LU503444B1 - Vehicle-mounted tethered uav system and energy supply method thereof - Google Patents
Vehicle-mounted tethered uav system and energy supply method thereof Download PDFInfo
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- LU503444B1 LU503444B1 LU503444A LU503444A LU503444B1 LU 503444 B1 LU503444 B1 LU 503444B1 LU 503444 A LU503444 A LU 503444A LU 503444 A LU503444 A LU 503444A LU 503444 B1 LU503444 B1 LU 503444B1
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- power supply
- subcircuit
- energy
- supply subcircuit
- energy storage
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000004146 energy storage Methods 0.000 claims abstract description 124
- 239000000446 fuel Substances 0.000 claims abstract description 75
- 230000002457 bidirectional effect Effects 0.000 claims description 17
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 16
- 229910052744 lithium Inorganic materials 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 13
- 239000007787 solid Substances 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 239000002131 composite material Substances 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000009517 secondary packaging Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
-
- 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
- B64U50/31—Supply or distribution of electrical power generated by photovoltaics
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
- H02J7/1415—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle with a generator driven by a prime mover other than the motor of a vehicle
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
- H02J7/1438—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle in combination with power supplies for loads other than batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
- B64U2201/202—Remote controls using tethers for connecting to ground station
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/20—Charging or discharging characterised by the power electronics converter
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/40—The network being an on-board power network, i.e. within a vehicle
- H02J2310/44—The network being an on-board power network, i.e. within a vehicle for aircrafts
Abstract
Disclosed is a vehicle-mounted tethered UAV system and an energy supply method thereof, and belongs to the technical field of UAV. The system comprises: a mobile vehicle, a tethered UAV and an energy subsystem; the mobile vehicle is a tethered platform of the tethered UAV; the energy subsystem comprises a solar power supply subcircuit, an energy storage power supply subcircuit, a fuel generator power supply subcircuit, an emergency power supply subcircuit, a power supply bus and a power supply management module; and the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit are connected with the power supply management module respectively, and connected with the tethered UAV through the power supply bus. In the present invention, solar energy is converted into electric energy, thereby improving the flight time of the tethered UAV. Meanwhile, multiple power supply modes are combined, which greatly improves the reliability of the tethered UAV and provides guarantee for the flight of the tethered UAV even in remote areas or under operation in multiple locations, thereby effectively expanding the application scenarios of the tethered UAV.
Description
VEHICLE-MOUNTED TETHERED UAV SYSTEM AND ENERGY SUPPLY METHOD
THEREOF LU503444
Technical Filed
The present invention relates to the technical field of UAV, and particularly to a vehicle- mounted tethered UAV system and an energy supply method thereof.
In recent years, UAV (Unmanned Air Vehicle) has been widely used in various fields, and has appeared everywhere in commercial survey, scientific research or civil life. However, for a long time, the UAV still has some problems that cannot be solved effectively, thereby restricting the realization of many functions of the UAV. For example, it is difficult to carry out long-time and long-distance work such as battery life, flight loss and "bombing". Thus, a tethered UAV arises at the historic moment.
The tethered UAV is a UAV system which is realized by the combination of the UAV and a photoelectric composite cable. The tethered UAV transmits electric energy through the photoelectric composite cable, so that the UAV can stay in the air for a long time without the limitation of the electric energy. The UAV can carry out aerial monitoring and emergency communication for a long time without interruption, and is widely used in multiple professional fields of military affairs, fire fighting, film and television, oil, ocean, communication, transportation and scientific research.
At present, there are mainly three loading modes for the tethered UAV: vehicle-mounted tethering, carrier-mounted tethering and fixed tethering. Carrier-mounted tethering takes a ship as a tethered platform of the tethered UAV that can sail with the ship. The basic idea of fixed tethering is to arrange a certain number of charging piles on the ground. As long as there are charging piles in flight, the tethered UAV can fly continuously. A charging platform can be added to the existing street lamps to provide help for the endurance of the tethered UAV. Communication base stations, lampposts and tops of buildings can also be used as docking stations for the tethered UAV. In places where infrastructure is incomplete, telephone poles may even be set up to deploy tethered UAV docking stations based on the same principle. However, this mode can be realized under the condition that the charging piles are densely arranged, but at present, the charging pile facilities cannot be realized on a large scale in the short term. Vehicle-mounted tethering takes a mobile vehicle as the tethered platform, has strong mobility and high flexibility, and can realize 24-hour all-weather hovering through vehicle-mounted power supply. The tethered UAV can also accurately follow the position of a free mobile base station vehicle and perform the tasks of high frequency takeoff and landing. The tethered UAV is widely used in emergency communication, key location monitoring and emergency command, atmospheric monitoring and news gathering, and can play an important role in emergencies to reduce the loss, 503444 of human and material resources.
However, the current vehicle-mounted tethering often uses the "generator + DC high-voltage power supply" mode to power the UAV, which uses the fuel in the generator in a mobile platform base unit with a diesel generator. Generally, the UAV can hover for more than 20 hours, but in practical application, the demand is often far greater than this time. To extend the hovering time, the generator needs to be refueled, but ordinary trucks carry limited fuel. There is also an idea to connect the UAV to the commercial power through which the tethered UAV is powered. However, because the perating locations of the tethered UAV are variable and the tethered UAV may be operated in multiple locations in one day, the operation of connecting to the commercial power is cumbersome. This mode is still not feasible for remote mountainous areas.
Thus, for the tethered UAV, especially for the mobile tethered UAV, an effective energy supply solution is necessary.
To overcome the defects in the prior art, the present invention provides a vehicle-mounted tethered UAV system and an energy supply method thereof.
In a first aspect, the present invention provides a vehicle-mounted tethered UAV system, comprising: a mobile vehicle, a tethered UAV and an energy subsystem; the mobile vehicle is a tethered platform of the tethered UAV; the energy subsystem comprises a solar power supply — subcircuit, an energy storage power supply subcircuit, a fuel generator power supply subcircuit, an emergency power supply subcircuit, a power supply bus and a power supply management module; and the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit are connected with the power supply management module respectively, and connected with the tethered UAV through the power supply bus.
The solar power supply subcircuit is located in the mobile vehicle and is used for converting solar energy into electric energy and supplying power for the tethered UAV through the power supply bus.
The energy storage power supply subcircuit is located in the mobile vehicle and is used for storing excess electric energy of the solar power supply subcircuit and supplying power for the tethered UAV through the power supply bus.
The fuel generator power supply subcircuit is located in the mobile vehicle and is used for generating electric energy through a fuel-driven generator and supplying power for the tethered
UAV through the power supply bus.
The emergency power supply subcircuit is located in the tethered UAV and is used for supplying power for the tethered UAV in case of emergency.
The power supply management module is used for power supply switching for the solar 503444 power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit.
Optionally, the solar power supply subcircuit comprises: a solar cell array, a unidirectional
DC-DC converter and a first energy switcher.
The solar cell array is connected with one end of the unidirectional DC-DC converter, and the other end of the unidirectional DC-DC converter is connected with the power supply bus and the energy storage power supply subcircuit respectively through the first energy switcher.
Optionally, the energy storage power supply subcircuit comprises: an energy storage lithium battery, a bidirectional DC-DC converter and a second energy switcher.
The energy storage lithium battery is connected with one end of the bidirectional DC-DC converter, and the other end of the bidirectional DC-DC converter is connected with the power supply bus and the solar power supply subcircuit respectively through the second energy switcher.
Optionally, the fuel generator power supply subcircuit comprises: a fuel generator, a DC high- voltage power supply and a third energy switcher.
The fuel generator is connected with one end of the DC high-voltage power supply, and the other end of the DC high-voltage power supply is connected with the power supply bus through the third energy switcher.
Optionally, the emergency power supply subcircuit comprises: an emergency battery and a fourth energy switcher.
The emergency battery is connected with the power supply bus through the fourth energy switcher.
Optionally, the power supply management module is specifically used for controlling the state of each energy switcher, and conducting power supply switching for the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit.
Optionally, the system further comprises: a voltage and current sensor;
The voltage and current sensor is used for detecting the output power of the solar power supply subcircuit, the load power of the tethered UAV, the energy storage surplus of the energy storage power supply subcircuit, and the fuel surplus of the fuel generator power supply subcircuit, and sending to the power supply management module;
Correspondingly, the power supply management module is specifically used for power supply switching for the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit according to data detected by the voltage and current sensor.
Optionally, the power supply modes of the energy subsystem comprise:
the solar power supply subcircuit supplies power, and the energy storage power SUPRY 503444 subcircuit stores energy or is not operated, the energy storage power supply subcircuit is cooperated with the solar power supply subcircuit for supplying power, the solar power supply subcircuit is not operated, and the energy storage power supply subcircuit supplies power, the solar power supply subcircuit and the energy storage power supply subcircuit are not operated, and the fuel generator power supply subcircuit supplies power, the solar power supply subcircuit, the energy storage power supply subcircuit and the fuel generator power supply subcircuit are not operated, and the emergency power supply subcircuit supplies power.
In a second aspect, the present invention provides an energy supply method suitable for the system of the first aspect of the present invention, comprising: starting the solar power supply subcircuit and detecting the output power of the solar power supply subcircuit in real time; if an alarm condition is not satisfied, starting the energy storage power supply subcircuit for energy storage, or closing the energy storage power supply subcircuit; if a four-level alarm condition is satisfied, starting the energy storage power supply subcircuit to cooperate with the solar power supply subcircuit for power supply: if a three-level alarm condition is satisfied, closing the solar power supply subcircuit, making the energy storage power supply subcircuit supply power, and detecting the remaining storage energy of the energy storage power supply subcircuit in real time; if a two-level alarm condition is satisfied, starting the fuel generator power supply subcircuit for power supply, closing the energy storage power supply subcircuit, and detecting the fuel surplus of the fuel generator power supply subcircuit in real time; if a one-level alarm condition is satisfied, starting the emergency power supply subcircuit for power supply, closing the fuel generator power supply subcircuit, and recovering the tethered
UAV.
In a third aspect, the present invention provides a computer readable storage medium which stores computer programs; and the computer programs are executed by a processor to realize the method of the second aspect of the present invention.
The present invention has the advantages that:
In the present invention, for the mobile vehicle-mounted tethered UAV, the solar energy is converted into the electric energy to power the tethered UAV, which not only realizes the efficient use of natural energy, but also improves the flight time of the tethered UAV. Meanwhile, the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit are integrated to power the tethered
UAV in the form of multiple power supply combinations, which also greatly improves the reliability of the tethered UAV and provides guarantee for the flight of the tethered UAV even in remote, 503444 areas or under transformation among a plurality of operating locations, thereby effectively expanding the application scenarios of the tethered UAV.
Description of Drawings 5 By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those ordinary skilled in the art. The drawings are only used for showing the purpose of the preferred embodiments and are not considered as limitations to the present invention. Moreover, throughout the drawings, identical components are represented by identical reference marks. In the drawings:
Fig. 1 is a composition block diagram of a vehicle-mounted tethered UAV system provided by the present invention:
Fig. 2 is a circuit diagram of a power supply mode | provided by the present invention:
Fig. 3 is another circuit diagram of a power supply mode | provided by the present invention;
Fig. 4 is a circuit diagram of a power supply mode Il provided by the present invention;
Fig. 5 is a circuit diagram of a power supply mode Ill provided by the present invention;
Fig. © is a circuit diagram of a power supply mode IV provided by the present invention; and
Fig. 7 is a circuit diagram of a power supply mode V provided by the present invention.
Exemplary embodiments of the disclosure are described below in more detail with reference to the drawings. Although the exemplary embodiments of the disclosure are shown in the drawings, it should be understood that the disclosure can be realized in various forms, rather than limited by the embodiments elaborated herein. On the contrary, the purpose of providing the embodiments is to understand the disclosure more thoroughly and to completely communicate the scope of the disclosure to those skilled in the art.
Embodiment 1
According to embodiments of the present invention, a vehicle-mounted tethered UAV system is provided, as shown in Fig. 1, comprising: a mobile vehicle, a tethered UAV and an energy subsystem, wherein the mobile vehicle is a tethered platform of the tethered UAV; the energy subsystem comprises a solar power supply subcircuit, an energy storage power supply subcircuit, a fuel generator power supply subcircuit, an emergency power supply subcircuit, a power supply bus and a power supply management module; and the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit are connected with the power supply management module respectively, and connected with the tethered UAV through the power supply bus.
The solar power supply subcircuit is located in the mobile vehicle and is used for converting solar energy into electric energy and supplying power for the tethered UAV through the power supply bus.
The energy storage power supply subcircuit is located in the mobile vehicle and is used for 503444 storing excess electric energy of the solar power supply subcircuit and supplying power for the tethered UAV through the power supply bus.
The fuel generator power supply subcircuit is located in the mobile vehicle and is used for generating electric energy through a fuel-driven generator and supplying power for the tethered
UAV through the power supply bus.
The emergency power supply subcircuit is located in the tethered UAV and is used for supplying power for the tethered UAV in case of emergency.
The power supply management module is used for power supply switching for the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit.
The tethered UAV is preferably a rotorcraft. The tethered UAV is connected with the mobile vehicle through a photoelectric composite cable, and the power supply bus is located in the photoelectric composite cable.
According to the embodiments of the present invention, the solar power supply subcircuit comprises: a solar cell array, a unidirectional DC-DC converter and a first energy switcher.
The solar cell array is connected with one end of the unidirectional DC-DC converter, and the other end of the unidirectional DC-DC converter is connected with the power supply bus and the energy storage power supply subcircuit respectively through the first energy switcher.
In the present invention, the solar cell array is preferably based on a silicon-based cell sheet, is an array suitable for the mobile vehicle after secondary packaging, and is laid on the upper surface of the mobile vehicle. When the demand is large, the solar cell array can also be hung on the side surface of a carriage and used for receiving light and transforming solar energy in the daytime.
Further, the unidirectional DC-DC converter in the present invention is used for converting unstable electric energy outputted by the solar cell array into stable electric energy, and has two operating states: constant voltage state and maximum power point tracking state (also known as
MPPT state). In the constant voltage state, the unidirectional DC-DC converter outputs constant voltage to maintain the voltage stability of the power supply bus. In the MPPT state, the solar cell array keeps outputting at the maximum power.
According to the embodiments of the present invention, the energy storage power supply subcircuit comprises: an energy storage lithium battery, a bidirectional DC-DC converter and a second energy switcher.
The energy storage lithium battery is connected with one end of the bidirectional DC-DC converter, and the other end of the bidirectional DC-DC converter is connected with the power supply bus and the solar power supply subcircuit respectively through the second energy switcher.
In the present invention, the lithium battery or other alternative batteries used in the energy 03444 storage lithium battery have the characteristics of high energy density, and are mainly used for storing the solar energy which is not used up when the light is sufficient for use when the light is insufficient or at night.
Further, the bidirectional DC-DC converter in the present invention has two operating states:
Buck charging state and Boost power supply state. In the Buck charging state, the bidirectional
DC-DC converter acts as a charger and can set charging voltage and current to charge the connected energy storage lithium battery; and in the Boost power supply state, the energy stored in the energy storage lithium battery is boosted and then the power supply bus is powered.
According to the embodiments of the present invention, the fuel generator power supply subcircuit comprises: a fuel generator, a DC high-voltage power supply and a third energy switcher.
The fuel generator is connected with one end of the DC high-voltage power supply, and the other end of the DC high-voltage power supply is connected with the power supply bus through the third energy switcher.
The fuel generator in the present invention is, for example, a diesel generator.
According to the embodiments of the present invention, the emergency power supply subcircuit comprises: an emergency battery and a fourth energy switcher.
The emergency battery is connected with the power supply bus through the fourth energy switcher.
The emergency battery in the present invention is preferably the lithium battery which is smaller than the energy storage lithium battery in the energy storage power supply subcircuit, and is mainly used for providing guarantee for the final safe landing of the tethered UAV.
According to the embodiments of the present invention, the power supply management module is specifically used for controlling the state of each energy switcher, and conducting power supply switching for the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit.
According to the embodiments of the present invention, the system further comprises: a voltage and current sensor.
The voltage and current sensor is used for detecting the output power of the solar power supply subcircuit, the load power of the tethered UAV, the energy storage surplus of the energy storage power supply subcircuit, and the fuel surplus of the fuel generator power supply subcircuit, and sending to the power supply management module.
Correspondingly, the power supply management module is specifically used for power supply switching for the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit according to data detected by the voltage and current sensor.
According to the embodiments of the present invention, the power supply modes of the, 503444 energy subsystem preferably enter the following modes successively:
Mode |, the solar power supply subcircuit supplies power, and the energy storage power supply subcircuit stores energy or is not operated.
Specifically, when the light is sufficient, the power supply management module (not shown in the drawing of the present invention) judges that the output power of the solar power supply subcircuit is greater than the load power of the tethered UAV according to the data detected by the voltage and current sensor (not shown in the drawing of the present invention) and the storage energy of the energy storage lithium battery of the energy storage power supply subcircuit does not reach an energy storage threshold, the first energy switcher (represented by S1 in the drawing of the present invention) and the second energy switcher (represented by S2 in the drawing of the present invention) are closed and the third energy switcher (represented by S3 in the drawing of the present invention) and the fourth energy switcher (represented by S4 in the drawing of the present invention) are disconnected. The solar power supply subcircuit supplies power for the tethered UAV, and the unidirectional DC-DC converter is operated at a constant voltage state.
The voltage stability of the power supply bus is maintained, and the bidirectional DC-DC converter is operated at the Buck charging state. The circuit diagram of this mode is shown in Fig. 2, wherein the thick line represents the power supply bus, arrow directions represent electric energy trends, and solid points represent the intersection of two lines. At this moment, the magnitude of the charging current of the energy storage lithium battery can be changed by setting the target current of the bidirectional DC-DC converter, which can achieve the function of protecting the energy storage lithium battery while maximizing the use of the current solar energy.
Further, when the power supply management module judges that the energy storage of the energy storage lithium battery of the energy storage power supply subcircuit reaches the energy storage threshold according to the data detected by the voltage and current sensor, the second energy switcher is disconnected, and the bidirectional DC-DC converter is not operated. The circuit diagram of this mode is shown in Fig. 3, wherein the thick line represents the power supply bus, arrow directions represent electric energy trends, and solid points represent the intersection of two lines.
Mode Il, the energy storage power supply subcircuit is cooperated with the solar power supply subcircuit for supplying power.
Specifically, when the light is insufficient or the load power of the tethered UAV is suddenly increased, the power supply management module judges that the output power of the solar power supply subcircuit is less than the load power of the tethered UAV according to the data detected by the voltage and current sensor and the storage energy surplus of the energy storage power supply subcircuit is sufficient, i.e., satisfies a four-level alarm, the first energy switcher and the second energy switcher are closed and the third energy switcher and the fourth energy switcher are disconnected. The solar power supply subcircuit is cooperated with the energy storage power supply subcircuit for supplying power for the tethered UAV. At this moment, the unidirectional Der, 503444
DC converter is operated at a constant voltage state. The voltage stability of the power supply bus is maintained, and the bidirectional DC-DC converter is operated at a maximum following state; the bidirectional DC-DC converter is operated at a Boost discharging mode; and the voltage of the power supply bus is maintained by the energy storage power supply subcircuit. The circuit diagram of this mode is shown in Fig. 4, wherein the thick line represents the power supply bus, arrow directions represent electric energy trends, and solid points represent the intersection of two lines.
Mode Ill, the solar power supply subcircuit is not operated, and the energy storage power supply subcircuit supplies power.
Specifically, when the light is insufficient or the solar power supply subcircuit fails, the power supply management module judges that the solar power supply subcircuit has no output according to the data detected by the voltage and current sensor and the storage energy surplus of the energy storage power supply subcircuit still can satisfy the load power of the tethered UAV, i.e. satisfies a three-level alarm, the first energy switcher, the third energy switcher and the fourth energy switcher are disconnected and the second energy switcher is closed. The energy storage power supply subcircuit supplies power for the tethered UAV. The unidirectional DC-DC converter is not operated; the bidirectional DC-DC converter is operated at the Boost discharging mode; and the voltage stability of the power supply bus is maintained. The circuit diagram of this mode is shown in Fig. 5, wherein the thick line represents the power supply bus, arrow directions represent electric energy trends, and solid points represent the intersection of two lines.
Mode IV, the solar power supply subcircuit and the energy storage power supply subcircuit are not operated, and the fuel generator power supply subcircuit supplies power.
Specifically, when the light is insufficient or the solar power supply subcircuit fails, the power supply management module judges that the solar power supply subcircuit has no output according to the data detected by the voltage and current sensor, the storage energy surplus of the energy storage power supply subcircuit is insufficient and the fuel surplus of the fuel generator power supply subcircuit is sufficient, i.e., satisfies a two-level alarm, the first energy switcher, the second energy switcher and the fourth energy switcher are disconnected and the third energy switcher is closed. The fuel generator power supply subcircuit supplies power for the tethered
UAV. The voltage stability of the power supply bus is maintained. The circuit diagram of this mode is shown in Fig. 6, wherein the thick line represents the power supply bus, arrow directions represent electric energy trends, and solid points represent the intersection of two lines.
Preferably, when the energy storage surplus of the energy storage power supply subcircuit is lower than 10%, it is judged that the energy storage surplus of the energy storage power supply subcircuit is insufficient.
Mode V, the solar power supply subcircuit, the energy storage power supply subcircuit and 503444 the fuel generator power supply subcircuit are not operated, and the emergency power supply subcircuit supplies power.
Specifically, when the light is insufficient or the solar power supply subcircuit fails, and the power supply management module judges that the solar power supply subcircuit has no output according to the data detected by the voltage and current sensor, the storage energy surplus of the energy storage power supply subcircuit is insufficient and the fuel surplus of the fuel generator power supply subcircuit is sufficient, i.e., satisfies a one-level alarm, the first energy switcher, the second energy switcher and the third energy switcher are disconnected and the fourth energy switcher is closed. The emergency power supply subcircuit supplies power for the tethered UAV to ensure the recovery and landing of the tethered UAV. The circuit diagram of this mode is shown in Fig. 7, wherein the thick line represents the power supply bus, arrow directions represent electric energy trends, and solid points represent the intersection of two lines.
Preferably, when the fuel surplus of the fuel generator power supply subcircuit is lower than 20%, it is judged that the fuel surplus of the fuel generator power supply subcircuit is insufficient.
It should be pointed out that in case of emergency, power supply may not be carried out according to the above modes in sequence. For example, in mode |, when the weather changes suddenly and the light is insufficient, the solar power supply subcircuit has no output. At this moment, the energy storage of the energy storage power supply subcircuit does not reach the energy storage threshold and cannot satisfy the load power of the tethered UAV to enter mode
IV directly.
In the present invention, for the mobile vehicle-mounted tethered UAV, the solar energy is converted into the electric energy to power the tethered UAV, which not only realizes the efficient use of natural energy, but also improves the flight time of the tethered UAV. Meanwhile, the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit are integrated to power the tethered
UAV in the form of multiple power supply combinations, which also greatly improves the reliability of the tethered UAV and provides guarantee for the flight of the tethered UAV even in remote areas or under transformation among a plurality of operating locations, thereby effectively expanding the application scenarios of the tethered UAV.
Embodiment 2
According to the embodiments of the present invention, an energy supply method suitable for the system of embodiment 1 is provided, comprising: starting the solar power supply subcircuit and detecting the output power of the solar power supply subcircuit in real time; if an alarm condition is not satisfied, starting the energy storage power supply subcircuit for energy storage, or closing the energy storage power supply subcircuit;
if a four-level alarm condition is satisfied, starting the energy storage power supply subeircuit, 503444 to cooperate with the solar power supply subcircuit for power supply: if a three-level alarm condition is satisfied, closing the solar power supply subcircuit, making the energy storage power supply subcircuit supply power, and detecting the remaining storage energy of the energy storage power supply subcircuit in real time; if a two-level alarm condition is satisfied, starting the fuel generator power supply subcircuit for power supply, closing the energy storage power supply subcircuit, and detecting the fuel surplus of the fuel generator power supply subcircuit in real time; if a one-level alarm condition is satisfied, starting the emergency power supply subcircuit for power supply, closing the fuel generator power supply subcircuit, and recovering the tethered
UAV.
In the present invention, failure to satisfy the alarm condition means that the output power of the solar power supply subcircuit is greater than the load power of the tethered UAV. It should be pointed out that when the energy storage surplus of the energy storage power supply subcircuit reaches the energy storage threshold, the energy storage power supply subcircuit is started for energy storage. When the energy storage surplus reaches the energy storage threshold through energy storage, the energy storage power supply subcircuit is closed. When the storage energy of the energy storage power supply subcircuit reaches the energy storage threshold, the energy storage power supply subcircuit is closed.
In the present invention, the four-level alarm condition means that the light is insufficient or the load power of the tethered UAV is suddenly increased, the output power of the solar power supply subcircuit is less than the load power of the tethered UAV, and the energy storage surplus of the energy storage power supply subcircuit is sufficient.
In the present invention, the three-level alarm condition means that the light is insufficient or the solar power supply subcircuit fails, the solar power supply subcircuit has no output, and the energy storage surplus of the energy storage power supply subcircuit can still satisfy the load power of the tethered UAV.
In the present invention, the two-level alarm condition means that the light is insufficient or the solar power supply subcircuit fails, the solar power supply subcircuit has no output, the energy storage surplus of the energy storage power supply subcircuit is insufficient and the fuel surplus of the fuel generator power supply subcircuit is sufficient.
In the present invention, the one-level alarm condition means that the light is insufficient or the solar power supply subcircuit fails, the solar power supply subcircuit has no output, the energy storage surplus of the energy storage power supply subcircuit is insufficient and the fuel surplus of the fuel generator power supply subcircuit is insufficient.
Embodiment 3
According to the embodiments of the present invention, a computer readable storage 03444 medium is provided, which stores computer programs; and the computer programs are executed by a processor to realize the method of embodiment 2.
In the present invention, for the mobile vehicle-mounted tethered UAV, the solar energy is converted into the electric energy to power the tethered UAV, which not only realizes the efficient use of natural energy, but also greatly improves the flight time compared with the traditional tethered UAV. Meanwhile, the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit are integrated to power the tethered UAV in the form of multiple power supply combinations, which also greatly improves the reliability of the tethered UAV and provides guarantee for the flight of the tethered UAV even in remote areas or under transformation among a plurality of operating locations, thereby effectively expanding the application scenarios of the tethered UAV.
The above only describes preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any change or replacement contemplated easily by those skilled in the art familiar with the technical field within the technical scope disclosed by the present invention shall be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the protection scope of the claims
Claims (10)
1. À vehicle-mounted tethered UAV system, comprising: a mobile vehicle, a tethered UAV and an energy subsystem, wherein — the mobile vehicle is a tethered platform of the tethered UAV; — the energy subsystem comprises a solar power supply subcircuit, an energy storage power supply subcircuit, a fuel generator power supply subcircuit, an emergency power supply subcircuit, a power supply bus and a power supply management module; — the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit are connected with the power supply management module respectively, and connected with the tethered UAV through the power supply bus; — the solar power supply subcircuit is located in the mobile vehicle and is used for converting solar energy into electric energy and supplying power for the tethered UAV through the power supply bus: — the energy storage power supply subcircuit is located in the mobile vehicle and is used for storing excess electric energy of the solar power supply subcircuit and supplying power for the tethered UAV through the power supply bus; — the fuel generator power supply subcircuit is located in the mobile vehicle and is used for generating electric energy through a fuel-driven generator and supplying power for the tethered UAV through the power supply bus; — the emergency power supply subcircuit is located in the tethered UAV and is used for supplying power for the tethered UAV in case of emergency; and — the power supply management module is used for power supply switching for the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit.
2. The system according to claim 1, wherein the solar power supply subcircuit comprises a solar cell array, a unidirectional DC-DC converter and a first energy switcher, wherein the solar cell array is connected with one end of the unidirectional DC-DC converter, and the other end of the unidirectional DC-DC converter is connected with the power supply bus and the energy storage power supply subcircuit respectively through the first energy switcher.
3. The system according to claim 1, wherein the energy storage power supply subcircuit comprises an energy storage lithium battery, a bidirectional DC-DC converter and a second energy switcher, wherein the energy storage lithium battery is connected with one end of the bidirectional DC-DC converter, and the other end of the bidirectional DC-DC converter is connected with the power supply bus and the solar power supply subcircuit respectively 03444 through the second energy switcher. \
4. The system according to claim 1, wherein the fuel generator power supply subcircuit comprises a fuel generator, a DC high-voltage power supply and a third energy switcher, wherein the fuel generator is connected with one end of the DC high-voltage power supply, and the other end of the DC high-voltage power supply is connected with the power supply bus through the third energy switcher.
5. The system according to claim 1, wherein the emergency power supply subcircuit comprises an emergency battery and a fourth energy switcher, wherein the emergency battery is connected with the power supply bus through the fourth energy switcher.
6. The system according to any one of claims 2 - 5, wherein the power supply management module is specifically used for controlling the state of each energy switcher, and conducting power supply switching for the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit.
7. The system according to claim 1, further comprising: a voltage and current sensor; wherein — the voltage and current sensor is used for detecting the output power of the solar power supply subcircuit, the load power of the tethered UAV, the energy storage surplus of the energy storage power supply subcircuit, and the fuel surplus of the fuel generator power supply subcircuit, and sending to the power supply management module; — the power supply management module is specifically used for power supply switching for the solar power supply subcircuit, the energy storage power supply subcircuit, the fuel generator power supply subcircuit and the emergency power supply subcircuit according to data detected by the voltage and current sensor. 8 The system according to claim 1, wherein the power supply modes of the energy subsystem comprise: — the solar power supply subcircuit supplies power, and the energy storage power supply subcircuit stores energy or is not operated, — the energy storage power supply subcircuit is cooperated with the solar power supply subcircuit for supplying power, — the solar power supply subcircuit is not operated, and the energy storage power supply subcircuit supplies power,
— the solar power supply subcircuit and the energy storage power supply subcircuit are net 503444 operated, and the fuel generator power supply subcircuit supplies power, — the solar power supply subcircuit, the energy storage power supply subcircuit and the fuel generator power supply subcircuit are not operated, and the emergency power supply subcircuit supplies power.
9. An energy supply method suitable for the system of any one of claims 1 - 8, comprising: — starting the solar power supply subcircuit and detecting the output power of the solar power supply subcircuit in real time; — if an alarm condition is not satisfied, starting the energy storage power supply subcircuit for energy storage, or closing the energy storage power supply subcircuit; — if a four-level alarm condition is satisfied, starting the energy storage power supply subcircuit to cooperate with the solar power supply subcircuit for power supply; — if a three-level alarm condition is satisfied, closing the solar power supply subcircuit, making the energy storage power supply subcircuit supply power, and detecting the remaining storage energy of the energy storage power supply subcircuit in real time; — if atwo-level alarm condition is satisfied, starting the fuel generator power supply subcircuit for power supply, closing the energy storage power supply subcircuit, and detecting the fuel surplus of the fuel generator power supply subcircuit in real time; — if a one-level alarm condition is satisfied, starting the emergency power supply subcircuit for power supply, closing the fuel generator power supply subcircuit, and recovering the tethered UAV.
10. A computer readable storage medium, storing computer programs, wherein the computer programs are executed by a processor to realize the method of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| LU503444A LU503444B1 (en) | 2023-02-07 | 2023-02-07 | Vehicle-mounted tethered uav system and energy supply method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| LU503444A LU503444B1 (en) | 2023-02-07 | 2023-02-07 | Vehicle-mounted tethered uav system and energy supply method thereof |
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| Publication Number | Publication Date |
|---|---|
| LU503444B1 true LU503444B1 (en) | 2023-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| LU503444A LU503444B1 (en) | 2023-02-07 | 2023-02-07 | Vehicle-mounted tethered uav system and energy supply method thereof |
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| Country | Link |
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| LU (1) | LU503444B1 (en) |
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2023
- 2023-02-07 LU LU503444A patent/LU503444B1/en active IP Right Grant
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