A smart drone

Abstract

The present invention provides an intelligent unmanned aerial vehicle, comprising: a motor monitoring module for real-time monitoring of the input voltage, input current, output voltage and output current of the driving motor; a flow rate monitoring module for continuously monitoring the real-time flow rate of the coolant; a temperature monitoring module for continuously monitoring the real-time temperature of the driving motor; a control module, comprising: a data processing unit for processing and obtaining the real-time heating power according to the input voltage, input current, output voltage and output current; a first control unit for processing and obtaining the real-time heating value when the real-time temperature is greater than the rated temperature and the difference between the two is greater than a preset threshold, and adjusting the real-time flow rate of the coolant according to the real-time heating value, cooling completion time, real-time temperature, rated temperature and medium parameters of the coolant. The beneficial effect is that the present invention can adjust the real-time flow rate of the coolant when the temperature abnormality problem occurs in the driving motor so that the real-time temperature drops to the rated temperature, thereby ensuring the normal operation of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an intelligent unmanned aerial vehicle. Background Art

[0002] With the rapid development of science and technology, drones are needed in more and more scenarios, the tasks that drones can perform are becoming more diverse, and more and more drones are beginning to perform remote tasks.

[0003] However, current drones usually only consider communication and power issues when performing long-distance missions, but do not consider the heating problem of the drone's motor. If the drone's motor has an abnormal temperature problem, it may cause the drone to be unable to complete the long-distance mission and even increase the chance of falling, posing certain safety hazards. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides an intelligent drone, wherein a driving motor is provided inside the drone, a cooling device is provided around the driving motor, the cooling device is connected to a conveying device, the conveying device outputs a coolant to the input port of the cooling device and receives the coolant at the output port of the cooling device to circulate and cool the driving motor, the intelligent drone comprises:

[0005] a motor monitoring module, connected to the drive motor, and used for real-time monitoring of the input voltage, input current, output voltage and output current of the drive motor;

[0006] a flow rate monitoring module, connected to the delivery device, and used to continuously monitor a real-time flow rate of the coolant output by the delivery device;

[0007] a temperature monitoring module, connected to the drive motor, and used for continuously monitoring a real-time temperature of the drive motor;

[0008] A control module, connected to the motor monitoring module, the flow rate monitoring module and the temperature monitoring module respectively, the control module comprises:

[0009] a data processing unit, configured to obtain a real-time heating power of the drive motor according to the input voltage, the input current, the output voltage and the output current;

[0010] A first control unit is connected to the data processing unit and is used to obtain a real-time heating value of the drive motor according to the real-time heating power and a preset cooling completion time when the real-time temperature of the drive motor is greater than a preset rated temperature and the difference between the real-time temperature and the rated temperature is greater than a preset threshold value, and control the conveying device to adjust the real-time flow rate of the coolant according to the real-time heating value, the cooling completion time, the real-time temperature, the rated temperature and the medium parameters of the coolant measured in advance.

[0011] Preferably, the intelligent drone also includes a power detection module, which is connected to the control module and is used to continuously detect the remaining power of the intelligent drone and output it to the control module. The control module then includes a second control unit, which is used to output corresponding power warning information to the operator's mobile terminal when the remaining power is less than a preset first threshold.

[0012] Preferably, the control module also includes a third control unit connected to the second control unit, for comparing the remaining power with a preset second threshold after the second control unit outputs the power alarm information and controlling the conveying device and the cooling device to stop operating when the remaining power is less than the second threshold.

[0013] Preferably, the control module further includes a data storage unit for storing the input voltage, the input current, the output voltage, the output current, the real-time flow rate and the real-time temperature.

[0014] Preferably, the medium parameters of the coolant include a specific heat capacity and a density corresponding to the coolant.

[0015] Preferably, the first control unit includes:

[0016] A first analysis subunit, configured to continuously compare the real-time temperature of the drive motor with the rated temperature, and to obtain the difference value according to the real-time temperature and the rated temperature when the real-time temperature is greater than the rated temperature;

[0017] a second analysis subunit, connected to the first analysis subunit, for continuously comparing the difference with the preset threshold, and obtaining the real-time heating value of the drive motor according to the real-time heating power and the preset cooling completion time when the difference is greater than the preset threshold;

[0018] a data processing subunit, connected to the first analysis subunit and the second analysis subunit, respectively, for obtaining a total amount of coolant output by the conveying device within the cooling completion time according to the real-time calorific value, the real-time temperature, the rated temperature, the specific heat capacity of the coolant, and the density of the coolant, and obtaining an adapted flow rate of the coolant according to the total amount of coolant and the cooling completion time;

[0019] The control subunit is connected to the data processing subunit and is used to control the conveying device to adjust the real-time flow rate to the adapted flow rate.

[0020] Preferably, the total amount of coolant is obtained by the following calculation formula:

[0021]

[0022] in,

[0023] V represents the total amount of the coolant;

[0024] W represents the real-time heat value;

[0025] t1 represents the real-time temperature;

[0026] t2 represents the rated temperature;

[0027] ρ represents the density of the coolant;

[0028] M represents the specific heat capacity of the coolant.

[0029] Preferably, the adapted flow rate is obtained by the following calculation formula:

[0030]

[0031] in,

[0032] V t represents the adapted flow rate;

[0033] V represents the total amount of the coolant;

[0034] t3 represents the cooling completion time.

[0035] Preferably, the real-time heat value is obtained by the following calculation formula:

[0036] W=P×t3

[0037] in,

[0038] W represents the real-time heat value;

[0039] P represents the real-time heating power;

[0040] t3 represents the cooling completion time.

[0041] Preferably, the coolant is an alcohol type coolant, a glycerin type coolant, or an ethylene glycol type coolant.

[0042] The above technical solution has the following advantages or beneficial effects:

[0043] (1) The intelligent UAV of the present invention is provided with a cooling device around the driving motor, and a coolant is output to the cooling device through a conveying device to circulate and cool the driving motor, so as to reduce the real-time temperature of the driving motor and increase the flight stability of the UAV;

[0044] (2) When an abnormal temperature problem occurs in the driving motor, the intelligent UAV of the present invention can adjust the real-time flow rate of the coolant according to the input voltage, input current, output voltage, output current, real-time temperature, real-time flow rate of the coolant, cooling completion time and medium parameters of the driving motor to ensure that the real-time temperature of the driving motor drops to the rated temperature, thereby ensuring the normal operation of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a structural schematic diagram of an intelligent drone in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments may also fall within the scope of the present invention as long as they conform to the gist of the present invention.

[0047] In a preferred embodiment of the present invention, based on the above-mentioned problems existing in the prior art, an intelligent drone is provided. A driving motor 1 is provided inside the drone. A cooling device 2 is arranged around the driving motor 1. The cooling device 2 is connected to a conveying device 3. The conveying device 3 outputs a coolant to the input port of the cooling device 2 and receives the coolant at the output port of the cooling device 2 to circulate and cool the driving motor 1. Figure 1 As shown, the intelligent drone includes:

[0048] A motor monitoring module 4, connected to the drive motor 1, for real-time monitoring of the input voltage, input current, output voltage and output current of the drive motor 1;

[0049] a flow rate monitoring module 5, connected to the delivery device 3, and used to continuously monitor a real-time flow rate of the coolant output by the delivery device 3;

[0050] a temperature monitoring module 6, connected to the drive motor 1, for continuously monitoring a real-time temperature of the drive motor 1;

[0051] A control module 7 is connected to the motor monitoring module 4, the flow rate monitoring module 5 and the temperature monitoring module 6 respectively. The control module 7 includes:

[0052] A data processing unit 71, used for obtaining a real-time heating power of the drive motor 1 according to the input voltage, input current, output voltage and output current;

[0053] A first control unit 72 is connected to the data processing unit 71, and is used to obtain a real-time heating value of the driving motor 1 according to the real-time heating power and a preset cooling completion time when the real-time temperature of the driving motor 1 is greater than a preset rated temperature and the difference between the real-time temperature and the rated temperature is greater than a preset threshold value, and control the conveying device 3 to adjust the real-time flow rate of the coolant according to the real-time heating value, cooling completion time, real-time temperature, rated temperature and pre-measured medium parameters of the coolant.

[0054] Specifically, in this embodiment, after investigation, there are roughly three reasons why the drone cannot complete the task: the first is that the drone loses communication with the control end, resulting in the loss of connection of the drone; the second is that the drone has insufficient remaining power during flight and cannot reach the target location; the third is that the driving motor 1 of the drone has an abnormal temperature problem during flight, resulting in the output power of the driving motor 1 being low and unable to support the drone to complete the task, and even if the drone still completes the drone, the operator will find that the driving motor 1 has suffered irreversible damage when checking the drone. In this embodiment, an intelligent drone is proposed with emphasis on the third situation, and a surround cooling device 2 is provided to perform conventional heat dissipation on the driving motor 1.

[0055] Preferably, the first level of temperature anomaly judgment is performed based on the real-time temperature and the rated temperature. When the real-time temperature is greater than the rated temperature, it is only necessary to continuously record the difference between the real-time temperature and the rated temperature. At this time, the drone is still in a temperature safety state.

[0056] Preferably, a second level of temperature anomaly judgment is performed through the difference and the preset threshold. When the difference between the real-time temperature and the rated temperature is greater than the preset threshold, it indicates that a temperature anomaly problem occurs in the drive motor 1. At this time, the first control unit 72 needs to adjust the real-time flow rate of the coolant output by the conveying device 3 to solve the temperature anomaly problem.

[0057] Specifically, in this embodiment, a cooling completion time is pre-set, and the UAV only performs enhanced cooling on the drive motor 1 within the cooling completion time. Therefore, before adjusting the real-time flow rate of the coolant, it is necessary to first know the real-time heat generated by the drive motor 1 within the cooling completion time in order to know the heat that the coolant needs to absorb, and then calculate the adaptive flow rate of the coolant.

[0058] Preferably, since the resistance of the drive motor 1 cannot be measured, the power is calculated through voltage and current. In this embodiment, a motor monitoring module 4 is provided to monitor the input voltage, input current, output voltage and output current of the drive motor 1 in real time. The input power is calculated according to the input voltage and input current, and the output power is calculated according to the output voltage and output current. The output power must be smaller than the input power. Then the difference between the output power and the input power can be used as the real-time heating power, and then the real-time heating power and the cooling completion time are multiplied to obtain the real-time heating value.

[0059] In a preferred embodiment of the present invention, the intelligent drone also includes a power detection module 8, which is connected to the control module 7 and is used to continuously detect the remaining power of the intelligent drone and output it to the control module 7. The control module 7 includes a second control unit 73, which is used to output corresponding power alarm information to the operator's mobile terminal when the remaining power is less than a preset first threshold.

[0060] Specifically, in this embodiment, in order to address the problem of insufficient power in the drone, a power detection module 8 is set to continuously detect the remaining power of the intelligent drone, and perform a first level of insufficient power judgment based on the remaining power and the first threshold. When the remaining power is less than the first threshold, the second control unit 73 outputs corresponding power alarm information to the operator's mobile terminal to notify the operator to initiate the corresponding emergency plan.

[0061] In a preferred embodiment of the present invention, the control module 7 also includes a third control unit 74, which is connected to the second control unit 73, and is used to compare the remaining power with a preset second threshold after the second control unit 73 outputs a power alarm message and control the conveying device 3 and the cooling device 2 to stop running when the remaining power is less than the second threshold.

[0062] Specifically, in this embodiment, after the second control unit 73 performs a first judgment on insufficient power, the third control unit 74 performs a second judgment on insufficient power based on the remaining power and the second threshold. When the remaining power is less than the second threshold, it indicates that the UAV is in a power crisis state and the power loss of the UAV needs to be reduced as much as possible. Therefore, the third control unit 74 controls the shutdown of the conveying device 3 and the cooling device 2 to save power so that the UAV can support the operator to complete the rescue according to the emergency plan.

[0063] In a preferred embodiment of the present invention, the control module 7 further includes a data storage unit 75 for storing input voltage, input current, output voltage, output current, real-time flow rate and real-time temperature.

[0064] Specifically, in this embodiment, the input voltage, input current, output voltage, output current, real-time flow rate and real-time temperature are stored by the data storage unit 75 to facilitate the operator to trace the specific reasons why the drone failed to complete the mission.

[0065] In a preferred embodiment of the present invention, the medium parameters of the coolant include a specific heat capacity and a density corresponding to the coolant.

[0066] In a preferred embodiment of the present invention, the first control unit 72 includes:

[0067] The first analysis subunit 721 is used to continuously compare the real-time temperature of the drive motor 1 with the rated temperature, and to obtain a difference value based on the real-time temperature and the rated temperature when the real-time temperature is greater than the rated temperature;

[0068] The second analysis subunit 722 is connected to the first analysis subunit 721, and is used to continuously compare the difference with a preset threshold value, and when the difference is greater than the preset threshold value, obtain the real-time heating power of the drive motor 1 according to the real-time heating power and the preset cooling completion time;

[0069] The data processing subunit 723 is connected to the first analysis subunit 721 and the second analysis subunit 722, respectively, and is used to obtain a total amount of coolant output by the conveying device 3 within the cooling completion time according to the real-time calorific value, the real-time temperature, the rated temperature, the specific heat capacity of the coolant, and the density of the coolant, and obtain an adapted flow rate of the coolant according to the total amount of coolant and the cooling completion time;

[0070] The control subunit 724 is connected to the data processing subunit 723 and is used to control the conveying device 3 to adjust the real-time flow rate to the adapted flow rate.

[0071] Specifically, in this embodiment, after the real-time heating value is obtained by multiplying the real-time heating power and the cooling completion time, the real-time heating value can be used as the heat that the coolant needs to absorb within the cooling completion time, and then the total amount of coolant is calculated in combination with the real-time temperature, rated temperature, specific heat capacity of the coolant and the density of the coolant. The total amount of coolant is the total amount of coolant that the conveying device 3 needs to output at the cooling completion time.

[0072] Preferably, the adapted flow rate of the coolant can be obtained by dividing the total amount of coolant and the cooling completion time, and then the control subunit 724 controls the delivery device 3 to adjust the real-time flow rate of the coolant according to the adapted flow rate.

[0073] Preferably, after the cooling is completed, the first analysis subunit 721 can continue to compare the real-time temperature of the drive motor 1 with the rated temperature. If the real-time temperature is still greater than the rated temperature, the second analysis subunit 722 continues to compare the difference with the preset threshold. If the difference is still greater than the preset threshold, the data processing subunit 723 recalculates a new adaptive flow rate based on the real-time temperature of the drive motor 1 at the current moment, and the control subunit 724 adjusts the real-time flow rate of the coolant according to the new adaptive flow rate control until the difference between the real-time temperature and the rated temperature is no greater than the preset threshold, which means that the temperature abnormality problem of the drive motor 1 has been solved.

[0074] In a preferred embodiment of the present invention, the total amount of coolant is obtained by the following calculation formula:

[0075]

[0076] in,

[0077] V represents the total amount of coolant;

[0078] W represents the real-time heat value;

[0079] t1 represents the real-time temperature;

[0080] t2 represents the rated temperature;

[0081] ρ represents the density of the coolant;

[0082] M represents the specific heat capacity of the coolant.

[0083] In a preferred embodiment of the present invention, the adapted flow rate is obtained by the following calculation formula:

[0084]

[0085] in,

[0086] V t Indicates the adapted flow rate;

[0087] V represents the total amount of coolant;

[0088] t3 represents the cooling completion time.

[0089] Specifically, in this embodiment, the unit of the total amount of coolant is cubic meter, and the unit of cooling completion time is second. The unit of the adapted flow rate calculated based on the total amount of coolant and the cooling completion time is cubic meter per second, which meets the definition of liquid flow rate.

[0090] In a preferred embodiment of the present invention, the real-time heat value is obtained by the following calculation formula:

[0091] W=P×t3

[0092] in,

[0093] W represents the real-time heat value;

[0094] P represents the real-time heating power;

[0095] t3 represents the cooling completion time.

[0096] In a preferred embodiment of the present invention, the coolant is an alcohol type coolant, a glycerin type coolant, or an ethylene glycol type coolant.

[0097] Specifically, in this embodiment, the coolant can be one of alcohol-type coolant, glycerin-type coolant, and ethylene glycol-type coolant, and the specific composition of the coolant is not limited. It only needs to have a clear specific heat capacity and density.

[0098] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of this specification and illustrations should be included in the protection scope of the present invention.

Claims

1. An intelligent drone, characterized in that: The drone is provided with a driving motor inside, a cooling device is arranged around the driving motor, the cooling device is connected to a conveying device, the conveying device outputs a cooling liquid to the input port of the cooling device and receives the cooling liquid at the output port of the cooling device to circulate and cool the driving motor, the intelligent drone comprises: a motor monitoring module, connected to the drive motor, and used for real-time monitoring of the input voltage, input current, output voltage and output current of the drive motor; a flow rate monitoring module, connected to the delivery device, and used to continuously monitor a real-time flow rate of the coolant output by the delivery device; a temperature monitoring module, connected to the drive motor, and used for continuously monitoring a real-time temperature of the drive motor; A control module, connected to the motor monitoring module, the flow rate monitoring module and the temperature monitoring module respectively, the control module comprises: a data processing unit, configured to obtain a real-time heating power of the drive motor according to the input voltage, the input current, the output voltage and the output current; a first control unit, connected to the data processing unit, for obtaining a real-time heating value of the drive motor according to the real-time heating power and a preset cooling completion time when the real-time temperature of the drive motor is greater than a preset rated temperature and the difference between the real-time temperature and the rated temperature is greater than a preset threshold value, and controlling the conveying device to adjust the real-time flow rate of the coolant according to the real-time heating value, the cooling completion time, the real-time temperature, the rated temperature and the medium parameters of the coolant measured in advance; The medium parameters of the coolant include a specific heat capacity and a density corresponding to the coolant; The first control unit comprises: A first analysis subunit, configured to continuously compare the real-time temperature of the drive motor with the rated temperature, and to obtain the difference value according to the real-time temperature and the rated temperature when the real-time temperature is greater than the rated temperature; a second analysis subunit, connected to the first analysis subunit, for continuously comparing the difference with the preset threshold, and obtaining the real-time heating value of the drive motor according to the real-time heating power and the preset cooling completion time when the difference is greater than the preset threshold; a data processing subunit, connected to the first analysis subunit and the second analysis subunit, respectively, for obtaining a total amount of coolant output by the conveying device within the cooling completion time according to the real-time calorific value, the real-time temperature, the rated temperature, the specific heat capacity of the coolant, and the density of the coolant, and obtaining an adapted flow rate of the coolant according to the total amount of coolant and the cooling completion time; The control subunit is connected to the data processing subunit and is used to control the conveying device to adjust the real-time flow rate to the adapted flow rate.

2. The intelligent drone according to claim 1, characterized in that: The intelligent drone also includes a power detection module, which is connected to the control module and is used to continuously detect the remaining power of the intelligent drone and output it to the control module. The control module includes a second control unit, which is used to output corresponding power warning information to the operator's mobile terminal when the remaining power is less than a preset first threshold.

3. The intelligent drone according to claim 2, characterized in that: The control module also includes a third control unit connected to the second control unit, which is used to compare the remaining power with a preset second threshold after the second control unit outputs the power alarm information and control the conveying device and the cooling device to stop running when the remaining power is less than the second threshold.

4. The intelligent drone according to claim 1, characterized in that: The control module further includes a data storage unit for storing the input voltage, the input current, the output voltage, the output current, the real-time flow rate and the real-time temperature.

5. The intelligent drone according to claim 1, characterized in that: The total amount of coolant is obtained by the following calculation formula: in, V represents the total amount of coolant; W represents the real-time heat value; t1 represents the real-time temperature; t2 represents the rated temperature; ρ represents the density of the coolant; M represents the specific heat capacity of the coolant.

6. The intelligent drone according to claim 1, characterized in that: The adapted flow rate is obtained by the following calculation formula: in, V t represents the adapted flow rate; V represents the total amount of coolant; t3 represents the cooling completion time.

7. The intelligent drone according to claim 1, characterized in that: The real-time heat value is obtained by the following calculation formula: W=P×t3 in, W represents the real-time heat value; P represents the real-time heating power; t3 represents the cooling completion time.

8. The intelligent drone according to claim 1, characterized in that: The coolant is an alcohol type coolant, a glycerine type coolant or an ethylene glycol type coolant.

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