WO2017107782A1 - Method for supplying power to unmanned aerial vehicle system, system for supplying power to unmanned aerial vehicle, and unmanned aerial vehicle system - Google Patents

Abstract

A method for supplying power to an unmanned aerial vehicle system comprises: performing judgment according to voltages of two rechargeable cells, and supplying, according to the judgment result, power to an unmanned aerial vehicle system by using at least one of a first rechargeable cell, a second rechargeable cell and a solar cell; the solar cell charges the first rechargeable cell or the second rechargeable cell. Further, to avoid crash of an unmanned aerial vehicle, the speed of the unmanned aerial vehicle system is reduced and the unmanned aerial vehicle system is landed after the electric quantities of the two rechargeable cells decrease to a threshold. Moreover, to avoid that the rechargeable cells are overcharged, charging of the rechargeable cells is stopped after the electric quantities of the rechargeable cells reach a threshold. Correspondingly, provided are a system for supplying power to an unmanned aerial vehicle, and the unmanned aerial vehicle system. In the power supply method and the system for supplying power to an unmanned aerial vehicle, by using a switching power supply mode and an overcharge prevention mechanism, the power endurance of the unmanned aerial vehicle is improved, and the safety of the unmanned aerial vehicle is ensured.

Description

 Power supply method for drone system, drone power supply system and drone system

 [0001] The present invention relates to the field of drone technology, and in particular, to a power supply method for a drone system, a drone power supply system, and a drone system.

 Background technique

 [0002] With the development of drone technology, drones have begun to transition from the military field to the civilian field. At present, the application in the fields of aerial photography, agricultural plant protection, surveying and mapping has greatly expanded the use of the drone itself.

 technical problem

 [0003] The power system of the drone is an important part of the drone, but currently the rotor drone is generally short in duration. Many researchers have introduced solar cells to improve the life of drones. Patent 103840745 A provides an independent solar energy system for drones, which is characterized by the ability to power a variety of electronic devices, and can be used as an input to charge the battery. However, when the light is sufficient, when the solar cell output power is greater than the power demand of the UAV avionics, the excess solar energy will charge the battery. If the battery is already fully charged, continuing to charge will cause overcharging, causing serious consequences such as burning and explosion. On a cloudy day, the light intensity is weak, and the solar cell has almost no output. If the battery is not able to output normally for some reason, the drone will instantly lose its power source and the bomber will occur.

 Problem solution

 Technical solution

 In view of the above, the present invention provides a power supply method for a drone system and a power supply system for a drone to solve the above problems.

[0005] According to an aspect of the present invention, a power supply method for an unmanned aerial vehicle system, using the first rechargeable battery, the second rechargeable battery, and the solar battery, includes: acquiring the first rechargeable battery a state parameter and a second state parameter of the second rechargeable battery; determining according to the first state parameter and the second state parameter; according to the determination result, the first rechargeable battery and the second rechargeable battery are at least One of the power supply to the drone system; during the period, the solar cell is in one of three operating states: charging the first rechargeable battery, charging the second rechargeable battery, and The drone system is powered.

 [0006] Preferably, the determining according to the first state parameter and the second state parameter, performing power supply and charging according to the determination result includes: determining whether the first state parameter is greater than a first threshold; The state parameter is greater than the first threshold, the first rechargeable battery is used to power the drone system, and the second rechargeable battery is charged using the solar cell; if the first state parameter Not being greater than the first threshold, determining whether the second state parameter is greater than the first threshold; if the second state parameter is greater than the first threshold, using the second rechargeable battery to The human-machine system supplies power, and uses the solar battery to charge the first rechargeable battery; if the second state parameter is not greater than the first threshold, using the first rechargeable battery, the second A rechargeable battery and the solar cell simultaneously supply power to the drone system.

 [0007] Preferably, the determining according to the first state parameter and the second state parameter, performing power supply and charging according to the determination result includes: determining whether the first state parameter is greater than a first threshold; The state parameter is greater than the first threshold, determining whether the second state parameter is greater than a second threshold; if the second state parameter is greater than the second threshold, using the first rechargeable battery and the solar cell Supplying the drone system; if the second state parameter is not greater than a second threshold, powering the drone system using the first rechargeable battery, and using the solar cell to Charging the second rechargeable battery; if the first state parameter is not greater than the first threshold, determining whether the second state parameter is greater than the first threshold; if the second state parameter is greater than the first threshold, And then using the second rechargeable battery to supply power to the unmanned system, and charging the first rechargeable battery using the solar battery; If the second state parameter is not greater than the first threshold, the first rechargeable battery, the second rechargeable battery, and the solar cell are used to power the drone system.

 [0008] Preferably, the method further includes: when the first state parameter is not greater than the first threshold, and the second state parameter is not greater than the first threshold, the UAV system sends a deceleration landing signal to control the unmanned Machine slow down

[0009] Preferably, the first rechargeable battery and the second rechargeable battery are single cells or battery packs of nickel cadmium, nickel hydrogen, lithium ion, lead storage, and iron lithium.

[0010] Preferably, the method further comprises: using the solar battery to supply power after the drone takes off. [0011] Preferably, the method further comprises: converting the solar cell voltage using a voltage converter before powering or charging the solar cell.

 [0012] Preferably, the first state parameter and the second state parameter are a first voltage and a second voltage of the rechargeable battery.

 [0013] Preferably, the second threshold is a full charge voltage of the first rechargeable battery and the second rechargeable battery, and the first threshold is greater than termination of the first and second rechargeable batteries The voltage is less than the full charge voltage of the first and second rechargeable batteries.

 [0014] According to another aspect of the present invention, a drone power supply system is provided, including: a first power supply switch, a second power supply switch, a third power supply switch, a fourth power supply switch, and a fifth power supply port. Off, a first rechargeable battery, a second rechargeable battery, a solar battery, and a power supply output, the first power supply is connected between the solar battery and the first rechargeable battery, and the second power supply is Connected between the solar cell and the power supply output terminal, the third power supply is connected between the solar cell and the second rechargeable battery, and the fourth power supply is connected to the first Between the rechargeable battery and the power supply output end, the fifth power supply is connected between the second rechargeable battery and the power supply output end,

[0015] wherein the first state parameter of the first rechargeable battery and the second state parameter of the second rechargeable battery are obtained, and the first power supply is controlled according to the first state parameter and the second state parameter Off, the second power supply switch, the third power supply switch, the fourth power supply switch, and the fifth power supply switch on and off states to implement the first rechargeable battery, the second At least one of the rechargeable batteries supplies power to the drone system through the power supply output, and during the period, the solar battery is in one of three operating states: charging the first rechargeable battery to the second The rechargeable battery is charged and powered to the drone system.

[0016] Preferably, the first power supply is controlled according to the first state parameter and the second state parameter, the second power supply is turned off, the third power is turned off, the fourth power is turned off, and the fifth power is turned off. The on-off state includes: determining whether the first state parameter is greater than a first threshold; if the first state parameter is greater than a first threshold, closing the third power-off, the fourth power-off, and off Determining, whether the first state parameter is greater than a first threshold, and determining whether the second state parameter is greater than a first threshold If the second state parameter is greater than the first threshold, the first power supply is turned off, the fifth power is turned off, and the second power is turned off The third power supply is turned off, and the fourth power supply is turned off; if the second state parameter is not greater than the first threshold, the first power supply is turned off, the second power is turned off, and the The third power supply is turned off, the fourth power supply is turned off, and the fifth power is turned off.

 [0017] Preferably, the controlling, according to the first state parameter and the second state parameter, the first power supply switch, the second power supply switch, the third power supply switch, the fourth power supply switch, and the fifth power supply switch The on/off state includes: if the first state parameter is greater than the first threshold, determining whether the second state parameter is greater than a second threshold; if the second state parameter is greater than the second threshold, closing the first power supply The second power supply is shut off, the fourth power supply is turned off, the third power supply is turned off, and the power supply is turned off; if the second state parameter is not greater than the second threshold, if When the first state parameter is not greater than the first threshold, the third power supply is turned off, the fourth power is turned off, the first power is off, the second power is off, and the The fifth power supply is turned off; if the first state parameter is not greater than the first threshold, determining whether the second state parameter is greater than a first threshold; if the second state parameter is greater than the first threshold, closing the first Power supply The fifth power supply is turned off, the second power supply is turned off, the third power is turned off, and the fourth power is turned off; if the second state parameter is not greater than the first threshold, then closed The first power supply switch, the second power supply switch, the third power supply switch, the fourth power supply switch, and the fifth power supply are turned off.

 [0018] Preferably, the method further includes: after the drone takes off, closing the second power supply, and disconnecting the first power supply, the third power supply, and the fourth power supply Shaoguan and the fifth power supply are critical.

 [0019] Preferably, the method further includes: a voltage converter connected between the solar cell and the first power supply and the third power supply for converting the solar cell voltage.

 [0020] Preferably, the first rechargeable battery and the second rechargeable battery are single cells or battery packs of nickel cadmium, nickel hydrogen, lithium ion, lead storage, and iron lithium.

 [0021] Preferably, the first state parameter and the second state parameter are a first voltage and a second voltage of the rechargeable battery.

 [0022] Preferably, the second threshold is a full charge voltage of the first rechargeable battery and the second rechargeable battery, and the first threshold is greater than termination of the first and second rechargeable batteries The voltage is less than the full charge voltage of the first and second rechargeable batteries.

[0023] According to a third aspect of the present invention, a drone system is provided, including the above-described drone power supply system, a flight control system, a load system, the unmanned power supply system is connected to the flight control system and the load system

[0024] the flight control system acquires sensing signals of the first state parameter and the second state parameter from the power supply system, and outputs a control signal and a control according to the first state parameter and the second state parameter. The power supply system supplies power to the load system according to the control signal, wherein the control signal is used to control at least one of the first rechargeable battery and the second rechargeable battery to supply power to the load system, and during The solar cell is in one of three operating states: charging the first rechargeable battery, charging the second rechargeable battery, and supplying power to the load system.

 [0025] Preferably, the method further includes: an electronic governor for controlling the rotation speed of the propeller according to the control instruction of the flight control system.

 [0026] Preferably, when the first state parameter is not greater than the first threshold, and the second state parameter is not greater than the first threshold, the flight control system issues a deceleration command to the electronic governor, and controls The drone slows down and falls.

 Advantageous effects of the invention

 Beneficial effect

 [0027] The power supply method of the unmanned aerial vehicle system provided by the present invention is determined according to the voltages of the two rechargeable batteries, and at least one of the first rechargeable battery, the second rechargeable battery, and the solar battery is used according to the determination result. The UAV system is powered; and the solar cell charges the first rechargeable battery or the second rechargeable battery. Further, in order to prevent the drone from crashing, the drone system will gradually slow down and fall after the power of the two rechargeable batteries drops below the threshold. Further, in order to prevent overcharging of the rechargeable battery, the rechargeable battery will not continue to be charged after the rechargeable battery reaches the threshold. The present invention provides a corresponding drone power supply system and a drone system. The power supply method and the non-human power supply system provided by the invention improve the safety of the drone by adopting the switching power supply mode and the anti-overcharge mechanism to improve the life of the drone.

 Brief description of the drawing

 DRAWINGS

The above and other objects, features and advantages of the present invention will become more apparent from 1 is a flowchart of a power supply method of a drone system according to an embodiment of the present invention;

 2 is a flow chart of a power supply method of a drone system according to another embodiment of the present invention;

 3 is a structural diagram of a power supply system for a drone according to an embodiment of the present invention;

 4 is a flowchart of a power supply system for a drone according to an embodiment of the present invention;

 5 is a structural diagram of a drone system according to an embodiment of the present invention.

Embodiments of the invention

 The present invention is described below based on the examples, but the present invention is not limited to these examples. In the following detailed description of the invention, some specific details are described in detail. The invention may be fully understood by those skilled in the art without a description of these details. In order to avoid obscuring the essence of the invention, well-known methods, processes, and processes are not described in detail. Further drawings are not necessarily to scale.

 [0035] The flowchart, block diagrams in the figures illustrate possible architectures, functions, and operations of the systems, methods, and apparatus of the embodiments of the invention. The blocks in the flowcharts and block diagrams may represent a module, a block or Just a piece of code, the modules, blocks, and code are executable instructions that implement the specified logic functions. It should also be noted that the executable instructions implementing the specified logic functions can be recombined to create new modules and program segments. The blocks and block diagrams of the figures are only used to better illustrate the processes and steps of the embodiments, and should not be construed as limiting the invention itself.

 [0036] In various embodiments of the present invention, the rechargeable battery includes a single battery or a battery pack of nickel cadmium, nickel hydrogen, lithium ion, lead storage, and iron lithium, and the solar battery includes, but is not limited to, a copper indium gallium selenide thin film battery, Monocrystalline silicon solar cells, polycrystalline silicon solar cells, amorphous silicon solar cells, dye-sensitized solar cells, and the like.

 1 is a flow chart of a power supply method of a drone system according to an embodiment of the present invention. In the power supply method shown in Fig. 1, two rechargeable batteries and one solar battery are used to supply power to the unmanned system, and the power of two rechargeable batteries is monitored, and when one of the rechargeable batteries is depleted To a certain extent, use another rechargeable battery to power the drone system, and use solar cells to charge the rechargeable battery; when the power of both rechargeable batteries drops to a certain level, use solar cells, two The rechargeable battery powers the drone system.

[0038] Specifically, the power supply method as described in FIG. 1 includes steps 110-160. [0039] In step 110, a first state parameter of the first rechargeable battery and a second state parameter of the second rechargeable battery are obtained. In this step, after the drone takes off, the voltage of the two rechargeable batteries is obtained.

 [0040] In step 120, it is determined whether the first state parameter is greater than a first threshold. In this step, according to the preset first threshold, the first state parameter is compared, and then the power supply mode is determined according to the comparison result. If the first state parameter is greater than the first threshold, step 160 is performed, and if the first state parameter is not greater than the first threshold, step 130 is performed.

 [0041] In step 130, it is determined whether the second state parameter is greater than the first threshold. In this step, it is determined whether the second state parameter is greater than the first threshold. If the second state parameter is greater than the first threshold, step 140 is performed. If the second state parameter is not greater than the first threshold, step 150 is performed.

 [0042] In step 140, the second rechargeable battery is used to power the drone system, and the first rechargeable battery is charged using the solar battery. That is, in a case where the second state parameter is greater than the first threshold and the first state parameter is not greater than the first threshold, the second rechargeable battery is used to supply power to the load system of the drone, and the first chargeable battery is used. Charging batteries. For example, suppose 20 volts is the minimum voltage for the drone to work properly. If the voltage of the first rechargeable battery is less than or equal to this value and the voltage of the second rechargeable battery is greater than this value, then the second should be used. The rechargeable battery powers the load system of the drone and uses the solar battery to charge the first rechargeable battery.

 [0043] In step 150, the first rechargeable battery, the second rechargeable battery, and the solar battery are used to power the unmanned system. That is, when the first state parameter is not greater than the first threshold and the second state parameter is not greater than the first threshold, the power supply of the drone system is in an alert state, and the first rechargeable battery and the second rechargeable battery are used. Together with the solar cell, it supplies power to the load system of the drone. For example, when the voltages of the two rechargeable batteries are less than or equal to a minimum voltage of 20 volts, the first rechargeable battery, the second rechargeable battery, and the solar battery are used to supply power to the load system of the drone.

 [0044] In a preferred embodiment, when the voltages of the two rechargeable batteries of the UAV system fall below a certain level, for example, less than the first threshold, the UAV system transmits a deceleration landing signal, Controlling the drone to slow down and land.

[0045] In step 160, the first rechargeable battery is used to power the drone system, and the second rechargeable battery is charged using the solar battery. That is, the first state parameter is greater than the first threshold 吋, the first rechargeable battery is used to power the drone system, and the second rechargeable battery is charged using the solar cell. E.g, When the voltage of the first rechargeable battery is greater than the minimum voltage of 20 volts, the first rechargeable battery is used to power the drone system, and the second rechargeable battery is charged using the solar battery.

[0046] In a preferred embodiment, the above state parameter is defined as a voltage of the rechargeable battery, and the first threshold is defined to be greater than a termination voltage of the first rechargeable battery and the second rechargeable battery and smaller than the first and second The full charge voltage of the rechargeable battery, the second threshold is defined as the full charge voltage of the first rechargeable battery and the second rechargeable battery.

 In another preferred embodiment, the state parameter is defined as a state of charge (SOC) of the first rechargeable battery and the second rechargeable battery, and the charging state of the rechargeable battery is determined by the state of charge.

 [0048] It will be understood by those skilled in the art that the foregoing is only two examples of state parameters. If another indicator can also be used as a judgment of the current state of the rechargeable battery, such indicators should also be protected in the embodiments of the present invention. Within the scope.

 [0049] In the power supply method of the UAV system shown in FIG. 1, when the first state parameter is greater than the first threshold, the first rechargeable battery is used to supply power to the UAV system, and the solar cell is used to provide the second Charging the battery, since the second state parameter is not judged, after the capacity of the second rechargeable battery is already full, continuing to charge the second rechargeable battery may cause serious consequences such as explosion or burning. In another embodiment of the invention illustrated in Figure 2, this has been improved.

 [0050] Specifically, the power supply method as described in FIG. 2 includes steps 210-280.

 [0051] Steps 210-250 are the same as steps 110-150 in the power supply method shown in FIG. 1, and are not described herein again.

 [0052] In step 260, it is determined whether the second state parameter is greater than the second threshold. If the second state parameter is greater than the second threshold, step 270 is performed. If the second state parameter is not greater than the second threshold, step 28 0 is performed. . In a preferred embodiment, the second threshold can be set to the maximum operating voltage of the rechargeable battery, ie, the full charge voltage. It is judged whether the rechargeable battery reaches the full charge voltage, that is, whether the rechargeable battery reaches a critical state.

[0053] In step 270, the first rechargeable battery and the solar battery are used to power the drone system. That is, when the first state parameter is greater than the first threshold and the second state parameter is greater than the second threshold, the first rechargeable battery and the solar cell are used to supply power to the drone system, and the second rechargeable battery is in a resting state. The purpose of this is to prevent continued charging while the rechargeable battery is fully charged. [0054] In step 280, the first rechargeable battery is used to power the drone system, and the second rechargeable power source is charged using the solar battery. That is, when the first state parameter is greater than the first threshold and the second state parameter is not greater than the second threshold, the first rechargeable battery is used to power the drone system, and the solar battery is used to charge the second rechargeable power source.

 [0055] Typically, the solar cell voltage is converted using a voltage converter prior to powering or charging the solar cell.

 [0056] The power supply method of the unmanned aerial vehicle system provided by the embodiment of the present invention is determined according to the voltage of the rechargeable battery, and according to the determination result, at least one of the first rechargeable battery, the second rechargeable battery, and the solar battery is used. The UAV system is powered; and the solar cell charges the first rechargeable battery or the second rechargeable battery. Through the two rechargeable batteries and the actual switching of the solar cells, the drone system is guaranteed to have sufficient power supply support. Further, in order to prevent the drone from crashing, the drone system will gradually slow down and land after the charge of the two rechargeable batteries drops below the threshold. Further, in order to prevent overcharging of the rechargeable battery, the rechargeable battery will not continue to be charged after the rechargeable battery reaches the threshold.

[0057] According to the drone power supply method shown in Figs. 1, 2, Fig. 3 is a block diagram showing the power supply system of the drone according to the embodiment of the present invention.

 [0058] The UAV power supply system shown in FIG. 3 includes: a solar cell 102, a voltage converter 103, a first power supply switch 104, a second power supply switch 105, a third power supply switch 106, and a fourth power supply. The first power supply 107, the first rechargeable battery 109, the second rechargeable battery 110, the solar battery 102 and the voltage converter 103 are connected, and the voltage converter 103 and the first power supply 104 are respectively The power supply switch 105 and the third power supply switch 106 are connected, and the first rechargeable battery 109 is connected to the first power supply switch 104 and the fourth power supply switch 107, respectively, and the second rechargeable battery 110 and the third power supply switch 106 are respectively connected. The fifth power supply is connected to the 10 8 connection. The second power supply switch 105, the fourth power supply switch 107, the fifth power supply switch 108, and the load system of the drone are connected.

[0059] In the drone power supply system shown in FIG. 3, the on/off of each power supply is controlled according to the actual voltage of the first rechargeable battery 109 and the second rechargeable battery 110 to achieve the first At least one of the rechargeable battery, the second rechargeable battery, and the solar battery supplies power to the drone system, and the solar battery charges the first rechargeable battery or the second rechargeable battery. [0060] Specifically, FIG. 4 shows a control flow chart of the above-described drone power supply system. As shown in FIG. 4, the control process includes steps 410-490.

[0061] In step 410, the second power supply of the power supply system is closed, and the first, third, fourth, and fifth ports are turned off.

 That is, after the drone takes off, it is powered by a solar battery, and neither rechargeable battery participates in the power supply.

[0062] In step 420, a first state parameter of the first rechargeable battery and a second state parameter of the second rechargeable battery are obtained. During the flight, the power consumption of the first rechargeable battery and the second rechargeable battery is monitored.

 [0063] In step 430, it is determined whether the first state parameter is greater than the first threshold. If the first state parameter is greater than the first threshold, step 470 is performed. If the first state parameter is not greater than the first threshold, step 44 0 is performed. .

 [0064] In step 440, it is determined whether the second state parameter is greater than the first threshold. If the second state parameter is greater than the first threshold, step 450 is performed. If the second state parameter is not greater than the first threshold, step 46 0 is performed. .

 [0065] In step 450, the first and fifth power supply ports are closed, and the second, third, and fourth ports are turned off. As shown in FIG. 3, the first and fifth power supply ports are closed, and the second, third, and fourth ports are turned off. The second rechargeable battery supplies power to the unmanned load system, and the solar battery charges the first rechargeable battery.

 [0066] In step 460, the first, second, third, fourth, and fifth are closed. As shown in Figure 3, the first, second, third, fourth, and fifth rounds close the unit, and the solar battery and two rechargeable batteries simultaneously charge the unmanned load system.

[0067] In step 470, it is determined whether the second state parameter is greater than the second threshold. If the second state parameter is greater than the second threshold, step 480 is performed. If the second state parameter is not greater than the second threshold, step 490 is performed.

 [0068] In step 480, the first, second, and fourth power supplies are turned off, and the third and fifth ports are turned off. As shown in FIG. 3, after the first, second, and fourth power supply ports are closed, the third and fifth powers are turned off, the solar battery and the first rechargeable battery charge the unmanned load system, and the second rechargeable battery is not Participate in the work.

 [0069] In step 490, the third and fourth power supply ports are closed, and the first, second, and fifth ports are turned off. If 3 is shown, after the third and fourth power supply ports are closed, the first, second, and fifth ports are turned off, the first rechargeable battery charges the unmanned load system, and the solar battery charges the second rechargeable battery.

[0070] Those skilled in the art will understand that although only one charging system is depicted for charging in FIG. Switching process, but in practical applications, the charging system will switch according to the voltage of the rechargeable battery obtained by the actual battery. In addition, after the battery is switched, in order to prevent the drone system from being powered off, it is executed first. With the instruction, execute the shutdown command again. In addition, in a preferred embodiment, after the initial flight of the drone, the second power supply is turned off, and the other power supply is turned off, that is, powered by the solar battery.

 [0071] According to the above-described power supply method of the drone system and the drone power supply system, the present invention provides a non-human machine system.

 As shown in FIG. 5, the UAV system includes a flight control system 10, a UAV power supply system 11, a load system 12, a flight control system 10, and a UAV power supply system 11 connected to the load system 12.

 [0073] The flight control system 10 is coupled to the first rechargeable battery 109 and the second rechargeable battery 110, respectively, to acquire sensing signals of the first state parameter and the second state parameter, respectively.

 [0074] The flight control system 10 is respectively connected to the first power supply switch 104, the second power supply switch 105, the third power supply switch 106, the fourth power supply switch 117, and the fifth power supply switch 118, according to the first state parameter. And the second state parameter outputting the control signal to control the on/off of the above-mentioned switch to realize power supply to the load system 12.

 [0075] As shown in FIG. 5, in a preferred embodiment, the drone system further includes an electronic governor 120 and a propeller 122 and a brushless motor 121 under the propeller, and the motor is controlled according to the instruction of the flight control system. Speed. For example, when the power supply system is insufficient, that is, when the first state parameter is not greater than the first threshold, and the second state parameter is not greater than the first threshold, the flight control system issues a deceleration landing command.

 [0076] The drone power supply system and the power supply method provided by the embodiments of the present invention can effectively prevent the solar battery from charging the lithium battery by using the two rechargeable batteries and one solar battery by adopting the switching power supply mode. Charging phenomenon, the same can guarantee that the solar cell can not be output on cloudy days, and in the extreme case where one of the lithium batteries fails, there is still another lithium battery that can supply the load, which can improve the life of the battery. The drone is safe during flight.

 [0077] The present invention provides a drone system corresponding to a drone power supply system, and provides power supply through the drone power supply system to ensure the flight of the drone.

[0078] It is apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. For example, in practical applications, the above module functions may be divided into the present invention and different needs. Different functional structures are applied, or several functional modules in the embodiments of the present invention are combined and decomposed into different functional structures. Therefore, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the invention is defined by the appended claims All changes in the meaning and scope of equivalent elements are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim. In addition, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or devices recited in the system claims can also be implemented by a unit or device by software or hardware.

 The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalents, improvements, etc. made within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

Claim  [Claim 1] A method of supplying power to an unmanned aerial vehicle system, using a first rechargeable battery, a second rechargeable battery, and a solar battery, including:  Obtaining a first state parameter of the first rechargeable battery and a second state parameter of the second rechargeable battery;  Determining according to the first state parameter and the second state parameter; according to the determination result, at least one of the first rechargeable battery and the second rechargeable battery supplies power to the unmanned aerial vehicle system;  During the period, the solar cell is in one of three operating states: charging the first rechargeable battery, charging the second rechargeable battery, and supplying power to the drone system. [Claim 2] The power supply method according to claim 1, wherein the determining according to the first state parameter and the second state parameter, performing power supply and charging according to the determination result comprises: determining the first state parameter Whether it is greater than the first threshold;  If the first state parameter is greater than the first threshold, powering the drone system using the first rechargeable battery, and charging the second rechargeable battery using the solar cell;  If the first state parameter is not greater than the first threshold, determining whether the second state parameter is greater than the first threshold;  If the second state parameter is greater than the first threshold, powering the drone system using the second rechargeable battery, and charging the first rechargeable battery using the solar cell;  If the second state parameter is not greater than the first threshold, the first rechargeable battery, the second rechargeable battery, and the solar cell are used to power the drone system.  [Claim 3] The power supply method according to claim 1, wherein the determining according to the first state parameter and the second state parameter, performing power supply and charging according to the determination result comprises: determining the first state parameter Whether it is greater than the first threshold; If the first state parameter is greater than the first threshold, determining that the second state parameter is No greater than the second threshold;  If the second state parameter is greater than the second threshold, powering the drone system using the first rechargeable battery and the solar cell;  And if the second state parameter is not greater than a second threshold, powering the drone system using the first rechargeable battery, and charging the second rechargeable battery using the solar cell;  If the first state parameter is not greater than the first threshold, determining whether the second state parameter is greater than the first threshold;  If the second state parameter is greater than the first threshold, powering the drone system using the second rechargeable battery, and charging the first rechargeable battery using the solar cell;  If the second state parameter is not greater than the first threshold, the first rechargeable battery, the second rechargeable battery, and the solar cell are used to power the drone system.  [Claim 4] The power supply method according to claim 2 or 3, further comprising: the first state parameter is not greater than a first threshold, and the second state parameter is not greater than a first threshold, The man-machine system sends a deceleration and landing signal to control the drone to slow down and land. [Claim 5] The power supply method according to claim 1, wherein the first rechargeable battery and the second rechargeable battery are monomers of nickel cadmium, nickel hydrogen, lithium ion, lead storage, and iron lithium Battery or battery pack.  [Claim 6] The power supply method according to claim 1, further comprising: supplying power to the solar battery after the drone is taken off. [Claim 7] The power supply method according to claim 1, further comprising: converting the solar cell voltage using a voltage converter before the solar battery is used for charging or charging. [Claim 8] The power supply method according to claim 1, wherein the first state parameter and the second state parameter are a first voltage and a second voltage of the rechargeable battery. [Claim 9] The power supply method according to claim 8, wherein the second threshold is a full charge voltage of the first rechargeable battery and the second rechargeable battery, and the first threshold is greater than Description The termination voltages of the first and second rechargeable batteries are less than the full charge voltage of the first and second rechargeable batteries.  [Claim 10] A drone power supply system, comprising: a first power supply switch, a second power supply switch, a third power supply switch, a fourth power supply switch, a fifth power supply switch, and a first rechargeable battery a second rechargeable battery, a solar battery, and a power supply output, the first power supply is connected between the solar battery and the first rechargeable battery, and the second power supply is connected to the solar battery and Between the power supply output terminals, the third power supply is connected between the solar battery and the second rechargeable battery, and the fourth power supply is connected to the first rechargeable battery and the power supply Between the outputs, the fifth power supply is connected between the second rechargeable battery and the power supply output.  The first state parameter of the first rechargeable battery and the second state parameter of the second rechargeable battery are obtained, and the first power supply is controlled according to the first state parameter and the second state parameter. An on/off state of the second power supply switch, the third power supply switch, the fourth power supply switch, and the fifth power supply switch to implement the first rechargeable battery and the second rechargeable battery At least one of the power supply outputs to the UAV system, and wherein the solar cell is in one of three operating states: charging the first rechargeable battery, charging the second rechargeable battery And supplying power to the drone system.  The power supply system of the UAV according to claim 10, wherein the first power supply is controlled according to the first state parameter and the second state parameter, the second power supply is turned off, and the third power supply is Shaoguan, the fourth power supply, the fifth power supply on/off status includes:  Determining whether the first state parameter is greater than a first threshold;  If the first state parameter is greater than the first threshold, closing the third power supply switch, the fourth power supply switch, disconnecting the first power supply switch, the second power supply switch, The fifth power supply is critical;  If the first state parameter is not greater than the first threshold, determining whether the second state parameter is greater than a first threshold; Closing the first power supply, if the second state parameter is greater than the first threshold The fifth power supply is turned off, the second power supply is turned off, the third power is turned off, and the fourth power is turned off;  If the second state parameter is not greater than the first threshold, closing the first power supply switch, the second power supply switch, the third power supply switch, the fourth power supply switch, and the Five power supply is at stake.  The power supply system of the UAV according to claim 10, wherein the controlling the first power supply, the second power supply, and the third power supply according to the first state parameter and the second state parameter The on-off status of the Shaoguan, the fourth power supply, and the fifth power supply includes:  If the first state parameter is greater than the first threshold, determining whether the second state parameter is greater than a second threshold;  If the second state parameter is greater than the second threshold, closing the first power supply switch, the second power supply switch, the fourth power supply switch, and disconnecting the third power supply switch, Power supply five passes;  If the second state parameter is not greater than the second threshold, if the first state parameter is not greater than the first threshold, the third power supply is turned off, the fourth power is turned off, and the first The power supply is off, the second power supply is off, and the fifth power is off; if the first state parameter is not greater than the first threshold, determining whether the second state parameter is greater than the first threshold;  If the second state parameter is greater than the first threshold, closing the first power supply switch, the fifth power supply switch, disconnecting the second power supply switch, the third power supply switch, The fourth power supply is critical;  If the second state parameter is not greater than the first threshold, closing the first power supply switch, the second power supply switch, the third power supply switch, the fourth power supply switch, and the Five power supply is at stake.  [Attachment 13] The UAV power supply system according to claim 11 or 12, further comprising: after the UAV takes off, closes the second power supply, and disconnects the first power supply And the third power supply switch, the fourth power supply switch, and the fifth power supply are turned off. [Attachment 14] The drone power supply system according to claim 10, further comprising: a voltage converter, connected And converting the solar cell voltage between the solar cell and the first power supply and the third power supply. The drone power supply system according to claim 10, wherein the first rechargeable battery and the second rechargeable battery are single cells of nickel cadmium, nickel hydrogen, lithium ion, lead storage, and iron lithium or Battery. The power supply method according to claim 10, wherein the first state parameter and the second state parameter are a first voltage and a second voltage of the rechargeable battery. The UAV power supply system according to claim 16, wherein the second threshold is a full charge voltage of the first rechargeable battery and the second rechargeable battery, and the first threshold is greater than the first The termination voltages of the first and second rechargeable batteries are less than the full charge voltage of the first and second rechargeable batteries. A UAV system, comprising: the UAV power supply system, the flight control system, the load system, the unmanned power supply system, the flight control system, and the load system according to any one of claims 10-17 Connect, The flight control system acquires a sensing signal of the first state parameter and the second state parameter from the power supply system, and outputs a control signal and the power supply system according to the first state parameter and the second state parameter. Supplying power to the load system according to the control signal, wherein the control signal is used to control at least one of the first rechargeable battery and the second rechargeable battery to supply power to the load system, and during the period, the solar battery In one of three operating states: charging the first rechargeable battery, charging the second rechargeable battery, and powering the load system. The drone system of claim 18, further comprising: an electronic governor for controlling the rotational speed of the propeller according to a control command of the flight control system. The UAV system according to claim 19, wherein, when the first state parameter is not greater than a first threshold, and the second state parameter is not greater than a first threshold, the flight control system is to the electronic The governor issues a deceleration command to control the drone to slow down and land.