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WO2020107451A1 - Procédé de commande de plate-forme mobile, plate-forme mobile et support d'enregistrement - Google Patents

Procédé de commande de plate-forme mobile, plate-forme mobile et support d'enregistrement Download PDF

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Publication number
WO2020107451A1
WO2020107451A1 PCT/CN2018/118704 CN2018118704W WO2020107451A1 WO 2020107451 A1 WO2020107451 A1 WO 2020107451A1 CN 2018118704 W CN2018118704 W CN 2018118704W WO 2020107451 A1 WO2020107451 A1 WO 2020107451A1
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WO
WIPO (PCT)
Prior art keywords
current
power
maximum
battery
sop
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/118704
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English (en)
Chinese (zh)
Inventor
戴明峻
丁鹏
周琦
张伟鸿
王钧玉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201880038483.0A priority Critical patent/CN111132870A/zh
Priority to PCT/CN2018/118704 priority patent/WO2020107451A1/fr
Publication of WO2020107451A1 publication Critical patent/WO2020107451A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/13—Maintaining the SoC within a determined range
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/14—Preventing excessive discharging
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the present invention generally relates to the field of control, and more particularly to a control method of a movable platform, a movable platform and a storage medium.
  • the batteries used by most drone manufacturers are characterized by low energy density (generally 180-200wh/kg) and high discharge rate (basically above 15C).
  • the disadvantages caused by this are the short battery life and advantages.
  • the battery has a strong discharge capacity and good maneuverability.
  • the UAV considers the demand for high power and prefers to use a high discharge rate battery.
  • the present invention has been proposed to solve at least one of the above problems.
  • the invention provides a control method of a movable platform, a movable platform and a storage medium, which enable the movable platform to use a battery with high energy density without safety risks, thereby improving the life of the movable platform.
  • the first aspect of the present invention provides a control method of a movable platform, which is powered by a battery, and the control method includes:
  • a second aspect of the present invention provides a movable platform, including:
  • a battery module used to provide electrical energy for the battery power equipment
  • One or more processors are One or more processors;
  • Memory used to store one or more programs
  • the one or more processors When the one or more programs are executed by the one or more processors, the one or more processors are caused to perform the following steps:
  • a third aspect of the present invention provides a movable platform that is powered by a battery.
  • the movable platform includes:
  • a power obtaining module configured to obtain the current load power of the movable platform and the current SOP power of the battery
  • a comparison module for comparing the current load power and the current SOP power
  • the control module is configured to adjust the load power according to the comparison result of the comparison module to ensure that the current load power is less than the current SOP power.
  • a fourth aspect of the present invention provides a computer storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the steps of the control method according to the first aspect of the present invention are implemented.
  • the invention provides a control method of a movable platform, a movable platform and a storage medium, which collect the load power and the current power battery power boundary SOP power of the battery in real time, compare the size of the two, and then adjust the load according to the comparison result Power to ensure that the current load power is less than the current SOP power, so as to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy The density of the battery, thereby improving the life of the mobile platform.
  • control method of the movable platform, the movable platform and the storage medium according to the present invention dynamically adjust the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) will not exceed the current power battery power boundary SOP power of the battery , And can meet the load power requirements of the mobile platform as much as possible.
  • FIG. 1 is a schematic block diagram of an example electronic device for implementing a control method of a mobile platform and a mobile device according to an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a control method of a movable platform according to an embodiment of the present invention
  • FIG. 3 is a detailed flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the invention.
  • FIG. 4 is a schematic block diagram of a movable device according to an embodiment of the present invention.
  • FIG. 5 is a schematic block diagram of a movable platform according to an embodiment of the present invention.
  • FIG. 1 An example electronic apparatus 100 for implementing a control method for a movable device and a movable device of an embodiment of the present invention is described with reference to FIG. 1.
  • the electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106, an output device 108, and a battery module 110. These components are connected by a bus system 112 and/or other forms Organizations (not shown) are interconnected. It should be noted that the components and structure of the electronic device 100 shown in FIG. 1 are only exemplary, not limiting, and the electronic device may have other components and structures as needed.
  • the processor 102 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.
  • the number of the processor 102 may be one or more.
  • the storage device 104 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory.
  • the volatile memory may include, for example, random access memory (RAM) and/or cache memory.
  • the non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, and the like.
  • One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 102 may execute the program instructions to implement the client function (implemented by the processor) in the embodiments of the present invention described below. And/or other desired functions.
  • Various application programs and various data may also be stored in the computer-readable storage medium, such as various data used and/or generated by the application programs.
  • the input device 106 may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.
  • the output device 108 may output various information (such as images or sounds) to the outside (such as users), and may include one or more of a display, a speaker, and the like.
  • the battery module 110 can provide energy to the electronic device 100.
  • the battery module 110 includes a battery and various detection circuits and/or communication interfaces.
  • the various detection circuits are used to detect the battery's output voltage, output current, current power, battery cycle count, cell temperature or ambient temperature and other parameters, and communicate through The interface sends it to the one or more processors 102.
  • the battery module 110 and the processor 102 communicate through a serial port.
  • an example electronic device for implementing a control method of a movable platform and a movable device may be implemented as an unmanned aerial vehicle, unmanned vehicle, unmanned boat, robot, electric scooter, balance Cars, model airplanes, etc.
  • FIG. 2 is a schematic flowchart of a control method of a movable platform according to an embodiment of the present invention. As shown in FIG. 2, the control method of the movable platform according to the embodiment of the present invention includes:
  • Step S101 Obtain the current load power of the movable platform and the current power battery power SOP power of the battery.
  • the current power battery power boundary SOP power of the battery of the movable platform is obtained by the following steps: obtaining at least one of the current remaining capacity of the battery, the number of cycles, the cell temperature, and the ambient temperature, and according to the current remaining At least one of the quantity of electricity, the number of cycles, the temperature of the battery cell and the ambient temperature obtains the current SOP power of the battery.
  • the current SOP power of the battery is a functional relationship with one or more of the current remaining capacity of the battery, the number of cycles, the cell temperature and the ambient temperature.
  • the functional relationship can be determined through theoretical calculation or experiment.
  • the functional relationship can be A function formula can also be a mapping table.
  • the function formula After obtaining the battery's current remaining capacity, number of cycles, cell temperature, and ambient temperature, you can use the function formula to calculate the battery's current SOP power or query the mapping table to obtain the battery's current SOP power.
  • the SOP power of the battery is a dynamic value related to the above parameters, and it can also be understood that the mapping table can be obtained according to more or all of the above parameters after testing to obtain a more accurate SOP power and the above factors. Correspondence.
  • Step S102 Compare the current load power with the current SOP power. That is, the current load power and the current SOP power value obtained in step S101 are compared.
  • Step S103 Adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
  • the load power is adjusted so that the current load power is less than the current SOP power, thereby ensuring battery safety.
  • the current load power can have a larger value, thereby meeting the power requirements of the mobile platform. That is, if the current load power is greater than the current SOP power, the power requirement of the load of the mobile platform is limited, so that the current load power is less than the current SOP power; if the current load power is less than the current The SOP power then allows the power requirement of the load of the movable platform to increase.
  • the load power is dynamically adjusted according to the dynamic value of the SOP power, so that the current load power is less than the current SOP power, and with the permission of the current SOP power, the power requirements of the movable platform can be met as much as possible.
  • the load power can still exceed the current SOP power in an instant, that is, the load power is adjusted within a period of time Dynamic adjustment, the load power will exceed the current SOP power for a period of time, and then decrease to below the current SOP power.
  • Adjusting the load power or the power demand of the load can be achieved in various feasible ways, for example, selecting a load that operates with different power requirements, and if the current load power is greater than the current SOP power, selecting a load with a small power requirement to operate
  • the current load power is greater than the current SOP power
  • the current load power is greater than the current SOP power
  • the maximum speed or current speed of the current mobile platform is limited, and the current load power is reduced by limiting the maximum speed or current speed of the current mobile platform so that the current load The load power is less than the current SOP power.
  • the maximum speed setting of the movable platform is reduced. Specifically, if the current load power is greater than the current SOP power, the limit value of the maximum moving speed of the movable platform is reduced until the current load power is less than the current SOP power or the movable platform's The limit value of the maximum moving speed reaches the minimum setting value.
  • the operation of the mobile platform is hard limited to ensure safety.
  • the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the current duration of the load power remaining greater than the current SOP power is greater than a set time, the movable platform is restricted Running.
  • the operation of the movable platform is restricted, for example, for an unmanned aerial vehicle, the unmanned aerial vehicle can be controlled to return to home, land, etc.
  • the power demand of the load of the movable platform should be allowed at this time Increase, that is, allow the load, which can ensure that the mobile platform can have a greater power demand.
  • the limit value of the maximum movement speed of the movable platform is not the maximum set value, the limit of the maximum movement speed of the movable platform is increased value. This allows the movable platform to operate at a greater movement speed when needed.
  • the current limit value of the maximum moving speed of the movable platform is 20 m/s, and the limit value of the maximum moving speed is 30/s. If the current load power is less than the current SOP power, the current The limit value of the maximum moving speed is adjusted to 25m/s.
  • it is necessary to meet a corresponding condition for a preset time for example, 0.05 seconds, 0.1 seconds, 1 second, 5 seconds, etc., and then make corresponding adjustments. By setting the preset time, you can prevent the adjustment frequency from being too fast, and increase the burden on the system.
  • the control method of the mobile platform collects the load power and the current power battery power SOP power of the battery in real time, compares the size of the two, and then adjusts the load power according to the comparison result to ensure that the current load power is less than The current SOP power to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy density batteries, thereby improving the mobile platform Battery life.
  • control method of the movable platform according to the present invention dynamically adjusts the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) does not exceed the current power battery power boundary SOP power of the battery, and can satisfy the possible Load power requirements of mobile platforms.
  • FIG. 3 is a detailed flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 3, the control method for an unmanned aerial vehicle according to this embodiment includes:
  • Step S201 Obtain the current load power of the UAV and the current power battery power SOP power of the battery.
  • the UAV collects the output voltage U and output current I of the battery in real time, and calculates the real-time battery output power Pload.
  • a power supply line and a communication line are connected between the battery and the flight control of the UAV.
  • the communication line uses, for example, a serial port.
  • the battery sends the current SOP power value to the flight control of the UAV in real time.
  • the current SOP power value is a function of the current remaining battery capacity, battery cycle count, cell temperature, and ambient temperature.
  • the SOP function of the battery can be measured by testing, and the dynamic SOP power value can be given under different ambient temperatures and different remaining power by looking up the table.
  • Step S202 Determine whether the current load power is less than the current SOP power. If the current load power is less than the current SOP power, step S203 is entered, otherwise, step S204 is entered.
  • step S203 the maximum attitude angle of the UAV is limited to the maximum value in the current mode.
  • Unmanned aerial vehicles have different maximum attitude angles in different modes, that is, the maximum speed allowed to run in different modes is different.
  • the maximum attitude angle of the UAV is limited to the first maximum attitude angle
  • the maximum flight speed is limited to the first maximum flight speed
  • maximum The ascent speed is limited to the first maximum ascent speed.
  • the first maximum attitude angle is 35 degrees
  • the first maximum flight speed is 23 m/s
  • the first maximum ascent speed is 5 m/s.
  • the maximum attitude angle of the UAV in the current mode is also related to the number of unmanned aerial vehicles mounted on the gimbal. As an example, if the UAV is mounted with a dual head, the maximum attitude angle of the UAV is limited to the second maximum attitude angle, the maximum flight speed is limited to the second maximum flight speed, and the maximum ascent speed is limited to the first 2. The maximum ascent rate. Exemplarily, the second maximum attitude angle is 25 degrees, the second maximum flight speed is 16 m/s, and the first maximum ascent speed is 3 m/s.
  • the maximum attitude angle of the UAV in the current mode is also related to whether the UAV is mounted with other loads.
  • the other load is a non-self-load of the UAV, for example, a third-party load of the user or other loads related to the SDK. If the UAV is loaded with a non-self load, the maximum attitude angle of the UAV is limited to the third maximum attitude angle, the maximum flight speed is limited to the third maximum flight speed, and the maximum ascent speed is limited to the third maximum Ascent speed.
  • the third maximum attitude angle is 25 degrees
  • the third maximum flight speed is 16 m/s
  • the third maximum ascent speed is 3 m/s.
  • the control method further includes: judging the power value of the UAV when it is hovering after mounting the non-self load and the magnitude of the current SOP power; if When the unmanned aerial vehicle is hovering after mounting a non-self load, the power value of the unmanned aerial vehicle is less than the set percentage of the current SOP power, for example, less than 60% of the current SOP power, the unmanned aerial vehicle is allowed to operate; Describe the operation of unmanned aerial vehicles, for example, unmanned aerial vehicles are not allowed to fly.
  • step S204 the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum set value.
  • the maximum attitude angle limit value of the UAV will be reduced from the maximum value in the current gear and mode until the current load power is less than the current
  • the SOP power or the maximum attitude angle of the UAV reaches a minimum set value.
  • the maximum attitude angle of the unmanned aerial vehicle reaches a minimum set value, for example, 15 degrees.
  • step S205 while reducing the maximum attitude angle of the UAV, it is also determined that the limit value of the maximum attitude angle of the UAV reaches the minimum set value and the current load power remains greater than the current SOP Whether the duration of the power is greater than the set time, if it is greater than step S20, the operation of the UAV is restricted, otherwise, steps S202 to S205 are continued.
  • the unmanned aerial vehicle reduces the maximum attitude angle when flying upwind, but when it becomes a two-fly flight, the current load power becomes smaller than the current SOP power. At this time, by increasing the maximum attitude angle of the unmanned aerial vehicle Allow unmanned aerial vehicles to fly at greater speeds allowed by SOP power.
  • step S205 the operation of the UAV is restricted. For example, return the unmanned aerial vehicle, land, etc., and prompt the user on the APP side of the unmanned aerial vehicle that the battery is currently overloaded, and need to land and return immediately, and turn off the third-party load connected by the customer.
  • the control method for an unmanned aerial vehicle collects the load power and the current power battery power boundary SOP power of the battery in real time, compares the size of the two, and then adjusts the load power according to the comparison result to ensure the current load
  • the power is less than the current SOP power, so as to ensure that the battery output power (that is, the load power) of the UAV will not exceed the current power battery power boundary SOP power of the battery, so that the UAV can use a high energy density battery, thereby improving the The life of the human aircraft.
  • control method for an unmanned aerial vehicle dynamically adjusts the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) does not exceed the current power battery power boundary SOP power of the battery, and can It may meet the load power requirements of unmanned aerial vehicles.
  • FIG. 4 is a schematic block diagram of a mobile device according to an embodiment of the present invention.
  • the mobile device 400 includes a battery module 410, a power acquisition module 420, a comparison module 430, and a control module 440.
  • the battery module 410 is used to provide energy to the movable device 400.
  • the battery module 410 includes a battery, a detection module, a calculation module, and a communication module.
  • the detection module is used to detect the output voltage, output current, current capacity, battery cycle number, battery cell temperature or ambient temperature of the battery;
  • the calculation module is used to calculate the current load power of the battery power equipment according to the detection result of the detection module
  • the communication module is used to send the calculation result of the calculation module to the control module 440.
  • the power obtaining module 420 is used to obtain the current load power of the movable platform and the current SOP power of the battery.
  • the power acquisition module 420 may be implemented by the processor 102 in the electronic device shown in FIG. 1 running program instructions stored in the storage device 104, and may execute steps S101 and S201 of the control method according to an embodiment of the present invention.
  • the comparison module 430 is used to compare the current load power and the current SOP power.
  • the comparison module 430 may be implemented by the processor 102 in the electronic device shown in FIG. 1 executing program instructions stored in the storage device 104, and may execute steps S102 and S202 of the control method according to an embodiment of the present invention.
  • the control module 440 is used to adjust the load power according to the comparison result of the comparison module 430 to ensure that the current load power is less than the current SOP power.
  • the control module 440 may be implemented by the processor 102 in the electronic device shown in FIG. 1 executing program instructions stored in the storage device 104, and may execute steps S103 and S203-S206 of the control method according to an embodiment of the present invention.
  • FIG. 5 is a schematic block diagram of a movable platform according to an embodiment of the present invention.
  • the movable platform 500 includes a load 510, a battery module 520, a storage device 530 and a processor 540.
  • the load 510 is various devices in the movable platform 500 that require energy.
  • the load 510 may be a motor, avionics, a gimbal camera, and a third-party load.
  • the battery module 520 is used to provide power to the load 510 and send the information of the battery module 520 to the processor 540.
  • the battery module 520 includes a battery, a detection module, a calculation module, and a communication module.
  • the detection module is used to detect the output voltage, output current, current capacity, battery cycle number, battery cell temperature or ambient temperature of the battery;
  • the calculation module is used to calculate the current load power of the battery power equipment according to the detection result of the detection module The current SOP power of the battery;
  • the communication module is used to send the calculation result of the calculation module to the processor 540.
  • the storage device 530 stores one or more program codes for implementing corresponding steps in the control method of the mobile platform according to the embodiment of the present invention.
  • the processor 540 is used to run the program code stored in the storage device 530 to execute the corresponding steps of the control method of the mobile platform according to the embodiment of the present invention, and to implement the mobile platform according to the embodiment of the present invention Power acquisition module 420, comparison module 430 and control module 440. There may be one or more processors 540.
  • the one or more processors 540 further perform the following steps:
  • the one or more processors 540 further perform the following steps:
  • the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, limit the power requirement of the load of the movable platform, thereby Make the current load power less than the current SOP power; if the current load power is less than the current SOP power, allow the increase of the power requirement of the load of the movable platform.
  • the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, then reduce the maximum speed setting of the movable platform.
  • the one or more processors 540 further perform the following steps: if the current load power is greater than the current SOP power, then reduce the limit of the maximum moving speed of the movable platform Value until the current load power is less than the current SOP power or the limit value of the maximum moving speed of the movable platform reaches a minimum set value.
  • the one or more processors 540 further perform the following steps: if the limit value of the maximum moving speed of the movable platform reaches a minimum set value and the current load power remains greater than the current When the duration of the SOP power is greater than the set time, the operation of the movable platform is restricted.
  • the one or more processors 540 further perform the following steps: if the current load power is less than the current SOP power, and the limit value of the maximum moving speed of the movable platform is not The maximum setting value increases the limit value of the maximum moving speed of the movable platform.
  • the one or more processors 540 further perform the following steps:
  • the maximum attitude angle of the UAV is reduced until the current load power is less than the current SOP power or the maximum attitude angle of the UAV reaches the minimum setting Value.
  • the one or more processors 540 further perform the following steps: if the unmanned aerial vehicle is in a sports mode, limit the maximum attitude angle of the unmanned aerial vehicle to the first maximum attitude Angle, the maximum flight speed is limited to the first maximum flight speed, and the maximum ascent speed is limited to the first maximum ascent speed.
  • the one or more processors 540 further perform the following steps:
  • the one or more processors 540 further perform the following steps:
  • the maximum attitude angle of the unmanned aerial vehicle is limited to the third maximum attitude angle
  • the maximum flight speed is limited to the third Three maximum flight speeds
  • the maximum ascent speed is limited to the third maximum ascent speed.
  • the one or more processors 540 further perform the following steps:
  • the first maximum attitude angle is greater than the second maximum attitude angle, and the second maximum attitude angle is greater than the third maximum attitude angle;
  • the first maximum flight speed is greater than the second maximum flight speed, and the second maximum flight speed is greater than the third maximum flight speed;
  • the first maximum ascent speed is greater than the second maximum ascent speed, and the second maximum ascent speed is greater than the third maximum ascent speed.
  • the one or more processors 540 further perform the following steps: if the limit value of the maximum attitude angle of the UAV reaches the minimum set value and the current load power remains greater than the current If the duration of the SOP power is greater than the set time, the operation of the UAV is restricted.
  • the one or more processors 540 further perform the following steps: if the current load power is less than the current SOP power, and the limit value of the maximum attitude angle of the UAV is not The maximum setting value increases the limit value of the maximum attitude angle of the UAV.
  • the one or more processors 540 further perform the following steps:
  • the power value and the current SOP power of the unmanned aerial vehicle after being mounted with a non-self-load are determined; if the unmanned aerial vehicle is mounted with a non-self-load
  • the power value of the self-load after hovering is less than the set percentage of the current SOP power, the unmanned aerial vehicle is allowed to operate; otherwise, the unmanned aerial vehicle is restricted to operate.
  • a storage medium on which program instructions are stored.
  • program instructions When the program instructions are executed by a computer or a processor, they are used to execute the embodiments of the present invention.
  • the corresponding steps of the mobile platform/unmanned aerial vehicle control method and are used to implement the corresponding modules in the mobile platform according to the embodiments of the present invention.
  • the storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read only memory (ROM), an erasable programmable read only memory (EPROM), a portable compact disk read only memory (CD-ROM), USB memory, or any combination of the above storage media.
  • the computer-readable storage medium may be any combination of one or more computer-readable storage media.
  • the computer program instructions when executed by a computer, can implement various functional modules of the movable device according to the embodiments of the present invention.
  • the computer program instructions perform the following steps when being run by the computer: acquiring the current load power of the movable platform and the current power battery power boundary SOP power of the battery; comparing the current load power with the current The size of the SOP power; adjust the load power according to the comparison result to ensure that the current load power is less than the current SOP power.
  • the load power and the current power battery power boundary SOP power of the battery are collected in real time, and the size of the two is compared, and then the load power is adjusted according to the comparison result. Ensure that the current load power is less than the current SOP power, so as to ensure that the mobile platform's battery output power (ie, load power) does not exceed the battery's current power battery power boundary SOP power, so that the mobile platform can use high energy density Battery, which improves the life of the mobile platform.
  • control method of the movable platform, the movable platform and the storage medium according to the present invention dynamically adjust the load power according to the dynamic SOP power of the battery, so that the battery output power (ie, the load power) will not exceed the current power battery power boundary SOP power of the battery , And can meet the load power requirements of the mobile platform as much as possible.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the units is only a division of logical functions.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another device, or some features can be ignored, or not implemented.
  • the various component embodiments of the present invention may be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some modules according to embodiments of the present invention.
  • DSP digital signal processor
  • the present invention can also be implemented as a device program (for example, a computer program and a computer program product) for performing a part or all of the method described herein.
  • Such a program implementing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals.
  • Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

L'invention porte sur un procédé de commande d'une plate-forme mobile, sur la plate-forme mobile et sur un support d'enregistrement. Le procédé de commande consiste : à obtenir la puissance de charge actuelle de la plate-forme mobile et l'état de puissance (SOP) actuelle d'une batterie (S101) ; à comparer la puissance de charge actuelle à la puissance SOP actuelle (S102) ; et à régler la puissance de charge en fonction du résultat de la comparaison de manière à garantir que la puissance de charge actuelle soit inférieure à la puissance SOP actuelle (S103). Selon le procédé de commande d'une plate-forme mobile, la plate-forme mobile et le support d'enregistrement, la plate-forme mobile peut utiliser la batterie à haute densité d'énergie sans risque pour la sécurité, ce qui permet d'améliorer la capacité en régime de croisière de la plate-forme mobile.
PCT/CN2018/118704 2018-11-30 2018-11-30 Procédé de commande de plate-forme mobile, plate-forme mobile et support d'enregistrement Ceased WO2020107451A1 (fr)

Priority Applications (2)

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CN201880038483.0A CN111132870A (zh) 2018-11-30 2018-11-30 可移动平台的控制方法、可移动平台及存储介质
PCT/CN2018/118704 WO2020107451A1 (fr) 2018-11-30 2018-11-30 Procédé de commande de plate-forme mobile, plate-forme mobile et support d'enregistrement

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CN117677913A (zh) * 2021-11-15 2024-03-08 深圳市大疆创新科技有限公司 无人飞行器的控制方法、无人飞行器及存储介质

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