Control method, device and storage medium of aircraft

Abstract

Embodiments of the present application provide a kind of control method, device and storage medium of aircraft.The method comprises: in response to the current power supply mode of aircraft includes the mode of using backup power supply module power supply, and main power supply module is in place, control main power supply module automatic start.Can be detected after completing the replacement of main power supply module, main power supply module is automatically started, without user manual touch power key of main power supply module to start main power supply module, can realize the quick start of main power supply module, to make the aircraft can quickly restore work after replacing main power supply module.

Description

Technical Field

[0001] This application relates to the field of aircraft control technology, and more specifically, to an aircraft control method, device, and storage medium. Background Technology

[0002] During aircraft operation, the limited endurance of the power supply module often necessitates its replacement. To ensure rapid restart after power module replacement, aircraft typically employ a main power supply module and a backup power supply module. During the replacement of the main power supply module, the backup module can power at least some functional modules within the aircraft. Currently, the main power supply module used in aircraft is usually a smart battery, meaning it includes a power button to control its on / off state. When the main power supply module is on, it provides power to the aircraft. However, after replacing the main power supply module, the user usually needs to manually activate the power button to turn it on. This manual startup process is cumbersome and time-consuming, preventing the aircraft from quickly resuming operations. Summary of the Invention

[0003] In view of this, this application provides a control method, apparatus and storage medium for an aircraft.

[0004] According to a first aspect of this application, a control method for an aircraft is provided, the aircraft including a main power supply module and a backup power supply module, the main power supply module being detachable, the method comprising:

[0005] In response to the aircraft's current power supply mode including the mode of using the backup power supply module, and the main power supply module being in place, the main power supply module is controlled to automatically turn on.

[0006] According to a second aspect of this application, a control method for an aircraft is provided, the aircraft including a main power supply module and a backup power supply module, the main power supply module being detachable from the aircraft, the method comprising:

[0007] In response to the main power supply module replacement operation, the power supply mode of the aircraft is switched to a mode that uses the backup power supply module for power supply;

[0008] The target functional module in the control aircraft is powered on.

[0009] Control all functional modules other than the target functional module to be in a power-off state;

[0010] The startup time of the target functional module is greater than that of the other functional modules, and the startup time includes the time from power-on to normal operation of the functional module.

[0011] According to a third aspect of this application, a control method for an aircraft is provided, the aircraft including a main power supply module and a backup power supply module, the main power supply module being detachable from the aircraft, the method comprising:

[0012] In response to the main power supply module replacement operation, the power supply mode of the aircraft is switched to a mode that uses the backup power supply module for power supply;

[0013] The target functional module in the control aircraft is powered on.

[0014] Control all functional modules other than the target functional module to be in a power-off state;

[0015] The target functional module includes at least an image transmission module and an RTK module. According to a fourth aspect of this application, a control device for an aircraft is provided, comprising:

[0016] At least one processor;

[0017] At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processors, are configured to cause the apparatus to perform at least the methods mentioned in the first, second and / or third aspects above.

[0018] According to a fifth aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed, implements the methods mentioned in the first, second, and / or third aspects above.

[0019] Applying the solution provided in this application, in scenarios involving the replacement of the main power supply module, if the aircraft's current power supply mode is detected as using a backup power supply module and the main power supply module is present, the main power supply module can be automatically turned on. Since the aircraft's current power supply mode utilizes the backup power supply module, it indicates that the main power supply module is being replaced. If the main power supply module is detected as present, it means that the new main power supply module has been installed in its designated location. Therefore, the main power supply module can be automatically turned on. This method allows the main power supply module to be automatically turned on after the replacement is detected, eliminating the need for the user to manually press the power button. This enables rapid startup of the main power supply module, allowing the aircraft to quickly resume operations after the replacement. Furthermore, since the user does not need to manually press the power button, the overall time required for main power supply module replacement is shortened, reducing the demand for the backup power supply module's capacity. This allows power supply modules with smaller capacitors (such as supercapacitors) to also be used as backup power supply modules.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the power supply module of an aircraft according to one embodiment of this application.

[0023] Figure 2 This is a flowchart of a control method for an aircraft according to an embodiment of this application.

[0024] Figure 3 This is a schematic diagram of the structure of an aircraft according to an embodiment of this application.

[0025] Figure 4 This is a schematic diagram of the structure of an aircraft according to another embodiment of this application.

[0026] Figure 5 This is a flowchart of a control method for an aircraft according to another embodiment of this application.

[0027] Figure 6 This is a flowchart of a control method for an aircraft according to another embodiment of this application.

[0028] Figure 7 This is a schematic diagram of the logic structure of the control device of an aircraft according to an embodiment of this application. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] During aircraft operations, the power supply module's limited endurance often necessitates its replacement. If all functional modules in the aircraft lose power during this replacement process, they must be restarted (i.e., restored from a power-down state to normal operation) after the replacement is complete. This restart process is often lengthy, preventing the aircraft from quickly resuming operations.

[0031] To enable the aircraft to start up quickly after the power supply module is replaced, a main power supply module and a backup power supply module can be set up in the aircraft. During the replacement of the main power supply module, the backup power supply module can be used to supply power to at least some of the functional modules in the aircraft, so that at least some of the functional modules in the aircraft do not need to lose power, thus speeding up the start-up of the aircraft.

[0032] Currently, most main power supply modules in aircraft use smart batteries, which typically include a power button to control the on / off state of the main power supply module. When the main power supply module is on, it can supply power to the aircraft. In related technologies, after replacing the main power supply module, the user needs to manually touch the power button to turn it on. Because manually turning on the main power supply module is cumbersome and time-consuming, the aircraft cannot quickly resume operation. Furthermore, if replacing the main power supply module takes a long time, the backup power supply module needs to have a large capacity to maintain power supply for a longer period, thus limiting the use of small-capacity power supply modules. It is understood that in one embodiment, the backup power supply module may include a supercapacitor, a small-capacity battery, etc.; in another embodiment, the backup power supply module may include a battery with a capacity equivalent to that of the main power supply module, without limitation. It is particularly important to note that when the backup power supply module includes a supercapacitor, it can also prevent over-discharge of the backup power supply module due to prolonged inactivity.

[0033] Based on this, embodiments of this application provide a control method for an aircraft, such as... Figure 1 As shown, this method is applicable to aircraft that include a main power supply module and a backup power supply module. The main power supply module is detachable for replacement after its power is depleted. In the scenario of replacing the main power supply module, if the aircraft's current power supply mode is detected as using the backup power supply module, and the main power supply module is present, the main power supply module can be automatically activated. Since the aircraft's current power supply mode is using the backup power supply module, it indicates that the main power supply module is being replaced. If the main power supply module is detected as present, it means that the new main power supply module has been installed in its mounting position. Therefore, the main power supply module can be automatically activated. In this way, the main power supply module can be automatically activated after the replacement is detected, without requiring the user to manually touch the power button to activate it. This allows for rapid startup of the main power supply module, enabling the aircraft to quickly resume operation after the main power supply module replacement. Meanwhile, since users do not need to manually touch the power button to turn on the device, the overall time required to replace the main power supply module is shortened, and the demand for the capacity of the backup power supply module is reduced, so that power supply modules with small capacitors (such as supercapacitors) can also be used as backup power supply modules.

[0034] The aircraft mentioned in this application embodiment may include rotorcraft or fixed-wing-rotor hybrid aircraft. Rotorcraft may be single-rotor, dual-rotor, tri-rotor, quadcopter, hexacopter, octocopter, decacopter, or dodeccopter. Aircraft may include, but are not limited to, manned aircraft, logistics aircraft, aerial photography aircraft, agricultural plant protection aircraft, and industry rescue aircraft. The above are merely illustrative examples, and this application embodiment does not specifically describe the types of aircraft. Aircraft include unmanned aerial vehicles (UAVs) and manned aircraft. Aircraft can be used for tasks such as aerial photography, geographic mapping, environmental monitoring, and security patrol.

[0035] The main power supply module in this embodiment can be any type of power supply module capable of supplying power to the aircraft during operation. Typically, the main power supply module uses a high-capacity battery to extend flight time. The main power supply module is removable for replacement when its power is depleted. The main power supply module includes an on / off state; when on, it supplies power to the aircraft. Typically, the main power supply module has a power button that the user can touch to control its on / off state. For example, in some scenarios, the main power supply module can be a smart battery.

[0036] The backup power supply module in this application embodiment can be any type of power supply module capable of supplying power to at least some functional modules in the aircraft during the replacement of the main power supply module. Typically, the backup power supply module can be a small-capacity battery or capacitor, such as a lithium battery, supercapacitor, etc. In some embodiments, the backup power supply module is not removable. During the replacement of the main power supply module, the backup power supply module can be used to power the aircraft. After the main power supply module is replaced, the replaced main power supply module can be used to charge the backup power supply module.

[0037] The aircraft control method in this application embodiment can be implemented by the aircraft, for example, it can be executed by the main chip in the aircraft. During the replacement of the main power supply module, the main chip can maintain a powered state.

[0038] like Figure 2 As shown, the control method for this aircraft may include the following steps:

[0039] S202. In response to the aircraft's current power supply mode, which includes a mode that utilizes a backup power supply module and the main power supply module is in place, control the main power supply module to automatically turn on.

[0040] To enable uninterrupted power supply module replacement, the aircraft can be equipped with both a main power supply module and a backup power supply module. The aircraft's power supply modes include using the main power supply module and using the backup power supply module. Typically, there are two scenarios for replacing the main power supply module: One is replacing the main power supply module while it is powered off; in this case, the main power supply module can usually be powered off after replacement. The other is replacing the main power supply module while it is powering the aircraft; in this case, the user usually needs to keep the main power supply module powered on to continue supplying power to the aircraft after replacement.

[0041] Therefore, the current power supply mode of the aircraft can be detected. If the current power supply mode is detected as using a backup power module, it indicates that the main power module is being replaced while it is supplying power to the aircraft. In this state, the aircraft is in a continuous power supply replacement process. If the main power module is detected as present, it means the replacement operation has been completed. Therefore, the main power module can be automatically powered on to supply power to the aircraft. "Main power module present" means that the main power module has been correctly installed in its designated mounting position within the aircraft. The presence of the main power module can be determined by battery presence detection. For example, the aircraft's main chip typically has a GPIO port for communication with the main power module. The presence of the main power module can be determined based on the signal from this GPIO port. Figure 3 As shown, the GPIO port can be a pin on the main chip. When the main power supply module is in place and not in place, this pin can output different signals, and thus the presence or absence of the main power supply module can be determined based on the signal.

[0042] When it is determined that the aircraft is in a state of continuous power supply replacement of the main power supply module, and the main power supply module is detected to be in place, the main power supply module is controlled to automatically start up. Thus, after the main power supply module replacement is completed, the user does not need to manually control the main power supply module to start up, which can shorten the startup time of the aircraft after the main power supply is replaced, so that the aircraft can quickly resume operation.

[0043] In some embodiments, to enable automatic startup of the main power supply module, a signal can be periodically transmitted when the aircraft detects a switch from its current power supply mode to using the backup power supply module. This signal controls the main power supply module to automatically power on when it detects that it is in a present state. That is, when the aircraft switches its current power supply mode to using the backup power supply module, it can periodically transmit a signal, such as a square wave signal. When the main power supply module detects that it is in a present state and receives this signal, it can control itself to automatically power on.

[0044] In some embodiments, before automatically activating the main power supply module in response to the aircraft's current power supply mode being powered by the backup power supply module and the main power supply module being present, the method further includes: switching the aircraft's power supply mode to powered by the backup power supply module in response to a main power supply module replacement operation. That is, when the aircraft detects a main power supply module replacement operation, it can switch its current power supply mode to powered by the backup power supply module. The presence of the main power supply module can be detected; if the main power supply module is not present, it can be determined that a main power supply module replacement operation has occurred.

[0045] In related technologies, during the replacement of the main power supply module for an aircraft, a backup power supply module is typically used to power the aircraft. However, the backup power supply module usually has a small capacity, only enough to keep some functional modules powered on. Therefore, during the replacement of the main power supply module, typically only some core functional modules (such as the aircraft's main chip) are kept powered on, while the rest are powered off. However, some functional modules may have a long startup time, which refers to the time from power-on to normal operation. If these functional modules are kept powered off during the replacement of the main power supply module, they need to be restarted after the replacement is complete. This process is time-consuming, preventing the aircraft from quickly resuming operation after the main power supply module replacement. To achieve rapid recovery of the aircraft, in some embodiments, such as... Figure 4 As shown, after detecting the main power supply module replacement operation and switching the aircraft's power supply mode to use the backup power supply module, the target functional module in the aircraft can be controlled to be powered on, while other functional modules are controlled to be powered off. The startup time of the target functional module is longer than that of other functional modules, including the time from initial power-on to normal operation. That is, during the main power supply module replacement process, target functional modules with longer startup times can be controlled to be powered on. This allows these target functional modules to quickly start up and resume normal operation after the main power supply module replacement is completed, thus minimizing the overall startup time of the aircraft and enabling it to quickly resume operations.

[0046] In some embodiments, the aforementioned target functional modules include one or more of the following: an RTK module and an image transmission module. After starting from a power-down state, the RTK module needs to search for and lock onto at least four satellite signals one by one to perform positioning. This process is time-consuming, especially in complex environments (such as urban canyons or mountainous areas), where satellite signals may be blocked or interfered with, further extending the search and locking time. Furthermore, the RTK module needs to receive complete ephemeris data to accurately calculate its position. The ephemeris data broadcasting cycle is long, and the RTK module needs to wait sufficient time to receive complete data, further increasing the startup time. Additionally, the RTK module needs to perform internal initialization during startup, including hardware testing, software loading, and parameter configuration. Moreover, the RTK module also needs to perform differential data calibration to improve positioning accuracy. As can be seen from the RTK's workflow and principles, the entire process from power-on to normal operation is time-consuming. If the RTK module loses power during the replacement of the main power supply module, restarting the RTK after replacement will take a long time, preventing the aircraft from quickly resuming operations. To enable rapid RTK startup, the RTK module can be kept powered on during the replacement of the main power supply module, allowing for rapid startup after the main power supply module is replaced.

[0047] Similarly, after the image transmission module starts from a power-down state, it needs to perform hardware initialization, load firmware and software, and configure parameters. For example, the image transmission module needs to set parameters such as transmission frequency, bandwidth, and encoding method, which takes a certain amount of time. In addition, the transmitting and receiving ends of the image transmission module need to synchronize signals to ensure that data can be transmitted correctly. During startup, the transmitting and receiving ends need to perform frequency matching operations, a process that takes a long time, further increasing the startup time. It is evident that if the image transmission module is in a power-down state during the replacement of the main power supply module, restarting the image transmission module will take a long time and will also affect the rapid recovery of the aircraft's operations. Therefore, during the replacement of the main power supply module, the image transmission module can be kept in a powered-on state, so that it can be started quickly after the main power supply module is replaced.

[0048] In some embodiments, considering that backup power supply modules are typically small-capacity modules, to ensure that the backup power supply module's power can sustain the aircraft until the main power supply module is replaced and re-energized, the target functional module can be controlled to enter a low-power mode when powered on, thereby saving the aircraft's power consumption during the main power supply module replacement process. That is, when the target functional module enters low-power mode, it can disable or reduce some of its functions to minimize its power consumption.

[0049] In some embodiments, when the target functional module is in a low-power mode, the operating parameters of the target functional module are lower than the operating parameters in the normal operating state. The operating parameters may include one or more of the following: refresh frequency, voltage, and power.

[0050] For example, for functional modules such as the SOC and DDR in an aircraft, their refresh rates can be reduced to be lower than the normal operating refresh rate. At the same time, for some functional modules, their power supply voltage and power can be reduced based on their computing power requirements, so that their power supply voltage and power are lower than the normal operating voltage and power, thereby saving electricity.

[0051] In some embodiments, the target functional module includes an image transmission module, wherein the image transmission module does not transmit signals externally when it is in a low-power mode. That is, the image transmission module can enter a silent state, not sending or receiving signals externally, thereby reducing its power consumption.

[0052] In some embodiments, after the main power supply module is automatically turned on, the replaced main power supply module can be used to restore power to the aircraft. For example, the aircraft's power supply mode can be switched to a mode that uses the main power supply module, and the various functional modules in the aircraft can be controlled to resume normal operation.

[0053] In some embodiments, the presence of the main power supply module can be determined based on the GPIO port signals of the main power supply module. For example, the main chip of the aircraft has a GPIO port for communication with the main power supply module. After the main power supply module is installed in the predetermined installation position, i.e., the main power supply module and the main chip are connected, the GPIO port can output signal A, which indicates that the main power supply module is in a connected state. When the main power supply module is not installed in the predetermined installation position, i.e., the main power supply module and the main chip are disconnected, the GPIO port can output signal B, which indicates that the main power supply module is in a disconnected state. Therefore, when the GPIO port signals of the main power supply module indicate that the main power supply module is in a connected state, it can be determined that the main power supply module is present.

[0054] In some embodiments, considering that the GPIO port of the main power supply module may fail, i.e., the GPIO port signal may be incorrect, determining the presence of the main power supply module solely based on the GPIO port signal could lead to misjudgment. If the power supply mode is directly switched back to the mode using the main power supply module when the main power supply module is not present, it may cause all functional modules of the aircraft to lose power. To avoid the above problems, after controlling the main power supply module to automatically turn on, the presence of the main power supply module can be further determined by combining the output voltage of the main power supply module. For example, it can be detected whether the duration for which the output voltage of the main power supply module is greater than a preset first voltage threshold is greater than a preset duration. If so, the main power supply module is determined to be present, and the power supply mode can then be switched back to the mode using the main power supply module. After switching the aircraft's power supply mode back to the mode using the main power supply module, the various functional modules in the aircraft can be controlled to resume normal operation.

[0055] For example, after the GPIO port signal of the main power supply module indicates that the main power supply module is connected, the main power supply module can be automatically turned on. At this time, the output voltage of the main power supply module can be further detected. If the output voltage is greater than 32V and lasts for more than 200ms, the power supply mode can be switched back to the mode of using the main power supply module. Before switching back to the mode of using the main power supply module, the output voltage of the main power supply module can be further detected to prevent misjudgment of whether the main power supply module is present due to the failure of the main power supply module's GPIO port.

[0056] When switching the aircraft's power supply mode back to the mode of using the main power supply module and controlling the various functional modules in the aircraft to resume normal operation, in order to enable the aircraft to start up quickly and resume operations quickly, the startup sequence of each functional module can be optimized to minimize the overall startup time of the aircraft (i.e., the time it takes for all functional modules of the aircraft to resume normal operation).

[0057] For example, in some embodiments, when controlling the various functional modules in the aircraft to return to normal working status, other functional modules can be started first, and then the target functional module can be switched from low-power mode to normal power mode. Since other functional modules are in a power-off state, the time it takes for them to start up from the power-off state and return to normal working status is usually long, while the target functional module is in a power-on state, and the time it takes for it to return to normal working status is usually short. In order to allow the various functional modules of the aircraft to quickly return to normal working status and for the aircraft to quickly resume operation, other functional modules can be started first, and then the target functional module can be switched from low-power mode to normal working status.

[0058] In some embodiments, if the main power supply module was in a powered-off state before replacement, meaning that all functional modules in the aircraft are in a power-down state after the main power supply module is replaced, then the target functional module can be controlled to recover from the power-down state to normal operation first, followed by the other functional modules. Since the startup time of the target functional module is longer than that of the other functional modules, the startup sequence of the target functional module can precede that of the other functional modules, thus minimizing the overall startup time of the aircraft and enabling rapid resumption of operations.

[0059] In some embodiments, to achieve rapid startup of the aircraft, when controlling the various functional modules in the aircraft to resume normal operation, functional modules that are not coupled with each other can be controlled to resume normal operation in parallel. Functional modules that are not coupled with each other refer to functional modules that have no dependency on each other during startup. For example, if the startup of functional module X does not depend on functional module Y, then functional modules X and Y are not coupled. For functional modules that are not coupled with each other, they can be controlled to resume normal operation in parallel (e.g., start in parallel, or switch from low-power mode to normal operation mode in parallel) to minimize the overall startup time of the aircraft.

[0060] In some embodiments, when determining whether a main power supply module replacement operation is currently in progress, the presence of the main power supply module can be detected. If the main power supply module is detected to be out of progress, it is determined that a main power supply module replacement operation is currently in progress, and the current power supply mode of the aircraft is switched to a mode that uses the backup power supply module.

[0061] Since backup power modules are typically small-capacity, they can only sustain the operation of some functional modules within the aircraft for short periods. Switching the aircraft's power supply mode to utilize the backup module usually results in some functional modules being powered down. Furthermore, for modules that are powered on, they are kept in a low-power mode to conserve energy. The impact of this power supply mode switch differs depending on whether the aircraft is in flight or not. When the aircraft is in flight (meaning its motors are active, i.e., it is flying or hovering), switching to backup power may disrupt normal operation and pose safety hazards. For example, if the backup power module runs out of power, the aircraft may automatically shut down and crash. However, when the aircraft is not in flight (meaning its motors are not active), the impact of the power supply mode switch is minimal.

[0062] Considering that the impact of switching power supply modes on the aircraft varies depending on its state, the conditions for determining whether the main power supply module is in an offline state (i.e., whether to switch the power supply mode to use the backup power supply module) also differs depending on the aircraft's state. For example, in some embodiments, if the GPIO port signal of the main power supply module indicates a disconnection when the aircraft is not flying, then the main power supply module is determined to be in an offline state. Considering that the impact of switching power supply modes on the aircraft is relatively small and the safety risks are also small when the aircraft is not flying, it is possible to determine whether the main power supply module is in an offline state solely based on the GPIO port signal. If the GPIO port signal indicates a disconnection, then it is determined that the main power supply module is in an offline state, and the power supply mode is switched to use the backup power supply module.

[0063] In some embodiments, considering the possibility of false detections of GPIO port signals—for example, the pins connecting the main power supply module to the main chip might fail—it's possible that relying solely on GPIO port signals to determine whether the main power supply module is in an offline state, and thus deciding whether to switch power supply modes, could lead to misidentification and pose a safety hazard to the aircraft. Therefore, for scenarios where the aircraft is in flight, both the GPIO port signals and the output voltage of the main power supply module can be used to determine whether the main power supply module is currently offline. If the GPIO port signal of the power supply module indicates a disconnection, and the output voltage of the main power supply module is lower than a preset second voltage threshold, then the main power supply module is determined to be offline. In other words, for scenarios where the aircraft is in flight, an additional condition is added when determining whether the main power supply module is offline to ensure a more accurate determination and guarantee aircraft safety.

[0064] In some embodiments, the backup power supply module may be a power supply module with a small capacitance, such as a supercapacitor or a lithium battery.

[0065] In some embodiments, when the current power supply mode is the mode of using the backup power supply module, the functional module (e.g., SOC) in the power-on state can provide leakage protection for the external pins to prevent the powered-off components from being recharged and unable to resume normal operation.

[0066] In related technologies, during the replacement of the main power supply module for an aircraft, a backup power supply module is typically used to power the aircraft. However, since the backup power supply module usually has a small capacity, it can only keep some functional modules powered on. Therefore, during the replacement of the main power supply module, typically only some core functional modules (such as the aircraft's main chip) are kept powered on, while the remaining functional modules are powered off. However, some functional modules may have a long startup time, which refers to the time it takes for a functional module to operate normally from the moment it is powered on. If these functional modules are kept powered off during the replacement of the main power supply module, they must be restarted after the replacement is completed. This process is time-consuming, preventing the aircraft from quickly resuming operations after the main power supply module replacement.

[0067] To enable rapid recovery of the aircraft, this application also provides a control method for the aircraft, which includes a main power supply module and a backup power supply module. The main power supply module is detachable from the aircraft. Figure 5 As shown, the method includes the following steps:

[0068] S502. In response to the main power supply module replacement operation, the power supply mode of the aircraft is switched to a mode that uses the backup power supply module for power supply.

[0069] S504. Control the target function module in the aircraft to be powered on.

[0070] S506. Control all functional modules other than the target functional module to be in a power-off state;

[0071] The startup time of the target functional module is greater than that of the other functional modules, and the startup time includes the time from power-on to normal operation of the functional module.

[0072] The specific implementation process of the above method can be referred to the description in the above embodiments, and will not be repeated here. The specific control details of the aircraft battery swapping process described in the above embodiments are also applicable to this scheme, and will not be repeated here.

[0073] Furthermore, this application also provides an aircraft control method, wherein the aircraft includes a main power supply module and a backup power supply module, and the main power supply module is detachable from the aircraft, such as... Figure 6 As shown, the method includes the following steps:

[0074] S602. In response to the main power supply module replacement operation, the power supply mode of the aircraft is switched to a mode that uses the backup power supply module for power supply.

[0075] S604. Control the target function module in the aircraft to be powered on.

[0076] S606. Control all functional modules other than the target functional module to be in a power-off state;

[0077] The target functional module includes at least an image transmission module and an RTK module.

[0078] The specific implementation process of the above method can be referred to the description in the above embodiments, and will not be repeated here. The specific control details of the aircraft battery swapping process described in the above embodiments are also applicable to this scheme, and will not be repeated here.

[0079] The aircraft control method of this application is described below with reference to a specific embodiment. The aircraft may include a main battery and a supercapacitor. The main battery is a smart battery and includes a power button for controlling the on / off state of the main battery. During the replacement of the main battery, the supercapacitor can be used to power the aircraft. After the main battery replacement is completed, the main battery can be used to power the supercapacitor to store electrical energy. When the main battery removal action is detected (an interrupt signal is triggered via GPIO), the power management system immediately switches to using the supercapacitor for power supply. The SOC executes buck / frequency reduction instructions, shuts down unnecessary peripheral interfaces, and the GPIO controller applies a high-impedance state to the power-off module interface to achieve leakage protection, maintain continuous power supply to the RTK chip, image transmission chip, etc., and maintain the positioning state using cached data.

[0080] To enable the aircraft to quickly resume operations, some functional modules with long startup times (such as the image transmission module and RTK module) can be kept powered on. Simultaneously, when using supercapacitor power, low-power management can be implemented to save energy. For example, unnecessary SOCs and subsystems can be shut down; the power supply voltage of some functional modules can be reduced based on computing power requirements; the frequency of SOCs, DDRs, and other devices can be reduced based on resource needs; and the image transmission module can be put into a silent state, with TX / RX actions disabled.

[0081] When a new battery is detected (via GPIO port signal), the system can quickly enable specific services, such as RTK and camera output, through methods such as automatic battery power-on, service startup order adjustment, and parallelization.

[0082] (1) Automatic battery power-on: When the aircraft detects supercapacitor power supply, it can periodically output square waves. When the battery detects its own presence and receives the square wave, it can automatically power on, saving the time of button power-on. For example, if the battery is disconnected from the pin while charged, the GPIO triggers an interrupt signal (such as a pulse signal). This interrupt signal can trigger the aircraft to periodically output square wave signals in supercapacitor power supply mode. After a new battery is installed, the new battery will automatically power on after receiving a preset number of square waves. If the user shuts down the aircraft normally before removing the battery, the GPIO will not trigger an interrupt signal, so the aircraft will not output square waves, and the new battery will not automatically power on after replacement.

[0083] (2) Service startup sequence adjustment: Cold start and battery recovery adopt different startup strategies, specifically:

[0084] i. During a cold start, prioritize starting services such as RTK and image transmission to ensure that time-consuming services are completed as quickly as possible.

[0085] ii. When the battery life is restored, because of RTK, the image transmission chip is always running, and the startup strategy is adjusted to prioritize starting the camera, encoding and decoding services, etc., so that the overall operation status is quickly restored.

[0086] iii. The loading conditions for different startup strategies can be determined through GPIO port signals. The GPIO port signals differ when the battery is removed while powered on and when the device is powered off, thus allowing determination of whether it is a cold start or a power-on recovery based on these GPIO port signals.

[0087] (3) Parallelization: Uncoupled business processes are executed in parallel. Uncoupled operations within the same business process are also executed in parallel, such as model file decryption, which saves startup time.

[0088] The solutions in the above embodiments can be freely combined to obtain new solutions when there is no conflict. Due to space limitations, they will not be listed one by one here.

[0089] Furthermore, embodiments of this disclosure also provide control devices for aircraft, such as... Figure 7 As shown, the control device 70 includes at least one processor 71; at least one memory 72 including computer program code, wherein at least one memory 72 and the computer program code, together with at least one processor 71, are configured to cause the device to perform at least the methods of any of the above embodiments.

[0090] Accordingly, embodiments of this specification also provide a computer storage medium storing a program that, when executed by a processor, implements the method in any of the above embodiments.

[0091] The embodiments of this specification may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0092] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0093] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0094] The methods and apparatus provided in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A control method for an aircraft, characterized in that, The aircraft includes a main power supply module and a backup power supply module, the main power supply module being detachable, and the method comprising: In response to the aircraft's current power supply mode including the mode of using the backup power supply module, and the main power supply module being in place, the main power supply module is controlled to automatically turn on.

2. The method according to claim 1, characterized in that, The control of automatically turning on the main power supply module includes: In response to the aircraft's current power supply mode, which includes a mode powered by the backup power supply module, a signal is periodically transmitted to control the main power supply module to automatically turn on when it detects that it is in a present state.

3. The method according to claim 1, characterized in that, The method, which responds to the current power supply mode of the aircraft including a mode powered by the backup power supply module, and before the main power supply module is in place and the main power supply module is automatically turned on, further includes: In response to the main power supply module replacement operation, the power supply mode of the aircraft is switched to a mode that uses the backup power supply module.

4. The method according to claim 3, characterized in that, After switching the power supply mode of the aircraft to a mode powered by the backup power supply module, the method further includes: The target functional module in the control aircraft is powered on. Control all functional modules other than the target functional module to be in a power-off state; The startup time of the target functional module is greater than that of the other functional modules, and the startup time includes the time from power-on to normal operation of the functional module.

5. The method according to claim 4, characterized in that, The target functional module includes one or more of the following: RTK module, image transmission module; and / or The method further includes: in response to the aircraft's power supply mode switching to a mode powered by the backup power supply module, controlling the target functional module to enter a low-power mode.

6. The method according to claim 5, characterized in that, When the target functional module is in low power mode, the operating parameters of the target functional module are lower than the operating parameters in normal working state. The operating parameters include one or more of the following: refresh frequency and voltage. and / or The target functional module includes an image transmission module, which does not transmit signals when it is in low-power mode.

7. The method according to claim 1 or 4, characterized in that, If the GPIO port signal of the main power supply module indicates that the main power supply module is in a connected state, then the main power supply module is determined to be in place.

8. The method according to claim 7, characterized in that, After the main power supply module is automatically turned on, the method further includes: In response to the main power supply module outputting a voltage greater than a preset first voltage threshold for a duration longer than a preset duration, the power supply mode of the aircraft is switched to the mode of using the main power supply module, and the various functional modules in the aircraft are controlled to return to normal working status.

9. The method according to claim 8, characterized in that, The target functional module is in a low-power mode, and the control of the various functional modules in the aircraft to return to normal operation includes: First, control the other functional modules to restore them from the power-down state to the normal working state, and then control the target functional module to switch from the low-power mode to the normal working state.

10. The method according to claim 8, characterized in that, The method further includes: If the main power supply module was in a powered-off state before replacement, after controlling the main power supply module to automatically power on, first control the target functional module to restore from the power-off state to the normal working state, and then control the other functional modules to restore from the power-off state to the normal working state.

11. The method according to claim 8, characterized in that, The process of restoring the various functional modules in the aircraft to normal operating status includes: The control system restores the non-coupled functional modules in the aircraft to their normal operating state in parallel.

12. The method according to claim 3, characterized in that, The step of switching the power supply mode of the aircraft to a mode using the backup power supply module in response to the main power supply module replacement operation includes: If the main power supply module is not in place, it is determined that the main power supply module replacement operation has been detected, and the power supply mode of the aircraft is switched to the mode of using the backup power supply module.

13. The method according to claim 12, characterized in that, When the aircraft is in flight, if the GPIO port signal of the main power supply module indicates that the main power supply module is disconnected, and the output voltage of the main power supply module is lower than a preset second voltage threshold, the main power supply module is determined to be in an in-place state; and / or If the GPIO port signal of the main power supply module indicates that the main power supply module is disconnected when the aircraft is in a non-flying state, then the main power supply module is determined to be in an in-place state.

14. The method according to claim 13, characterized in that, If the motor of the aircraft is in a working state, the aircraft is determined to be in flight; if the motor of the aircraft is not in a working state, the aircraft is determined to be in a non-flying state.

15. The method according to claim 1, characterized in that, The backup power supply module includes one or more of the following: Supercapacitors and lithium batteries.

16. A control method for an aircraft, characterized in that, The aircraft includes a main power supply module and a backup power supply module, wherein the main power supply module is detachable from the aircraft, and the method includes: In response to the main power supply module replacement operation, the power supply mode of the aircraft is switched to a mode that uses the backup power supply module for power supply; The target functional module in the control aircraft is powered on. Control all functional modules other than the target functional module to be in a power-off state; The startup time of the target functional module is greater than that of the other functional modules, and the startup time includes the time from power-on to normal operation of the functional module.

17. A control method for an aircraft, characterized in that, The aircraft includes a main power supply module and a backup power supply module, wherein the main power supply module is detachable from the aircraft, and the method includes: In response to the main power supply module replacement operation, the power supply mode of the aircraft is switched to a mode that uses the backup power supply module for power supply; The target functional module in the control aircraft is powered on. Control all functional modules other than the target functional module to be in a power-off state; The target functional module includes at least an image transmission module and an RTK module.

18. A control device for an aircraft, characterized in that, include: At least one processor; At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processors, are configured to cause the apparatus to perform at least the method as claimed in any one of claims 1 to 17.

19. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores executable instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 17.

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