An automatic pressure regulating system for multi-rotor tethered drones

Abstract

The invention discloses an automatic voltage regulating system for a multi-rotor tethered unmanned aerial vehicle, comprising a ground end and an air end, wherein the ground end is installed in a ground tethered box, and the air end is installed on the multi-rotor unmanned aerial vehicle, wherein the ground end comprises a central processing unit and a tethered box power supply, wherein the central processing unit realizes output voltage control of the tethered box power supply by analyzing the current of a load, so that the tethered box power supply of the ground end completes power supply to the air end, and the central processing unit of the invention collects current for analysis according to specific working conditions of the tethered box power supply and the load, and adjusts the voltage output of the tethered box power supply by a certain algorithm, thereby completing the purpose of supplying power to the air end in real time, and automatically completing the voltage adjustment work without manual intervention, thereby solving the problem that the power supply in the traditional technical solution cannot flexibly adapt to the power supply requirements of different mounted unmanned aerial vehicles and the power supply requirements of unmanned aerial vehicles mounted in a voltage-converting environment.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle lighting applications, and in particular to an automatic voltage regulating system for a multi-rotor tethered unmanned aerial vehicle. Background Art

[0002] The rotorcraft unmanned aerial vehicle is an advanced vertical take-off and landing micro-autonomous driving unmanned aerial vehicle system, which is suitable for fire fighting, transportation, public security police technical reconnaissance and other departments. It can take off and land in all terrains, carry mission payloads, and is used to perform various aerial tasks such as target reconnaissance, tracking and real-time information collection.

[0003] Unmanned aerial vehicles have many advantages such as small size, maneuverability, simple operation, convenient maintenance, easy portability, reliability and high cost performance. In addition, they have all-terrain take-off and landing capabilities and are highly intelligent. They can fly in various postures, such as hovering, forward flight, side flight and inverted flight, etc., and have special use value that fixed-wing UAVs cannot match.

[0004] Drones also play a big role in public services. Aircraft are equipped with different mission equipment to complete different mission requirements, especially the emergence of tethered drone lighting systems. This high-power, high-consumption and diversified scenario has higher requirements for power supply.

[0005] Therefore, the automatic voltage regulation system for tethered drones came into being, which provided convenience for diversified and refined power supply requirements and solved the problem that the power supply in traditional technical solutions could not flexibly adapt to the power requirements of different drone mounts and the power requirements of drones mounted in a variable voltage environment. Summary of the invention

[0006] The purpose of the present invention is to provide an automatic voltage regulation system for a multi-rotor tethered drone. The central processing unit collects current for analysis according to the specific working conditions of the tethered box power supply and the load, and adjusts the voltage output of the tethered box power supply through a certain algorithm, thereby achieving the purpose of providing real-time power supply to the sky end, and the voltage adjustment work is automatically completed without manual intervention.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] An automatic voltage regulating system for a multi-rotor tethered UAV, comprising a ground end and an air end, wherein the ground end is installed in a ground tethered box, and the air end is installed on the multi-rotor UAV, wherein the ground end comprises a central processing unit and a tethered box power supply;

[0009] The central processor controls the output voltage of the tethered box power supply by analyzing the current of the load, so that the tethered box power supply at the ground end can supply power to the air end.

[0010] As a further solution of the present invention: the ground terminal also includes a mooring box winding device, a motor, a driver and a CAN communication module;

[0011] The central processing unit is electrically connected to the mooring box power supply, the mooring box winding device, the motor, the driver and the CAN communication module.

[0012] As a further solution of the present invention: the sky terminal includes a sky terminal power supply and a sky terminal mounting device;

[0013] One end of the sky-end power supply is connected to the tethered box winding device of the ground end, and the other end of the sky-end power supply is connected to the sky-end mounting device.

[0014] As a further solution of the present invention: the central processing unit is arranged in the mooring box control circuit board.

[0015] As a further solution of the present invention: the mooring box winding device is connected to the motor and the driver for automatically sending and receiving cables.

[0016] Beneficial effects of the present invention: The central processing unit of the present invention collects current for analysis according to the specific working conditions of the tethered box power supply and the load, and adjusts the voltage output of the tethered box power supply through a certain algorithm, thereby achieving the purpose of real-time power supply to the sky terminal. No human intervention is required, and the voltage adjustment work is automatically completed. This solves the problem that the power supply in the traditional technical solution cannot flexibly adapt to the power supply requirements of different drone mounts and the power supply requirements of the drone mounted in a variable voltage environment. It is more flexible and stable than the traditional power supply method, and solves the lag of manual voltage adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] Figure 1 It is a structural schematic diagram of the structural block diagram of the present invention;

[0019] Figure 2 The circuit principle of the present invention Figure 1 Schematic diagram of the structure;

[0020] Figure 3 The circuit principle of the present invention Figure 2 Schematic diagram of the structure.

[0021] In the figure: 10, ground terminal; 11, central processing unit; 12, mooring box power supply; 13, mooring box winding equipment; 14, motor; 15, driver; 16, CAN communication module;

[0022] 20. Sky terminal; 21. Sky terminal power supply; 22. Sky terminal mounting equipment. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figure 1-Figure 3 As shown, the present invention is an automatic voltage regulating system for a multi-rotor tethered UAV, comprising a ground end 10 and an air end 20, wherein the ground end 10 is installed in a ground tethered box, and the air end 20 is installed on the multi-rotor UAV, wherein the ground end 10 comprises a central processor 11, a tethered box power supply 12, a tethered box winding device 13, a motor 14, a driver 15 and a CAN communication module 16, and the central processor 11 is electrically connected to the tethered box power supply 12, the tethered box winding device 13, the motor 14, the driver 15 and the CAN communication module 16;

[0025] The sky terminal 20 includes a sky terminal power supply 21 and a sky terminal mounting device 22. One end of the sky terminal power supply 21 is connected to the tethered box winding device 13 of the ground terminal 10, and the other end of the sky terminal power supply 21 is connected to the sky terminal mounting device 22.

[0026] The sky end mounted device 22 is mainly an LED lighting system.

[0027] The central processor 11 controls the output voltage of the tethered box power supply 12 by analyzing the current of the load, so that the tethered box power supply 12 of the ground terminal 10 completes the power supply to the sky terminal 20.

[0028] The source code for the central processor 11 to adjust the output voltage of the mooring box power supply 12 by analyzing the current of the load is:

[0029]

[0030]

[0031]

[0032]

[0033] Specific:

[0034] S1: CAN transceiver TJA1050, matching resistor and ground power module complete the establishment of CAN communication link;

[0035] S2: The CPU sends a query command and sends it to the ground power module through the CAN link. After receiving the query command, the ground power module returns the module status information read through the CAN link. The module status information is returned in the form of a message, which contains voltage and current data;

[0036] Among them, the CPU completes the voltage and current collection work once;

[0037] S3: According to the collected voltage data, after the voltage is higher than 420V, the output voltage of the ground power module is adjusted. The voltage adjustment range depends on the strength of the current change. The voltage increases by 1V for every 0.1A increase in current. Considering the current fluctuation and the test results, the voltage is not adjusted when the current change is less than 0.5A, and it starts to be adjusted when it is greater than or equal to 0.5A; otherwise, the output voltage of the ground power is reduced. The principle is the same. At this time, a voltage with a negative difference will appear, and the ABS function is used to calculate its absolute value to obtain a positive value;

[0038] In a specific implementation, the current is 0.6A after the aircraft takes off, and fluctuates to 0.9A when there is wind. The current change range is 0.9-0.6=0.3A and does not exceed 0.5A. The system does not adjust the ground power supply voltage output. If the lighting system of the drone mounted equipment is turned on, the current suddenly rises to 3A, 3-0.6=2.4A, 2.4A>0.5A, then the voltage needs to be increased by 2.4*10=24v, and the system increases the voltage output of the ground power module by 24V, otherwise the module voltage output is reduced;

[0039] S4: If the output voltage of the ground power supply is greater than 450V after adjustment, the voltage regulation will be stopped and the current change will not be adjusted to avoid burning the mounted equipment.

[0040] See also Figure 1-Figure 3 From the voltage regulation source code display, we can see that the central processor 11 uses STM32F10X, the CAN communication module 16 uses CAN communication, TJA1050 is used as the CAN transceiver, and two 120 ohm resistors are matching resistors;

[0041] The rise and fall of the output voltage is calculated by the software and sent to the mooring box power supply 12 by the CAN communication module 16. After receiving the command, the mooring box power supply 12 starts to adjust the voltage and finally outputs the adjusted voltage to the mooring box winding device 13 to complete the power supply work. No manual intervention is required in the whole process, and the voltage rise and fall adjustment is completed automatically.

[0042] Working principle: The central processing unit 11 is connected to the CAN communication module 16, and the collected current is sent to the central processing unit 11. Then the central processing unit 11 completes the calculation internally, and sends the adjusted voltage value to the mooring box power supply 12 through the CAN communication module 16 to adjust the voltage up or down. The adjusted voltage is sent to the mooring box winding device 13 through the mooring box power supply 12. The driver 15 and the motor 14 work together to drive the winding wheel to rotate, perform the cable reeling / releasing action, and complete the power supply work of the sky end power supply 21.

[0043] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An automatic voltage regulating system for a multi-rotor tethered unmanned aerial vehicle, comprising a ground end (10) and an air end (20), wherein the ground end (10) is installed in a ground tethered box, and the air end (20) is installed on the multi-rotor unmanned aerial vehicle, characterized in that: The ground terminal (10) comprises a central processing unit (11) and a mooring box power supply (12); The central processor (11) controls the output voltage of the mooring box power supply (12) by analyzing the current of the load, so that the mooring box power supply (12) of the ground terminal (10) completes the power supply to the sky terminal (20); The ground terminal (10) also includes a mooring box winding device (13), a motor (14), a driver (15) and a CAN communication module (16); The central processing unit (11) is electrically connected to a mooring box power supply (12), a mooring box winding device (13), a motor (14), a driver (15) and a CAN communication module (16); The sky terminal (20) comprises a sky terminal power supply (21) and a sky terminal mounting device (22); One end of the sky-end power supply (21) is connected to the mooring box winding device (13) of the ground end (10), and the other end of the sky-end power supply (21) is connected to the sky-end mounting device (22); The voltage regulation process is as follows: S1: CAN transceiver, matching resistor and ground power module complete the establishment of CAN communication link; S2: The CPU sends a query command and sends it to the ground power module through the CAN link. After receiving the query command, the ground power module returns the module status information read through the CAN link. The module status information is returned in the form of a message, which contains voltage and current data; Among them, the CPU completes the voltage and current collection work once; S3: According to the collected voltage data, after the voltage is higher than 420V, the output voltage of the ground power module is adjusted. The voltage adjustment range depends on the strength of the current change. The voltage increases by 1V for every 0.1A increase in current. Considering the current fluctuation and the test results, the voltage is not adjusted when the current change is less than 0.5A, and it starts to be adjusted when the current change is greater than or equal to 0.5A. On the contrary, the output voltage of the ground power supply is reduced. The principle is the same. At this time, a voltage with a negative difference will appear. The ABS function is used to calculate its absolute value to obtain a positive value. S4: If the output voltage of the ground power supply is greater than 450V after adjustment, the voltage regulation will be stopped and the current change will not be adjusted to avoid burning the mounted equipment.

2. The automatic voltage regulating system for a multi-rotor tethered UAV according to claim 1, characterized in that: The central processing unit (11) is arranged in a mooring box control circuit board.

3. The automatic voltage regulating system for a multi-rotor tethered UAV according to claim 1, characterized in that: The mooring box winding device (13) is connected to a motor (14) and a driver (15) for automatically sending and receiving cables.

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