Hydrogen automatic supply method for hydrogen-powered unmanned aerial vehicle

Abstract

The application discloses a hydrogen automatic supply method for hydrogen power unmanned aerial vehicle, which comprises the following steps: an unmanned aerial vehicle body control system collects instantaneous hydrogen consumption of the unmanned aerial vehicle in real time, obtains total hydrogen consumption of single flight, and further obtains average hydrogen consumption of single flight; meanwhile, the remaining hydrogen storage amount is calculated; the unmanned aerial vehicle detects the distance of the nearest hydrogen refueling point, calculates the required hydrogen consumption for going to the nearest hydrogen refueling point under the condition of the current average hydrogen consumption, and judges whether to go to the nearest hydrogen refueling point according to the required hydrogen consumption and the remaining hydrogen storage amount; a ground hydrogen refueling control system identifies the nearby unmanned aerial vehicle, identifies the landing position of the unmanned aerial vehicle, and the unmanned aerial vehicle starts landing after gradually approaching the horizontal coordinate of the accurate landing point; when the unmanned aerial vehicle stably lands in the specified hydrogen refueling area, the hydrogen refueling gun at the landing position is controlled to work, hydrogen refueling is completed, and the hydrogen refueling is stopped. The application realizes the hydrogen automatic supply of the hydrogen power unmanned aerial vehicle, replaces the complicated work of manual landing and hydrogen refueling, is favorable for improving the safety of personnel, and simultaneously improves the operation efficiency.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and in particular relates to an automatic hydrogen refueling method for hydrogen-powered UAVs. Background Technology

[0002] Drones are widely used in forest patrols, power grid maintenance, and other applications. Because they fly in the air, they have advantages such as high mobility and accurate data collection, which can greatly reduce the disadvantages of traditional manual operations, such as high labor intensity and high risk.

[0003] Traditional drones often use gasoline or diesel engines as their power source, which has disadvantages such as high noise and air pollution during operation. In contrast, hydrogen power systems equipped with fuel cells have advantages such as no pollution, low noise, and high efficiency, and can be used as a power source for drones.

[0004] However, the space available for drones to carry their power systems is relatively fixed, and using hydrogen as a power source limits the number of hydrogen storage tanks. When the amount of hydrogen remaining in the storage tanks is low after the drone has been running for a certain period of time, manual landing and refueling are required, which demands a high level of manual skill and is a complex process. Summary of the Invention

[0005] To address the aforementioned issues, this invention proposes an automatic hydrogen refueling method for hydrogen-powered drones. This method enables automated hydrogen refueling of hydrogen-powered drones, allowing the drone to automatically travel to a nearby hydrogen refueling station and perform the refueling operation. This replaces the cumbersome task of manually landing and refueling the drone, effectively simplifying the process of manually operating the hydrogen-powered drone for landing and refueling. This improves personnel safety and increases operational efficiency.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: an automatic hydrogen refueling method for a hydrogen-powered drone, comprising the following steps:

[0007] S10, Hydrogen management by the UAV airframe control system includes the following steps:

[0008] S11 collects the instantaneous hydrogen consumption of the drone in real time, calculates the total hydrogen consumption for a single flight, and further calculates the average hydrogen consumption for a single flight; at the same time, it calculates the remaining hydrogen storage capacity based on the data collected by the temperature and pressure sensors in the airframe hydrogen storage system.

[0009] S12, the drone detects the distance to the nearest hydrogen refueling point and calculates the required hydrogen consumption to travel to the nearest hydrogen refueling point under the current average hydrogen consumption;

[0010] S13, determine whether to go to the nearest hydrogen refueling point based on demand hydrogen consumption and remaining hydrogen storage;

[0011] S20, the hydrogen refueling operation for hydrogen-powered drones includes the following steps: the ground hydrogen refueling control system identifies nearby drones, identifies the drone's landing position, the drone gradually approaches the precise horizontal coordinates of the landing point and begins to land, and when the drone lands smoothly in the designated hydrogen refueling area, the system controls the hydrogen refueling gun at the landing point to work, completing the hydrogen refueling and stopping.

[0012] Furthermore, the total hydrogen consumption for a single flight is:

[0013]

[0014] Among them, H total The total hydrogen consumption for a single flight is given by H, where t is the current flight time. instant It is instantaneous hydrogen consumption.

[0015] Furthermore, the average hydrogen consumption per flight is:

[0016]

[0017] Among them, H average T represents the average hydrogen consumption per flight. singlefly This refers to the time of a single flight.

[0018] Furthermore, the remaining hydrogen storage capacity of the hydrogen storage system is:

[0019] H abssurplus =H full ×SOC;

[0020] Among them, H full The total hydrogen storage capacity of the hydrogen storage system is denoted by ; the State of Charge (SOC) is the state of charge of the hydrogen storage system, obtained from temperature and pressure data.

[0021] Furthermore, the state of charge (SOC) of the hydrogen storage system is:

[0022]

[0023] Where M1 is the mass of hydrogen at 35MPa and 15℃ corresponding to the current gas tank volume, M2 is the mass of hydrogen at 2.5MPa and 15℃ corresponding to the current gas tank volume, and M3 is the mass of hydrogen at the current pressure and temperature corresponding to the current gas tank volume.

[0024] Furthermore, given the current average hydrogen consumption, the required hydrogen consumption to travel to the nearest refueling point is:

[0025]

[0026] Among them, D target V is the horizontal straight-line distance from the drone's current location to the nearest hydrogen refueling point. maxH is the maximum flight speed of the drone. average This represents the average hydrogen consumption per flight.

[0027] Furthermore, the decision to proceed to the nearest hydrogen refueling point is based on the demand for hydrogen and the remaining hydrogen storage capacity, satisfying the following relationship:

[0028] H abssurplus ≥H need ×120%;

[0029] H need To meet demand for hydrogen consumption, H abssurplus This represents the remaining hydrogen storage capacity of the hydrogen storage system.

[0030] When the airframe control system detects that the remaining hydrogen storage capacity of the hydrogen storage system meets the above formula, it triggers the hydrogen refueling step, and the drone heads to the nearest hydrogen refueling point.

[0031] Furthermore, during the drone's journey to the hydrogen refueling station, it updates its relative coordinates with the station in real time and calculates the relative horizontal distance.

[0032] Once the relative horizontal distance satisfies the following formula, the precision landing phase begins;

[0033] D Relative ≤D UWB ;

[0034] Among them, D Relative D represents the relative horizontal distance between the drone and the hydrogen refueling station. UWB Horizontal distance is triggered for precise landing;

[0035] After the drone gradually approaches the precise horizontal coordinates of the landing point, it begins to descend. Once the drone lands smoothly in the designated hydrogen refueling area, it shuts down its flight power components, communicates with the hydrogen refueling station via wireless network, and begins the hydrogen refueling process.

[0036] After receiving the handshake signal from the drone, the ground-based hydrogen refueling station releases the hydrogen refueling gun locking device and sends the hydrogen refueling gun and electrostatic grounding clamp along the predetermined ground track to the drone area.

[0037] Furthermore, when the hydrogen refueling gun of the ground hydrogen refueling station approaches the drone, the ground hydrogen refueling control system controls the electromagnetic coil of the hydrogen refueling gun to be energized, thereby generating a magnetic field; the length of the electrostatic release ring of the hydrogen refueling gun is set to be slightly larger than the length of the hydrogen refueling gun port, so the electrostatic release ring of the hydrogen refueling gun first contacts and engages with the electrostatic release ring of the drone, and then the hydrogen refueling gun is inserted into the hydrogen refueling port of the drone. After the device is in place and locked, the drone sends a start hydrogen refueling command to the hydrogen refueling machine through wireless network communication.

[0038] After hydrogen refueling begins, the drone monitors the cylinder pressure and temperature in real time and calculates the cylinder SOC. When the SOC reaches 99%, hydrogen refueling is stopped. At this time, the drone transmits a stop hydrogen refueling command to the hydrogen refueling machine via wireless network communication. The hydrogen refueling machine stops hydrogen refueling after receiving the command.

[0039] After hydrogen refueling is completed, the electromagnetic coil of the hydrogen refueling gun is de-energized, the magnetic force of the hydrogen refueling gun is eliminated and it is disconnected from the hydrogen refueling port on the machine body. At the same time, the electrostatic discharge ring is pulled down, and then it returns to the hydrogen refueling machine area along the original predetermined track.

[0040] The beneficial effects of adopting this technical solution are:

[0041] The controller on the drone in this invention can automatically identify the remaining hydrogen in the drone and automatically go to the hydrogen refueling point when the remaining hydrogen is low, replacing the traditional manual operation of the drone to the hydrogen refueling point, which has the characteristics of high efficiency.

[0042] In this invention, when the drone lands in the hydrogen refueling area, its relative coordinates to the refueling station are updated in real time during its journey to the station, and the relative horizontal distance is calculated. The drone gradually approaches the precise horizontal coordinates of the landing point and begins its descent, ensuring a smooth landing in the designated hydrogen refueling area. Simultaneously, the hydrogen refueling nozzle automatically approaches the drone's refueling port along a preset trajectory and automatically attracts and performs hydrogen refueling using electromagnetic technology. After refueling, it automatically detaches from the drone and returns to the vicinity of the refueling machine, requiring no manual intervention throughout the entire process. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the hydrogen management process of the UAV fuselage control system in an embodiment of the present invention;

[0044] Figure 2 This is a flowchart illustrating the automatic hydrogen refueling process for a hydrogen-powered drone in an embodiment of the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below with reference to the accompanying drawings.

[0046] In this embodiment, see Figure 1 and Figure 2 As shown, this invention proposes an automatic hydrogen refueling method for hydrogen-powered drones, comprising the following steps:

[0047] S10, Hydrogen management by the UAV airframe control system includes the following steps:

[0048] S11 collects the instantaneous hydrogen consumption of the drone in real time, calculates the total hydrogen consumption for a single flight, and further calculates the average hydrogen consumption for a single flight; at the same time, it calculates the remaining hydrogen storage capacity based on the data collected by the temperature and pressure sensors in the airframe hydrogen storage system.

[0049] S12, the drone detects the distance to the nearest hydrogen refueling point and calculates the required hydrogen consumption to travel to the nearest hydrogen refueling point under the current average hydrogen consumption;

[0050] S13, determine whether to go to the nearest hydrogen refueling point based on demand hydrogen consumption and remaining hydrogen storage;

[0051] S20, the hydrogen refueling operation for hydrogen-powered drones includes the following steps: the ground hydrogen refueling control system identifies nearby drones, identifies the drone's landing position, the drone gradually approaches the precise horizontal coordinates of the landing point and begins to land, and when the drone lands smoothly in the designated hydrogen refueling area, the system controls the hydrogen refueling gun at the landing point to work, completing the hydrogen refueling and stopping.

[0052] As an optimization of the above embodiment, in step S10, the UAV fuselage control system collects the instantaneous hydrogen consumption of the UAV in real time and calculates the total hydrogen consumption for a single flight as follows:

[0053]

[0054] Among them, H total The total hydrogen consumption for a single flight is given by H, where t is the current flight time. instant It is instantaneous hydrogen consumption.

[0055] Furthermore, the average hydrogen consumption per flight was calculated as follows:

[0056]

[0057] Among them, H average T represents the average hydrogen consumption per flight. singlefly This refers to the time of a single flight.

[0058] Meanwhile, based on data collected by temperature and pressure sensors in the fuselage hydrogen storage system, the remaining hydrogen storage capacity was calculated as follows:

[0059] H abssurplus =H full ×SOC;

[0060] Among them, H full The total hydrogen storage capacity of the hydrogen storage system is denoted by ; the State of Charge (SOC) is the state of charge of the hydrogen storage system, obtained from temperature and pressure data.

[0061] The state of charge (SOC) of the hydrogen storage system is as follows:

[0062]

[0063] Where M1 is the mass of hydrogen at 35MPa and 15℃ corresponding to the current gas tank volume, M2 is the mass of hydrogen at 2.5MPa and 15℃ corresponding to the current gas tank volume, and M3 is the mass of hydrogen at the current pressure and temperature corresponding to the current gas tank volume.

[0064] The drone detects the distance to the nearest hydrogen refueling point and calculates the required hydrogen consumption to travel to the nearest refueling point based on the current average hydrogen consumption:

[0065]

[0066] Among them, D target V is the horizontal straight-line distance from the drone's current location to the nearest hydrogen refueling point. max H is the maximum flight speed of the drone. average This represents the average hydrogen consumption per flight.

[0067] To ensure the drone can land safely and perform the hydrogen refueling procedure, the decision to proceed to the nearest hydrogen refueling point is based on the required hydrogen consumption and remaining hydrogen storage capacity, satisfying the following relationship:

[0068] H abssurplus ≥H need ×120%;

[0069] H need To meet demand for hydrogen consumption, H abssurplus This represents the remaining hydrogen storage capacity of the hydrogen storage system.

[0070] When the airframe control system detects that the remaining hydrogen storage capacity of the hydrogen storage system meets the above formula, it triggers the hydrogen refueling step, and the drone heads to the nearest hydrogen refueling point.

[0071] As an optimized solution of the above embodiment, in step S20, the ground-based hydrogen refueling control system identifies nearby drones, identifies the drone's landing position, and the drone gradually approaches the precise horizontal coordinates of the landing point before beginning its descent. When the drone lands smoothly in the designated hydrogen refueling area, the system controls the hydrogen refueling nozzle at the landing point to operate, completing the hydrogen refueling and stopping process. Figure 2 As shown:

[0072] During the journey of the drone to the hydrogen refueling station, it updates its relative coordinates with the station in real time and calculates the relative horizontal distance.

[0073] Once the relative horizontal distance satisfies the following formula, the precision landing phase begins;

[0074] D Relative ≤D UWB ;

[0075] Among them, D Relative D represents the relative horizontal distance between the drone and the hydrogen refueling station. UWB Horizontal distance is triggered for precise landing;

[0076] Precise landing is achieved using UWB technology. The drone gradually approaches the precise horizontal coordinates of the landing point and begins its descent. Once the drone lands smoothly in the designated hydrogen refueling area, it shuts down its flight propulsion components and connects with the hydrogen refueling station via Zigbee wireless network communication to begin the hydrogen refueling process.

[0077] After receiving the Zigbee handshake signal from the drone, the ground-based hydrogen refueling station releases the hydrogen refueling gun locking device and sends the hydrogen refueling gun and electrostatic grounding clamp along the predetermined ground track to the drone area.

[0078] When the hydrogen refueling gun of the ground hydrogen refueling station approaches the drone, the ground hydrogen refueling control system controls the electromagnetic coil of the hydrogen refueling gun to be energized, thereby generating a magnetic field. The length of the electrostatic release ring of the hydrogen refueling gun is set to be slightly larger than the length of the hydrogen refueling gun port. Therefore, the electrostatic release ring of the hydrogen refueling gun first contacts and engages with the electrostatic release ring of the drone. Then the hydrogen refueling gun is inserted into the hydrogen refueling port of the drone. After the device is in place and locked, the drone sends a start hydrogen refueling command to the hydrogen refueling machine through the wireless network communication Zigbee.

[0079] After hydrogen refueling begins, the drone monitors the cylinder pressure and temperature in real time and calculates the cylinder SOC. To ensure that the cylinder is not overfilled, hydrogen refueling is stopped when the SOC reaches 99%. At this time, the drone transmits a stop hydrogen refueling command to the hydrogen refueling machine via Zigbee wireless network communication. The hydrogen refueling machine stops hydrogen refueling after receiving the command.

[0080] After hydrogen refueling is completed, the electromagnetic coil of the hydrogen refueling gun is de-energized, the magnetic force of the hydrogen refueling gun is eliminated and it is disconnected from the hydrogen refueling port on the machine body. At the same time, the electrostatic discharge ring is pulled down, and then it returns to the hydrogen refueling machine area along the original predetermined track.

[0081] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A hydrogen automatic supply method for a hydrogen-powered unmanned aerial vehicle, characterized by, Including the following steps: S10, Hydrogen Management in the Unmanned Aerial Vehicle (UAV) Airframe Control System: Includes the following steps: S11 collects the instantaneous hydrogen consumption of the drone in real time, calculates the total hydrogen consumption for a single flight, and further calculates the average hydrogen consumption for a single flight; at the same time, it calculates the remaining hydrogen storage capacity based on the data collected by the temperature and pressure sensors in the airframe hydrogen storage system. S12, the drone detects the distance to the nearest hydrogen refueling point and calculates the required hydrogen consumption to travel to the nearest hydrogen refueling point under the current average hydrogen consumption; S13, determine whether to go to the nearest hydrogen refueling point based on demand hydrogen consumption and remaining hydrogen storage; S20, to carry out hydrogen refueling of hydrogen-powered drones, including the following steps: the ground hydrogen refueling control system identifies nearby drones, identifies the drone's landing position, the drone gradually approaches the precise horizontal coordinates of the landing point and begins to land, when the drone lands smoothly in the designated hydrogen refueling area, controls the hydrogen refueling gun at the landing point to work, and completes hydrogen refueling and stops. The remaining hydrogen storage capacity of the hydrogen storage system is: ； where H full is the total hydrogen storage amount of the hydrogen storage system; SOC is the state of charge of the hydrogen storage system, obtained according to temperature and pressure data; The state of charge (SOC) of the hydrogen storage system is: ； Where M1 is the mass of hydrogen at 35MPa and 15℃ corresponding to the current gas tank volume, M2 is the mass of hydrogen at 2.5MPa and 15℃ corresponding to the current gas tank volume, and M3 is the mass of hydrogen at the current pressure and temperature corresponding to the current gas tank volume.

2. The hydrogen automatic supply method for a hydrogen-powered drone according to claim 1, characterized by, The total hydrogen consumption for a single flight is: ； where H total is the total hydrogen consumption for a single flight, t is the current flight time, H instant is the instantaneous hydrogen consumption.

3. The method for automatic hydrogen refueling of a hydrogen-powered drone according to claim 2, characterized in that, The average hydrogen consumption per flight is: ； where H average is the average hydrogen consumption for a single flight, T singlefly is the time of a single flight.

4. A method for automatic hydrogen refueling of a hydrogen-powered unmanned aerial vehicle according to any one of claims 1-3, characterized in that, Given the current average hydrogen consumption, the required hydrogen consumption to travel to the nearest refueling point is: ； Among them, D target V is the horizontal straight-line distance from the drone's current location to the nearest hydrogen refueling point. max H is the maximum flight speed of the drone. average This represents the average hydrogen consumption per flight.

5. The method for automatic hydrogen refueling of a hydrogen-powered drone according to claim 4, characterized in that, The decision to proceed to the nearest hydrogen refueling point is based on demand for hydrogen and remaining hydrogen storage, satisfying the following relationship: ； H need To meet demand for hydrogen consumption, H abssurplus This represents the remaining hydrogen storage capacity of the hydrogen storage system. When the airframe control system detects that the remaining hydrogen storage capacity of the hydrogen storage system meets the above formula, it triggers the hydrogen refueling step, and the drone heads to the nearest hydrogen refueling point.

6. The method for automatic hydrogen refueling of a hydrogen-powered drone according to claim 1, characterized in that, During the journey of the drone to the hydrogen refueling station, it updates its relative coordinates with the station in real time and calculates the relative horizontal distance. Once the relative horizontal distance satisfies the following formula, the precision landing phase begins; ； Among them, D Relative D represents the relative horizontal distance between the drone and the hydrogen refueling station. UWB Horizontal distance is triggered for precise landing; After the drone gradually approaches the precise horizontal coordinates of the landing point, it begins to descend. Once the drone lands smoothly in the designated hydrogen refueling area, it shuts down its flight power components, communicates with the hydrogen refueling station via wireless network, and begins the hydrogen refueling process. After receiving the handshake signal from the drone, the ground-based hydrogen refueling station releases the hydrogen refueling gun locking device and sends the hydrogen refueling gun and electrostatic grounding clamp along the predetermined ground track to the drone area.

7. A method for automatic hydrogen refueling of a hydrogen-powered unmanned aerial vehicle according to claim 1 or 6, characterized in that, When the hydrogen refueling gun of the ground hydrogen refueling station approaches the drone, the ground hydrogen refueling control system controls the electromagnetic coil of the hydrogen refueling gun to be energized, thereby generating a magnetic field. The length of the electrostatic release ring of the hydrogen refueling gun is set to be slightly larger than the length of the hydrogen refueling gun port. Therefore, the electrostatic release ring of the hydrogen refueling gun first contacts and engages with the electrostatic release ring of the drone. Then the hydrogen refueling gun is inserted into the hydrogen refueling port of the drone. After the device is in place and locked, the drone sends a start hydrogen refueling command to the hydrogen refueling machine through wireless network communication. After hydrogen refueling begins, the drone monitors the cylinder pressure and temperature in real time and calculates the cylinder SOC. When the SOC reaches 99%, hydrogen refueling is stopped. At this time, the drone transmits a stop hydrogen refueling command to the hydrogen refueling machine via wireless network communication. The hydrogen refueling machine stops hydrogen refueling after receiving the command. After hydrogen refueling is completed, the electromagnetic coil of the hydrogen refueling gun is de-energized, the magnetic force of the hydrogen refueling gun is eliminated and it is disconnected from the hydrogen refueling port on the machine body. At the same time, the electrostatic discharge ring is pulled down, and then it returns to the hydrogen refueling machine area along the original predetermined track.

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