balance to adjust the charge and discharge mode of the drone battery module.

[0011] In one embodiment, obtaining the charge and discharge operating status parameters of the drone battery module includes: obtaining the battery discharge voltage of the drone battery module.

[0012] In one embodiment, performing electric power balance processing on the charge-discharge operation state parameters and preset charge-discharge state parameters to obtain the charge-discharge power balance includes: obtaining the balance between the battery discharge voltage and the preset voltage to obtain the discharge voltage difference.

[0013] In one embodiment, sending a charge and discharge strategy adjustment signal to the integrated central controller according to the charge and discharge power balance to adjust the charge and discharge mode of the drone battery module includes: detecting whether the discharge voltage difference is greater than or equal to a preset voltage difference; when the discharge voltage difference is greater than or equal to the preset voltage difference, sending a priority discharge signal to the integrated central controller.

[0014] In one embodiment, obtaining the charging and discharging operating status parameters of the drone battery module includes: obtaining the battery charging temperature of the drone battery module.

[0015] In one embodiment, performing electric power balance processing on the charge-discharge operation state parameters and preset charge-discharge state parameters to obtain the charge-discharge power balance includes: obtaining the balance between the battery charging temperature and the preset temperature to obtain the charging temperature difference.

[0016] In one embodiment, sending a charging and discharging strategy adjustment signal to the integrated central controller according to the charging and discharging power balance to adjust the charging and discharging mode of the drone battery module includes: detecting whether the charging temperature difference is greater than or equal to a preset temperature difference; when the charging temperature difference is greater than or equal to the preset temperature difference, sending a constant current charging signal to the integrated central controller.

[0017] In one embodiment, the method of obtaining the charging and discharging operating status parameters of the drone battery module also includes: obtaining the flight acceleration of the aircraft body; detecting whether the flight acceleration is greater than or equal to a preset acceleration; when the flight acceleration is greater than or equal to the preset acceleration, sending a high-rate capability output signal to the integrated central controller to switch to a high-rate drone battery module for power supply.

[0018] In one embodiment, the method further includes detecting whether the flight acceleration is greater than or equal to a preset acceleration, and then sending a high-capacity capability output signal to the integrated central controller when the flight acceleration is less than the preset acceleration to switch to a high-capacity drone battery module for power supply.

[0019] A drone is charged and discharged using the drone battery charging and discharging monitoring method based on a distributed battery drone described in any of the above embodiments.

[0020] Compared with the prior art, the present disclosure has at least the following advantages:

[0021] After collecting the charging and discharging operation status parameters, the current charging and discharging information of each battery module in the drone is determined, and then the charging and discharging operation status parameters are compared with the preset charging and discharging status parameters to facilitate the determination of the deviation between the charging and discharging status of each battery module and the standard charging and discharging status. Finally, according to the above difference value, the charging and discharging mode of each battery module in the drone is adjusted, so as to facilitate the adjustment of the charging and discharging strategy of each battery module, avoid long-term high-load operation or high-power charging and discharging of the battery module, reduce the probability of damage to the battery module, and thus effectively reduce the maintenance cost of the drone battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 Flowchart of a method for monitoring the battery charging and discharging of a UAV based on a distributed battery UAV in one embodiment. DETAILED DESCRIPTION

[0024] To facilitate understanding of the present disclosure, a more comprehensive description of the present disclosure will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present disclosure. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure.

[0025] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure pertains. The terms used herein in the specification of this disclosure are intended only to describe specific embodiments and are not intended to limit this disclosure. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0027] The present disclosure relates to a method for monitoring the battery charge and discharge of a drone based on a distributed battery drone. In one embodiment, the method for monitoring the battery charge and discharge of a drone based on a distributed battery drone includes controlling the charge and discharge of each drone battery module in the distributed battery drone, wherein the distributed battery drone includes: a body, a plurality of drone flight components, and a plurality of drone battery modules; each of the drone flight components includes a drone cantilever and a drone wing, the drone cantilever is connected to the body, the drone wing is connected to the drone cantilever, the drone wing is located at one end of the drone cantilever away from the body, and the drone wing is electrically connected to the integrated central controller in the body to rotate the drone wing; each The drone battery module is housed in a drone cantilever, the discharge end of the drone battery module is electrically connected to the battery discharge control end of the integrated central controller and the rotating motor of the drone wing, respectively, and the charging end of the drone battery module is electrically connected to the battery charging control end of the integrated central controller; the drone battery charging and discharging monitoring method includes: obtaining the charging and discharging operation status parameters of the drone battery module; performing electric power balance processing on the charging and discharging operation status parameters and preset charging and discharging status parameters to obtain the charging and discharging power balance; and sending a charging and discharging strategy adjustment signal to the integrated central controller according to the charging and discharging power balance to adjust the charging and discharging mode of the drone battery module. After collecting the charging and discharging operation status parameters, the current charging and discharging information of each battery module in the drone is determined, and then the charging and discharging operation status parameters are compared with the preset charging and discharging status parameters to facilitate the determination of the deviation between the charging and discharging status of each battery module and the standard charging and discharging status. Finally, according to the above difference value, the charging and discharging mode of each battery module in the drone is adjusted, so as to facilitate the adjustment of the charging and discharging strategy of each battery module, avoid long-term high-load operation or high-power charging and discharging of the battery module, reduce the probability of damage to the battery module, and thus effectively reduce the maintenance cost of the drone battery.

[0028] See also Figure 1, which is a flow chart of a method for monitoring the battery charge and discharge of a drone based on a distributed battery drone according to an embodiment of the present disclosure. The method for monitoring the battery charge and discharge of a drone based on a distributed battery drone includes some or all of the following steps, wherein the distributed battery drone includes: a body, multiple drone flight components, and multiple drone battery modules; each of the drone flight components includes a drone cantilever and a drone wing, the drone cantilever is connected to the body, the drone wing is connected to the drone cantilever, the drone wing is located at an end of the drone cantilever away from the body, and the drone wing is electrically connected to the integrated central controller in the body to rotate the drone wing; each of the drone battery modules is housed in a drone cantilever, the discharge end of the drone battery module is electrically connected to the battery discharge control end of the integrated central controller and the rotating motor of the drone wing, and the charging end of the drone battery module is electrically connected to the battery charging control end of the integrated central controller.

[0029] The method for monitoring the charging and discharging of a drone battery specifically comprises the following steps:

[0030] S100: Obtain the charging and discharging operating status parameters of the drone battery module.

[0031] In this embodiment, the charge-discharge operating status parameters are the current charge-discharge information of each battery module in the drone, that is, the charge-discharge operating status parameters are the real-time charge-discharge status data of the drone battery module, that is, the charge-discharge operating status parameters correspond to the charge-discharge operating conditions of the drone battery module. By collecting the charge-discharge operating status parameters, it is convenient to determine the charge-discharge status of each battery module in the drone during charging and discharging operations.

[0032] S200: performing electric power balance processing on the charging and discharging operation state parameters and preset charging and discharging state parameters to obtain the charging and discharging power balance.

[0033] In this embodiment, the charge-discharge operation state parameters are the current charge-discharge information of each battery module in the drone, that is, the charge-discharge operation state parameters are the real-time charge-discharge state data of the drone battery module, that is, the charge-discharge operation state parameters correspond to the charge-discharge operation conditions of the drone battery module. By collecting the charge-discharge operation state parameters, it is convenient to determine the charge-discharge state of each battery module in the drone during the charge-discharge operation. The preset charge-discharge state parameters are the specified charge-discharge information for each battery module in the drone, that is, the preset charge-discharge state parameters are the standard charge-discharge state data of the drone battery module, that is, the preset charge-discharge state parameters correspond to the predetermined charge-discharge operation conditions of the drone battery module. By performing an electric power balance process on the charge-discharge operation state parameters and the preset charge-discharge state parameters, it is convenient to determine the degree of difference in the charge-discharge state of the drone battery module. For example, the electric power balance process is to obtain the least square difference between the charge-discharge operation state parameters and the preset charge-discharge state parameters.

[0034] S300: Sending a charge-discharge strategy adjustment signal to the integrated central controller according to the charge-discharge power balance to adjust the charge-discharge mode of the drone battery module.

[0035] In this embodiment, the charge-discharge power balance is obtained based on the charge-discharge operation state parameters and the preset charge-discharge state parameters. The charge-discharge operation state parameters are the current charge-discharge information of each battery module in the drone, that is, the charge-discharge operation state parameters are the real-time charge-discharge state data of the drone battery module, that is, the charge-discharge operation state parameters correspond to the charge-discharge operation conditions of the drone battery module. By collecting the charge-discharge operation state parameters, it is convenient to determine the charge-discharge state of each battery module in the drone during the charge-discharge operation. The preset charge-discharge state parameters specify the charge-discharge information for each battery module in the drone, that is, the preset charge-discharge state parameters are the standard charge-discharge state data of the drone battery module, that is, the preset charge-discharge state parameters correspond to the predetermined charge-discharge operation conditions of the drone battery module. By processing the power balance of the charge-discharge operation state parameters and the preset charge-discharge state parameters, it is convenient to determine the degree of difference in the charge-discharge state of the drone battery module. After obtaining the charge and discharge work balance, the charge and discharge state deviation of the drone battery module is determined. According to the degree of deviation of the charge and discharge work balance, a corresponding charge and discharge strategy adjustment signal is sent to ensure that the charge and discharge mode of the drone battery module is carried out in an optimal manner, avoiding long-term high-load operation or high-power charging and discharging of the battery module, reducing the probability of damage to the battery module, and thus effectively reducing the maintenance cost of the drone battery.

[0036] In the above embodiment, after the charging and discharging operation status parameters are collected, the current charging and discharging information of each battery module in the drone is determined, and then the charging and discharging operation status parameters are compared with the preset charging and discharging status parameters to facilitate determining the deviation between the charging and discharging status of each battery module and the standard charging and discharging status. Finally, according to the above difference value, the charging and discharging mode of each battery module in the drone is adjusted, thereby facilitating the adjustment of the charging and discharging strategy of each battery module, avoiding long-term high-load operation or high-power charging and discharging of the battery module, reducing the probability of damage to the battery module, and thus effectively reducing the maintenance cost of the drone battery.

[0037] In one embodiment, the acquisition of the charge and discharge operation status parameters of the drone battery module includes: acquiring the battery discharge voltage of the drone battery module. In this embodiment, the charge and discharge operation status parameters are the current charge and discharge information of each battery module in the drone, that is, the charge and discharge operation status parameters are the real-time charge and discharge status data of the drone battery module, that is, the charge and discharge operation status parameters correspond to the charge and discharge operation status of the drone battery module. By collecting the charge and discharge operation status parameters, it is convenient to determine the charge and discharge status of each battery module in the drone during the charge and discharge operation. The charge and discharge operation status parameters include the battery discharge voltage of the drone battery module, and the battery discharge voltage is the battery voltage of the drone battery module in the current discharge mode. The battery discharge voltage is used to reflect the voltage of the drone battery module in the discharge state.

[0038] Furthermore, the charge-discharge operation state parameters are subjected to an electric power balance process with preset charge-discharge state parameters to obtain a charge-discharge power balance, including: obtaining a balance between the battery discharge voltage and the preset voltage to obtain a discharge voltage difference. In this embodiment, the charge-discharge operation state parameters are the current charge and discharge information of each battery module in the drone, that is, the charge-discharge operation state parameters are the real-time charge and discharge state data of the drone battery module, that is, the charge-discharge operation state parameters correspond to the charge and discharge operation conditions of the drone battery module. By collecting the charge-discharge operation state parameters, it is convenient to determine the charge and discharge state of each battery module in the drone during the charge and discharge operation. The preset charge and discharge state parameters are the specified charge and discharge information for each battery module in the drone, that is, the preset charge and discharge state parameters are the standard charge and discharge state data of the drone battery module, that is, the preset charge and discharge state parameters correspond to the predetermined charge and discharge operation conditions of the drone battery module. By performing an electric power balance process on the charge and discharge operation state parameters and the preset charge and discharge state parameters, it is convenient to determine the degree of difference in the charge and discharge state of the drone battery module. The charge-discharge operation state parameter includes the battery discharge voltage of the drone battery module. The battery discharge voltage is the battery voltage of the drone battery module in the current discharge mode. The battery discharge voltage is used to reflect the voltage level of the drone battery module in the discharge state. The voltage deviation of the drone battery module in the discharge state is determined by calculating the difference between the battery discharge voltage and the preset voltage, for example, calculating the least squares difference between the battery discharge voltage and the preset voltage.

[0039] Furthermore, the method of sending a charge-discharge strategy adjustment signal to the integrated central controller based on the charge-discharge work balance to adjust the charge-discharge mode of the drone battery module includes: detecting whether the discharge voltage difference is greater than or equal to a preset voltage difference; and when the discharge voltage difference is greater than or equal to the preset voltage difference, sending a priority discharge signal to the integrated central controller. In this embodiment, the charge-discharge work balance is obtained based on the charge-discharge operation state parameters and the preset charge-discharge state parameters. The charge-discharge operation state parameters are the current charge and discharge information of each battery module in the drone, that is, the charge-discharge operation state parameters are the real-time charge and discharge state data of the drone battery module, and the charge and discharge operation state parameters correspond to the charge and discharge operation status of the drone battery module. By collecting the charge-discharge operation state parameters, it is convenient to determine the charge and discharge state of each battery module in the drone during charge and discharge operations. The preset charge and discharge state parameters are the specified charge and discharge information for each battery module in the drone, that is, the preset charge and discharge state parameters are the standard charge and discharge state data of the drone battery module, and the preset charge and discharge state parameters correspond to the predetermined charge and discharge operation status of the drone battery module. By performing an electrical power balance between the charge-discharge operating state parameters and the preset charge-discharge state parameters, the degree of difference between the charge-discharge state of the drone battery module is determined. After obtaining the charge-discharge power balance, the deviation of the charge-discharge state of the drone battery module is determined. Based on the degree of deviation of the charge-discharge power balance, a corresponding charge-discharge strategy adjustment signal is sent to optimize the charge and discharge of the drone battery module. This avoids prolonged high-load operation or high-power charging and discharging of the battery module, reduces the probability of battery module damage, and effectively reduces drone battery maintenance costs. The charge-discharge operating state parameters include the battery discharge voltage of the drone battery module. The battery discharge voltage is the battery voltage of the drone battery module in the current discharge mode. The battery discharge voltage is used to reflect the voltage level of the drone battery module in the discharge state. The degree of voltage deviation of the drone battery module in the discharge state is determined by calculating the difference between the battery discharge voltage and the preset voltage, for example, by calculating the least squares difference between the battery discharge voltage and the preset voltage. The discharge voltage difference is greater than or equal to the preset voltage difference, indicating that the voltage deviation of the drone battery module in the discharge state is too large, that is, it indicates that the drone battery module is a high-voltage battery. At this time, a priority discharge signal is sent to the integrated central controller so that the high-voltage drone battery module is discharged first until the voltage is equal to that of other drone battery modules and then they are supplied with power together.

[0040] In another embodiment, when the discharge voltage difference is less than the preset voltage difference, a delayed discharge signal is sent to the integrated central controller. At this time, the drone battery module is a low-voltage battery module, and power is supplied simultaneously when the high-voltage battery module is discharged to the same voltage.

[0041] In one embodiment, the acquisition of the charging and discharging operation status parameters of the drone battery module includes: acquiring the battery charging temperature of the drone battery module. In this embodiment, the charging and discharging operation status parameters are the current charging and discharging information of each battery module in the drone, that is, the charging and discharging operation status parameters are the real-time charging and discharging status data of the drone battery module, that is, the charging and discharging operation status parameters correspond to the charging and discharging operation status of the drone battery module. By collecting the charging and discharging operation status parameters, it is convenient to determine the charging and discharging status of each battery module in the drone during charging and discharging operations. The charging and discharging operation status parameters include the battery charging temperature of the drone battery module, and the battery charging temperature is the battery surface temperature of the drone battery module under the current charging mode. The battery charging temperature is used to reflect the temperature of the drone battery module under the charging state.

[0042] Furthermore, the charging and discharging operation state parameters are subjected to electric power balance processing with preset charging and discharging state parameters to obtain the charging power balance, including: obtaining the balance between the battery charging temperature and the preset temperature to obtain the charging temperature difference. In this embodiment, the charging and discharging operation state parameters are the current charging and discharging information of each battery module in the drone, that is, the charging and discharging operation state parameters are the real-time charging state data of the drone battery module, that is, the charging and discharging operation state parameters correspond to the charging operation status of the drone battery module. By collecting the charging and discharging operation state parameters, it is convenient to determine the charging and discharging state of each battery module in the drone during charging and discharging operations. The preset charging and discharging state parameters are the specified charging and discharging information of each battery module in the drone, that is, the preset charging and discharging state parameters are the standard charging state data of the drone battery module, that is, the preset charging and discharging state parameters correspond to the predetermined charging operation status of the drone battery module. By performing the electric power balance processing on the charging and discharging operation state parameters and the preset charging and discharging state parameters, it is convenient to determine the degree of difference in the charging state of the drone battery module. The charge-discharge operation state parameter includes the battery charging temperature of the drone battery module. The battery charging temperature is the battery surface temperature of the drone battery module in the current charging mode. The battery charging temperature is used to reflect the temperature of the drone battery module in the charging state. The temperature deviation degree of the drone battery module in the charging state is determined by calculating the difference between the battery charging temperature and the preset temperature, for example, calculating the least squares difference between the battery charging temperature and the preset temperature.

[0043] Furthermore, the method of sending a charge-discharge strategy adjustment signal to the integrated central controller based on the charging power balance to adjust the charging and discharging mode of the drone battery module includes: detecting whether the charging temperature difference is greater than or equal to a preset temperature difference; and when the charging temperature difference is greater than or equal to the preset temperature difference, sending a constant current charging signal to the integrated central controller. In this embodiment, the charging power balance is obtained based on the charging and discharging operating state parameters and the preset charging and discharging state parameters. The charging and discharging operating state parameters are the current charging and discharging information of each battery module in the drone, that is, the charging and discharging operating state parameters are the real-time charging state data of the drone battery module, and the charging and discharging operating state parameters correspond to the charging and discharging operating state of the drone battery module. By collecting the charging and discharging operating state parameters, the charging and discharging state of each battery module in the drone can be easily determined during charging and discharging operations. The preset charging and discharging state parameters are the charging and discharging information specified for each battery module in the drone, that is, the preset charging and discharging state parameters are the standard charging state data of the drone battery module, and the preset charging and discharging state parameters correspond to the predetermined charging operating state of the drone battery module. By performing an electrical power balance between the charge-discharge operating state parameters and the preset charge-discharge state parameters, the degree of difference in the charge state of the drone battery module is determined. After obtaining the charge power balance, the deviation in the charge state of the drone battery module is determined. Based on the degree of deviation in the charge power balance, a corresponding charge-discharge strategy adjustment signal is sent to optimize the charging of the drone battery module. This avoids prolonged high-load operation or high-power charging of the battery module, reduces the probability of battery module damage, and effectively reduces drone battery maintenance costs. The charge-discharge operating state parameters include the battery charging temperature of the drone battery module. The battery charging temperature is the battery surface temperature of the drone battery module in the current charging mode. The battery charging temperature is used to reflect the temperature of the drone battery module during charging. The degree of temperature deviation of the drone battery module during charging is determined by calculating the difference between the battery charging temperature and the preset temperature, for example, by calculating the least squares difference between the battery charging temperature and the preset temperature. The charging temperature difference is greater than or equal to the preset temperature difference, indicating that the temperature deviation of the drone battery module in the charging state is too large, that is, it indicates that the drone battery module is in the high-temperature charging stage. At this time, a constant current charging signal is sent to the integrated central controller so that the high-temperature drone battery module is charged with the corresponding charging current.

[0044] In another embodiment, when the charging temperature difference is less than the preset temperature difference, a constant voltage charging signal is sent to the integrated central controller. At this time, the drone battery module is in the normal temperature charging stage, and constant voltage charging can ensure that the battery temperature is normal.

[0045] In one embodiment, obtaining the charge and discharge operating state parameters of the drone battery module further includes: obtaining the flight acceleration of the drone; detecting whether the flight acceleration is greater than or equal to a preset acceleration; and when the flight acceleration is greater than or equal to the preset acceleration, sending a high-rate capability output signal to the integrated central controller to switch to the high-rate drone battery module for power supply. In this embodiment, the flight acceleration is the change in the drone's flight speed while in flight, and the flight acceleration is used to reflect the drone's current flight mode. The preset acceleration is the standard flight state of the drone, for example, the preset acceleration corresponds to hovering or level flight at a constant speed. If the flight acceleration is greater than or equal to the preset acceleration, it indicates that the drone is currently in a high-acceleration flight state, i.e., a flight scenario requiring high power, such as a takeoff, dive, or acceleration mode. At this point, by sending a high-rate capability output signal to the integrated central controller to switch to the high-rate drone battery module for power supply, the high-rate battery module in the drone provides high power output to meet the drone's current flight requirements and ensure rapid flight control of the drone.

[0046] Furthermore, it is detected whether the flight acceleration is greater than or equal to a preset acceleration, and then it also includes: when the flight acceleration is less than the preset acceleration, a high-capacity capability output signal is sent to the integrated central controller to switch to the high-capacity UAV battery module for power supply. In this embodiment, the flight acceleration is less than the preset acceleration, which indicates that the UAV is currently in a non-accelerated flight state, that is, it indicates that the UAV is in a flight scenario with low power requirements, for example, the UAV is in a flight mode such as hovering or level flight. At this time, by sending a high-capacity capability output signal to the integrated central controller to switch to the high-capacity UAV battery module for power supply, the high-capacity battery module in the UAV provides corresponding power output to meet the current flight requirements of the UAV. Moreover, the high-capacity battery module has a large amount of power, which can effectively improve its flight endurance.

[0047] Furthermore, when the flight acceleration is greater than or equal to the preset acceleration, a high-rate capability output signal is sent to the integrated central controller to switch to a high-rate drone battery module for power supply, and then further includes:

[0048] Get the flight pitch angle of the aircraft;

[0049] Detecting whether the flight pitch angle is greater than or equal to a preset pitch angle;

[0050] When the flight pitch angle is greater than or equal to the preset pitch angle, a pitch angle limited battery auxiliary power supply signal is sent to the integrated central controller to start supplying power to the high-capacity UAV battery module within the range of the flight pitch angle.

[0051] In this embodiment, the flight pitch angle is the pitch angle of the drone in the current flight state, and the preset pitch angle is the safe pitch angle of the drone. For example, the preset pitch angle is a pitch angle between -75 degrees and +80 degrees. If the flight pitch angle is greater than or equal to the preset pitch angle, it indicates that the pitch angle of the drone in the current flight state is too large, that is, the drone is in a large-angle pitch state and an overload maneuvering state. At this time, in order to ensure the stability of the drone's pitch attitude, a pitch angle limit battery auxiliary power supply signal is sent to the integrated central controller to start supplying power to the high-capacity drone battery module within the flight pitch angle range, so that the high-capacity battery module with a pitch angle greater than the preset pitch angle is also powered synchronously as auxiliary power supply to maintain the electrical energy required for the attitude in the large-angle pitch flight state, thereby improving the flight stability of the drone in the high-acceleration pitch state.

[0052] In another embodiment, when the flight pitch angle is less than the preset pitch angle, a power maintenance signal is sent to the integrated central controller to maintain the power supply of the current high-rate battery module without adding auxiliary power supply, thereby avoiding energy waste.

[0053] Furthermore, when the flight acceleration is less than the preset acceleration, a high-capacity capability output signal is sent to the integrated central controller to switch to the high-capacity drone battery module for power supply, and then further includes:

[0054] Get the flight swing angle of the aircraft;

[0055] detecting whether the flight swing angle is greater than or equal to a preset swing angle;

[0056] When the flight swing angle is greater than or equal to the preset swing angle, a swing angle limited battery auxiliary power supply signal is sent to the integrated central controller to start supplying power to the high-rate UAV battery module within the range of the flight swing angle.

[0057] In this embodiment, the flight swing angle is the swing angle of the drone in its current flight state. Specifically, the flight swing angle includes the flight oscillation angle and the flight roll angle. The preset swing angle is a safe swing angle for the drone. For example, the preset swing angle is a swing angle between -70 degrees and +85 degrees. If the flight swing angle is greater than or equal to the preset swing angle, it indicates that the flight swing angle or flight roll angle of the drone in its current flight state is too large, indicating that the drone is in a large-angle swing or roll state, or is in a turning maneuver. To ensure the stability of the drone's swing or roll posture, a swing angle limit battery auxiliary power supply signal is sent to the integrated central controller to activate power supply from high-rate drone battery modules within the flight swing angle range. This enables high-rate battery modules with swing angles greater than the preset swing angle to also provide power as auxiliary power to maintain the high power required for the large-angle swing or roll flight state, thereby improving the flight stability of the drone during the swing or roll state of the turning maneuver.

[0058] In another embodiment, when the flight swing angle is less than the preset swing angle, a power maintenance signal is sent to the integrated central controller to maintain the power supply of the current high-capacity battery module without adding auxiliary power supply, thereby avoiding energy waste.

[0059] In one embodiment, the present disclosure also relates to a drone, which is charged and discharged using the drone battery charging and discharging monitoring method based on a distributed battery drone as described in any of the above embodiments. In this embodiment, the drone battery charging and discharging monitoring method based on a distributed battery drone includes controlling the charging and discharging of each drone battery module in a distributed battery drone, and the distributed battery drone includes: a body, a plurality of drone flight components, and a plurality of drone battery modules; each of the drone flight components includes a drone cantilever and a drone wing, the drone cantilever is connected to the body, the drone wing is connected to the drone cantilever, the drone wing is located at the end of the drone cantilever away from the body, and the drone wing is electrically connected to the integrated central controller in the body to rotate the drone wing; each The drone battery module is housed in a drone cantilever, the discharge end of the drone battery module is electrically connected to the battery discharge control end of the integrated central controller and the rotating motor of the drone wing, respectively, and the charging end of the drone battery module is electrically connected to the battery charging control end of the integrated central controller; the drone battery charging and discharging monitoring method includes: obtaining the charging and discharging operating status parameters of the drone battery module; performing electric power balance processing on the charging and discharging operating status parameters and preset charging and discharging status parameters to obtain a charging and discharging power balance; and sending a charging and discharging strategy adjustment signal to the integrated central controller according to the charging and discharging power balance to adjust the charging and discharging mode of the drone battery module. After collecting the charging and discharging operation status parameters, the current charging and discharging information of each battery module in the drone is determined, and then the charging and discharging operation status parameters are compared with the preset charging and discharging status parameters to facilitate the determination of the deviation between the charging and discharging status of each battery module and the standard charging and discharging status. Finally, according to the above difference value, the charging and discharging mode of each battery module in the drone is adjusted, so as to facilitate the adjustment of the charging and discharging strategy of each battery module, avoid long-term high-load operation or high-power charging and discharging of the battery module, reduce the probability of damage to the battery module, and thus effectively reduce the maintenance cost of the drone battery.

[0060] The above-described embodiments merely represent several implementation methods of the present disclosure. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person of ordinary skill in the art could make various modifications and improvements without departing from the spirit of the present disclosure, all of which fall within the scope of protection of the present disclosure. Therefore, the scope of protection of the present patent shall be determined by the appended claims.

Claims

1. A method for monitoring the battery charge and discharge of a UAV based on a distributed battery UAV, characterized in that: include: Controlling the charging and discharging of each drone battery module in a distributed battery drone, wherein the distributed battery drone comprises: body, A plurality of drone flight assemblies, each of the drone flight assemblies comprising a drone arm and a drone wing, the drone arm being connected to the body, the drone wing being connected to the drone arm, the drone wing being located at an end of the drone arm away from the body, and the drone wing being electrically connected to an integrated central controller in the body to enable the drone wing to rotate; A plurality of drone battery modules, each of which is housed in one of the drone cantilevers, wherein the discharge terminals of the drone battery modules are electrically connected to the battery discharge control terminal of the integrated central controller and the rotating motor of the drone wing, respectively, and the charging terminals of the drone battery modules are electrically connected to the battery charging control terminal of the integrated central controller; The drone battery charging and discharging monitoring method includes: Get the charging and discharging status parameters of the drone battery module; Performing electric power balance processing on the charge-discharge operation state parameter and the preset charge-discharge state parameter to obtain the charge-discharge power balance; A charge and discharge strategy adjustment signal is sent to the integrated central controller according to the charge and discharge power balance to adjust the charge and discharge mode of the drone battery module.

2. The method for monitoring battery charge and discharge of a UAV based on a distributed battery UAV according to claim 1 is characterized in that: The step of obtaining the charging and discharging operating status parameters of the drone battery module includes: Get the battery discharge voltage of the drone battery module.

3. The method for monitoring battery charging and discharging of a UAV based on a distributed battery UAV according to claim 2 is characterized in that: The step of performing electric power balance processing on the charge-discharge operation state parameter and the preset charge-discharge state parameter to obtain the charge-discharge power balance includes: Calculate the difference between the battery discharge voltage and the preset voltage to obtain the discharge voltage difference.

4. The method for monitoring battery charge and discharge of a UAV based on a distributed battery UAV according to claim 3 is characterized in that: The step of sending a charge-discharge strategy adjustment signal to the integrated central controller according to the charge-discharge power balance to adjust the charge-discharge mode of the drone battery module includes: detecting whether the discharge voltage difference is greater than or equal to a preset voltage difference; When the discharge voltage difference is greater than or equal to the preset voltage difference, a priority discharge signal is sent to the integrated central controller.

5. The method for monitoring battery charge and discharge of a UAV based on a distributed battery UAV according to claim 1, characterized in that: The step of obtaining the charging and discharging operating status parameters of the drone battery module includes: Get the battery charging temperature of the drone battery module.

6. The method for monitoring battery charge and discharge of a UAV based on a distributed battery UAV according to claim 5, characterized in that: The step of performing electric power balance processing on the charge-discharge operation state parameter and the preset charge-discharge state parameter to obtain the charge-discharge power balance includes: Calculate the difference between the battery charging temperature and the preset temperature to obtain the charging temperature difference.

7. The method for monitoring battery charge and discharge of a UAV based on a distributed battery UAV according to claim 6, characterized in that: The step of sending a charge-discharge strategy adjustment signal to the integrated central controller according to the charge-discharge power balance to adjust the charge-discharge mode of the drone battery module includes: detecting whether the charging temperature difference is greater than or equal to a preset temperature difference; When the charging temperature difference is greater than or equal to the preset temperature difference, a constant current charging signal is sent to the integrated central controller.

8. The method for monitoring battery charge and discharge of a UAV based on a distributed battery UAV according to claim 1, characterized in that: The step of obtaining the charging and discharging operating status parameters of the drone battery module also includes: Get the flight acceleration of the aircraft; detecting whether the flight acceleration is greater than or equal to a preset acceleration; When the flight acceleration is greater than or equal to the preset acceleration, a high-rate capability output signal is sent to the integrated central controller to switch to a high-rate drone battery module for power supply.

9. The method for monitoring battery charging and discharging of a UAV based on a distributed battery UAV according to claim 8, characterized in that: Detecting whether the flight acceleration is greater than or equal to a preset acceleration, and then further comprising: When the flight acceleration is less than the preset acceleration, a high-capacity capability output signal is sent to the integrated central controller to switch to a high-capacity drone battery module for power supply.

10. A drone, characterized in that: Charging and discharging are performed using the drone battery charging and discharging monitoring method based on a distributed battery drone as described in any one of claims 1 to 9.

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