UAV deicing power supply control method, device, system and storage medium

Abstract

The present invention discloses a de-icing power supply control method for a drone, including collecting the current temperature data of the drone, and determining the power supply required for the de-icing load according to the current temperature data; determining the total power generation of the generator set according to the power supply, and determining the power generation of each generator set according to the total power generation; and controlling the output torque of each generator set according to the power generation of each generator set, so that the generator set outputs electric energy to supply power for the de-icing load. The present application controls and sets the total power generation of the generator set on the drone based on the current temperature data, so that the electric energy output by the generator set can meet the de-icing requirements of the drone, reduce unnecessary energy consumption during the drone operation flight, and thus improve the drone's endurance. The present application also provides a drone de-icing power supply control device, system, and computer-readable storage medium, which have the above-mentioned beneficial effects.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method, device, system and computer-readable storage medium for controlling deicing power supply of unmanned aerial vehicles. Background Art

[0002] Medium and large drones are widely used in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, etc. However, the endurance of existing medium and large drones is a weak point when they are used. Because drones are relatively large and need to operate continuously at high altitudes, especially in some relatively extreme environments, higher requirements are placed on the temperature control and endurance of drones. In particular, low-temperature environments require a large amount of heat preservation energy supply, which further compresses the endurance of drones.

[0003] Currently, the operating conditions of existing drones in high-altitude extreme environments are not ideal, especially in low-temperature environments where icing on the aircraft surface occurs frequently and seriously affects the signal transmission and normal operation of the drone. Summary of the invention

[0004] The purpose of the present invention is to provide a method, device, system and computer-readable storage medium for controlling deicing power supply of a UAV, which can improve the endurance of the UAV to a certain extent.

[0005] In order to solve the above technical problems, the present invention provides a UAV deicing power supply control method, comprising:

[0006] Collecting current temperature data of the UAV, and determining the power supply required for the de-icing load according to the current temperature data;

[0007] Determine the total power generation power of the generator sets according to the power supply power, and determine the power generation power of each group of the generator sets according to the total power generation power;

[0008] According to the power generation power of each group of the generator sets, the output torque of each group of the generator sets is controlled so that the generator sets output electric energy for supplying power to the de-icing load.

[0009] Optionally, determining the power generation power of each generator set according to the power supply power includes:

[0010] Collect the current SOC value of the energy storage battery;

[0011] Determining whether the current SOC value is within a normal power range;

[0012] If the SOC value is greater than the maximum boundary value of the normal power interval, the surplus power is set according to the difference between the current SOC value and the maximum boundary value, and the difference between the power supply power and the surplus power is used as the total power generation power;

[0013] If the current SOC value is within the normal power range, the power supply power is used as the total power generation power;

[0014] If the current SOC value is less than the minimum boundary value of the normal power range, the insufficient power is set according to the difference between the current SOC value and the minimum boundary value, and the sum of the insufficient power and the power supply power is used as the total power generation power.

[0015] Optionally, determining the power generation power of each group of the generator sets according to the total power generation power includes:

[0016] The ratio between the total power generation and the number of the generator sets is used as the power generation of each generator set.

[0017] Optionally, it also includes:

[0018] Collecting the internal parameters of each group of the generator sets in real time;

[0019] It is determined whether each group of the generator sets has a fault according to the internal parameters; if a generator set fault exists, the power generation power of each of the generator sets without fault is determined according to the number of the generator sets without fault and the power generation power.

[0020] Optionally, controlling the output torque of each group of the generator sets according to the power generation power of each group of the generator sets includes:

[0021] Real-time monitoring of the actual power generation and actual output torque of the generator set;

[0022] The output torque of the generator set is feedback-regulated according to the difference between the actual generated power and the generated power and the actual output torque.

[0023] A de-icing power supply control device for a drone, comprising:

[0024] A temperature acquisition module is used to collect current temperature data of the UAV and determine the power supply required for the deicing load according to the current temperature data;

[0025] A power calculation module, used to determine the total power generation of the generator set according to the power supply power, and determine the power generation power of each group of the generator set according to the total power generation power;

[0026] The torque control module is used to control the output torque of each group of the generator sets according to the power generation power of each group of the generator sets.

[0027] A deicing power supply control system for a drone comprises a host computer, a temperature measuring device connected to the host computer, a generator set connected to the host computer, and a deicing load;

[0028] Wherein, the temperature measuring device is used to detect the current temperature data of the drone;

[0029] The generator set is used to provide power supply energy for the de-icing load;

[0030] The host computer is used to execute the steps of implementing the drone power supply control method as described in any one of the above items according to the current temperature data.

[0031] Optionally, the output end of the generator set is connected to an energy storage battery; the output end of the energy storage battery is connected to a power supply input end of the de-icing load.

[0032] Optionally, the generator set includes a generator controller and a generator; the generator controller is connected to the host computer and is used to control the output torque of the generator according to the control instructions of the host computer and upload the internal parameters of the generator set to the host computer.

[0033] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the unmanned aerial vehicle deicing power supply control method as described in any one of the above items.

[0034] A de-icing power supply control method for a drone provided by the present invention comprises collecting current temperature data of the drone, and determining the power supply required for the de-icing load according to the current temperature data; determining the total power generation of the generator set according to the power supply power, and determining the power generation power of each generator set according to the total power generation power; and controlling the output torque of each generator set according to the power generation power of each generator set so that the generator set outputs electric energy for supplying power to the de-icing load.

[0035] In the present application, during the operation of the drone, the current temperature of the drone is monitored, and the total power generation power of the generator set on the drone is controlled and set based on the current temperature data, so that the electric energy output by the generator set can meet the requirements for de-icing the drone without generating too much electricity, thereby wasting the energy consumption of the generator set of the drone. To a certain extent, unnecessary energy consumption during the operation and flight of the drone is reduced, thereby improving the endurance of the drone.

[0036] The present application also provides a UAV de-icing power supply control device, system and computer-readable storage medium, which have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 A schematic diagram of a flow chart of a method for controlling deicing power supply of a drone provided in an embodiment of the present application;

[0039] Figure 2 This is a structural block diagram of the UAV de-icing power supply control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0041] The endurance of a drone during flight operation depends on the amount of energy that can be stored in the drone's energy storage components and the speed at which the drone consumes energy. When a drone is operating at high altitudes, the air pressure is relatively low, which makes it easy for the drone's surface to freeze. If the icing is severe, the drone may even be unable to operate.

[0042] To this end, it is generally necessary to take certain de-icing measures for the UAV. Setting a de-icing load that can generate heat when powered on is a relatively easy way to achieve de-icing. However, during the ups and downs of the UAV's flight operations, it is obvious that the severity of the UAV's icing varies with the flight altitude. If the power supply to the de-icing load is too high, it will cause unnecessary energy loss. If the power supply to the de-icing load is too low, it will affect the normal operation of the UAV, which makes it more difficult to supply power to the de-icing load.

[0043] To this end, the present application provides a more reasonable technical solution for providing electrical energy for the de-icing load, which can reduce the energy waste on the drone to a certain extent while ensuring the drone's endurance, thereby improving the drone's endurance.

[0044] like Figure 1 As shown, Figure 1 A flowchart of a UAV deicing power supply control method provided in an embodiment of the present application, the UAV deicing power supply control method may include:

[0045] S11: Collect current temperature data of the UAV, and determine the power supply required for the de-icing load according to the current temperature data.

[0046] It should be noted that the temperature of the drone is negatively and positively correlated with the current altitude of the drone. The higher the altitude, the lower the temperature of the drone will generally be. Therefore, when actually collecting the current temperature data of the drone, a temperature sensor can be set on the drone to directly measure the temperature of the drone, or the drone's automatic positioning system can be used to detect its current altitude and convert the altitude to obtain the current temperature data of the drone.

[0047] On the basis of determining the current temperature data of the UAV, it is obvious that the smaller the current temperature data of the UAV is, that is, the lower the current temperature of the UAV is, the more electrical energy the UAV needs to provide for the de-icing load, that is, the greater the power supply required for the de-icing load is.

[0048] S12: Determine the total power generation of the generator sets according to the power supply power, and determine the power generation power of each generator set according to the total power generation power.

[0049] Generally, in order to ensure the stability of the generator set's power supply to the de-icing load, the generator set basically does not directly supply power to the de-icing load, but connects the energy storage battery at the output end of the generator set, and then supplies power to the de-icing load through the energy storage battery. However, it is understandable that in order to reduce the overall weight of the drone as much as possible, the mass of the energy storage battery itself should not be too large, and accordingly, the amount of electricity that the energy storage battery can store is actually very limited.

[0050] An energy storage battery is set between the generator set and the de-icing load. When the power generated by the generator set is greater than the power required by the de-icing load, the excess electric energy can be stored in the energy storage battery to avoid energy waste. For example, as the flying altitude of the drone gradually decreases, the temperature of the drone gradually increases, and there is a certain delay in the adjustment of the power generated by the generator set, which causes the power generated by the generator set to be greater than the power required by the de-icing load in a short period of time, so that the excess electricity generated by the generator set is stored in the energy storage battery. When the power generated by the generator set is less than the power required by the de-icing load, the energy storage battery can also be used to provide insufficient electric energy.

[0051] However, as mentioned above, the energy storage battery has limited energy storage capacity, and the amount of electricity that can be released and charged is limited. Therefore, when the electricity generated by the generator set is used to power the de-icing load and there is excess electricity, if the electricity originally stored in the energy storage battery is full or nearly fully charged at this time, the excess electricity generated by the generator set cannot be stored, which may cause energy waste; when the electricity generated by the generator set is less than the electricity required to power the de-icing load, the electricity originally stored in the energy storage battery is basically exhausted, which may cause the drone to fail to operate normally.

[0052] In order to avoid the above two problems, in an optional embodiment of the present application, the process of determining the power generation of each generator set may further include:

[0053] Collect the current SOC value of the energy storage battery;

[0054] Determine whether the current SOC value is within the normal power range;

[0055] If the current SOC value is greater than the maximum boundary value of the normal power range, the surplus power is set according to the difference between the current SOC value and the maximum boundary value, and the difference between the power supply power and the surplus power is used as the total power generation power;

[0056] If the current SOC value is within the normal power range, the power supply power is taken as the total power generation power;

[0057] If the current SOC value is less than the minimum boundary value of the normal power range, the insufficient power is set according to the difference between the current SOC value and the minimum boundary value, and the sum of the power supply power and the insufficient power is taken as the total power generation power.

[0058] The current SOC value of the energy storage battery is the amount of electricity stored in the energy storage battery. In this embodiment, when setting the power generation power of the generator set, the current SOC value of the energy storage battery is also considered. By setting the appropriate total power generation efficiency of the generator set, the current SOC value in the energy storage battery can be maintained unchanged within a normal power range, so that when the energy storage battery needs to store electricity, the energy storage battery has sufficient energy storage space, and when the energy storage battery needs to discharge, the energy storage battery can have sufficient electricity, which is conducive to ensuring the normal operation of the drone.

[0059] In addition, in general, drones are often not equipped with just one set of generator sets, but with multiple sets of generator sets symmetrically set. During the power generation process of the generator set, each generator set is equivalent to a vibration source; and the vibration intensity brought by the generator set is directly related to the power generation power of the generator set. Therefore, in order to better ensure the overall balance of the drone, after determining the total power generation power corresponding to each generator set, the total power generation power can be evenly distributed to each generator set. For example, the ratio of the total power generation power to the number of generator sets can be used as the power generation power of each generator set, so that the power generation power of each generator set is the same, and the vibration brought by each generator set is also symmetrically balanced.

[0060] In addition, in order to avoid the situation where there is a fault during the power generation process of each generator set, the present embodiment may further include:

[0061] Collect the internal parameters of each generator set in real time;

[0062] It is determined whether each generator set has a fault based on internal parameters; if a generator set fault exists, the power generation capacity of each generator set that has not failed is determined based on the number of generator sets that have not failed and the power generation capacity.

[0063] By monitoring the internal parameters of each generator set in real time, which may be data such as the rotation state of the motor in the generator set and the output torque size, it is possible to clearly determine whether the generator set is in normal operation based on the collected internal parameters. Once a faulty generator set occurs, the faulty generator set will be immediately cut off; and the generator sets that are not faulty will be controlled to jointly complete the power generation task of the above-mentioned total power generation power.

[0064] Of course, in general, the number of generator sets will not be too many, and may only include two or three sets. In order to ensure the overall balance of the drone, if the remaining generator sets that are not faulty are not symmetrically arranged, some of the generator sets that are not faulty and are symmetrically arranged can be selected for power generation. If there is only one generator set that is not faulty, there is no problem of vibration imbalance, and the generator set can be directly used for power generation.

[0065] S13: According to the power generation power of each generator set, the output torque of each generator set is controlled so that the generator set outputs electric energy for supplying power to the de-icing load.

[0066] The output torque of the generator set to a certain extent represents the size of the force that drives the coil in the generator set to rotate. The greater the torque, the greater the power generation of the generator set, and vice versa. Therefore, the power generation of the generator set can be controlled by controlling the output torque in each generator set.

[0067] On this basis, in order to further ensure that the power generation of the generator set can meet the power demand of the drone, in another optional embodiment of the present application, when controlling the output torque of each generator set, it may include:

[0068] Real-time monitoring of the actual power generation and actual output torque of the generator set;

[0069] The output torque of the generator set is regulated by feedback according to the difference between the actual generated power and the generated power and the actual output torque.

[0070] By monitoring the actual power generation and actual output torque of the generator set and using this as a basis for feedback adjustment of the power generation process of the generator set, it is ensured that the power generation of the generator set can be stably maintained at the required power generation level.

[0071] To summarize, in the present application, in the process of controlling the generator set on the UAV to generate electricity for the de-icing load, the power generation power of the generator set is controlled based on the power supply demand of the de-icing load, thereby avoiding the problem of unnecessary waste of electricity caused by excessive power generation of the generator set while being able to meet the power demand of the de-icing load, thereby improving the endurance of the UAV to a certain extent.

[0072] The following is an introduction to a UAV deicing power supply control device provided in an embodiment of the present invention. The UAV deicing power supply control device described below and the UAV deicing power supply control method described above can be referenced to each other.

[0073] Figure 2 The structural block diagram of the UAV deicing power supply control device provided in the embodiment of the present application is shown in FIG. Figure 2 The UAV deicing power supply control device may include:

[0074] The temperature acquisition module 100 is used to collect the current temperature data of the UAV and determine the power supply required for the deicing load according to the current temperature data;

[0075] A power calculation module 200, used to determine the total power generation of the generator set according to the power supply power, and determine the power generation power of each group of the generator set according to the total power generation power;

[0076] The torque control module 300 is used to control the output torque of each group of the generator sets according to the power generation power of each group of the generator sets.

[0077] In an optional embodiment of the present application, the power calculation module 200 is specifically used to collect the current SOC value of the energy storage battery; determine whether the current SOC value is within the normal power range; if the current SOC value is greater than the maximum boundary value of the normal power range, set the surplus power according to the difference between the current SOC value and the maximum boundary value, and use the difference between the power supply power and the surplus power as the total power generation power; if the current SOC value is within the normal power range, use the power supply power as the total power generation power; if the current SOC value is less than the minimum boundary value of the normal power range, set the insufficient power according to the difference between the current SOC value and the minimum boundary value, and use the sum of the insufficient power and the power supply power as the total power generation power.

[0078] In an optional embodiment of the present application, the power calculation module 200 is specifically configured to use the ratio between the total generated power and the number of the generator sets as the size of the generated power of each group of the generator sets.

[0079] In an optional embodiment of the present application, it also includes a fault monitoring module, which is used to collect the internal parameters of each group of the generator sets in real time; determine whether there is a fault in each group of the generator sets based on the internal parameters; if there is a generator set fault, determine the power generation power of each non-faulty generator set based on the number of non-faulty generator sets and the power generation power.

[0080] In an optional embodiment of the present application, the torque control module 300 is specifically used to monitor the actual power generation and actual output torque of the generator set in real time; and adjust the output torque of the generator set according to the difference between the actual power generation and the power generation and the actual output torque feedback.

[0081] The UAV deicing power supply control device of the present embodiment is used to implement the aforementioned UAV deicing power supply control method. Therefore, the specific implementation method of the UAV deicing power supply control device can be found in the embodiment section of the UAV deicing power supply control method in the previous text, and will not be repeated here.

[0082] The present application also provides an embodiment of a UAV deicing control system, which may include:

[0083] A host computer, a temperature measuring device connected to the host computer, a generator set connected to the host computer, and a de-icing load;

[0084] Among them, the temperature measuring device is used to detect the current temperature data of the drone;

[0085] The generator set is used to provide power for de-icing loads;

[0086] The host computer is used to execute the steps of implementing any of the above UAV power supply control methods according to the current temperature data.

[0087] Optionally, an energy storage battery is provided between the output end of the generator set and the de-icing load, the output end of the generator set is connected to the input end of the energy storage battery, and the output end of the energy storage battery is connected to the power supply input end of the de-icing load.

[0088] Furthermore, the generator set includes a generator controller and a generator; the generator controller is connected to a host computer and is used to control the output torque of the generator according to control instructions from the host computer and upload internal parameters of the generator set to the host computer.

[0089] The UAV de-icing power supply control system will be described in detail below.

[0090] 1) System Hardware

[0091] Taking two sets of generator sets as a pod power supply system as an example, each generator set can be mainly composed of a two-stroke heavy oil generator and a generator assembly. The two generator sets are set to be generator set A and generator set B, where generator set A includes generator controller A and generator set B includes generator controller B.

[0092] The generator controller A can interact with the electromechanical management computer, i.e., the host computer, for control information and data transmission through the RS422 receiver interface and related ground / open signals. The electromechanical management computer sends work or shutdown instructions to the generator controller A and the generator controller B in the pod through the RS422 receiver to control the status of the generator set A and the generator set B. After receiving the corresponding status request, the generator controller A controls the operation and shutdown of the generator set A, and sends the status request to the generator controller B through the internal communication of the pod power supply system. After receiving the status control request, the generator controller B performs the corresponding operation.

[0093] 2) Generator starting plan

[0094] When the pod power supply system receives the work instruction sent by the UAV flight controller, if the generator set has not started, the generator set enters the starting state. The generator set starts, which means that the generator is ignited successfully and runs stably. During the starting process, the generator assembly acts as a starting motor to drive the generator to operate.

[0095] 3) Single generator set starting scheme

[0096] When the generator set receives a working command, it starts the generator set according to the following steps:

[0097] After the BMS is powered on, it automatically pre-charges the motor controller and controls the busbar on and off. When all preparations are completed, the BMS feeds back working status information to the generator controller.

[0098] The generator controller preheats the generator (depending on the actual starting requirements, no preheating is required if the starting ambient temperature is high); after the generator is preheated (if preheating is required), it enters the starting and dragging stage, and the generator assembly works in the torque mode, receives the drag torque requested by the generator controller, and drags the generator. During the dragging process, the generator instrument performs lubricating oil injection. After the generator speed reaches the calibrated starting speed and runs stably, the generator sprays oil and ignites. After the generator is ignited, the success of the start is determined by monitoring the combustion stability. After the generator is successfully started, the motor enters the power generation waiting state (torque mode, the drag torque is set to 0).

[0099] 4) Starting of dual generator sets

[0100] When both generator sets are in shutdown state, after receiving the work command sent by the flight control, the starting process of generator set A is started first. When generator set A starts successfully or fails to start due to fault confirmation, generator set B is started.

[0101] 5) Generator power control

[0102] When the generator set is generating electricity normally, the generator works in the speed mode for constant speed control, and works in the torque mode for mechanical output torque closed-loop control. The generator controller calculates the current actual power generation through the current bus voltage and the motor braking torque fed back by the CAN receiving motor controller, and adjusts the generator output torque according to the deviation between the required power generation and the actual power generation to achieve power closed-loop control.

[0103] Under different altitude conditions, the maximum output power of the generator set is different, and the corresponding maximum power generation capacity of the generator set is also different, so it is necessary to obtain altitude information from time to time to calculate the maximum output power of the pod power supply system. Generator set A and generator set B will continuously feedback the generator status, which mainly includes the status of the generator set working, shutting down, and power reduction. Generator B transmits the status to generator set A through internal communication, and then feeds back the generator set status to the electromechanical management computer through the RS422 receiver.

[0104] Generator sets A and B integrate the internal parameters of the generator sets, such as generator speed, cylinder head temperature, motor temperature, and battery SOC status, and uniformly feed back to the electromechanical management computer through the RS422 receiver. According to the battery SOC status and battery charging current, it is determined whether the current pod power supply meets the load demand, and the required power is comprehensively considered. Then, the power generation of generator sets A and B is allocated according to the status of generator sets A and B. The power allocation principle of generator sets A and B: If both generator sets are fault-free, each will send half of the requested power. If one of the generator sets fails, the other fault-free generator set will send all the power.

[0105] When the generator set fails, the specific fault information will be uploaded to the electromechanical management computer through the RS422 receiver. When the pod cannot receive the control information transmitted by the flight control through the RS422 receiver, the ground / open signal is used to obtain whether the generator set inside the pod is in the start or stop state.

[0106] The final power generation of the pod power supply system must first meet the power requirements of the de-icing load. However, during the entire flight of the aircraft, the flight control will continuously switch the de-icing load and request different power generation from the pod power supply system. The following two states require high-voltage current to act as a buffer. At the moment of switching, the de-icing load is disconnected from the DC bus. Due to the lag of the generator set output power, the output power of the generator set is too large. Before the generator set reduces its output power, the high-voltage battery needs to absorb the excess power. When the power required by the switched load increases, the power output of the generator set is less than the required power. Before the generator set increases its output power, the high-voltage battery needs to output part of the power.

[0107] Based on the above two states, the high-voltage battery needs to have the function of absorbing excess electrical energy and replenishing electrical energy. To meet this function, the battery must be kept in a certain SOC range. Too high an SOC will fail to absorb electrical energy, resulting in the bus voltage being too high. Too low an SOC will output electrical energy, resulting in the bus voltage being too low. Therefore, when calculating the required power, in addition to meeting the power required by the load, the battery must also be charged or discharged according to the battery's SOC state to ensure that the battery's SOC is in a reasonable range.

[0108] 6) Generator power-off plan

[0109] When the electromechanical management computer sends a shutdown signal to the pod via the RS422 receiver or ground / open signal, the generator controller A stops the generator from injecting fuel and sends a shutdown signal to the generator controller B and the motor of generator set A via CAN communication. After receiving the shutdown signal, the generator controller B stops the generator from injecting fuel and sends a shutdown signal to the motor of generator set B.

[0110] When the flight control receives the shutdown status feedback from the pod, it needs to control the de-icing load to be disconnected from the DC bus to prevent continuous consumption of high-voltage battery power, which will cause the generator set to be unable to restart. For restart considerations, the motor controller remains connected to the DC bus in the shutdown state to prevent re-precharging during restart.

[0111] When both the dual generator sets in the pod are in shutdown state, wait for a while, then turn off the high-voltage battery switch to cut off the high and low voltage power supply of the pod power supply system.

[0112] The present application also provides an embodiment of a computer-readable storage medium, which is used to execute the steps of the drone deicing power supply control method as described in any of the above items.

[0113] The computer-readable storage medium may include random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the technical field.

[0114] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment that includes a series of elements are inherent to the elements. In the absence of more restrictions, the elements limited by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or equipment that includes the elements. In addition, the above-mentioned technical solution provided in the embodiment of the present application is consistent with the corresponding technical solution in the prior art in principle, and the part is not described in detail, so as not to repeat too much.

[0115] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A method for controlling the deicing power supply of a drone, characterized in that: include: Collecting current temperature data of the UAV, and determining the power supply required for the de-icing load according to the current temperature data; Determine the total power generation power of the generator sets according to the power supply power, and determine the power generation power of each group of the generator sets according to the total power generation power; According to the power generation power of each group of the generator sets, the output torque of each group of the generator sets is controlled so that the generator sets output electric energy for supplying power to the de-icing load; Determining the power generation power of each generator set according to the power supply power includes: Collecting the current SOC value of the energy storage battery; wherein the output end of the generator set is connected to the energy storage battery; the output end of the energy storage battery is connected to the power supply input end of the deicing load; Determining whether the current SOC value is within a normal power range; If the current SOC value is greater than the maximum boundary value of the normal power interval, the surplus power is set according to the difference between the current SOC value and the maximum boundary value, and the difference between the power supply power and the surplus power is used as the total power generation power; If the current SOC value is within the normal power range, the power supply power is used as the total power generation power; If the current SOC value is less than the minimum boundary value of the normal power range, the insufficient power is set according to the difference between the current SOC value and the minimum boundary value, and the sum of the insufficient power and the power supply power is used as the total power generation power.

2. The UAV deicing power supply control method according to claim 1, characterized in that: Determining the power generation power of each group of the generator sets according to the total power generation power includes: The ratio between the total power generation and the number of the generator sets is used as the power generation of each generator set.

3. The UAV deicing power supply control method according to claim 2, characterized in that: Also includes: Collecting the internal parameters of each group of the generator sets in real time; Determine whether each group of the generator sets has a fault according to the internal parameters; If there is a generator set failure, the power generation power of each generator set that is not at fault is determined according to the number of generator sets that are not at fault and the total power generation power.

4. The UAV deicing power supply control method according to claim 1, characterized in that: According to the power generation power of each group of the generator sets, the output torque of each group of the generator sets is controlled, including: Real-time monitoring of the actual power generation and actual output torque of the generator set; The output torque of the generator set is feedback-regulated according to the difference between the actual generated power and the generated power and the actual output torque.

5. A UAV deicing power supply control device, characterized in that: include: A temperature acquisition module is used to collect current temperature data of the UAV and determine the power supply required for the deicing load according to the current temperature data; A power calculation module, used to determine the total power generation of the generator set according to the power supply power, and determine the power generation power of each group of the generator set according to the total power generation power; A torque control module, used to control the output torque of each group of the generator sets according to the power generation power of each group of the generator sets; The power calculation module is specifically used to collect the current SOC value of the energy storage battery; Determining whether the current SOC value is within a normal power range; If the current SOC value is greater than the maximum boundary value of the normal power interval, the surplus power is set according to the difference between the current SOC value and the maximum boundary value, and the difference between the power supply power and the surplus power is used as the total power generation power; If the current SOC value is within the normal power range, the power supply power is used as the total power generation power; If the current SOC value is less than the minimum boundary value of the normal power range, the insufficient power is set according to the difference between the current SOC value and the minimum boundary value, and the sum of the insufficient power and the power supply power is used as the total power generation power; wherein the output end of the generator set is connected to the energy storage battery; the output end of the energy storage battery is connected to the power supply input end of the de-icing load.

6. A UAV deicing power supply control system, characterized in that: It includes a host computer, a temperature measuring device connected to the host computer, a generator set connected to the host computer, and a deicing load; Wherein, the temperature measuring device is used to detect the current temperature data of the drone; The generator set is used to provide power supply energy for the de-icing load; The host computer is used to execute the steps of implementing the UAV power supply control method according to any one of claims 1 to 4 according to the current temperature data; The output end of the generator set is connected to the energy storage battery; the output end of the energy storage battery is connected to the power supply input end of the deicing load.

7. The UAV deicing power supply control system according to claim 6, characterized in that: The generator set includes a generator controller and a generator; the generator controller is connected to the host computer and is used to control the output torque of the generator according to the control instructions of the host computer and upload the internal parameters of the generator set to the host computer.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the UAV deicing power supply control method according to any one of claims 1 to 4 are implemented.

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