WO2020024098A1

WO2020024098A1 - Over-current protection method, unmanned aerial vehicle, mobile platform, and storage medium

Info

Publication number: WO2020024098A1
Application number: PCT/CN2018/097749
Authority: WO
Inventors: 彭昭亮; 林灿龙; 应佳行
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-07-30
Filing date: 2018-07-30
Publication date: 2020-02-06
Also published as: CN110740936A

Abstract

Disclosed are an over-current protection method, an unmanned aerial vehicle, a mobile platform, and a storage medium. The method comprises: acquiring, during operation of a mobile platform, an electric current value thereof, and acquiring a reference threshold; and if a current operational status of the mobile platform is determined as not meeting a safe operation condition according to the acquired electric current value and the reference threshold, restricting a current operational parameter of the mobile platform, such that the operational status thereof meets the safe operation condition. The embodiment achieves better protection of mobile platforms by means of restricting a current operational parameter thereof.

Description

Overcurrent protection method, drone, mobile platform and storage medium

Technical field

The invention relates to the field of electronic technology, and in particular, to an overcurrent protection method, a drone, a mobile platform, and a storage medium.

Background technique

A flight vehicle is a device that flies in the atmosphere or in the outer space (space). It can be maintained in flight by the motor of the internal power execution device. During the flight of the aircraft, the flight safety logic is usually used to protect the flight safety of the aircraft and avoid damage to the aircraft.

The current flight protection logic only protects the battery inside the aircraft, and limits the flight status of the aircraft according to the power that the battery can provide, so as to ensure that the output power of the battery can meet the flight requirements and avoid the actual power of the aircraft exceeding what the battery can provide Too much power and damage to the aircraft. It can be seen that the current flight protection logic is relatively single, and the aircraft is only protected from the aspect of battery output power. Therefore, how to better protect the aircraft has become a research hotspot.

Summary of the invention

Embodiments of the present invention provide an overcurrent protection method, a drone, a mobile platform, and a storage medium, which can better protect a mobile platform (such as an aircraft).

In one aspect, an embodiment of the present invention provides an overcurrent protection method, including:

During the operation of the mobile platform, collecting the current value of the mobile platform and acquiring a reference threshold;

If it is determined according to the collected current value and the reference threshold that the current operating state of the mobile platform does not meet the safe operating conditions, limiting the current operating parameters of the mobile platform so as to make the operating state of the mobile platform Meet the safe operating conditions.

In another aspect, an embodiment of the present invention provides a drone, the drone includes: a memory, a processor, a motor, a propeller, and a fuselage, wherein the memory is used to store program instructions; the processor Configured to call the program instructions, performing the following steps:

During the operation of the drone, collecting a current value of the drone, and acquiring a reference threshold;

If it is determined according to the collected current value and the reference threshold that the current operating state of the drone does not meet the safe operating conditions, limiting the current operating parameters of the drone in order to make the drone The operating state satisfies the safe operating conditions.

In yet another aspect, an embodiment of the present invention provides a mobile platform including a processor, an input device, an output device, and a memory. The processor, the input device, the output device, and the memory are connected to each other. The memory is used to store a computer. A program, the computer program including program instructions, the processor being configured to call the program instructions, and performing the following steps:

In another aspect, an embodiment of the present invention provides a computer storage medium. The computer storage medium stores computer program instructions, and the computer program instructions are used to implement the foregoing overcurrent protection method when executed.

During the operation of the mobile platform, the embodiment of the present invention can detect whether the current operating state of the mobile platform meets the safe operating conditions according to the collected current value and the obtained reference threshold. If not, the current operating parameters (such as attitude, speed, acceleration, etc.) of the mobile platform are restricted so that the operating state of the mobile platform meets safe operating conditions. It can be seen that the embodiments of the present invention can ensure that the operating status of the mobile platform meets the safe operating conditions by limiting the operating parameters of the mobile platform, and can better protect the mobile platform.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For ordinary technicians, other drawings can be obtained based on these drawings without paying creative work.

FIG. 1 is an application scenario diagram of an overcurrent protection method according to an embodiment of the present invention; FIG.

2 is an application scenario diagram of an overcurrent protection method according to another embodiment of the present invention;

3 is a schematic flowchart of an overcurrent protection method according to an embodiment of the present invention;

4 is a schematic flowchart of an overcurrent protection method according to another embodiment of the present invention;

5 is a schematic structural diagram of a drone provided by an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention.

detailed description

An embodiment of the present invention proposes an overcurrent protection method for a mobile platform. The mobile platform here may include, but is not limited to, an aircraft, a robot, an unmanned electric vehicle, and the like; wherein the aircraft may include: an unmanned aircraft (Unmanned Aerial Vehicle / Drones (UAV) (referred to as UAV), quadcopter, etc. During the operation of the mobile platform, the current value of the mobile platform can be collected, and the reference threshold can be obtained. Then, it is detected whether the current operating status of the mobile platform meets the safe operating conditions according to the collected current value and the reference threshold. The current value collected here may refer to the current value collected within a preset time interval.

If it is detected that the current operating state of the mobile platform does not meet the safe operating conditions, for example, it is detected that the integral or average of the square of the current value collected within a preset time interval is greater than the integral or average of the reference threshold square within the preset time interval, Or the integral or average value of the current value collected within the preset time interval is greater than the integral or average value of the reference threshold value within the preset time interval; then the current operating parameters of the mobile platform can be limited, and the current operating parameters here can include : Attitude parameters, speed parameters, acceleration parameters, etc. In this embodiment, the reference threshold is a preset current threshold.

After limiting the current operating parameters of the mobile platform, the operating state of the mobile platform can be made to meet safe operating conditions. By limiting the current operating parameters of the mobile platform, the motor speed can be reduced. As the speed of the motor decreases, the current of the motor can be reduced to prevent the motor from being damaged due to overcurrent. The overcurrent here means that the current value of the motor continues to exceed the current threshold for a period of time, which can prevent the mobile platform from Damage and abnormal operation, even damage.

For example, take this overcurrent protection method as an example in a drone. When a user wants to use a drone for aerial photography of a certain scene, he can control the drone to fly in the air, and during the drone's flight, control the drone to take an image of the scene, as shown in Figure 1. During the flight, the drone can maintain the running state (ie, the flight state) by the internal motor. The larger the flight parameter (such as attitude angle), speed, acceleration, and other operating parameters of the drone, the greater the power required by the drone, and the greater the current required, which may cause the drone's interior Motor has an overcurrent condition. Once the motor is over-current, a large amount of heat may be generated because the current continues to be too high, which will cause the motor to be damaged due to heat, which will cause the drone to fly abnormally or even to bomb the aircraft.

Therefore, in order to avoid overheating and damage to the motor and to ensure the normal flight of the drone, during the flight, the drone can detect whether the current operating status of the drone meets the safe operating conditions in real time. For example, the current value of the drone can be collected in real time, specifically, the current value of the drone motor is collected in real time; the integral of the square of the current value collected within a preset time interval is calculated; if the integral is greater than the reference threshold, then It is considered that the current running state of the drone does not meet the safe operating conditions, and the reference threshold here may be a preset squared integration threshold. For another example, the current value of the drone can be collected in real time; the average value of the squared current values collected within a preset time interval is calculated; if the average value is greater than the reference threshold, the current operating state of the drone is deemed to not meet the safe operating conditions, The reference threshold here may be a preset squared average threshold. As another example, the integral of the current value collected within a preset time interval can be calculated; if the integral is greater than the reference threshold, the reference threshold here can be a preset integral threshold, it is considered that the current operating state of the drone is not satisfied Safe operating conditions; Finally, the average value of the current values collected within a preset time interval can also be calculated; if the average value is greater than the reference threshold, the current operating state of the drone is considered to not meet the safe operating conditions, and the reference threshold here can be Is the preset mean threshold.

If it is detected that the current operating status of the drone does not meet the safe operating conditions, the current operating parameters (such as flight attitude parameters, flight speed parameters, flight acceleration parameters, etc.) of the drone may be limited. Specifically, the current operating parameters of the drone may be restricted according to the operating restriction parameters. The operating restriction parameters here may include but are not limited to: attitude limitation parameters, speed limitation parameters, acceleration limitation parameters, and the attitude limitation parameters here may be Including the attitude angle limitation parameters of the drone. The operation limit parameter refers to the maximum flightable parameter of the drone during actual flight. The operation limit parameter can be determined according to the limit scale parameter, where the limit scale parameter can be determined by the collected current value and the reference threshold; Optionally, the operation limit parameter may be preset. After limiting the current operating parameters of the drone, the operating state of the drone can be made to meet the safe operating conditions.

In the rotor wing drone, taking the operation limit parameter as the attitude limit parameter as an example, the drone can limit the attitude of the aircraft during flight according to the attitude limit parameter, thereby reducing the flying speed of the drone. As the drone's flight speed decreases, the power consumed by the drone's flight will also decrease, so the current will also decrease; because the heat generated by the motor is proportional to the square of the current, the current's Reduction can reduce the amount of heat generated by the motor, which can prevent the motor from becoming hot due to a large amount of heat and avoid damage to the motor. Furthermore, the abnormal flight of the drone due to the damage of the motor can be avoided, and the flight safety of the drone is guaranteed.

As another example, take this overcurrent protection method as an example in a robot, as shown in FIG. 2. During the operation of the robot, the running state can be maintained by the internal motor. The running state here can include the moving speed and acceleration of the robot. Since the current consumed by the robot is related to the operating parameters such as the moving speed and acceleration of the robot, the greater the value of these operating parameters, the greater the power consumed by the robot, and the greater the current required, which makes it easier. An overcurrent situation occurs; and the heat generated by the motor inside the robot is directly proportional to the square of the current, so the continuous high current will generate a lot of heat, and the robot will be easily damaged due to the high temperature.

Therefore, during the operation of the robot, it is necessary to detect in real time whether the current operating state of the robot satisfies the safe operating conditions. If it is detected that the current running status of the robot does not meet the safe running conditions, the running limit parameters of the robot during the running process can be determined, for example, the running limit parameter is a speed limit parameter representing the maximum speed value that can be actually moved, and according to this running limit The parameters limit the current running parameters of the robot (such as the current speed parameters) as an example.

Limiting the current operating parameters of the robot through the operation limit parameters can reduce the power consumed by the robot during operation and reduce the current. It can be known from the foregoing that the heat generated by the motor heating inside the robot is proportional to the square of the current. Therefore, the reduction of the current can reduce the heat generated by the motor, which can prevent the motor from becoming hot due to a large amount of heat. Damage to the motor. In addition, the abnormal operation of the robot due to the damage of the motor can be avoided, and the damage of the robot can be avoided.

It can be seen that the overcurrent protection method provided by the embodiments of the present invention can ensure that mobile platforms (such as the aforementioned drones and robots) prevent the motor from overcurrent problems during operation, which causes the motor to generate a large amount of heat and cause motor damage. , Which causes the mobile platform to work abnormally, causing the problem of damage to the mobile platform.

Based on the above description, an embodiment of the present invention proposes an overcurrent protection method that can better protect a mobile platform in FIG. 3, and the overcurrent protection method can be executed by the foregoing mobile platform. During the operation of the mobile platform, it can be detected in real time whether the current operating status of the mobile platform meets the safe operating conditions. The current operating status here can be related to the current value collected by the mobile platform during operation. In S301, during the operation of the mobile platform, the current value of the mobile platform is collected, and a reference threshold is obtained. Specifically, during the operation of the mobile platform, the current of the motor inside the mobile platform can be collected in real time. The reference threshold may be stored in the memory in advance, and when the preset reference threshold is obtained, the reference threshold may be directly obtained from the memory, and the reference threshold may be a current threshold. Then, it is judged whether the current operating state of the mobile platform satisfies the safe operating conditions according to the collected current value and the reference threshold. The collected current value here may include: the current value collected by performing current sampling within a preset time interval, For example, 10 current values obtained in 5 seconds. In other embodiments, the collected current value may also be the maximum value of the current in a certain period, or the average value of the current in a certain period.

In S302, if it is determined according to the collected current value and the reference threshold that the current operating status of the mobile platform does not meet the safe operating conditions, the current operating parameters of the mobile platform are limited so that the operating status of the mobile platform meets the safety requirements. Operating conditions. The current operating state of the mobile platform here does not meet the safe operating conditions may include, but is not limited to: the observed value is greater than the estimated value, and the observed value here may be the integral or mean of the square of the current value collected within a preset time interval, Or the integral or average of the current values collected within a preset time interval; correspondingly, the estimated value can be determined according to a reference threshold. In the embodiment of the present invention, the reference threshold value is a current threshold value, and the estimated value is obtained according to the reference threshold value to obtain a square integration threshold value, a square average threshold value, or an integration threshold value and a mean threshold value.

When limiting the current operating parameters of the mobile platform, the current operating parameters can be limited by using the operating limit parameters, which can be used to represent the maximum operable parameter value of the mobile platform during actual operation. The operation here The limitation parameters may include, but are not limited to, attitude limitation parameters, speed limitation parameters, acceleration limitation parameters, and the like; for example, the operation limitation parameter is a speed limitation parameter, and the value of the operation limitation parameter is 5km / h as an example, indicating movement The maximum speed of the platform during actual operation is 5km / h.

The operation limitation parameter may be determined according to the collected current value and the reference threshold, or may be preset; after the operation limitation parameter is determined, the current operation parameter of the mobile platform may be limited according to the operation limitation parameter. Specifically, the size of the running limit parameter and the current running parameter can be compared. If the running limit parameter is smaller than the current running parameter, the current running parameter is updated to the running limit parameter. Take the running limit parameter and the current running parameter as speed parameters as an example. For example, if the running limit parameter is 5km / h and the current running parameter is 6km / h, the current running parameter is updated to the running limit parameter, that is, the current running parameter at this time. Updated to 5km / h.

In other embodiments, the reference threshold may also be a preset squared integration threshold, a squared average threshold, or an integration threshold and a mean threshold, and the estimated value is equal to the reference threshold. After determining the observations, the mobile platform can directly compare the observations with a reference threshold. If the observed value is greater than the reference threshold, the current operating state of the mobile platform is considered to fail to meet safe operating conditions.

In other embodiments, the current running state of the mobile platform here does not meet the safe operating conditions may further include but is not limited to: the collected current value is greater than the reference threshold, and the reference threshold here is the current threshold; or at a preset time The integral of the squared current value collected during the interval is greater than the reference threshold. The reference threshold here is the square integral threshold, and so on.

In still another implementation manner, in the embodiment of the present invention, an overcurrent protection method that can better protect a mobile platform is provided in FIG. 4, and the overcurrent protection method may be executed by the foregoing mobile platform. In S401, during the operation of the mobile platform, the current value of the mobile platform is collected, and a reference threshold is obtained. Then, it can be judged whether the current operating status of the mobile platform satisfies the safe operating conditions according to the collected current value and the reference threshold. The collected current value here can be the current value collected by performing current sampling within a preset time interval. The reference threshold is the current threshold. In S402, if it is determined according to the collected current value and the reference threshold that the current operating state of the mobile platform does not meet the safe operating conditions, then the limit proportion parameter is determined according to the collected current value and the reference threshold.

Due to the heat generated by the motor Q = I ² * R * T, where I is the current of the motor, R is the resistance, and T is the time. According to this formula, the heat generated by the motor is proportional to the square of the current. Therefore, in order to accurately detect whether the current operating state of the mobile platform satisfies the safe operating conditions, the integral of the square of the current value collected within a preset time interval can be determined as the observation value, and the threshold squared The integration threshold is determined as an estimated value, and whether the current operating state of the mobile platform meets the safe operating conditions is determined by comparing the magnitude of the observed value with the estimated value. If the observed value is greater than the estimated value, it is considered that the current operating state does not meet the safe operating conditions. At this time, the ratio of the estimated value to the observed value may be determined as a limiting ratio parameter.

In S403, operation reference parameters of the mobile platform may be obtained. The operation reference parameters herein may include, but are not limited to, operation parameters preset for the mobile platform, or operation parameters in the current operation state of the mobile platform. In one embodiment, the operation reference parameter may be a preset operation parameter, and the preset operation parameter may be stored in a memory. The preset operation parameter may be performed according to a limit value of a parameter such as a posture of the mobile platform. The specific implementation manner of obtaining the running reference parameter of the mobile platform in S403 at this time may be: directly obtaining the preset running parameter from the memory, and using the obtained preset running parameter as the running reference parameter. In another embodiment, the operation reference parameter may be an operation parameter in a current operating state of the mobile platform, and a specific implementation manner for obtaining the operation reference parameter of the mobile platform may be: calling a sensor (such as a speed sensor, an acceleration, etc.) inside the mobile platform. (Sensor) to obtain the running parameters in the current running state, and use the obtained running parameters in the current state as the running reference parameter. It should be noted that there is no sequence between steps S402 and S403.

After the running reference parameter and the limiting scale parameter are determined, the sizes of the limiting scale parameter, the first scale threshold, and the second scale threshold can be compared, where the first scale threshold is smaller than the second scale threshold, the first scale threshold and the second scale threshold. The ratio threshold can be preset. When the first proportional threshold and the second proportional threshold are set in advance, they may be set according to actual business requirements, and may be set according to historical experience values, which are not limited herein.

In one embodiment, if the limiting ratio parameter is smaller than the first ratio threshold, determine the first ratio threshold as the limiting ratio parameter, and then execute step S404; if the limiting ratio parameter is greater than the second ratio The threshold value, the second proportional threshold value is determined as the restricted proportionality parameter, and then step S404 is performed; if the restricted proportionality parameter is greater than the first proportional threshold value and less than the second proportional threshold value, the restricted proportionality parameter is not changed and is directly Step S404 is performed.

For example, from the foregoing, the first proportional threshold is smaller than the second proportional threshold. Taking the first proportional threshold as 0.5 and the second proportional threshold as an example, the first proportional threshold and the second proportional threshold may constitute a proportional threshold interval ( 0.5, 1). If the limit scale parameter is 0.45, it can be known that 0.45 does not fall within the scale threshold interval (0.5, 1) and is smaller than the first scale threshold 0.5, and the value of the limit scale parameter is updated to 0.5. If the limit scale parameter is 1.02, it can be known that 1.02 does not fall within the range threshold (0.5, 1) and is larger than the first scale threshold value 1, then the value of the limit scale parameter is updated to 1. If the limit scale parameter is 0.75, it can be known that 0.75 falls within this scale threshold interval (0.5, 1), so the limit scale parameter is not updated, that is, the limit scale parameter is equal to 0.75. Limiting the limiting proportionality parameter to a certain range (that is, the proportional threshold interval) is to prevent the limiting proportionality parameter from being too small, so that the operating parameters of the mobile platform are limited to an excessively small range, such as limiting the attitude of the rotary drone. If it is too small, the ability of the rotorcraft to resist external interference (such as wind) is reduced. Of course, in other embodiments, according to the specific usage scenario, the limit ratio parameter may be limited to the range of (0, 1), or not limited.

After comparing the size of the limit scale parameter with the first scale threshold and the second scale threshold and performing a series of processing on the limit scale parameter according to the comparison result, the operation limit parameter can be determined according to the limit scale parameter and the operation reference parameter in S404. . In an embodiment, a specific implementation manner for determining the operation limitation parameter according to the limitation ratio parameter and the operation reference parameter may be: determining a product of the limitation ratio parameter and the operation reference parameter as the operation limitation parameter. After the operation limitation parameter is determined, the current operation parameter of the mobile platform may be limited according to the operation limitation parameter in S405.

In other embodiments, the observed value may also be the average of the squared current values collected within a preset time interval. For example, if three current values are collected within a preset time interval of 3s, which are 3A, 4A, and 3A, then The observed value at this time is (3 ² * 1 + 4 ² * 1 + 3 ² * 1) /3=11.33; correspondingly, the estimated value is the average threshold value of the square of the reference threshold within a preset time interval. The reference threshold can Is the current threshold value 3A. Since the reference threshold value is constant during the preset time interval, the average threshold value of the squared reference threshold value is equal to the square of the reference threshold value, that is, the estimated value is 3 ² * 3/3 = 9. The limiting ratio parameter at this time is the ratio of the estimated value to the observed value 9 / 11.33 = 0.794.

In other embodiments, the observed value may also be an average value of the current values collected within a preset time interval. For example, 3 current values are collected within a preset time interval of 3s, and an average current value is obtained every 1s, respectively 3A, 4A, and 3A, the observed value at this time is (3 * 1 + 4 * 1 + 3 * 1) /3=3.33; correspondingly, the estimated value is the average threshold value of the reference threshold value within a preset time interval, The reference threshold may be a current threshold of 3A. Since the reference threshold is constant in a preset time interval, the average threshold of the reference threshold in the preset time interval is equal to the reference threshold, that is, the estimated value is 3. The limiting ratio parameter at this time is the ratio of the estimated value to the observed value 3 / 3.33 = 0.901.

In other embodiments, the observed value may also be an integral of a current value collected within a preset time interval, and accordingly, the estimated value is an integrated threshold value that is a reference threshold within the preset time interval. The limiting ratio parameter at this time is the ratio of the estimated value to the observed value.

In other embodiments, the collected current value may be a current value collected within a preset time interval, and the reference threshold may also be a preset squared integration threshold, a squared average threshold, a mean threshold, or an integrated threshold. The estimated value is equal to the reference threshold. Correspondingly, the method for determining the limiting ratio parameter may also be: directly determining the ratio of the reference threshold and the observed value as the limiting ratio parameter. In one embodiment, if the reference threshold is an average threshold, the specific implementation of determining the limiting ratio parameter according to the collected current value and the reference threshold may be: determining a ratio of the reference threshold and the average value of the collected current value as Limit scale parameter.

In the specific implementation process, the average value of the current values collected within a preset time interval can be obtained first, and then the ratio of the reference threshold value and the average value can be obtained, and the obtained ratio value can be determined as the limiting ratio parameter. Here The reference threshold is the current threshold. For example, the preset time interval is 5 seconds, and the current sampling is performed within 5 seconds, and the sampling frequency can be 20 times / second, then 100 current values can be sampled within 5 seconds, that is, the collected current value can include this 100 current values. By averaging these 100 current values, you can get the average value of the collected current value is 4 amps (referred to as A), and the reference threshold (current threshold value) is 3A, then the limit proportional parameter can be 3A / 4A = 0.75.

Based on the description of the above method embodiments, in an implementation manner, an embodiment of the present invention also provides a schematic structural diagram of a drone as shown in FIG. 5. The drone as shown in FIG. 5 may include at least: a memory. 101, a processor 102, a motor 103, a propeller 104, and a fuselage 105, wherein the memory 101 is used to store program instructions; the processor 102 is configured to call the program instructions and perform the following steps:

During the operation of the drone, collecting the current value of the drone, specifically collecting the current value of the drone motor, and obtaining a reference threshold;

In an implementation manner, the current running state of the drone does not satisfy the safe running condition includes: an observed value is greater than an estimated value,

Wherein, the observed value is the integral or average of the squared current values collected during the preset time interval, or the integral or average of the current values collected during the preset time interval;

The estimated value is determined according to the reference threshold.

In still another embodiment, when the reference threshold is a current threshold, the estimated value obtains a squared integration threshold, a squared average threshold, or an integration threshold and a mean threshold according to the reference threshold.

When the reference threshold value is a preset squared integration threshold value, a squared average threshold value, or an integration threshold value or an averaged threshold value, the estimated value is equal to the reference threshold value.

In another implementation manner, the processor 102 is configured to call the program instructions, and specifically performs the following steps:

Determining a limiting ratio parameter according to the collected current value and the reference threshold;

Correspondingly, when the current operating parameters of the mobile platform are restricted, the processor 102 is configured to call the program instructions, and specifically performs the following steps:

Limiting the current operating parameters of the mobile platform according to the limiting scale parameter.

In still another implementation manner, when the limit ratio parameter is determined according to the collected current value and the reference threshold, the processor 102 is configured to call the program instruction, and specifically performs the following steps: The ratio of the estimated value to the observed value is determined as a limiting ratio parameter.

In still another embodiment, when the current operating parameters of the drone are restricted according to the limit proportion parameter, the processor 102 is configured to call the program instruction, and specifically performs the following steps: Obtaining a running reference parameter of the drone; determining a running limit parameter according to the limiting scale parameter and the running reference parameter; limiting a current running parameter of the drone according to the running limit parameter.

In still another implementation manner, the processor 102 is configured to call the program instructions, and further executes the following steps: if the limit scale parameter is greater than a first scale threshold and less than a second scale threshold, executing A step of determining a running limit parameter by the limiting scale parameter and the running reference parameter, wherein the first scaling threshold is smaller than the second scaling threshold; or, if the limiting scaling parameter is smaller than the first scaling threshold, the The first ratio threshold is determined as the limit ratio parameter, and then the step of determining the operation limit parameter according to the limit ratio parameter and the operation reference parameter is performed; or, if the limit ratio parameter is greater than the second ratio threshold, the The second proportional threshold value is determined as the limiting proportional parameter, and then the step of determining an operating limiting parameter according to the limiting proportional parameter and the operating reference parameter is performed.

In still another implementation manner, when the operation limit parameter is determined according to the limit proportion parameter and the operation reference parameter, the processor 102 is configured to call the program instruction, and specifically performs the following steps: The product of the limit ratio parameter and the running reference parameter is determined as the running limit parameter.

In still another implementation manner, the operation reference parameter includes: an operation parameter preset for the drone, or an operation parameter in a current operation state of the drone.

In still another implementation manner, the running limitation parameter includes: an attitude limitation parameter, a speed limitation parameter, or an acceleration limitation parameter.

During the operation of the drone, the embodiment of the present invention can detect whether the current running state of the drone meets the safe operating conditions according to the collected current value and the obtained reference threshold. If not, the current operating parameters (such as attitude, speed, acceleration, etc.) of the drone are restricted to make the operating status of the drone meet the safe operating conditions. It can be seen that the embodiments of the present invention can ensure that the operating state of the drone meets the safe operating conditions by limiting the operating parameters of the drone, and can better protect the drone.

Based on the description of the foregoing method embodiments, an embodiment of the present invention also provides a schematic structural diagram of a mobile platform as shown in FIG. 6, where the mobile platform may include, but is not limited to, an aircraft, a robot, and an unmanned electric vehicle. And so on; among them, the aircraft may include: Unmanned Aerial Vehicle / Drones (UAV) (unmanned aerial vehicle), quadcopter, and so on. As shown in FIG. 6, the internal structure of the mobile platform may include at least a processor 201, an input device 202, an output device 203, and a memory 204. The processor 201, the input device 202, the output device 203, and the memory 204 in the terminal may be connected through a bus or other methods. In FIG. 6 shown in the embodiment of the present invention, the connection through the bus is taken as an example. The memory 204 herein may be used to store a computer program, the computer program includes program instructions, and the processor 201 herein may be used to execute the program instructions stored in the memory 204.

In one embodiment, the processor 201 may be a Central Processing Unit (CPU), and the processor may also be another general-purpose processor, that is, a microprocessor or any conventional processor, such as a digital signal. Processor (Digital Signal Processor, DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, Discrete hardware components, etc.

The memory 204 may include a read-only memory and a random access memory, and provide instructions and data to the processor 201. Therefore, the processor 201 and the memory 204 are not limited herein.

In the embodiment of the present invention, the processor 201 loads and executes one or more instructions stored in the computer storage medium to implement the corresponding steps of the method in the foregoing corresponding embodiments; in specific implementation, at least one of the computer storage media The instruction is loaded by the processor 201 and executes the following steps:

In an implementation manner, the current operating state of the mobile platform does not satisfy the safe operating condition includes: an observed value is greater than an estimated value,

The integral or mean value of the square of the reference threshold within the preset time interval, or the integral or mean value of the reference threshold within the preset time interval.

In still another implementation manner, the at least one instruction may be further loaded by the processor 201 and executed as follows: determining a limiting ratio parameter according to the collected current value and the reference threshold;

Correspondingly, when limiting the current operating parameters of the mobile platform, the at least one instruction is loaded by the processor 201 and executes the following steps: limiting the current operating parameters of the mobile platform according to the limiting scale parameter.

In still another implementation manner, when the limiting ratio parameter is determined according to the collected current value and the reference threshold, the at least one instruction is loaded by the processor 201 and executes the following steps: the estimated value and the observed value are The ratio is determined as a limiting ratio parameter.

In still another embodiment, when the current operating parameters of the mobile platform are restricted according to the restricted scale parameter, the at least one instruction is loaded by the processor 201 and executed as follows:

Obtain the operation reference parameters of the mobile platform; determine the operation limitation parameters according to the limitation scale parameter and the operation reference parameters; and limit the current operation parameters of the mobile platform according to the operation limitation parameters.

In still another implementation manner, the at least one instruction is loaded by the processor 201 and executes the following steps: if the limit scale parameter is greater than a first scale threshold value and less than a second scale threshold value, executing A step of determining a running limit parameter by running a reference parameter, wherein the first proportional threshold is smaller than the second proportional threshold; or, if the restricted proportional parameter is smaller than the first proportional threshold, determining the first proportional threshold as The limiting scale parameter, and then performing the step of determining a running limit parameter according to the limiting scale parameter and the running reference parameter; or, if the limiting scale parameter is greater than a second scale threshold, determining the second scale threshold For the limited scale parameter, the step of determining a running limit parameter according to the limited scale parameter and the running reference parameter is performed.

In still another embodiment, when determining an operation limitation parameter according to the limitation ratio parameter and the operation reference parameter, the at least one instruction is loaded by the processor 201 and executes the following steps: the limitation ratio parameter and the operation The product of the reference parameters is determined as the running limit parameter.

In still another implementation manner, the operation reference parameter includes an operation parameter preset for the mobile platform or an operation parameter in a current operation state of the mobile platform.

In yet another embodiment, the mobile platform includes: an aircraft or a robot.

In the embodiment of the present invention, during the operation of the mobile platform, whether the current operating state of the mobile platform meets the safe operating conditions can be detected according to the collected current value and the obtained reference threshold. If not, the current operating parameters (such as attitude, speed, acceleration, etc.) of the mobile platform are restricted so that the operating state of the mobile platform meets safe operating conditions. It can be seen that the embodiments of the present invention can ensure that the operating status of the mobile platform meets the safe operating conditions by limiting the operating parameters of the mobile platform, and can better protect the mobile platform.

It should be noted that, for the specific working process of the mobile platform and unit described above, reference may be made to related descriptions in the foregoing embodiments, and details are not described herein again.

A person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by using a computer program to instruct related hardware. The program can be stored in a computer-readable storage medium. The program When executed, the processes of the embodiments of the methods described above may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random, Access Memory, RAM).

The above disclosure is only part of the embodiments of the present invention, and of course, the scope of rights of the present invention cannot be limited by this. Those skilled in the art can understand all or part of the process of implementing the above embodiments and make according to the claims of the present invention. The equivalent changes still fall within the scope of the invention.

Claims

An overcurrent protection method for a mobile platform is characterized in that it includes:

During the operation of the mobile platform, collecting the current value of the mobile platform and acquiring a reference threshold;

If it is determined according to the collected current value and the reference threshold that the current operating state of the mobile platform does not meet the safe operating conditions, limiting the current operating parameters of the mobile platform so as to make the operating state of the mobile platform Meet the safe operating conditions.
The method according to claim 1, wherein the current operating state of the mobile platform does not satisfy the safe operating condition comprises: an observed value is greater than an estimated value,

Wherein, the observed value is the integral or average of the squared current values collected during the preset time interval, or the integral or average of the current values collected during the preset time interval;

The estimated value is determined according to the reference threshold.
The method according to claim 2, wherein when the reference threshold value is a current threshold value, the estimated value obtains a square integral threshold value, a square mean threshold value, or an integration threshold value, a mean threshold value according to the reference threshold value;

When the reference threshold value is a preset squared integration threshold value, a squared average threshold value, or an integration threshold value or an averaged threshold value, the estimated value is equal to the reference threshold value.
The method of claim 2, further comprising:

Determining a limiting ratio parameter according to the collected current value and the reference threshold;

Accordingly, limiting the current operating parameters of the mobile platform includes:

Limiting the current operating parameters of the mobile platform according to the limiting scale parameter.
The method according to claim 4, wherein the determining a limiting ratio parameter according to the collected current value and the reference threshold comprises:

A ratio of the estimated value and the observed value is determined as a limiting ratio parameter.
The method according to claim 4 or 5, wherein the limiting the current operating parameters of the mobile platform according to the limiting proportion parameter comprises:

Acquiring operation reference parameters of the mobile platform;

Determining a running limit parameter according to the limiting proportion parameter and the running reference parameter;

Limiting the current operating parameters of the mobile platform according to the operating restriction parameters.
The method of claim 6, further comprising:

If the limit scale parameter is greater than a first scale threshold and less than a second scale threshold, performing a step of determining a running limit parameter according to the limit scale parameter and the running reference parameter, wherein the first scale threshold is less than the A second proportional threshold; or,

If the limit scale parameter is smaller than the first scale threshold, determining the first scale threshold as the limit scale parameter, and then performing the step of determining an operation limit parameter according to the limit scale parameter and the running reference parameter; or ,

If the limiting proportion parameter is greater than a second proportion threshold, determining the second proportion threshold as the limiting proportion parameter, and then performing the step of determining an operating restriction parameter according to the limiting proportion parameter and the operation reference parameter.
The method according to claim 6, wherein the determining the operation limitation parameter according to the limitation ratio parameter and the operation reference parameter comprises:

The product of the limit scale parameter and the running reference parameter is determined as a running limit parameter.
The method according to claim 6, wherein the operation reference parameter comprises: an operation parameter preset for the mobile platform, or an operation parameter in a current operation state of the mobile platform.
The method according to claim 6, wherein the operation limitation parameters include: attitude limitation parameters, speed limitation parameters, or acceleration limitation parameters.
The method according to any one of claims 1 to 10, wherein the mobile platform comprises: an aircraft or a robot.
A drone, characterized in that the drone includes: a memory, a processor, a motor, a propeller, and a fuselage, wherein the memory is used to store program instructions; and the processor is configured to call all To describe the program instructions, perform the following steps:

During the operation of the drone, collecting a current value of the drone, and acquiring a reference threshold;

If it is determined according to the collected current value and the reference threshold that the current operating state of the drone does not meet the safe operating conditions, limiting the current operating parameters of the drone in order to make the drone The operating state satisfies the safe operating conditions.
The drone according to claim 12, wherein the current operating state of the drone does not satisfy the safe operating condition comprises: an observed value is greater than an estimated value,

Wherein, the observed value is the integral or average of the squared current values collected during the preset time interval, or the integral or average of the current values collected during the preset time interval;

The estimated value is determined according to the reference threshold.
The drone according to claim 13, wherein when the reference threshold value is a current threshold value, the estimated value obtains a squared integration threshold value, a squared average threshold value, or an integration threshold value according to the current threshold value. Mean threshold

When the reference threshold value is a preset squared integration threshold value, a squared average threshold value, or an integration threshold value or an averaged threshold value, the estimated value is equal to the reference threshold value.
The drone according to claim 13, wherein the processor is configured to call the program instructions, and specifically performs the following steps:

Determining a limiting ratio parameter according to the collected current value and the reference threshold;

Correspondingly, when the current operating parameters of the mobile platform are restricted, the processor is configured to call the program instructions, and specifically performs the following steps:

Limiting the current operating parameters of the mobile platform according to the limiting scale parameter.
The drone according to claim 15, characterized in that, when the limit proportion parameter is determined according to the collected current value and the reference threshold value, the processor is configured to call the program instruction, specifically Perform the following steps:

A ratio of the estimated value and the observed value is determined as a limiting ratio parameter.
The drone according to claim 15 or 16, wherein when the current operating parameters of the drone are restricted according to the limit proportion parameter, the processor is configured to call all the drones. The program instructions are described as follows:

Obtaining operating reference parameters of the drone;

Determining a running limit parameter according to the limiting proportion parameter and the running reference parameter;

Limiting the current operating parameters of the drone according to the operating limit parameters.
The drone according to claim 17, wherein the processor is configured to call the program instructions, and further performs the following steps:

If the limit scale parameter is greater than a first scale threshold and less than a second scale threshold, performing a step of determining a running limit parameter according to the limit scale parameter and the running reference parameter, wherein the first scale threshold is less than the A second proportional threshold; or,

If the limit scale parameter is smaller than the first scale threshold, determining the first scale threshold as the limit scale parameter, and then performing the step of determining an operation limit parameter according to the limit scale parameter and the running reference parameter; or ,

If the limiting proportion parameter is greater than a second proportion threshold, determining the second proportion threshold as the limiting proportion parameter, and then performing the step of determining an operating restriction parameter according to the limiting proportion parameter and the operation reference parameter.
The drone according to claim 17, characterized in that, when determining an operation limitation parameter according to the limitation scale parameter and the operation reference parameter, the processor is configured to call the program instruction, Perform the following steps:

The product of the limit scale parameter and the running reference parameter is determined as a running limit parameter.
The drone according to claim 17, wherein the operation reference parameter comprises: an operating parameter preset for the drone, or an operating parameter in a current operating state of the drone.
The drone according to claim 17, wherein the operation limitation parameters include: attitude limitation parameters, speed limitation parameters, or acceleration limitation parameters.
A mobile platform is characterized in that it includes a processor, an input device, an output device, and a memory, and the processor, the input device, the output device, and the memory are connected to each other, wherein the memory is used to store a computer program, and the computer The program includes program instructions, and the processor is configured to call the program instructions to execute the overcurrent protection method according to any one of claims 1-11.
A computer storage medium, characterized in that the computer storage medium stores computer program instructions, and the computer program instructions are adapted to be loaded by a processor and execute the overcurrent protection method according to any one of claims 1-11. .