CN117508676A - Power grid inspection unmanned aerial vehicle assisting battery pack in wireless power supply - Google Patents
Power grid inspection unmanned aerial vehicle assisting battery pack in wireless power supply Download PDFInfo
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- CN117508676A CN117508676A CN202311694389.XA CN202311694389A CN117508676A CN 117508676 A CN117508676 A CN 117508676A CN 202311694389 A CN202311694389 A CN 202311694389A CN 117508676 A CN117508676 A CN 117508676A
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- 238000007689 inspection Methods 0.000 title claims abstract description 24
- 230000001502 supplementing effect Effects 0.000 claims abstract description 48
- 230000008859 change Effects 0.000 claims description 31
- 238000006243 chemical reaction Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 11
- 239000011810 insulating material Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 239000013307 optical fiber Substances 0.000 claims description 5
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- 230000005540 biological transmission Effects 0.000 abstract description 19
- 230000001276 controlling effect Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 15
- 230000000875 corresponding effect Effects 0.000 description 12
- 230000005611 electricity Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000013589 supplement Substances 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/20—Transmission of mechanical power to rotors or propellers
- B64U50/23—Transmission of mechanical power to rotors or propellers with each propulsion means having an individual motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/34—In-flight charging
- B64U50/35—In-flight charging by wireless transmission, e.g. by induction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
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- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The application provides an auxiliary battery pack wireless power supply's electric wire netting inspection unmanned aerial vehicle, include: a main body of the unmanned aerial vehicle, a plurality of connection members and a plurality of driving members; the first end of each connecting component is connected with the unmanned aerial vehicle main body; the second end of each connecting component is connected with one driving component; the unmanned aerial vehicle main body comprises a micro control unit, a first battery pack and a wireless power supply module; the driving part comprises a rotor wing, a driving motor and a second battery pack, and the second battery pack is arranged below the driving motor; the capacity of the second battery pack is smaller than that of the first battery pack; the first battery pack and the second battery pack are not conducted with each other; the micro control unit is used for: obtaining second electric quantity information of a second battery pack; and controlling the wireless power supplementing module to supply power to the second battery pack by using the first battery pack according to the second electric quantity information. The unmanned aerial vehicle that this application provided can guarantee unmanned aerial vehicle has stronger duration under the prerequisite that reduces the wire, satisfies the demand that unmanned aerial vehicle was close to transmission line and long distance inspection when being used for the inspection.
Description
Technical Field
The invention relates to the technical field of smart power grids, in particular to a power grid inspection unmanned aerial vehicle for assisting in wireless power supplement of a battery pack.
Background
Currently, unmanned aerial vehicles are widely applied to power transmission line inspection of a power grid. When using unmanned aerial vehicle to patrol and examine transmission line, can be generally at unmanned aerial vehicle installation and be used for patrol and examine the carrying device of equipment, then install on carrying device and patrol and examine equipment, from this, unmanned aerial vehicle when flying along transmission line, patrol and examine equipment and can detect transmission line and have unusual.
The unmanned aerial vehicle that patrols and examines is general many rotor structures, in order to drive the motor that each rotor corresponds, needs to dispose a large amount of wires and connects battery and motor, and too much wire can strengthen transmission line to unmanned aerial vehicle's interference, can't be close to transmission line when leading to unmanned aerial vehicle to patrol and examine, influences the effect of patrolling and examining.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides an electric network inspection unmanned aerial vehicle for assisting the wireless power supply of a battery pack so as to reduce the influence of a power transmission line on the inspection unmanned aerial vehicle.
The application provides an auxiliary battery pack wireless power supply's electric wire netting inspection unmanned aerial vehicle, include:
a main body of the unmanned aerial vehicle, a plurality of connection members and a plurality of driving members;
the first end of each connecting component is connected with the unmanned aerial vehicle main body;
the second end of each connecting component is connected with one driving component;
the unmanned aerial vehicle main body comprises a micro control unit, a first battery pack and a wireless power supply module;
the driving part comprises a rotor wing, a driving motor and a second battery pack, and the second battery pack is arranged below the driving motor;
the capacity of the second battery pack is smaller than that of the first battery pack;
the first battery pack and the second battery pack are not conducted with each other;
the micro control unit is used for:
obtaining second electric quantity information of the second battery pack;
and controlling the wireless power supply module to supply power for the second battery pack by using the first battery pack according to the second electric quantity information.
Optionally, the wireless power supplementing module is a radio frequency transmitting module, and the second battery pack is provided with a radio frequency receiving module;
when the wireless power supply module utilizes the first battery pack to supply power for the second battery pack, the wireless power supply module is specifically used for:
and transmitting a directional radio frequency signal to the radio frequency receiving module by utilizing the electric energy of the first battery pack, so that the radio frequency receiving module charges the second battery pack based on the directional radio frequency signal.
Optionally, the unmanned aerial vehicle main body has the shell of insulating material, the drive part has the shell of insulating material.
Optionally, the second battery pack is provided with an electric quantity detection module and a signal conversion module;
the signal conversion module is used for:
transmitting second electric quantity information provided by the electric quantity detection module to the micro control unit through an insulating optical fiber;
or for:
and sending the second electric quantity information provided by the electric quantity detection module to the micro control unit through wireless communication.
Optionally, when the micro control unit controls the wireless power supply module to supply power to the second battery pack by using the first battery pack according to the second electric quantity information, the micro control unit is specifically configured to:
determining electric quantity change information according to the second electric quantity information;
and controlling the wireless power supply module to supply power for the second battery pack by using the first battery pack according to the second electric quantity information and the electric quantity change information.
Optionally, the micro control unit is configured to control, according to the second electric quantity information and the electric quantity change information, the wireless power supply module to supply power to the second battery pack by using the first battery pack, where the micro control unit is specifically configured to:
determining the second battery pack meeting the power supply condition from a plurality of second battery packs according to the second electric quantity information;
determining charging power according to the electric quantity change information of the second battery pack meeting the power supplementing condition;
and controlling the wireless power supplementing module to supply power for the second battery pack meeting the power supplementing condition according to the charging power by using the first battery pack.
Optionally, when the micro control unit controls the wireless power supply module to supply power to the second battery pack by using the first battery pack according to the second electric quantity information, the micro control unit is specifically configured to:
and controlling the wireless power supply module to supply power for the second battery pack by using the first battery pack according to the second electric quantity information and the first electric quantity information of the first battery pack.
Optionally, the micro control unit is configured to control, according to the second power information and the first power information of the first battery pack, the wireless power supply module to supply power to the second battery pack by using the first battery pack, where the micro control unit is specifically configured to:
determining whether first power information of the first battery pack is greater than a first threshold;
when the first electric quantity information is larger than the first threshold value, controlling the wireless power supply module to supply power for the second battery packs, wherein each second electric quantity information meets the power supply condition, by using the first battery pack;
and when the first electric quantity information is smaller than or equal to the first threshold value, controlling the wireless power supply module to utilize the first battery pack to supply power for the second battery pack with the lowest electric quantity, wherein the power supply condition is met by the second electric quantity information.
Optionally, the unmanned aerial vehicle further comprises a carrying part and a patrol part, wherein the carrying part is fixed on the unmanned aerial vehicle main body, and the patrol part is installed on the carrying part;
the micro control unit is further configured to:
and controlling the wireless power supply module to supply power for the inspection component by using the first battery pack according to the first electric quantity information of the first battery pack.
Optionally, the micro control unit is further configured to:
and outputting power supplementing and indicating information when the first electric quantity information of the first battery pack is lower than a second threshold value.
The beneficial effects of this application lie in:
on the one hand, set up the second group battery in the driving motor below and with both integrated as drive unit for the second group battery can directly be the driving motor power supply through not passing through the wire, on the other hand, supply power for the second group battery through the wireless power module of unmanned aerial vehicle main part and first group battery, and first group battery and second group battery each other do not switch on, can enough solve the second group battery because the not enough problem of capacity of volume less, can not increase the wire of connecting first group battery and second group battery again. Therefore, the unmanned aerial vehicle that this application provided can ensure unmanned aerial vehicle has stronger duration under the prerequisite of the wire that is showing the reduction and use to satisfy the demand that unmanned aerial vehicle was close to transmission line and long distance inspection when being used for the inspection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a power grid inspection unmanned aerial vehicle for assisting in wireless power replenishment of a battery pack according to an embodiment of the present application;
fig. 2 is a flowchart of a method for supplementing electricity according to second electric quantity information according to an embodiment of the present application;
fig. 3 is a flowchart of a method for supplementing electricity according to second electric quantity information and electric quantity change information according to an embodiment of the present application;
fig. 4 is a flowchart of a method for supplementing electricity according to first electric quantity information and second electric quantity information according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the application provides a power grid inspection unmanned aerial vehicle for assisting battery pack wireless power supplement, please refer to fig. 1, which is a schematic structural diagram of the unmanned aerial vehicle.
This unmanned aerial vehicle includes: a main body 100 of the unmanned aerial vehicle, a plurality of connection members 200 and a plurality of driving members 300.
A first end of each connection part 200 is connected to the unmanned aerial vehicle body 100; the second end of each of the connection members 100 is connected to one of the driving members 300.
The unmanned aerial vehicle main body 100 includes a microcontrol unit (MCU) 101, a first battery pack 102, and a wireless power supply module 103.
Each of the driving parts 300 includes a rotor 301, a driving motor 302, and a second battery pack 303, and the second battery pack 303 is disposed below the driving motor 302.
In one drive unit, the electrodes of the second battery 303 may be welded directly to the input of the drive motor 302.
The second battery pack of each driving part is only used for driving the driving motor of the driving part, and further drives the rotor wing of the driving part to rotate.
The capacity of the second battery 303 is smaller than the first battery 102, and the first battery 102 and the second battery 303 are not conductive to each other, that is, there is no wire connection between the first battery 102 and the second battery 303.
When the unmanned aerial vehicle is running, the micro control unit 101 is configured to:
obtaining second electric quantity information of a second battery pack;
and controlling the wireless power supplementing module to supply power to the second battery pack by using the first battery pack according to the second electric quantity information.
The wireless power supply module can take power from the first battery pack under the control of the MCU, and then provides the power of the first battery pack for the second battery pack in a wireless charging mode through various wireless charging technologies.
As an example, the wireless power replenishment module may be a radio frequency transmission module, and the second battery pack has a radio frequency reception module.
In this case, the manner in which the wireless power supply module supplies power to the second battery pack by using the first battery pack may be:
the wireless power supply module acquires electric energy from the first battery pack, and then transmits a directional radio frequency signal to the radio frequency receiving module by utilizing the electric energy of the first battery pack, so that the radio frequency receiving module charges the second battery pack based on the directional radio frequency signal.
In this charging mode, the micro control unit may provide the pre-configured azimuth information of the second battery pack relative to the wireless power supplementing module after determining the second battery pack to be charged, so that the wireless power supplementing module may transmit the directional radio frequency signal to the azimuth of the second battery pack to be charged according to the azimuth information, thereby accurately charging the second battery pack to be charged.
In some optional embodiments, in order to further reduce interference of the power transmission line to the unmanned aerial vehicle, an outer shell made of an insulating material may be disposed on an outer side of the unmanned aerial vehicle body so as to include the unmanned aerial vehicle body, and an outer shell made of an insulating material may be disposed on an outer side of each driving part so as to include the second battery pack and the driving motor in the driving part.
The insulating material may be a plastic material.
In the unmanned aerial vehicle provided by the embodiment, the MCU may obtain the second electric quantity information of the second battery pack through multiple modes.
The second power information of the second battery pack may also be represented by a ratio of the remaining power of the second battery pack to the maximum power thereof. For example, the second power information is 35%, which indicates that the current remaining power of the second battery pack is 35% of the maximum power of the second battery pack.
As an example, after the unmanned aerial vehicle is started, before the first battery pack is used for supplying power to the second battery pack for the first time, the MCU may calculate the power consumption of the second battery pack according to the rated power of the driving motor and the continuous operation duration after the unmanned aerial vehicle is started, and then subtract the power consumption from the maximum power of the second battery pack to determine the second power information of the second battery pack.
The MCU can determine the charged electric quantity of the second battery pack according to the electric quantity consumed by the first battery pack after the first battery pack is used for supplying power to the second battery pack each time, and further determine the residual electric quantity of the second battery pack after each time of power supply.
As another example, the MCU may directly detect the second power information of the second battery pack through the relevant module.
In this case, each of the second battery packs may have a power detection module and a signal conversion module.
The electric quantity detection module can detect second electric quantity information of the second battery pack in real time and provide the second electric quantity information for the signal conversion module, and the signal conversion module sends the second electric quantity information to the micro control unit.
The signal conversion module and the micro control unit may have a wireless communication function, for example, a bluetooth communication function, and at this time, the signal conversion module may transmit the second power information provided by the power detection module to the micro control unit through wireless communication.
The signal conversion module can be connected with the micro control unit through an insulating optical fiber, at the moment, the signal conversion module can convert the second electric quantity information into an optical signal, and then the signal conversion module sends the second electric quantity information provided by the electric quantity detection module to the micro control unit through the insulating optical fiber.
It should be noted that, in the unmanned aerial vehicle provided in this embodiment, the number of the connecting members and the driving members is not limited, and may be 4 as illustrated in fig. 1, or may be 6, or may be 3, or may be other numbers.
In this embodiment, the micro control unit may be further configured to, in addition to controlling the wireless power supply module to supply power to the second battery pack:
controlling the modules (including the modules shown in fig. 1) of the unmanned aerial vehicle to be disconnected; checking whether the state of each module is normal or not; and the flight attitude of the unmanned aerial vehicle is adjusted, wireless electricity compensation is performed more efficiently, and an electricity compensation mode is adjusted.
The unmanned aerial vehicle that this application embodiment provided, its beneficial effect lies in:
on the one hand, set up the second group battery in the driving motor below and with both integrated as drive unit for the second group battery can directly be the driving motor power supply through not passing through the wire, on the other hand, supply power for the second group battery through the wireless power module of unmanned aerial vehicle main part and first group battery, and first group battery and second group battery each other do not switch on, can enough solve the second group battery because the not enough problem of capacity of volume less, can not increase the wire of connecting first group battery and second group battery again. Therefore, the unmanned aerial vehicle that this application provided can ensure unmanned aerial vehicle has stronger duration under the prerequisite of the wire that is showing the reduction and use to satisfy the demand that unmanned aerial vehicle was close to transmission line and long distance inspection when being used for the inspection.
When the unmanned aerial vehicle that this embodiment provided is applied to patrol and examine transmission line, unmanned aerial vehicle can be fully charged the back and can patrol and examine for a long time on the one hand, need not frequently stop the charging, has improved and has patrolled and examined efficiency, on the other hand, because unmanned aerial vehicle receives transmission line interference less, consequently can advance transmission line more, more just acquire transmission line and the information of the substation equipment along the line more clearly to can detect the existence of abnormal conditions more accurately.
In some alternative embodiments, the drone may further include a carrying member secured to the drone body 100 and a patrol member mounted on the carrying member.
The micro control unit 101 may also be used to:
and controlling the wireless power supplementing module to supply power to the inspection component by using the first battery pack according to the first electric quantity information of the first battery pack.
Specifically, the inspection component may include a memory, a processor, a battery and a camera, where the battery supplies power to other components, the camera is used to capture an image of the power transmission line, the memory is used to store the captured image and a detection program written in advance, and the processor is used to analyze the image of the power transmission line and its power transformation device by executing the detection program, so as to determine whether the captured power transmission line is abnormal.
Further, the processor may transmit the obtained images to a device on the ground via wireless communication technology, so that the relevant person can view the corresponding images on the ground.
The battery of the inspection component can support a wireless charging function, so that the micro control unit 101 can control the wireless power supplementing module to take power from the first battery pack when the first electric quantity information of the first battery pack is larger than a first threshold value, and then the wireless power supplementing module charges the battery of the inspection component through a wireless charging technology.
The first power information of the first battery pack may be expressed as a percentage of the remaining power of the first battery pack with respect to the maximum power of the first battery pack. The first power information is 45% and indicates that the current remaining power of the first battery pack is 45% of the maximum power of the first battery pack.
The first threshold may be set as needed, and is not limited. As an example, the first threshold may be set to 30%, that is, when the first power information is greater than 30%, the micro control unit controls the wireless power supplementing module to supply power to the inspection component using the first battery pack, and when the first power information is less than or equal to 30%, the micro control unit does not supply power to the inspection component using the first battery pack.
In this embodiment, the micro control unit may control the wireless power supply module to supply power to the second battery pack according to the second power information in a plurality of manners.
The first control method is as follows.
The micro control unit determines whether the second electric quantity information of each second battery pack meets a preset power supplementing condition, and then supplies power to the second battery pack in which the power supplementing condition is met.
Referring to fig. 2, the control method may include the following steps.
S201, second electric quantity information of a second battery pack is obtained.
The manner of obtaining the second power information may be referred to the foregoing embodiments, and will not be described in detail.
S202, determining whether the second electric quantity information of each second battery pack meets the power supplementing condition.
If the second electric quantity information of each second battery pack does not meet the power supply condition, returning to S201, and continuing to acquire the second electric quantity information of each second battery pack.
If the second power information of the plurality of second battery packs satisfies the power supplement condition, step S203 is performed. If only the second power information of one second battery pack satisfies the power supplement condition, step S204 is performed,
the power supplementing condition can be set according to the requirement, and is not limited.
As an example, the power-up condition may be that the second electric quantity information is not greater than a preset power-up threshold, and the power-up threshold may be set to 50%, for example. In other words, if the second electric quantity information of one second battery pack is greater than the power-up threshold, the second battery pack does not meet the power-up condition, otherwise, the power-up condition is met.
As another example, the power supply condition may be that the second electric quantity information is greater than a power supply threshold corresponding to output power of the second battery pack, in which case, the micro control unit may preset a plurality of output powers, and the power supply threshold corresponding to each output power, and each corresponding second battery pack may be provided with a power detection module for detecting the output power of the second battery pack, and the detected output power is sent to the micro control unit by the signal conversion module.
Therefore, the micro control unit can obtain the output power and the second electric quantity information of each second battery pack, when executing S202, the micro control unit can determine the power supplementing threshold value applicable to the second battery pack according to the output power of the second battery pack, then judge whether the second electric quantity information of the second battery pack is larger than the power supplementing threshold value corresponding to the second battery pack, if so, it is determined that the second battery pack does not meet the power supplementing condition, and if not, it is determined that the second battery pack meets the power supplementing condition.
The corresponding relation between the output power and the power-up threshold can be set according to the requirement, and is not limited. In some examples, the power up threshold may be positively correlated with the output power, i.e., the greater the output power, the greater the corresponding power up threshold.
And S203, supplying power to a plurality of second battery packs meeting the power supply condition according to the balanced power supply strategy.
In step S203, the micro control unit may divide the rated output power of the wireless power compensation module by the number of the second battery packs satisfying the power compensation condition to obtain the charging power of each second battery pack, and then control the wireless power compensation module to supply power to each second battery pack satisfying the power compensation condition according to the charging power.
Optionally, the micro control unit may adaptively allocate the charging power according to the second electric quantity information of each second battery pack meeting the power supplementing condition, the second battery pack with lower second electric quantity information has larger applicable charging power, the second battery pack with higher second electric quantity information has smaller applicable charging power, and the sum of the charging powers of all the second battery packs meeting the power supplementing condition is equal to the rated output power of the wireless power supplementing module.
S204, supplying power to the single second battery pack meeting the power supply condition according to the independent power supply strategy.
In step S204, since there is only one second battery pack that satisfies the power supply condition, the micro control unit may control the wireless power supply module to directly supply power to the second battery pack according to the rated output power.
Optionally, in S204, the radio module may also power the second battery pack at a power slightly lower than the rated output power, for example, at 80% of the rated output power.
The second control mode is as follows:
and determining electric quantity change information according to the second electric quantity information, and controlling the wireless power supply module to supply power to the second battery pack by using the first battery pack according to the second electric quantity information and the electric quantity change information.
The power change information may be a power decrease width of the second battery pack per unit time, for example, may be several percent of the maximum power decrease per minute. For example, for a certain second battery pack, the determined power change information may be 2% decrease per minute, indicating that the second battery pack consumes 2% of its maximum power per minute.
The manner of determining the power change information according to the second power information may be:
the micro control unit collects second electric quantity information of the second battery pack in the last several unit times, then calculates difference values of the second electric quantity information before and after the unit time every other unit time, and averages a plurality of difference values to obtain a result as electric quantity change information. For example, the second electric quantity information of the last 3 minutes is collected, the difference value of the second electric quantity information of the 3 rd minute and the second electric quantity information of the 2 nd minute is calculated in sequence, the difference value of the second electric quantity information of the 2 nd minute and the second electric quantity information of the 1 st minute is calculated, and the electric quantity change information of the second battery pack is obtained by dividing the sum of the two difference values by 2.
Alternatively, the power change information of the second battery pack may be determined according to the output power of the second battery pack.
After obtaining the electric quantity change information, the micro control unit may control the wireless power supplementing module to supply power to the second battery pack according to the method shown in fig. 3 in combination with the second electric quantity information and the electric quantity change information.
And S301, determining a second battery pack meeting the power supply condition from the plurality of second battery packs according to the second electric quantity information.
The setting of the power-up condition can refer to step S202, and will not be described in detail.
S302, determining the charging power according to the electric quantity change information of the second battery pack meeting the power supplementing condition.
In S302, the micro control unit may be preconfigured with a correspondence between the power change information and the charging power, and record the correspondence as a power change-power correspondence, where the larger the power change information is, the larger the charging power is, and the largest charging power is the rated output power of the wireless power supply module. And under the condition that only one second battery pack meets the power supply condition, the micro control unit directly searches the corresponding charging power in the electric quantity change-power corresponding relation according to the electric quantity change information of the second battery pack.
If the plurality of second battery packs all satisfy the power supply condition, and the sum of the corresponding charging powers of the second battery packs satisfying the power supply condition in the electric quantity change-power correspondence relationship is larger than the rated output power of the wireless power supply module, the micro control unit may determine the charging power as follows:
and adding the electric quantity change information of all the second battery packs meeting the power supply condition to obtain total electric quantity change information, dividing the electric quantity change information of each second battery pack by the total electric quantity change information to obtain a result which is used as the power weight of the second battery pack, and finally decomposing the rated output power of the wireless power supply module into the charging power of each second battery pack meeting the power supply condition according to the power weight of each second battery pack meeting the power supply condition.
Therefore, the sum of the charging powers of all the second battery packs meeting the power supplementing conditions is exactly equal to the rated output power, and the proportion of the charging power of each second battery pack meeting the power supplementing conditions in the rated output power is equal to the corresponding power weight of the second battery pack.
S303, controlling the wireless power supply module to supply power for the second battery pack meeting the power supply condition according to the charging power by using the first battery pack.
For example, assuming that two second battery packs a and B satisfy the power-up condition, where a corresponds to the charging power P1 and B corresponds to the charging power P2, the wireless power-up module uses the electric energy of the first battery pack to transmit a directional radio frequency signal to the azimuth of a with the output power of P1 to supply power for a; meanwhile, the wireless power supplementing module utilizes the electric energy of the first battery pack to transmit a directional radio frequency signal to the azimuth of the B by using the output power of P2 so as to supply power for the B.
Optionally, in addition to determining the charging power according to the power change information, the micro control unit may further screen the object powered by the wireless power supplementing module according to the power change information of each second battery pack that meets the power supplementing condition when there are a plurality of second battery packs that meet the power supplementing condition.
In an exemplary embodiment, when two or more second battery packs satisfy the power supply condition, the micro control unit determines the second battery pack having the largest power change information among the second battery packs satisfying the power supply condition as the object of power supply, and controls the wireless power supply module to supply power to only the second battery pack having the largest power change information among the second battery packs satisfying the power supply condition.
The third control method is as follows.
And controlling the wireless power supply module to supply power for the second battery pack by using the first battery pack according to the second electric quantity information and the first electric quantity information of the first battery pack.
When the wireless power supply module is controlled to supply power according to the second electric quantity information and the first electric quantity information, the micro control unit can firstly judge whether the first electric quantity information is larger than a first threshold value, if so, the wireless power supply module is controlled to supply power for at least one second battery pack, and if not, the wireless power supply module is controlled to not supply power for the second battery pack.
Alternatively, the micro-control unit may also control the power supply of the radio supplementing module by combining the first electric quantity information and the second electric quantity information according to the method shown in fig. 4.
S401, determining whether the first power information of the first battery pack is greater than a first threshold.
If the first power information is greater than the first threshold, step S402 is performed, and if the first power information is not greater than the first threshold, step S403 is performed.
The first electric quantity information can be obtained by detecting an electric quantity sensor arranged on the first battery pack, and the electric quantity sensor can be directly connected to the micro control unit through an optical fiber or can send a detected electric quantity signal to the micro control unit through wireless connection.
S402, the wireless power supply module is controlled to supply power for the second battery packs, wherein the power supply conditions of the second battery packs are met by the first battery pack.
That is, if the first power information is greater than the first threshold, the micro control unit may control the wireless power supplementing module to any number of second battery packs satisfying the power supplementing condition.
For example, if there is a second battery pack satisfying the power supply condition, the wireless power supply module is used to supply power to the second battery pack satisfying the power supply condition, and if there are two second battery packs satisfying the power supply condition, the wireless power supply module is used to supply power to the two second battery packs satisfying the power supply condition.
S403, controlling the wireless power supply module to utilize the first battery pack to supply power for the second battery pack with the lowest electric quantity, wherein the second electric quantity information meets the power supply condition.
When the first electric quantity information is smaller than or equal to a first threshold value, if a second battery pack meeting the electricity supplementing condition exists, the micro control unit controls the wireless electricity supplementing module to supply power to the second battery pack, and if two or more second battery packs meeting the electricity supplementing condition exist, the micro control unit controls the wireless electricity supplementing module to supply power to the second battery pack with the lowest electric quantity in the second battery packs.
In other words, the first battery pack supplies power to at most one second battery pack in the case where the first power amount information is less than or equal to the first threshold value.
Optionally, in S403, if the second battery pack with the lowest electric quantity changes with the power supply of the wireless power supply module, the micro control unit may correspondingly adjust the power supply object of the wireless power supply module to be the new second battery pack with the lowest electric quantity.
The micro control unit determines that the second battery pack which satisfies the power supply condition and has the lowest electric quantity is the second battery pack a, and after the second battery pack a is powered for a period of time, the second battery pack which satisfies the power supply condition and has the lowest electric quantity is changed into the second battery pack B, so that the micro control unit controls the wireless power supply module to power the second battery pack B and no longer power the second battery pack a.
Optionally, the micro control unit is further configured to:
and outputting power supplementing information when the first electric quantity information of the first battery pack is lower than a second threshold value.
The power-up indication information can be output in a voice or signal lamp mode, and the power-up indication information is used for indicating a user to charge the first battery pack and/or the second battery pack of the unmanned aerial vehicle.
In this embodiment, the charging mode of the first battery pack and/or the second battery pack may be to use a corresponding wireless charging module to perform wireless charging.
The micro control unit can detect whether the first electric quantity information of the first battery pack is lower than a second threshold value or not after the unmanned aerial vehicle is started each time, if so, the power supplementing indication information is output, the driving motor is controlled to be not operated until the first battery pack is fully charged, and if not, the unmanned aerial vehicle is started normally.
The second threshold may be set as desired, for example, to 20%.
In any embodiment of the present application, for any second battery pack, the micro control unit may control the wireless power supply module to stop supplying power to the second battery pack when the second battery pack meets a power supply stop condition.
The power supply stop condition may be that the second battery pack no longer satisfies the power supply condition.
The power-off condition may be that the second power information of the second battery pack is greater than a power-off threshold, which may be set to be greater than a power-on threshold, for example, set to 80%.
The power supply stop condition may be that the temperature of the second battery pack is greater than a set temperature threshold. The temperature of the second battery pack can be detected by a temperature sensor arranged on the second battery pack, and the temperature detected by the temperature sensor can be given to a signal conversion module which sends the temperature to the micro-control unit.
According to the power supply stopping condition, the power supply is stopped, and the problems of overcharging or overhigh temperature and the like of the second battery pack can be avoided, so that the charging process is optimized, and the service life of the second battery pack is prolonged.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.
Those skilled in the art can make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides an unmanned aerial vehicle is patrolled and examined to electric wire netting of supplementary group battery wireless moisturizing which characterized in that includes:
a main body of the unmanned aerial vehicle, a plurality of connection members and a plurality of driving members;
the first end of each connecting component is connected with the unmanned aerial vehicle main body;
the second end of each connecting component is connected with one driving component;
the unmanned aerial vehicle main body comprises a micro control unit, a first battery pack and a wireless power supply module;
the driving part comprises a rotor wing, a driving motor and a second battery pack, and the second battery pack is arranged below the driving motor;
the capacity of the second battery pack is smaller than that of the first battery pack;
the first battery pack and the second battery pack are not conducted with each other;
the micro control unit is used for:
obtaining second electric quantity information of the second battery pack;
and controlling the wireless power supply module to supply power for the second battery pack by using the first battery pack according to the second electric quantity information.
2. The unmanned aerial vehicle of claim 1, wherein the wireless power module is a radio frequency transmit module and the second battery pack has a radio frequency receive module;
when the wireless power supply module utilizes the first battery pack to supply power for the second battery pack, the wireless power supply module is specifically used for:
and transmitting a directional radio frequency signal to the radio frequency receiving module by utilizing the electric energy of the first battery pack, so that the radio frequency receiving module charges the second battery pack based on the directional radio frequency signal.
3. The unmanned aerial vehicle of claim 1, wherein the unmanned aerial vehicle body has an outer shell of an insulating material, and the drive component has an outer shell of an insulating material.
4. The unmanned aerial vehicle of claim 1, wherein the second battery pack has an electrical quantity detection module and a signal conversion module;
the signal conversion module is used for:
transmitting second electric quantity information provided by the electric quantity detection module to the micro control unit through an insulating optical fiber;
or for:
and sending the second electric quantity information provided by the electric quantity detection module to the micro control unit through wireless communication.
5. The unmanned aerial vehicle of claim 1, wherein the micro-control unit is configured to control the wireless power supply module to supply power to the second battery pack by using the first battery pack according to the second power information, when the micro-control unit is configured to:
determining electric quantity change information according to the second electric quantity information;
and controlling the wireless power supply module to supply power for the second battery pack by using the first battery pack according to the second electric quantity information and the electric quantity change information.
6. The unmanned aerial vehicle of claim 5, wherein the micro-control unit is configured to control the wireless power supply module to supply power to the second battery pack by using the first battery pack according to the second power information and the power change information, when the micro-control unit is configured to:
determining the second battery pack meeting the power supply condition from a plurality of second battery packs according to the second electric quantity information;
determining charging power according to the electric quantity change information of the second battery pack meeting the power supplementing condition;
and controlling the wireless power supplementing module to supply power for the second battery pack meeting the power supplementing condition according to the charging power by using the first battery pack.
7. The unmanned aerial vehicle of claim 1, wherein the micro-control unit is configured to control the wireless power supply module to supply power to the second battery pack by using the first battery pack according to the second power information, when the micro-control unit is configured to:
and controlling the wireless power supply module to supply power for the second battery pack by using the first battery pack according to the second electric quantity information and the first electric quantity information of the first battery pack.
8. The unmanned aerial vehicle of claim 7, wherein the micro control unit is configured to control the wireless power supply module to supply power to the second battery pack by using the first battery pack according to the second power information and the first power information of the first battery pack, when the micro control unit is configured to:
determining whether first power information of the first battery pack is greater than a first threshold;
when the first electric quantity information is larger than the first threshold value, controlling the wireless power supply module to supply power for the second battery packs, wherein each second electric quantity information meets the power supply condition, by using the first battery pack;
and when the first electric quantity information is smaller than or equal to the first threshold value, controlling the wireless power supply module to utilize the first battery pack to supply power for the second battery pack with the lowest electric quantity, wherein the power supply condition is met by the second electric quantity information.
9. The unmanned aerial vehicle of claim 1, further comprising a mounting component secured to the unmanned aerial vehicle body and a patrol component mounted on the mounting component;
the micro control unit is further configured to:
and controlling the wireless power supply module to supply power for the inspection component by using the first battery pack according to the first electric quantity information of the first battery pack.
10. The unmanned aerial vehicle of claim 1, wherein the micro control unit is further configured to:
and outputting power supplementing and indicating information when the first electric quantity information of the first battery pack is lower than a second threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311694389.XA CN117508676A (en) | 2023-12-11 | 2023-12-11 | Power grid inspection unmanned aerial vehicle assisting battery pack in wireless power supply |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311694389.XA CN117508676A (en) | 2023-12-11 | 2023-12-11 | Power grid inspection unmanned aerial vehicle assisting battery pack in wireless power supply |
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| Publication Number | Publication Date |
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| CN117508676A true CN117508676A (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311694389.XA Pending CN117508676A (en) | 2023-12-11 | 2023-12-11 | Power grid inspection unmanned aerial vehicle assisting battery pack in wireless power supply |
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| Country | Link |
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| CN (1) | CN117508676A (en) |
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2023
- 2023-12-11 CN CN202311694389.XA patent/CN117508676A/en active Pending
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