TWI698067B - Adaptive power supply system and operation method thereof - Google Patents

Abstract

An adaptive power supply system for unmanned vehicle and an operation method thereof are provided. The adaptive power supply system includes an adaptive power supply, a battery, a sensing circuit, and a power dispatch controller. The output terminal of the adaptive power supply powers the load circuit of the unmanned vehicle. The battery is coupled to the output terminal of the adaptive power supply. The sensing circuit senses the output of the output terminal of the adaptive power supply and the output of the battery. The power dispatch controller controls the output of the output terminal of the adaptive power supply according to the sensing result of the sensing circuit. The power dispatch controller determines whether one or both of the adaptive power supply and the battery power the load circuit by adjusting the output of the adaptive power supply.

Description

Adjustable power supply system and operation method thereof

The invention relates to an adjustable power supply system and an operation method thereof.

Generally, the source of electricity for drones is batteries. The flight time of the drone depends on the battery capacity. However, the capacity of the battery is limited. When the drone needs a long flight time, the battery may not provide enough power. In order to extend the flight time of the drone, a tethered drone is another option. Ground devices can provide power to the tethered UAV via a power cable, so the flight time of the tethered UAV can be greatly extended.

The present invention provides an adjustable power supply system and an operation method thereof, so as to effectively reduce wire-loss of a cable.

An embodiment of the present invention provides an adjustable power supply system suitable for unmanned vehicles. The adjustable power supply system includes an adjustable power supply, a battery, a sensing circuit, and a power dispatch controller. The adjustable power supply configured on the unmanned vehicle is used to receive the source power. The output terminal of the adjustable power supply is used to supply power to the load circuit of the unmanned vehicle. The battery configured in the unmanned vehicle is coupled to the output terminal of the adjustable power supply. The sensing circuit is coupled to the output terminal of the adjustable power supply to sense the output of the adjustable power supply. The sensing circuit is coupled to the battery to sense the output of the battery. The power dispatch controller is coupled to the sensing circuit and the adjustable power supply. The power dispatch controller controls the output of the output terminal of the variable power supply according to the sensing result of the sensing circuit. The power dispatch controller determines the power supply from the variable power supply to the load circuit, the battery power to the load circuit, or the battery and the variable power supply by adjusting the output of the variable power supply The converters supply power to the load circuit together.

An embodiment of the present invention provides an operation method of an adjustable power supply system, which is suitable for unmanned vehicles. The operation method includes: receiving source power from an adjustable power supply configured on the unmanned vehicle; supplying power from the output terminal of the adjustable power supply to the load circuit of the unmanned vehicle; and sensing by a sensing circuit Measure the output of the output terminal of the adjustable power supply; sense the output of the battery configured on the unmanned vehicle by the sensing circuit, wherein the battery is coupled to the output terminal of the adjustable power supply; The sensing result of the sensing circuit is controlled by the power dispatch controller to control the output of the output terminal of the adjustable power supply. Among them, the power dispatch controller determines the power supply from the variable power supply to the load circuit, the battery power supply to the load circuit, or the battery and the variable power supply by adjusting the output of the variable power supply. The power supply supplies power to the load circuit together.

Based on the above, the variable power supply and the battery according to the embodiments of the present invention are configured in an unmanned vehicle. The adjustable power supply can adjust/convert the voltage of the source power to a voltage level that meets the rated voltage of the load circuit of the unmanned vehicle. In this way, the current value of the cable can be reduced as much as possible to effectively reduce the wire loss of the cable. Furthermore, when the load circuit needs a large current instantaneously, the adjustable power supply and the battery can supply power to the load circuit together instantly (without switching).

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.

The term "coupling (or connection)" used in the full description of the case (including the scope of the patent application) can refer to any direct or indirect connection means. For example, if the text describes that the first device is coupled (or connected) to the second device, it should be interpreted as that the first device can be directly connected to the second device, or that the first device can be connected to other devices or some This kind of connection means is indirectly connected to the second device. In addition, wherever possible, elements/components/steps with the same reference numbers in the drawings and embodiments represent the same or similar parts. Elements/components/steps using the same reference numerals or using the same terms in different embodiments may refer to related descriptions.

In some embodiments, there is no power supply inside the tethered drone. The power required for the fly control system, electric speed control (ESD) circuit, motor and other load circuits/components of the tethered drone is provided directly by the power cable. Therefore, the ground device will provide direct-current (DC) power to the moored drone via the power cable. Longer power cables have longer parasitic resistance. For example, if the resistance value of a 100-meter power cable is 15 ohms, and the power and voltage required to tether the drone are 600 watts and 24 volts, respectively, the current of the DC power transmitted by the power cable is 600 /24 = 25 amps, resulting in a voltage drop of 15*25 = 375 volts on the power cable. Therefore, the voltage of the DC power that the ground device needs to provide to the power cable is 375 + 24 = 399 volts. The wire-loss caused by the power cable is 375*25 = 9375 watts. This is a considerable wire loss.

On the other hand, if the ground device does not control the tension of the power cable, the power cable may become tangled (knotted).

FIG. 1 is a schematic diagram of a circuit block of an adaptive power supply system (adaptive power supply system) according to an embodiment of the present invention. The adjustable power supply system shown in Fig. 1 is suitable for an unmanned vehicle 100. According to design requirements, the unmanned vehicle 100 is, for example, a drone, an unmanned vehicle, a robot, or other electromechanical devices. The drone may be a tethered drone (Tethered Drone) or other types of drones. The unmanned vehicle 100 is equipped with an adjustable power supply system and other components shown in FIG. 1. Taking drones as an example, unmanned vehicles may also be equipped with motors, fly control systems, electric speed control (ESD) circuits and/or other components. According to design requirements, the motor can drive the mechanical energy mechanism of the unmanned vehicle, such as a propeller, a wheel, a mechanical foot, or other mechanisms.

The adjustable power supply system shown in FIG. 1 includes a load circuit 110, a sensing circuit 120, a power dispatch controller 130, an adaptive power supply 140, and a battery 150. In the embodiment shown in FIG. 1, the load circuit 110, the sensing circuit 120, the power dispatch controller 130, the variable power supply 140 and the battery 150 are arranged on the unmanned vehicle 100. According to design requirements, the load circuit 110 may include a motor, a flight control system, an electronic speed control circuit, and/or other electrical components.

The first end of the cable 10 is coupled to the input end of the adjustable power supply 140. The second end of the cable 10 is coupled to the output end of the power supply device 20. In an embodiment, the cable 10 includes a power cable, and the power supply device 20 can provide the source power SP to the variable power supply 140 via the cable 10. For example, in some embodiments, the power supply device 20 may provide alternating current (AC) high voltage power (source power SP) to the unmanned vehicle 100 via the cable 10. In other embodiments, the power supply device 20 may provide direct-current (DC) high-voltage power (source power SP) to the unmanned vehicle 100 via the cable 10. The variable power supply 140 can adjust/convert the voltage of the source power SP to a certain voltage level to meet the rated voltage of the load circuit 110 of the unmanned vehicle 100. The output terminal of the variable power supply 140 is coupled to the power input terminal of the load circuit 110 to supply power to the load circuit 110. This embodiment does not limit the implementation of the variable power supply 140. For example, in some embodiments, the variable power supply 140 may be an AC-to-DC converter or other power conversion circuits. In other embodiments, the variable power supply 140 may be a DC-to-DC converter or other power conversion circuits. For example, according to design requirements, the variable power supply 140 may be a switching regulator or other voltage stabilizing circuits.

The power supply device 20 may provide alternating current (AC) high voltage power (source power SP, for example, AC voltage 220 volts) to the unmanned vehicle 100 via the cable 10. Assume that the power and voltage required by the load circuit 110 of the unmanned vehicle 100 are 600 watts and a DC voltage of 24 volts, respectively. The variable power supply 140 can adjust/convert the AC voltage of 220 volts of the source power SP into a DC voltage of 24 volts to supply power to the load circuit 110. The length of the cable 10 can be determined according to design requirements. For example, the length of the cable 10 may be 100 meters, if the parasitic resistance of the 100-meter cable 10 is 15 ohms. Under the condition of not being powered by the battery 150, the current of the AC power transmitted by the cable 10 is 600/220≈2.73 amperes, resulting in a voltage drop of the cable 10 of 15*(600/220)≈40 volts. The wire-loss of the cable 10 is [15*(600/220)]*(600/220) ≈ 112 watts. In this embodiment, the voltage of the source power SP is greater than the rated voltage of the load circuit 110, and the variable power supply 140 steps down the voltage level of the source power SP to meet the rated voltage of the load circuit 110. Thereby, the current value of the cable 10 can be reduced, so as to effectively reduce the wire loss of the cable 10.

The battery 150 is coupled to the output terminal of the adjustable power supply 140. That is, the adjustable power supply 140 and the battery 150 are connected in parallel to the power input end of the load circuit 110. The battery 150 can be used as a buffered battery for the unmanned vehicle 100 (Buffered Battery). In some application scenarios, based on the control of the power dispatch controller 130, the battery 150 and the variable power supply 140 can selectively supply power to the load circuit 110 together. When the power supply of the variable power supply 140 is abnormal, the battery 150 can provide power so that the unmanned vehicle 100 can perform emergency processing (such as emergency landing, emergency stopping, sending a distress signal, etc.).

The sensing circuit 120 is coupled to the output terminal of the variable power supply 140 to sense the output of the variable power supply 140. In some embodiments, the sensing circuit 120 is coupled to the battery 150 to sense the output of the battery 150. Based on design requirements, in some embodiments, the sensing circuit 120 is coupled to the power input terminal of the load circuit 110 to sense the power input of the load circuit 110. For example (but not limited to this), the sensing circuit 120 includes a sensor 120a, a sensor 120b, and a sensor 120c. The sensor 120 a is connected to the output terminal of the variable power supply 140 to sense the output of the variable power supply 140. The sensor 120b is coupled to the battery 150 to sense the output of the battery 150. The sensor 120c is coupled to the power input terminal of the load circuit 110 to sense the input of the load circuit 110. According to design requirements, the sensor 120a may include a voltage sensor, a current sensor, and/or other electrical sensors. The sensor 120a can sense the output voltage, output current, current direction, and/or other electrical characteristics of the variable power supply 140, and then provide the sensing result to the power dispatch controller 130. The sensor 120b can be deduced by referring to the relevant description of the sensor 120a, so it will not be repeated. The sensor 120c may include a voltage sensor, a current sensor, and/or other electrical sensors. The sensor 120c can sense the input voltage, input current, current direction, and/or other electrical characteristics of the load circuit 110, and then provide the sensing result to the power dispatch controller 130.

FIG. 2 is a schematic flowchart of an operation method of an adjustable power supply system according to an embodiment of the present invention. Please refer to Figure 1 and Figure 2. The input terminal of the variable power supply 140 receives the source power SP (step S210), and the output terminal of the variable power supply 140 supplies power to the load circuit 110 of the unmanned vehicle 100 (step S220). According to design requirements, in step S230, the sensing circuit 120 can sense the output of the output terminal of the variable power supply 140, and/or the sensing circuit 120 can sense the battery 150 configured on the unmanned vehicle 100 Output. In another embodiment, the sensing circuit 120 can sense the output of the variable power supply 140, the output of the battery 150, and/or the power input of the load circuit 110 according to design requirements. For example, in some embodiments, the sensing circuit 120 can sense the output power (such as voltage, current, and/or other electrical characteristics) of the output terminal of the adjustable power supply 140 in step S230, but The output of the battery 150 and the power input of the load circuit 110 are not sensed to obtain the sensing result. In other embodiments, the sensing circuit 120 can sense the output of the adjustable power supply 140 and the output of the battery 150 in step S230, but does not sense the power input of the load circuit 110 to obtain the sensing Test results. In still other embodiments, the sensing circuit 120 can sense the output of the output terminal of the adjustable power supply 140, the output of the battery 150 and the power input of the load circuit 110 in step S230 to obtain the sensing result .

The power dispatch controller 130 is coupled to the sensing circuit 120 to receive the sensing result of the sensing circuit 120. The power dispatch controller 130 is also coupled to the adjustable power supply 140. The sensing circuit 120 can provide a protection mechanism for overall power control. The power dispatch controller 130 can learn the voltage, current, current direction and/or other electrical information of the output terminal of the variable power supply 140 through the sensing circuit 120, and/or the voltage and current of the battery 150 , Current direction and/or other electrical information. According to the sensing result of the sensing circuit 120, the power dispatch controller 130 may control the output of the output terminal of the variable power supply 140 (step S240).

By adjusting the output of the adjustable power supply 140, the power dispatch controller 130 can determine whether the adjustable power supply 140 supplies power to the load circuit 110, the battery 150 supplies power to the load circuit 110, or the battery 150 150 and the variable power supply 140 jointly supply power to the load circuit 110 (step S250). For example, the output voltage of the battery 150 will change as the battery 150 is charged and discharged. When the battery 150 is discharged (for example, to provide power to the load circuit 110), the output voltage of the battery 150 will drop, so the power dispatch controller 130 can increase the output voltage of the variable power supply 140. When the output voltage of the variable power supply 140 is higher than the output voltage of the battery 150, the variable power supply 140 can supply power to the load circuit 110 and charge the battery 150 at the same time. The power dispatch controller 130 can monitor the voltage, current, and/or current direction of the variable power supply 140, the battery 150, and/or the load circuit 110, and then dynamically adjust the variable power supply 140 The voltage is output so that the battery 150 is in a charging state or a discharging state.

FIG. 3 is a schematic flowchart of an operation method of a variable power supply system according to another embodiment of the present invention. For steps S210 to S250 shown in FIG. 3, reference may be made to the related description of FIG. 2, so the details will not be repeated. In the embodiment shown in FIG. 3, step S250 includes step S251, step S252, step S253, and step S254. Please refer to Figure 1 and Figure 3. In this embodiment, the sensing circuit 120 senses the output voltage of the adjustable power supply 140 and the output voltage of the battery 150. According to the output voltage of the adjustable power supply 140 and the output voltage of the battery 150, the power dispatch controller 130 can determine whether one of the adjustable power supply 140 and the battery 150 supplies power to the load circuit 110, or The battery 150 and the variable power supply 140 are jointly powered to the load circuit 110.

For example, the power dispatch controller 130 may increase the output voltage of the variable power supply 140, so that the output voltage of the variable power supply 140 is greater than the output voltage of the battery 150 (step S251 is "larger than the battery Output voltage”). Therefore, the variable power supply 140 can supply power to the load circuit 110 and simultaneously charge the battery 150 (step S252). For example, when the power dispatch controller 130 learns that the output voltage of the battery 150 is too low (for example, the output voltage of the battery 150 is lower than a certain threshold voltage), the power dispatch controller 130 may increase the adjustable power supply 140 The output voltage. When the output voltage of the variable power supply 140 is greater than the output voltage of the battery 150, the variable power supply 140 can supply power to the load circuit 110 and charge the battery 150.

For another example, the power dispatch controller 130 may adjust the output voltage of the variable power supply 140 so that the output voltage of the variable power supply 140 is equal to the output voltage of the battery 150 (step S251 is "equal to the battery The output voltage"). Therefore, the variable power supply 140 and the battery 150 can jointly supply power to the load circuit 110 (step S253). When the power dispatch controller 130 knows that the load circuit 110 needs a large current (for example, the sensing circuit 120 or the control system of the unmanned vehicle 100, software, or other circuits), the power dispatch controller 130 is too late to supply (or In the case of insufficient supply), the battery 150 can provide current to the load circuit 110 immediately (without switching) to meet the high current demand of the load circuit 110. In other words, when the load circuit 110 requires a large current, the variable power supply 140 and the battery 150 can jointly supply power to the load circuit 110 instantly (without switching). After the current demand of the load circuit 110 is reduced, the power dispatching controller 130 may increase the output voltage of the variable power supply 140 to charge the battery 150.

For example, the power dispatching controller 130 can lower the output voltage of the variable power supply 140 so that the output voltage of the variable power supply 140 is lower than the output voltage of the battery 150 (step S251 is "less than The output voltage of the battery”). Therefore, the battery 150 can supply power to the load circuit 110 (step S254).

The implementation of step S250 is not limited to FIG. 3. For example, in other embodiments, the sensing circuit 120 can sense the output current of the output terminal of the adjustable power supply 140 and the output current of the battery 150. According to the direction of the output current of the variable power supply 140 and the direction of the output current of the battery 150, the power dispatch controller 130 can control/determine the output voltage of the variable power supply 140. In addition, the sensing circuit 120 can further sense the input current of the power input of the load circuit 110. When the input current of the load circuit 110 is greater than the rated value of the output current of the adjustable power supply 140 and the output current of the battery 150 (that is, the adjustable power supply 140 and the battery 150 cannot supply enough current to the load Circuit 110), the power dispatch controller 130 can notify the power supply device 20 so that the power supply device 20 can provide a higher source power SP to the variable power supply 140 via the cable 10. Therefore, the variable power supply 140 can output a larger current to supply power to the load circuit 110 together with the battery 150.

According to design requirements, the adjustable power supply system shown in Figure 1 may further include a Tension Control Winch device. The tension control winch device is used to take up and unwind the cable 10 and automatically control/adjust the tension of the cable 10. By adjusting the tension of the cable 10, entanglement (knotting) of the cable 10 can be effectively avoided or reduced.

For example, FIG. 4 is a circuit block diagram of a tension control winch device 400 according to an embodiment of the present invention. The tension control winch device 400 shown in FIG. 4 is suitable for the unmanned vehicle 100. The tension control winch device 400 supplies power to the unmanned vehicle 100 through the cable 10. The tension control winch device 400 includes a winch controller 410 and a winch module 420. The winch module 420 is used for receiving and unwinding the cable 10, wherein the first end of the cable 10 is used for coupling to the unmanned vehicle 100, and the second end of the cable 10 is used for coupling to the power supply device 20. The power supply device 20 supplies source power SP to the unmanned vehicle 100 via the cable 10. The winch controller 410 is coupled to the winch module 420. The winch controller 410 correspondingly controls the winding and unwinding mode or speed of the cable 10 by the winch module 420 according to the tension of the cable 10 between the unmanned vehicle 100 and the winch module 420 to automatically adjust the tension of the cable 10.

Fig. 5 is a schematic flowchart of a method for operating a tension control winch device according to an embodiment of the present invention. Please refer to Figure 4 and Figure 5. In step S510, the winch module 420 receives and unwinds the cable 10. According to the tension of the cable 10 between the unmanned vehicle 100 and the winch module 420, in step S520, the winch controller 410 correspondingly controls the winding and unwinding mode or speed of the cable 10 by the winch module 420 to automatically adjust the cable 10 Tension.

In the embodiment shown in FIG. 4, the winch module 420 may include a motor 421 and a winch 422. The motor 421 can drive the winch 422 to rotate, so that the cable 10 can be wound on the winch 422. According to design requirements, the motor 421 can be any type of motor, such as a DC motor, a stepping motor, or other types of motors. The winch controller 410 can learn the load condition of the motor 421, and infer the tension of the cable 10 according to the load condition. According to design requirements, the winch controller 410 may predefine the upper limit of tension and/or the lower limit of tension. The winch controller 410 can control the winding and unwinding mode or speed of the motor 421 on the cable 10 according to the tension of the cable 10 and the upper limit of the tension (and/or the lower limit of the tension).

For example, when the tension of the cable 10 is greater than the upper limit of the tension, the winch controller 410 may control the motor 421 and the winch 422 to enter the pay-off mode, so as to reduce the tension of the cable 10. When the tension of the cable 10 is less than the lower limit of the tension, the winch controller 410 may control the motor 421 and the winch 422 to enter the wire-retracting mode, so as to increase the tension of the cable 10. When the tension of the cable 10 is between the upper limit of the tension and the lower limit of the tension, the winch controller 410 may control the motor 421 to enter a stop mode to stop the rotation of the winch 422. The upper limit of tension and the lower limit of tension may be determined according to design requirements.

For another example, when the tension of the cable 10 is greater than the upper limit of the tension, the winch controller 410 can control the rotation speed of the motor 421 to make the speed of the winch 422 a negative value (that is, pay off), so as to reduce the tension of the cable 10 tension. When the tension of the cable 10 is less than the lower limit of the tension, the winch controller 410 may control the rotation speed of the motor 421 so that the speed of the winch 422 is a positive value (ie, take-up), so as to increase the tension of the cable 10. When the tension of the cable 10 is between the upper limit of the tension and the lower limit of the tension, the winch controller 410 can control the rotation speed of the motor 421 so that the speed of the winch 422 is zero (that is, the winding and unwinding is stopped).

FIG. 6 is a circuit block diagram of a tension control winch device 600 according to another embodiment of the present invention. FIG. 6 shows a schematic side view of the tension control winch device 600. In the embodiment shown in FIG. 6, the tension control winch device 600 shown in FIG. 6 includes a winch controller 610, a winch module 620, a wire trimming mechanism 630, a roller 640 and a tension sensor 650. The tension control winch device 600, the winch controller 610, and the winch module 620 shown in FIG. 6 can be deduced by analogy with reference to the related descriptions of the tension control winch device 400, the winch controller 410 and the winch module 420 shown in FIG. . It should be noted that, according to design requirements, one or more of the whole thread mechanism 630, the roller 640, and the tension sensor 650 may be omitted in other embodiments.

FIG. 7 is a schematic flowchart of a method for operating a tension control winch device according to another embodiment of the present invention. Please refer to Figure 4 and Figure 5. The tension sensor 650 is coupled to the winch controller 610. The tension sensor 650 is used to sense the tension of the cable 10 between the unmanned vehicle 100 and the winch module 620 and generate a tension value related to the tension to the winch controller 610. In step S710, the winch controller 610 may preset the upper limit of tension and/or the lower limit of tension.

For steps S720 and S730 shown in FIG. 7, reference may be made to related descriptions of steps S510 and S520 shown in FIG. 5. Based on the control of the winch controller 610, the winch module 620 retracts and unwinds the cable 10 (step S720). According to the tension value provided by the tension sensor 650 and the upper tension limit (and/or the lower tension limit) set in step S710, the winch controller 610 controls the winding and unwinding mode or speed of the cable 10 by the winch module 620 (Step S730).

In the embodiment shown in FIG. 7, step S730 includes step S731, step S732, step S733, step S734, and step S735. In step S731, the tension sensor 650 can sense the tension of the cable 10 between the unmanned vehicle 100 and the winch module 620, and generate a tension value related to the tension to the winch controller 610. In step S732 to step S735, the winch controller 610 controls the winding and unwinding mode or speed of the cable 10 by the winch module 620 according to the tension value and the upper tension limit (and/or the lower tension limit). The upper limit of tension and the lower limit of tension may be determined according to design requirements.

When the tension of the cable 10 is greater than the upper limit of tension (step S732 is "greater than the upper limit of tension"), the winch controller 610 may control the winch module 620 to enter the pay-off mode (step S733) to reduce the tension of the cable 10 . In another embodiment, the winch controller 610 may control the speed of the winch module 620 (rotation speed of the winch 422) in step S733, so that the take-up speed of the winch 422 is a negative value (that is, the pay-off), so as to reduce the cable Tension of thread 10.

When the tension of the cable 10 is between the upper limit of tension and the lower limit of tension (step S732 is "between the upper limit of tension and the lower limit of tension"), the winch controller 610 can control the winch module 620 enters a stop mode (step S734) to stop the rotation of the winch 422. In another embodiment, the winch controller 610 may control the speed of the winch module 620 (rotation speed of the winch 422) in step S734 so that the wire take-up speed of the winch 422 is zero (that is, the wire is stopped).

When the tension of the cable 10 is less than the lower limit of tension (step S732 is "less than the lower limit of tension"), the winch controller 610 may control the winch module 620 to enter the winding mode (step S735), so as to increase the tension of the cable 10 tension. In another embodiment, the winch controller 610 may control the speed of the winch module 620 (rotation speed of the winch 422) in step S735, so that the wire take-up speed of the winch 422 is a positive value (ie wire take-up) to increase The tension of the cable 10.

In some embodiments, the operation method further includes: in the process of the winch module 620 taking up the cable 10, the wire adjustment mechanism 630 dynamically adjusts the cable according to the number of turns of the winch 422 of the winch module 620 10 Take-up position in winch 422.

FIG. 8 is a schematic top view illustrating the winch 422 and the whole wire mechanism 630 shown in FIG. 6 according to an embodiment of the present invention. The wire-setting mechanism 630 can drive the cable 10 to move (for example, move in the arrow direction shown in FIG. 8). When the winch 422 of the winch module 620 takes up the cable 10, the whole wire mechanism 630 can dynamically adjust the take-up position of the cable 10 in the winch 422 according to the number of turns of the winch 422. In this way, the cable 10 can be evenly dispersed on the winch 422.

In summary, a tension control winch device is suitable for unmanned vehicles. The tension control winch device includes a winch module and a winch controller. The winch module is used for receiving and unwinding a cable, wherein the first end of the cable is used for coupling to the unmanned vehicle, and the second end of the cable is used for coupling to a power supply device through which the power supply device The cable provides source power to the unmanned vehicle. The winch controller is coupled to the winch module, wherein the winch controller is used for controlling the take-up and unwinding of the cable by the winch module according to the tension of the cable between the unmanned vehicle and the winch module Mode or speed to automatically adjust the tension of the cable.

In some embodiments, the tension control winch device further includes a tension sensor. A tension sensor is coupled to the winch controller to sense the tension of the cable between the unmanned vehicle and the winch module, and generate a tension value related to the tension to the winch controller .

In some embodiments, the winch controller controls the winding and unwinding mode or speed of the cable by the winch module according to the tension value and the upper or lower tension limit.

In some embodiments, the tension control winch device further includes a winding mechanism. In the process of the winch module taking up the cable, the whole wire mechanism dynamically adjusts the wire take-up position of the cable in the winch according to the number of turns of the winch of the winch module.

In summary, an operating method of a tension control winch device is suitable for unmanned vehicles. The operation method includes: retracting and unwinding a cable by a winch module, wherein a first end of the cable is used for coupling to the unmanned vehicle, and a second end of the cable is used for coupling to a power supply device, the The power supply device provides source power to the unmanned vehicle via the cable; and according to the tension of the cable between the unmanned vehicle and the winch module, the winch controller correspondingly controls the winch module to the cable The winding and unwinding mode or speed of the wire to automatically adjust the tension of the cable.

In some embodiments, the operating method further includes: sensing the tension of the cable between the unmanned vehicle and the winch module by a tension sensor; and generating the tension related to the cable by the tension sensor The tension value of the tension is given to the winch controller.

In some embodiments, the step of correspondingly controlling the winding and unwinding mode or speed of the cable by the winch module includes: controlling the winch controller according to the tension value and the tension upper limit value or the tension lower limit value. The winding and unwinding mode or speed of the cable by the winch module.

In some embodiments, the operation method further includes: during the process of the cable winding of the winch module, the cable adjustment mechanism dynamically adjusts the cable in the winch module according to the number of turns of the winch of the winch module. The take-up position in the winch.

According to different design requirements, the implementation of the blocks of the power dispatch controller 130 and/or the winch controller 610 can be hardware, firmware, software, or the foregoing three. A combination of more of them.

In terms of hardware, the blocks of the power dispatch controller 130 and/or the winch controller 610 described above can be implemented in a logic circuit on an integrated circuit. The above-mentioned related functions of the power dispatch controller 130 and/or the winch controller 610 may be implemented as hardware using hardware description languages (for example, Verilog HDL or VHDL) or other suitable programming languages. For example, the related functions of the aforementioned power dispatch controller 130 and/or the winch controller 610 may be implemented in one or more controllers, microcontrollers, microprocessors, and application-specific integrated circuits (Application-specific integrated circuit). , ASIC), digital signal processor (DSP), Field Programmable Gate Array (FPGA) and/or various logic blocks, modules and circuits in other processing units.

In the form of software and/or firmware, the related functions of the aforementioned power dispatch controller 130 and/or the winch controller 610 can be implemented as programming codes. For example, general programming languages (such as C, C++, or assembly languages) or other suitable programming languages are used to implement the power dispatch controller 130 and/or the winch controller 610. The programming code may be recorded/stored in a recording medium, which includes, for example, a read-only memory (Read Only Memory, ROM), a storage device, and/or a random access memory (Random Access Memory, RAM). . A computer, a central processing unit (CPU), a controller, a microcontroller, or a microprocessor can read and execute the programming code from the recording medium, thereby achieving related functions. As the recording medium, a "non-transitory computer readable medium" can be used. For example, tape, disk, card, semiconductor memory, and non-transitory computer readable medium can be used. Programming logic circuits, etc. Furthermore, the program can also be provided to the computer (or CPU) via any transmission medium (communication network, broadcast wave, etc.). The communication network is, for example, the Internet, wired communication, wireless communication, or other communication media.

In summary, the variable power supply and the battery according to the embodiments of the present invention are configured in an unmanned vehicle. The adjustable power supply can adjust/convert the voltage of the source power to a voltage level that meets the rated voltage of the load circuit of the unmanned vehicle. In this way, the current value of the cable can be reduced as much as possible to effectively reduce the wire loss of the cable. Furthermore, when the load circuit needs a large current instantaneously, the adjustable power supply and the battery can supply power to the load circuit together instantly (without switching).

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make slight changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be subject to those defined by the attached patent scope.

10‧‧‧Cable 20‧‧‧Power supply device 100‧‧‧Unmanned vehicle 110‧‧‧Load circuit 120‧‧‧Sense circuit 120a, 120b, 120c‧‧‧Sensor 130‧‧‧Power dispatch Controller 140‧‧‧Adjustable power supply 150‧‧‧Battery 400‧‧‧Tension control winch device 410‧‧‧Winch controller 420‧‧‧Winch module 421‧‧‧Motor 422‧‧‧Winch 600‧‧‧Tension control winch device 610‧‧‧Winch controller 620‧‧‧Winch module 630‧‧‧The whole wire mechanism 640‧‧‧Roll 650‧‧‧Tension sensor SP‧‧‧Power source S210～ S250, S251～S254, S510～S520, S710～S730, S731～S735‧‧‧Step

FIG. 1 is a schematic diagram of a circuit block of an adaptive power supply system (adaptive power supply system) according to an embodiment of the present invention. FIG. 2 is a schematic flowchart of an operation method of an adjustable power supply system according to an embodiment of the present invention. FIG. 3 is a schematic flowchart of an operation method of a variable power supply system according to another embodiment of the present invention. FIG. 4 is a schematic block diagram of a circuit of a tension control winch device according to an embodiment of the present invention. Fig. 5 is a schematic flowchart of a method for operating a tension control winch device according to an embodiment of the present invention. FIG. 6 is a circuit block diagram of a tension control winch device according to another embodiment of the present invention. FIG. 7 is a schematic flowchart of a method for operating a tension control winch device according to another embodiment of the present invention. Fig. 8 is a schematic top view illustrating the winch and the whole wire mechanism shown in Fig. 6 according to an embodiment of the present invention.

10‧‧‧Cable

20‧‧‧Power Supply Device

100‧‧‧Unmanned Vehicle

110‧‧‧Load circuit

120‧‧‧Sensing circuit

120a, 120b, 120c‧‧‧Sensor

130‧‧‧Power Dispatch Controller

140‧‧‧Adjustable power supply

150‧‧‧Battery

SP‧‧‧Source Power

Claims (24)

An adjustable power supply system is suitable for an unmanned vehicle. The adjustable power supply system includes: an adjustable power supply configured on the unmanned vehicle to receive a source of power; Wherein an output end of the adjustable power supply is used to supply power to a load circuit of the unmanned vehicle, wherein the voltage of the source power is greater than a rated voltage of the load circuit, the adjustable power supply will The voltage of the source power is reduced to a voltage level that conforms to the rated voltage of the load circuit; a battery is disposed on the unmanned vehicle and is coupled to the output terminal of the adjustable power supply; A detection circuit, coupled to the output terminal of the adjustable power supply to sense the output of the adjustable power supply, and coupled to the battery to sense the output of the battery; and a power dispatch A controller coupled to the sensing circuit and the adjustable power supply, wherein the power dispatch controller controls the output of the output terminal of the adjustable power supply according to a sensing result of the sensing circuit , And by adjusting the output of the adjustable power supply to determine whether the adjustable power supply supplies power to the load circuit, the battery supplies power to the load circuit, or the battery and the load circuit The adjustable power supply supplies power to the load circuit together. In the adjustable power supply system described in claim 1, wherein the sensing circuit is further coupled to the load circuit to sense a power input of the load circuit. The variable power supply system according to the first item of the scope of patent application, wherein the sensing circuit senses an output voltage of the variable power supply and an output voltage of the battery, and the power dispatch controller According to the output voltage of the adjustable power supply and the output voltage of the battery, it is determined whether one of the adjustable power supply and the battery is supplied to the load circuit, or whether the battery and the battery The adjustable power supply supplies power to the load circuit together. The variable power supply system as described in item 3 of the scope of patent application, wherein the power dispatch controller adjusts the output voltage of the variable power supply to be greater than the output voltage of the battery, so that The adjustable power supply supplies power to the load circuit, and enables the adjustable power supply to charge the battery. The variable power supply system according to item 3 of the scope of patent application, wherein the power dispatch controller adjusts the output voltage of the variable power supply to be equal to the output voltage of the battery, so that The adjustable power supply and the battery jointly supply power to the load circuit. The variable power supply system as described in item 3 of the scope of patent application, wherein the power dispatch controller adjusts the output voltage of the variable power supply to be less than the output voltage of the battery, so that The battery supplies power to the load circuit. The variable power supply system described in item 1 of the scope of patent application, wherein the sensing circuit senses an output current of the variable power supply and an output current of the battery, the power dispatch controller According to the adjustable power supply The direction of the output current and the direction of the output current of the battery determine an output voltage of the adjustable power supply. The adjustable power supply system as described in item 1 of the scope of patent application further includes: a force control winch device for retracting and placing a cable; wherein an input end of the adjustable power supply is coupled To a first end of the cable to receive the source power. The adjustable power supply system described in item 8 of the scope of patent application, wherein the tension control winch device includes: a winch module for retracting the cable, wherein a second end of the cable is used for Is coupled to a power supply device to provide the source power; and a winch controller is coupled to the winch module, wherein the winch controller is based on the cable connection between the unmanned vehicle and the winch module A tension is used to correspondingly control the winding and unwinding mode or speed of the cable by the winch module to automatically adjust the tension of the cable. For the adjustable power supply system described in claim 9, wherein the tension control winch device further includes: a force sensor, coupled to the winch controller, for sensing the unmanned vehicle The tension of the cable between the cable and the winch module is generated, and a force value related to the tension is generated to the winch controller. For example, the variable power supply system described in item 10 of the scope of patent application, wherein the winch controller controls the winch module to the cable according to the tension value and a force upper limit value or a force lower limit value. Take-up and take-up mode or speed. For the adjustable power supply system described in item 9 of the scope of patent application, the tension control winch device further includes: a wire-integrating mechanism. When the winch module takes up the cable, according to the winch The number of turns of a winch of the module dynamically adjusts a wire take-up position of the cable in the winch. An operation method of an adjustable power supply system is suitable for an unmanned vehicle. The operation method includes: receiving a source power from an adjustable power supply configured on the unmanned vehicle; An output terminal of the adjustable power supply supplies power to a load circuit of the unmanned vehicle, wherein the voltage of the source power is greater than a rated voltage of the load circuit, and the output of the adjustable power supply The step of supplying power from the terminal to the load circuit includes: stepping down the voltage of the source power by the adjustable power supply to a voltage level conforming to the rated voltage of the load circuit; and sensing the voltage by a sensing circuit The output of the output terminal of the adjustable power supply; the sensing circuit senses the output of a battery configured in the unmanned vehicle, wherein the battery is coupled to the output of the adjustable power supply End; and according to a sensing result of the sensing circuit, a power dispatch controller controls the The output of the output terminal of the variable power supply, wherein the power dispatch controller determines the power supply from the variable power supply to the load circuit by adjusting the output of the variable power supply , Or powered by the battery to the load circuit, or powered by the battery and the adjustable power supply to the load circuit. The operation method described in item 13 of the scope of patent application further includes: sensing an electric power input of the load circuit by the sensing circuit. For the operation method described in claim 13, wherein the sensing circuit senses an output voltage of the adjustable power supply and an output voltage of the battery, and the operation method further includes: according to the The output voltage of the adjustable power supply and the output voltage of the battery determine whether one of the adjustable power supply and the battery supplies power to the load circuit, or the battery and the adjustable The integrated power supply supplies power to the load circuit together. For example, the operation method described in item 15 of the scope of patent application further includes: adjusting the output voltage of the adjustable power supply to be greater than the output voltage of the battery, so that the adjustable power supply supplies power to The load circuit and the adjustable power supply charge the battery. As described in item 15 of the scope of patent application, the operation method further includes: adjusting the output voltage of the adjustable power supply to be equal to the output voltage of the battery, so that the adjustable power supply and the The batteries jointly supply power to the load circuit. The operation method described in item 15 of the scope of patent application includes: The output voltage of the adjustable power supply is adjusted to be less than the output voltage of the battery, so that the battery supplies power to the load circuit. As described in item 13 of the scope of patent application, the operation method further includes: sensing an output current of the adjustable power supply and an output current of the battery; according to the output of the adjustable power supply The direction of the current and the direction of the output current of the battery determine an output voltage of the adjustable power supply. For example, the operating method described in item 13 of the scope of the patent application further includes: receiving and unloading a cable by a force-controlled winch device; wherein an input end of the adjustable power supply is coupled to a first of the cable One end to receive the source power. For the operation method described in item 20 of the scope of patent application, wherein the step of receiving and unwinding the cable by the tension control winch device includes: receiving and unwinding the cable by a winch module, wherein a second portion of the cable is The terminal is coupled to a power supply device to provide the source power; and a winch controller correspondingly controls the pair of winch modules according to a force of the cable between the unmanned vehicle and the winch module The retracting and unwinding mode or speed of the cable to automatically adjust the tension of the cable. As for the operation method described in item 21 of the scope of patent application, the step of retracting and unwinding the cable by the tension control winch device further includes: sensing the unmanned vehicle and the winch module by a force sensor The tension of the cable between; and The tension sensor generates a force value related to the tension to the winch controller. For example, the operation method described in item 22 of the scope of patent application, wherein the step of receiving and unwinding the cable by the tension control winch device further includes: the winch controller according to the tension value and the upper limit value of a force or a force The lower limit is used to control the winding and unwinding mode or speed of the cable by the winch module. As for the operation method described in item 21 of the scope of patent application, the step of receiving and unwinding the cable by the tension control winch device further includes: during the process of the winch module taking up the cable, a whole The wire mechanism dynamically adjusts a wire take-up position of the cable in the winch according to the number of turns of a winch of the winch module.

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