A fixed-wing unmanned aerial vehicle and a method for supplying energy for the flight of the fixed-wing unmanned aerial vehicle

Abstract

The present application provides a fixed-wing UAV and a method for supplying energy to the fixed-wing UAV during flight. The UAV includes a power system; the power system is arranged in the middle of the UAV, including a hydrogen fuel cell, a supplementary battery, a motor, a propeller, and a solar panel; the power system is used to switch the supply battery based on the flight stage of the UAV to provide electrical energy to the motor, and the motor converts the electrical energy into mechanical energy to drive the propeller to rotate and drive the UAV to fly. The flight stage includes at least a take-off stage and a cruising stage; the hydrogen fuel cell is used to supply power to the motor during the take-off stage and the cruising stage of the UAV, and the supplementary battery is used to supply power to the motor during the take-off stage of the UAV. The fixed-wing UAV and the method for supplying energy to the fixed-wing UAV provided in the present application are used to utilize multiple energy sources to achieve the goals of environmental protection, cleanliness, and long flight time of the UAV.

Description

Technical Field

[0001] The present application relates to the field of aviation engineering technology, and in particular to a fixed-wing unmanned aerial vehicle and a flight power supply method based on the fixed-wing unmanned aerial vehicle. Background Art

[0002] As the application scenarios of drones continue to expand and the complexity of their missions increases, the demand for energy diversity increases, and a single energy source often cannot meet a variety of different needs. As various energy technologies, such as solar energy technology, fuel cell technology, internal combustion engine technology, and new battery technology, continue to make breakthroughs and improvements, the development of these technologies provides multi-energy drones with more optional and combined energy solutions.

[0003] In existing drone technology, fuel drones generate power by burning gasoline, diesel or other fuels. The fuel burns in the engine, releasing heat energy, driving the piston to move, and then driving the crankshaft to rotate. The rotational motion of the crankshaft is transmitted to the propeller of the drone through the transmission system, which generates lift and thrust to drive the drone to fly; electric drones usually use rechargeable batteries such as lithium batteries as energy storage devices. The electrical energy stored in the battery is transmitted to the motor through wires, and the motor converts the electrical energy into mechanical energy. Common motor types include brushless DC motors, which are efficient, reliable and low-maintenance. During takeoff, since the power required by the motor is large, the hydrogen battery and its attached small battery together supply power to the motor to meet its required power; after the takeoff phase is completed until landing, the hydrogen battery continues to supply power to the motor, while its attached small battery supplies power to the onboard equipment; the solar panel charges the attached small battery throughout the process.

[0004] However, these single-energy drones cannot meet specific needs. For example, in some missions that require long-term continuous flight, electric drones alone may not be able to guarantee sufficient endurance; and in some situations where there are high requirements for instantaneous power, fuel-powered drones alone have low energy conversion efficiency, high emissions and high noise. Therefore, there is an urgent need for a fixed-wing drone that uses multiple energy sources to achieve the goals of environmental protection, cleanliness and long flight time. Summary of the invention

[0005] In view of this, the present application provides a fixed-wing UAV and a flight power supply method based on the fixed-wing UAV, so as to utilize multiple energy sources to achieve the goals of environmental protection, cleanliness and long flight time of the UAV.

[0006] Specifically, the present application is implemented through the following technical solutions:

[0007] The first aspect of the present application provides a fixed-wing UAV, the UAV comprising a flight platform, airborne equipment and a power system; wherein:

[0008] The power system is arranged in the middle of the UAV, and the power system includes a hydrogen fuel cell, a supplementary battery, a motor, a propeller, and a solar panel. The hydrogen fuel cell is connected to the motor, the supplementary battery is connected to the motor, the motor is connected to the propeller, and the solar panel is connected to the supplementary battery. The hydrogen fuel cell is arranged at the tail of the supplementary battery, the motor is arranged at the tail of the hydrogen fuel cell, the propeller is arranged at the tail of the motor, and the solar panel is installed on the upper surface of the wing of the flight platform;

[0009] The power system is used to switch the energy supply battery based on the flight stage of the UAV to provide electrical energy for the motor, and the flight stage includes at least a take-off stage and a cruising stage; the hydrogen fuel cell is used to supply power to the motor during the take-off stage and the cruising stage of the UAV, and the energy replenishment battery is used to supply power to the motor during the take-off stage of the UAV, wherein the motor power change from the take-off stage to the cruising stage of the UAV is predicted according to the historical flight curve corresponding to the flight stage, the motor power change is corrected according to the real-time flight environment of the flight stage, and the power supply power of the hydrogen fuel cell and the power supply time and power of the energy replenishment battery are adjusted in real time according to the change direction and change size of the corrected motor power change.

[0010] The second aspect of the present application provides a method for supplying energy to a fixed-wing UAV in flight, and the method for supplying energy to a fixed-wing UAV in flight is applied to any one of the fixed-wing UAVs provided in the first aspect of the present application, and the method comprises:

[0011] matching motors based on flight parameters of the drone;

[0012] The capacity of the energy supply battery is determined based on the power of the motor during the flight phase of the UAV; the energy supply battery includes at least a hydrogen fuel cell; the hydrogen in the hydrogen fuel cell is provided by a hydrogen storage tank, the capacity of the hydrogen storage tank is determined according to the flight time of the UAV, and the capacity of the energy supplement battery is determined according to the difference between the energy supply capacity of the hydrogen fuel cell and the capacity of the energy supply battery;

[0013] Matching a real-time energy supply battery based on the real-time flight status of the drone, wherein the real-time energy supply battery includes a hydrogen fuel cell, a supplementary energy battery, and a hydrogen fuel cell;

[0014] The drone is powered based on the real-time power supply battery.

[0015] The fixed-wing UAV and the flight energy supply method based on the fixed-wing UAV provided by the present application, in the first aspect, the power system switches the energy supply battery based on the flight stage of the UAV, and powers the motor based on the energy supply battery matching the flight stage, thereby driving the UAV to fly, ensuring that the power supply battery can meet the take-off requirements of the UAV whether in the take-off stage or the cruising stage of the UAV, and will not waste energy, thereby achieving stable operation of the UAV and improving flight efficiency; in the process of simultaneous power supply of the two, compared with the traditional hybrid kinetic energy mechanical switching method, the method provided by the present invention first predicts the required kinetic energy in an offline state, and then adjusts it in a real-time online manner to obtain an accurate prediction, thereby changing the kinetic energy supply power and method before the UAV kinetic energy demand changes, that is, changing in advance, ensuring that the UAV has sufficient kinetic energy during flight, and the energy supply process is smooth, so that the UAV can achieve a smooth flight on the scheduled route, improving the stability of the flight, and comprehensively realizing the prediction based on a one-time prediction and real-time correction method, improving the efficiency and accuracy of demand prediction, thereby improving the efficiency of energy switching. Secondly, the motor is powered by a hydrogen fuel cell and a supplementary battery at the same time. Since both hydrogen energy and solar energy are green and environmentally friendly energy sources, and the energy efficiency of hydrogen fuel cells is greatly improved compared to traditional fuel generators, the flight time of the UAV is effectively increased. Compared with previous fuel UAVs and electric UAVs, this application can not only ensure high endurance in long-term continuous flight missions, but also ensure that no pollution is generated when there are high requirements for instantaneous power, which is environmentally friendly and energy-saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the structure of a fixed-wing UAV provided for this application;

[0017] Figure 2 A top view of a fixed-wing UAV shown as an exemplary embodiment of the present application;

[0018] Figure 3 A partial schematic diagram of a power system shown as an exemplary embodiment of the present application;

[0019] Figure 4 A partial schematic diagram of a wing shown as an exemplary embodiment of the present application;

[0020] Figure 5 A flowchart of the first embodiment of the fixed-wing UAV flight energy supply method provided in this application;

[0021] Description of reference numerals:

[0022] 1: Body

[0023] 2: Wing

[0024] 3: Vertical tail

[0025] 4: Flight control system

[0026] 5: Hydrogen storage tank

[0027] 6. Hydrogen fuel cells

[0028] 7: Solar panels

[0029] 8: Battery

[0030] 9: Motor

[0031] 10: Propeller DETAILED DESCRIPTION

[0032] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0033] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0034] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0035] Specific embodiments are given below to introduce the technical solution of the present application in detail.

[0036] Figure 1 The structural diagram of the fixed-wing UAV provided for this application is as follows: Figure 2 This is a top view of a fixed-wing UAV shown in an exemplary embodiment of the present application. Figure 3 This is a partial schematic diagram of a power system shown in an exemplary embodiment of the present application. Figure 1 , Figure 2 and Figure 3 The fixed-wing UAV provided in this embodiment includes a flight platform, airborne equipment and a power system; wherein,

[0037] The power system is arranged in the middle of the UAV, and the power system includes a hydrogen fuel cell 6, an energy supplement battery 8, a motor 9, a propeller 10, and a solar panel 7. The hydrogen fuel cell 6 is connected to the motor 9, the energy supplement battery 8 is connected to the motor 9, the motor 9 is connected to the propeller 10, and the solar panel 7 is connected to the energy supplement battery 8. The hydrogen fuel cell 6 is arranged at the tail of the energy supplement battery 8, the motor 9 is arranged at the tail of the hydrogen fuel cell 6, the propeller 10 is arranged at the tail of the motor 9, and the solar panel 7 is installed on the upper surface of the wing of the flight platform;

[0038] The power system is used to switch the energy supply battery based on the flight stage of the UAV to provide electrical energy for the motor 9, and the flight stage at least includes a take-off stage and a cruising stage; the hydrogen fuel cell 6 is used to supply power to the motor 9 during the take-off stage and the cruising stage of the UAV, and the energy replenishment battery 8 is used to supply power to the motor 9 during the take-off stage of the UAV, wherein the motor power change from the take-off stage to the cruising stage of the UAV is predicted according to the historical flight curve corresponding to the flight stage, the motor power change is corrected according to the real-time flight environment of the flight stage, and the power supply power of the hydrogen fuel cell 6 and the power supply time and power of the energy replenishment battery 8 are adjusted in real time according to the change direction and change size of the corrected motor power change.

[0039] For details, please refer to Figure 1 The power system is arranged in the middle of the drone, and the power system includes a hydrogen fuel cell 6, a supplementary battery 8, a motor 9, and a propeller 10. The hydrogen fuel cell 6 is connected to the motor 9, the supplementary battery 8 is connected to the motor 9, and the motor 9 is connected to the propeller 10. The hydrogen fuel cell 6 is arranged behind the supplementary battery 8, the motor 9 is arranged behind the hydrogen fuel cell 6, and the propeller 10 is arranged behind the motor 9, that is, from the front and back order of arrangement, the power system is composed of the supplementary battery 8, the hydrogen fuel cell 6, the motor 9, and the propeller 10 in sequence.

[0040] The power system provided by the present invention sets the hydrogen fuel cell at a position close to the motor, and the battery cannot be further away from the motor. Due to the method provided by the present invention, the hydrogen fuel cell is used for power supply during the entire flight phase of the UAV, and the energy supplement battery is used for power supply only during the take-off phase. Therefore, the most commonly used battery is set at a position closest to the motor, which reduces the wiring layout inside the power system, reduces the structural complexity inside the UAV, and reduces the loss during the power transmission process, and reduces the problem of temperature increase caused by the heat dissipation of the power transmission belt inside the power system.

[0041] The fixed-wing UAV provided in this embodiment, by placing the power system in the middle of the UAV, helps to evenly distribute the weight and improve the flight stability and maneuverability of the UAV. In addition, the middle design can more easily concentrate the hydrogen fuel cell, energy supplementary battery, motor and other components in one area, which helps to optimize wiring and maintenance.

[0042] Furthermore, the hydrogen fuel cell 6 is used to convert the stored hydrogen into electrical energy to provide electrical energy to the motor 9. The energy supplement battery 8 is used to provide insufficient electrical energy to the motor 9 when the electrical energy provided by the hydrogen fuel cell 6 is insufficient to support the operation of the motor 9. The motor 9 is used to convert electrical energy into mechanical energy to drive the propeller 10 to rotate. The propeller 10 is used to provide lift for the drone by rotating.

[0043] In specific implementation, the power system switches the energy supply battery based on the flight stage of the drone to provide electrical energy to the motor 9. The motor 9 converts the electrical energy into mechanical energy to drive the propeller 10 to rotate. The propeller 10 drives the drone to fly by rotating.

[0044] It should be noted that the flight phase of the drone includes at least the take-off phase (the drone takes off from the ground) and the cruise phase (the drone flies along a predetermined path). During the take-off phase of the drone, the power consumption is high and the drone needs maximum throttle to take off. At the maximum throttle, the power of the motor is 5KW, while the rated power of the hydrogen fuel cell 6 is 2KW. The hydrogen fuel cell 6 alone cannot meet the power requirements of the drone during take-off. Therefore, it is necessary to supply power to the motor 9 through the hydrogen fuel cell 6 and the energy supplement battery 8 at the same time. After the drone completes take-off and enters the cruise phase, the drone no longer needs maximum throttle to fly, and the hydrogen fuel cell 6 alone can meet the power requirements of the drone during flight. Therefore, only the hydrogen fuel cell 6 is used to supply power to the motor 9 during the cruise phase of the drone.

[0045] In specific implementation, the historical flight curve (the relationship between the motor power and flight time of the drone) is drawn based on the flight parameters (motor power and flight time) of the drone in an offline state. Furthermore, the real-time flight environment in which the drone is currently located is identified, and the motor power change is corrected based on the motor power required by the drone in the real-time flight environment. The power supply of the hydrogen fuel cell is adjusted based on the change direction (increase or decrease) and change size (high rate or low rate) of the corrected motor power change, and the power supply time and power supply of the energy replenishment battery are adjusted.

[0046] It should be noted that at the initial moment, the hydrogen fuel cell supplies power at the first power. If the predicted future motor power change is an increase, the power supply of the hydrogen fuel cell is further increased until the maximum power supply of the hydrogen fuel cell is reached; at this time, if the predicted motor power change after correction is still an increase, the energy supplement battery is used for power supply, and the power supply of the energy supplement battery is continuously increased until the maximum power supply; if the predicted motor power change after correction is small, but the direction of change is still an increasing trend, the power supply of the energy supplement battery can be increased at a low rate at this time; if the predicted motor power change after correction is small, but the direction of change is a decrease, the energy supplement battery can be disabled for power supply. In general, the power supply power change rate of the hydrogen fuel cell and the energy supplement battery can be changed in real time, and matches the predicted future motor power change. Each time point can be different. The hydrogen fuel cell is used as the main power supply battery. When the maximum power supply power is reached and the future motor power change is still increasing, the energy supplement battery is added.

[0047] In the fixed-wing UAV provided in the present embodiment, during the process in which the hydrogen fuel cell and the energy supplement battery simultaneously power the motor, the method provided by the present invention, compared with the traditional hybrid kinetic energy mechanical switching method, first predicts the required kinetic energy in an offline state, and then adjusts it in a real-time online manner to obtain an accurate prediction, thereby changing the power and method of providing kinetic energy before the kinetic energy demand of the UAV changes, that is, changing it in advance, ensuring that the UAV has sufficient kinetic energy during flight, and the energy supply process is smooth, so that the UAV can achieve a smooth flight along the scheduled route, thereby improving the flight stability, and comprehensively realizing the prediction based on a one-time prediction and real-time correction, thereby improving the efficiency and accuracy of demand prediction, thereby improving the efficiency of energy supply switching.

[0048] The fixed-wing UAV provided in this embodiment, on the one hand, the power system switches the energy supply battery based on the flight stage of the UAV, and supplies power to the motor based on the energy supply battery matching the flight stage, thereby driving the UAV to fly, ensuring that the power supply battery can meet the take-off requirements of the UAV in both the take-off stage and the cruising stage of the UAV, and will not waste energy, thereby achieving stable operation of the UAV and improving flight efficiency. On the other hand, the motor is powered by hydrogen fuel cells and energy supplement batteries at the same time. Since hydrogen energy and solar energy are both green and environmentally friendly energy sources, and the energy efficiency of hydrogen fuel cells is greatly improved compared to traditional fuel generators, the flight time of the UAV is effectively increased. Compared with previous fuel UAVs and electric UAVs, this application can not only ensure high endurance in long-term continuous flight missions, but also ensure that no pollution is generated when there are high requirements for instantaneous power, which is environmentally friendly and energy-saving.

[0049] For details, please refer to Figure 2The power system further includes a solar panel 7. The solar panel 7 is connected to the energy supplement battery 8, and the solar panel 7 is installed on the middle wing section of the wing of the flight platform of the UAV through adhesives and mechanical fasteners. The number of solar panels 7 is proportional to the surface area of ​​the wing, that is, the larger the surface area of ​​the wing, the more solar panels 7 there are.

[0050] The energy replenishment battery 8 is connected to the airborne equipment, and the energy replenishment battery 8 is also used to supply power to the airborne equipment during the cruising phase of the UAV.

[0051] Furthermore, the solar panel 7 is used to convert the absorbed solar energy into electrical energy during the cruising phase after the drone takes off, so as to charge the energy replenishment battery.

[0052] The fixed-wing UAV provided in this embodiment has solar panels arranged on the wings. On the one hand, due to the large area of ​​the wings, installing solar panels on the wings can make full use of the large area of ​​the wings to install more solar panels, and the wings usually maintain a horizontal posture. This position is conducive to receiving sunlight to the greatest extent, collecting more solar energy, and then generating more electricity, significantly improving the endurance and flight efficiency of the UAV. On the second hand, setting the solar panels on the wings will not significantly change the center of gravity of the UAV, and can maintain the balance state in the design, which helps to balance the weight of the UAV, keep the center of gravity stable, avoid the problem of unstable flight posture due to unilateral weight, and help achieve smooth flight and precise control. On the third hand, the energy replenishment battery is charged by the solar panel, and the UAV is powered by the energy replenishment battery, which realizes the use of clean energy and reduces the consumption of hydrogen fuel cells.

[0053] For details, please continue to refer to Figure 1 The power system also includes a hydrogen storage tank 5, which is connected to the hydrogen fuel cell 6 through a pipeline.

[0054] Furthermore, the hydrogen storage tank 5 is used to provide hydrogen to the hydrogen fuel cell 6 during the take-off and cruising stages of the drone. It should be noted that the capacity of the hydrogen storage tank 5 is determined according to the flight time of the drone, and the capacity of the hydrogen storage tank 5 is proportional to the flight time of the drone. The longer the flight time of the drone, the larger the capacity of the hydrogen storage tank 5. The hydrogen storage tank 5 is detachable. When it is determined that the capacity of the hydrogen storage tank 5 is small, the unnecessary hydrogen storage tank 5 can be detached.

[0055] The fixed-wing UAV provided in this embodiment continuously supplies hydrogen to the hydrogen fuel cell by providing a hydrogen storage tank, thereby ensuring that the hydrogen fuel cell has sufficient hydrogen and can provide electrical energy to the motor, thereby ensuring stable flight of the UAV and improving flight efficiency.

[0056] Please continue to refer to Figure 3The flight platform includes a fuselage 1, wings 2, and a vertical tail 3. The fuselage 1 is connected to the airborne equipment and the power system, the fuselage 1 is connected to the wings 2, the vertical tail 3 is installed at the tail of the fuselage 1, and is connected to the wings 2 through a reinforcing beam. The rudder of the vertical tail 3 is connected to the airborne equipment; the flight platform is used to provide structural support for the airborne equipment and the power system.

[0057] Furthermore, Figure 4 This is a partial schematic diagram of a wing according to an exemplary embodiment of the present application. Figure 4 The wing 2 is the lifting surface of the UAV (a structural component that generates lift), and the wing 2 includes a middle wing section and an outer wing section, the plane shape of the middle wing section is a rectangle, and the plane shape of the outer wing section is a trapezoid; the vertical tail 3 is the stabilizer of the UAV (a structural component that provides stability), and the plane shape of the vertical tail 3 is a trapezoid. The solar panel 7 is installed on the middle wing section of the wing 2.

[0058] In the fixed-wing UAV provided in this embodiment, since the middle wing section of the wing is rectangular, the middle wing section is usually the flattest and widest part in the top plane of the UAV. Therefore, by installing the solar panels in the middle wing section of the wing, more solar panels can be placed, the position of the sunlight exposure area can be maximized, the power generation can be increased, and the solar energy conversion efficiency can be improved. In addition, the middle wing section is usually located in the center of the UAV, has a higher structural stability, and is suitable for carrying the additional weight of the solar panels.

[0059] Optional, please continue to refer to Figure 4 The body structure of the UAV is made of carbon fiber composite material, the shape of the wing 2 is streamlined, the airfoil of the wing 2 is a symmetrical airfoil, the area of ​​the wing 2 is greater than the first preset threshold, the thickness of the wing 2 is less than the second preset threshold, the wingspan of the wing 2 is greater than the third preset threshold, the chord of the wing 2 is greater than the fourth preset threshold, and the weight of the energy supplement battery 8 is less than the fifth preset threshold.

[0060] Specifically, the first preset threshold, the second preset threshold, the third preset threshold, the fourth preset threshold, and the fifth preset threshold are set according to traditional drone wings, and are not limited to this in this embodiment.

[0061] The fixed-wing UAV provided in this embodiment, firstly, by setting the area of ​​the wing larger and the chord of the wing longer, the wing area and chord length are increased compared with conventional UAVs, and the wing can be in more contact with the air at the same angle of attack and flight speed, thereby generating greater lift, greatly reducing the lift required for the flight of the UAV, and achieving the purpose of energy saving. Secondly, by setting the thickness of the wing thinner, the airflow distribution of the airfoil will not be changed, the flow separation will be reduced (the flow of air on the wing surface is no longer laminar, and turbulence occurs), the resistance will be reduced, and the lift will be increased. Thirdly, by setting the wingspan of the wing longer, the air pressure can be better distributed, the influence of the wingtip vortex can be reduced, the induced drag can be reduced, and the lift efficiency can be improved. Fourthly, by designing the shape of the wing to be streamlined, the airfoil of the wing is set to a symmetrical airfoil, and since the symmetrical airfoil has more stable aerodynamic characteristics under high-speed flight, the startup instability and drag fluctuation can be effectively reduced, and the induced drag can be reduced. In addition, the streamlined wing can better guide the airflow and reduce the shape drag and friction drag. The streamlined design allows the airflow to flow smoothly over the wing surface, reducing the formation of vortices and turbulence, thereby reducing the overall resistance. In general, it improves the lift efficiency, greatly reduces the lift required for the UAV to fly, and achieves the purpose of energy saving.

[0062] For details, please continue to refer to Figure 1 The onboard equipment includes a flight control system 4, part of which is arranged inside the wing 2, and part of which is arranged inside the vertical tail 3. The flight control system 4 includes a sensor module, a data processing module, a control module, and a communication module. The sensor module is used to collect flight data of the UAV during flight, the communication module is used to transmit the flight data to the ground, the data processing module is used to process the flight data, and the control module is used to control the flight of the UAV based on the processed data.

[0063] Specifically, the flight control system 4 is used to control the flight of the UAV and transmit flight data to the ground. The flight control system 4 includes a sensor module, a data processing module, a control module, and a communication module, wherein the sensor module and the data processing module are arranged inside the wing 2. The control module and the communication module are arranged inside the vertical tail 3.

[0064] Furthermore, the sensor module is used to collect flight data of the UAV during flight. The communication module is used to transmit the flight data collected by the sensor module to the ground. The data processing module is used to process the flight data collected by the sensor module. The control module is used to analyze the processed flight data and control the flight of the UAV based on the analysis results.

[0065] As an optional embodiment, the motor includes a first battery inlet and a second battery inlet, wherein the first battery inlet and the second battery inlet are respectively connected to a hydrogen fuel cell and a supplementary battery, wherein the supplementary battery is a clean battery, and the electric energy received by the first battery inlet and the second battery inlet controls the operation of the motor. The motor power required in the take-off stage is in a continuous curve shape compared with the flight time, and the power required by the motor fluctuates according to the environmental factors such as the airflow encountered during take-off. The power regulator is respectively connected to the hydrogen fuel cell and the supplementary battery, and is used to control the real-time energy supply power of the two batteries. When entering the take-off stage, the power controller starts the hydrogen fuel cell to supply power to the motor, and the power controller predicts the motor power change from the take-off stage to the cruising stage of the drone according to the historical flight curve corresponding to the flight stage, and corrects the motor power change according to the real-time flight environment of the flight stage, and adjusts the power supply power of the hydrogen fuel cell and the power supply time and power supply power of the supplementary battery in real time according to the change direction and change size of the corrected motor power change. Specifically, at the initial moment, the hydrogen fuel cell supplies power at the first power, and the predicted future motor power change is an increase, and the power supply of the hydrogen fuel cell is further increased until the maximum power supply of the hydrogen fuel cell is reached; at this time, if the predicted motor power change after correction is still an increase, the energy replenishment battery is used for power supply, and the power supply of the energy replenishment battery is continuously increased until the maximum power supply; if the predicted motor power change after correction is small, but the direction of change is still an increase trend, the power supply of the energy replenishment battery can be increased at a low rate at this time; if the predicted motor power change after correction is small, but the direction of change is a decrease, the energy replenishment battery can be disabled for power supply. In general, the power supply power change rate of the hydrogen fuel cell and the energy replenishment battery can be changed in real time, and matches the predicted future motor power change, and can be different at different time points. The hydrogen fuel cell is used as the main power supply battery, and the energy replenishment battery is added only when the maximum power supply power is reached and the future motor power change is still increasing.

[0066] From the perspective of the stable flight process from takeoff to cruising, the UAV takeoff stage to cruising stage includes the first flight stage, the second flight stage and the third flight stage in chronological order. In the first flight stage, the power supply of the hydrogen fuel cell increases, the power supply of the hydrogen fuel cell remains unchanged in the second flight stage, the power supply of the energy replenishment battery increases, and the power supply of the energy replenishment battery decreases in the third flight stage. The cruising stage is independently powered by the hydrogen fuel cell.

[0067] In order to achieve progressive pre-powering of the entire process, before the UAV takes off, a historical flight curve identical to the flight route of the UAV is obtained, and the historical flight curve is the relationship between the motor power and the flight time of the UAV; specifically, the historical flight curve can be obtained according to the same UAV type and the same or similar flight route as the basis for the current prediction.

[0068] After the UAV takes off, the motor power change from the take-off stage to the cruising stage of the UAV is predicted based on the historical flight curve, and the motor power change includes the change direction and the change value; this prediction is a one-time prediction after take-off, and it predicts the flight changes of the entire route, that is, a long-term prediction, that is, the historical flight curve is corrected according to the difference between the parameters of the UAV and the parameters of the UAV corresponding to the historical flight curve, and the difference in the route, to obtain the latest flight curve of the currently flying UAV, and then the motor power change is predicted based on this latest flight curve, and the prediction includes the change direction, such as increase or decrease, and the change value, that is, the numerical value of the change.

[0069] According to the real-time flight environment after the UAV takes off, the motor power change in the first time period in the future is corrected in real time, and the power supply of the hydrogen fuel cell and the energy supplement battery is controlled according to the corrected change direction and the change value. The correction process is real-time. Since the correction process is affected by the flight environment, and the flight environment changes in real time, the real-time correction process only predicts the change in the first time period in the future. Specifically, the correction force of the UAV can be analyzed according to the difference between the real-time flight environment and the reference curve, and the power supply power can be corrected according to the correction force, so as to adjust the power supply according to the change in direction and value. As an optional embodiment, from the overall change trend, the power supply power of the hydrogen fuel cell in the first flight stage is an exponential growth trend, the power supply power of the hydrogen fuel cell in the second flight stage remains unchanged, but the overall energy supplement battery is in an increasing trend, and the overall energy supplement battery in the third flight stage is in a decreasing trend, and the hydrogen fuel cell remains unchanged or decreases. It is worth noting that the overall growth or decrease is not always growing or decreasing, but matching the fluctuation of the motor power change obtained by real-time correction, but the overall growth or decrease trend.

[0070] Further, the power supply of the hydrogen fuel cell and the energy supplement battery is controlled according to the corrected motor power change, including: calculating the difference between the real-time power supply of the hydrogen fuel cell and the rated maximum power supply; predicting the direction of the motor power change of the motor of the drone in the second time period in the future according to the relationship between the motor power and the flight time in the historical take-off stage of the drone; adjusting the switch state of the energy supplement battery according to the difference and the direction of the motor power change. The second time period is after the first time period. The method provided by the present invention, in order to ensure the smooth increase of power supply, increases the power supply of the battery one cycle in advance, so that the power supply state of the battery can match the flight characteristics of the drone, and provide sufficient kinetic energy for the flight of the drone, that is, to prepare for the use of the drone flight, rather than to increase the power when the drone is found to be insufficient in power. Further, when deciding whether to turn on the energy supplement battery, in order to avoid the hysteresis of turning on, turn on the energy supplement battery two cycles in advance. Specifically, if the power difference of the first cycle predicted is already difficult to be powered by the hydrogen fuel cell, and the demand of the second cycle is still increasing, turn on the energy supplement battery in advance to cope with the long-term demand and increase the flight demand.

[0071] The fixed-wing UAV provided in this embodiment, in the first aspect, the power system switches the energy supply battery based on the flight stage of the UAV, and supplies power to the motor based on the energy supply battery matching the flight stage, thereby driving the UAV to fly, ensuring that the power supply battery can meet the take-off requirements of the UAV in both the take-off stage and the cruising stage of the UAV, and will not waste energy, thereby achieving stable operation of the UAV and improving flight efficiency. In the process of simultaneous power supply of the two, compared with the traditional hybrid kinetic energy mechanical switching method, the method provided by the present invention first predicts the required kinetic energy in an offline state, and then adjusts it in a real-time online manner to obtain an accurate prediction, thereby changing the power and mode of kinetic energy supply before the UAV kinetic energy demand changes, that is, changing in advance, ensuring that the UAV has sufficient kinetic energy during flight, and the energy supply process is smooth, so that the UAV can achieve a smooth flight of the scheduled route, improving the stability of the flight, and comprehensively realizing the prediction based on a one-time prediction and real-time correction method, improving the efficiency and accuracy of demand prediction, thereby improving the efficiency of energy switching. On the second hand, the motor is powered by hydrogen fuel cells and energy supplement batteries at the same time. Since both hydrogen energy and solar energy are green and environmentally friendly energy sources, and the energy efficiency of hydrogen fuel cells is greatly improved compared to traditional fuel generators, the flight time of the drone is effectively increased. Compared with previous fuel drones and electric drones, this application can not only ensure high endurance in long-term continuous flight missions, but also ensure that no pollution is generated when there are high requirements for instantaneous power, which is environmentally friendly and energy-saving. On the third hand, by setting solar panels on the wings, due to the large area of ​​the wings, installing solar panels on the wings can make full use of the large area of ​​the wings to install more solar panels, and the wings usually maintain a horizontal posture. This position is conducive to maximizing the reception of sunlight, collecting more solar energy, and then generating more electricity, significantly improving the endurance and flight efficiency of the drone. On the fourth hand, setting solar panels on the wings will not significantly change the center of gravity of the drone, and can maintain the balance state in the design, which helps to balance the weight of the drone, keep the center of gravity stable, avoid the problem of unstable flight attitude due to unilateral weight, and help achieve smooth flight and precise control. Fifthly, by setting the wing to be streamlined, the airfoil to be symmetrical, the wing area to be larger, the wing chord to be longer, the wing thickness to be thinner, and the wing span to be longer, the induced drag during the flight of the UAV is reduced, greater lift can be generated, lift efficiency is improved, and the lift required for the UAV flight is greatly reduced, thereby achieving the purpose of energy saving.

[0072] Corresponding to the aforementioned embodiment of a fixed-wing UAV, the present application also provides an embodiment of a flight power supply method based on a fixed-wing UAV.

[0073] Figure 5This is a flow chart of the first embodiment of the fixed-wing UAV flight energy supply method provided by this application. Please refer to Figure 5 The method provided in this embodiment, the method based on the fixed-wing UAV flight power supply method is applied to the fixed-wing UAV provided in the first aspect of the present application, and the method includes:

[0074] S501, matching motors based on flight parameters of the UAV.

[0075] Specifically, the flight parameters of a drone represent the state data of the drone during flight. The flight parameters usually include thrust, flight time, motor power, voltage, current, constant speed, torque, motor efficiency, weight, size, etc.

[0076] Furthermore, since weight directly affects the thrust that the motor needs to provide, the motor must be able to generate enough thrust to enable the drone to take off, hover, and perform other flight maneuvers. Generally, the total thrust required should be 2-3 times the total weight of the drone to ensure good power reserve and flight stability. Since flight time is affected by motor efficiency, battery capacity, and energy consumption, when selecting a motor, it is necessary to consider its power consumption level under typical flight conditions to ensure that it matches the battery capacity to achieve the desired flight time target.

[0077] In specific implementation, when determining the motor of a drone, it is necessary not only to consider the flight time of the drone, but also to comprehensively evaluate various flight parameters of the drone, including total weight, mission type, battery specifications, propeller parameters, body structure, motor efficiency, environmental conditions, etc. Based on the scores of these multiple flight parameters, the motor with a higher comprehensive score is determined.

[0078] S502. Determine the capacity of the energy supply battery based on the power of the motor during the flight phase of the UAV; the energy supply battery includes at least a hydrogen fuel cell; the hydrogen in the hydrogen fuel cell is provided by a hydrogen storage tank, the capacity of the hydrogen storage tank is determined according to the flight time of the UAV, and the capacity of the energy supplement battery is determined according to the difference between the energy supply capacity of the hydrogen fuel cell and the capacity of the energy supply battery.

[0079] Specifically, the flight phase of the drone includes the take-off phase and the cruising phase. The energy supply battery is used to power the motor, and the energy supply battery includes at least a hydrogen fuel cell. The hydrogen of the hydrogen fuel cell is provided by a hydrogen storage tank, and the capacity of the hydrogen storage tank is determined according to the flight time of the drone.

[0080] In a specific implementation, the capacity of the energy supply battery is determined based on the power of the motor during the flight stage of the UAV, including: determining the rated power of the motor based on the flight stage of the UAV; the flight stage at least includes a take-off stage and a cruising stage; determining the energy consumption of the UAV during the flight stage based on the rated power of the motor and the time of the flight stage; determining the capacity of the hydrogen storage tank based on the flight time of the UAV, and determining the energy supply capacity of the hydrogen fuel cell based on the capacity of the hydrogen storage tank; when the power of the hydrogen fuel cell is less than the rated power of the motor, determining the capacity of the energy supply battery based on the difference between the energy consumption of the UAV during the flight stage and the energy supply capacity of the hydrogen fuel cell.

[0081] Specifically, the rated power of the motor is different in different flight phases of the drone. The rated power of the motor in the flight phase is greater than the rated power in the cruise phase. Further, based on the flight phase of the drone, the rated power of the motor corresponding to the flight phase is determined. Based on the rated power of the motor and the time of the flight phase, the product of the two is determined as the energy consumption of the flight phase. The capacity of the hydrogen storage tank is determined based on the flight time of the drone. The longer the flight time, the larger the capacity of the hydrogen storage tank. The capacity of the hydrogen fuel cell is determined based on the determined capacity of the hydrogen storage tank. The energy supply capacity of the hydrogen fuel cell is determined based on the capacity of the hydrogen fuel cell and various parameters (storage pressure, molar mass of hydrogen, gas constant, absolute temperature, efficiency, etc.). Further, the energy supply capacity of the hydrogen fuel electromagnetic is compared with the energy consumption of the flight phase and the power of the hydrogen fuel cell with the rated power of the motor. When the rated power of the motor is large, it is determined that the energy supply battery includes a hydrogen fuel cell and a supplementary energy battery for power supply. Based on the difference between the energy consumption of the flight phase and the energy supply capacity of the hydrogen fuel cell, the capacity of the supplementary energy battery is determined.

[0082] S503, matching a real-time energy supply battery based on the real-time flight status of the UAV, wherein the real-time energy supply battery includes a hydrogen fuel cell, a supplementary battery, and a hydrogen fuel cell.

[0083] In a specific implementation, the real-time energy supply battery is matched based on the real-time flight status of the UAV, including: determining the real-time power of the motor based on the real-time flight status of the UAV; comparing the power of the hydrogen fuel cell with a high priority with the real-time power of the motor based on the priority of the energy supply battery; wherein the priority of the hydrogen fuel cell is higher than that of the energy replenishment battery; when the power of the hydrogen fuel cell is less than the real-time power of the motor, determining that the flight stage of the UAV is the take-off stage, and determining that the real-time energy supply battery includes power supply from the hydrogen fuel cell and the energy replenishment battery; when the power of the hydrogen fuel cell is greater than the real-time power of the motor, determining that the flight stage of the UAV is the cruising stage, and determining that the real-time energy supply battery includes power supply from the hydrogen fuel cell.

[0084] Specifically, based on the real-time flight status of the drone, the real-time power of the motor is determined. It should be noted that the real-time flight status of the drone is different, and the real-time power of the motor is also different. Further, based on the priority of the energy supply battery, the power of the energy supply battery with a higher priority is compared with the real-time power of the motor. It should be noted that in a possible implementation, the energy supply battery also includes a supplementary energy battery, and the priority of the hydrogen fuel cell is higher than the supplementary energy battery. In this step, the power of the hydrogen fuel cell with a high priority is compared with the real-time power of the motor. When the power of the hydrogen fuel cell is less than the real-time power of the motor, it means that the hydrogen fuel cell alone cannot provide the power required by the motor, and the flight stage of the drone is determined to be the take-off stage, and the energy supply battery includes hydrogen fuel cells and energy supply batteries. When the power of the hydrogen fuel cell is greater than the real-time power of the motor, it means that the hydrogen fuel cell alone can provide the power required by the motor, and the flight stage of the drone is determined to be the cruising stage, and the energy supply battery includes hydrogen fuel cells.

[0085] As an optional embodiment, the real-time energy supply battery is matched based on the real-time flight status of the UAV, including: predicting the motor power change of the UAV's motor in the first time period in the future according to the relationship between the motor power and the flight time in the historical take-off stage of the UAV; correcting the motor power change based on the real-time flight environment of the UAV; and controlling the power supply of the hydrogen fuel cell and the energy replenishment battery according to the corrected motor power change. Specifically, at the initial moment, the hydrogen fuel cell is powered by the first power, and the predicted future motor power change is an increase, and the power supply of the hydrogen fuel cell is further increased until the maximum power supply of the hydrogen fuel cell is reached; at this time, if the predicted motor power change after correction is still an increase, the energy replenishment battery is used for power supply, and the power supply of the energy replenishment battery is continuously increased until the maximum power supply is reached. The environment may include wind speed, wind volume, etc.

[0086] Further, the power supply of the hydrogen fuel cell and the energy supplement battery is controlled according to the corrected motor power change, including: calculating the difference between the real-time power supply of the hydrogen fuel cell and the rated maximum power supply; predicting the direction of the motor power change of the motor of the drone in the second time period in the future according to the relationship between the motor power and the flight time in the historical take-off stage of the drone; adjusting the switch state of the energy supplement battery according to the difference and the direction of the motor power change. The second time period is after the first time period. The method provided by the present invention, in order to ensure the smooth increase of power supply, increases the power supply of the battery one cycle in advance, so that the power supply state of the battery can match the flight characteristics of the drone, and provide sufficient kinetic energy for the flight of the drone, that is, to prepare for the use of the drone flight, rather than to increase the power when the drone is found to be insufficient in power. Further, when deciding whether to turn on the energy supplement battery, in order to avoid the hysteresis of turning on, turn on the energy supplement battery two cycles in advance. Specifically, if the power difference of the first cycle predicted is already difficult to be powered by the hydrogen fuel cell, and the demand of the second cycle is still increasing, turn on the energy supplement battery in advance to cope with the long-term demand and increase the flight demand.

[0087] Optionally, after determining that the real-time energy supply battery includes power supplied by a hydrogen fuel cell, the method further includes: controlling the shutdown of the energy supply battery based on a power regulator; charging the energy supply battery based on a solar panel, and cutting off the connection between the solar panel and the energy supply battery based on a control panel after the energy supply battery is fully charged.

[0088] Specifically, combined with the above description, when the power of the hydrogen fuel cell is greater than the real-time power of the motor, it means that the hydrogen fuel cell alone can provide the power required by the motor, and the flight phase of the UAV is determined to be the cruise phase. The energy supply battery includes the hydrogen fuel cell power supply. At this time, the energy supplement battery is not needed, and the power supply regulator controls the shutdown of the energy supplement battery. Furthermore, when the energy supplement battery is turned off, the energy supplement battery is charged by the solar panel installed on the wing. After the sensor detects that the energy supplement battery is fully charged, the control panel cuts off the connection between the solar panel and the energy supplement battery, and stops charging the energy supplement battery.

[0089] Optionally, matching the real-time energy supply battery based on the real-time flight status of the UAV includes: before the UAV takes off, obtaining a historical flight curve that is the same as the flight route of the UAV, wherein the historical flight curve is the relationship between the motor power and the flight time of the UAV; after the UAV takes off, predicting the motor power change from the take-off stage to the cruising stage of the UAV according to the historical flight curve, wherein the motor power change includes a change direction and a change value; correcting the motor power change in a first time period in the future according to the real-time flight environment after the UAV takes off, and controlling the power supply of the hydrogen fuel cell and the energy supply battery according to the corrected change direction and the change value; the take-off stage to the cruising stage of the UAV includes a first flight stage, a second flight stage and a third flight stage, wherein the power supply power of the hydrogen fuel cell increases in the first flight stage, the power supply power of the hydrogen fuel cell remains unchanged in the second flight stage, the power supply power of the energy supply battery increases, and the power supply power of the energy supply battery decreases in the third flight stage.

[0090] S504: Supply energy to the drone based on the real-time energy supply battery.

[0091] In specific implementation, the motor is powered by a real-time energy supply battery (when the real-time energy supply battery includes a hydrogen fuel cell, the hydrogen fuel cell converts the hydrogen transported by the hydrogen storage tank into electrical energy to power the motor; when the energy supply battery includes a hydrogen fuel cell and a replenishing battery, the hydrogen fuel cell converts the hydrogen transported by the hydrogen storage tank into electrical energy to power the motor, and the replenishing battery powers the motor by discharging), the motor converts the electrical energy into mechanical energy to drive the propeller to rotate, and the propeller drives the drone to fly.

[0092] The present embodiment provides a method for supplying energy to a fixed-wing UAV flight. First, the motor is matched based on the flight parameters of the UAV, the power supply battery is determined based on the motor power corresponding to the flight stage of the UAV, and the UAV is supplied with energy based on the power supply battery. In the first aspect, the motor is first determined by the flight parameters of the UAV through the layer-by-layer corresponding relationship, and then the power supply battery is determined according to the motor, and finally the UAV is supplied with energy by the power supply battery, which ensures that the power supply battery can meet the take-off requirements of the UAV in both the take-off stage and the cruising stage of the UAV, and energy will not be wasted, thereby achieving stable operation of the UAV and improving flight efficiency. In the process of supplying power to both at the same time, compared with the traditional hybrid kinetic energy mechanical switching method, the method provided by the present invention first predicts the required kinetic energy in an offline state, and then adjusts the accurate prediction situation in a real-time online manner, thereby changing the power and mode of kinetic energy supply before the kinetic energy demand of the UAV changes, that is, changing in advance, ensuring that the UAV has sufficient kinetic energy during the flight, and the power supply process is smooth, so that the UAV can achieve a smooth flight of the scheduled route, improving the stability of the flight, and comprehensively realizing the prediction based on a one-time prediction and real-time correction method, improving the efficiency and accuracy of demand prediction, thereby improving the efficiency of power supply switching. Secondly, when the hydrogen fuel cell cannot meet the power required by the motor, the motor is powered by the hydrogen fuel cell and the energy supplement battery at the same time. Since hydrogen energy and solar energy are both green and environmentally friendly energy sources, and the energy efficiency of hydrogen fuel cells is greatly improved compared to traditional fuel generators, the flight time of the UAV is effectively increased. Compared with previous fuel UAVs and electric UAVs, this application can not only ensure high endurance in long-term continuous flight missions, but also ensure that no pollution is generated when there are high requirements for instantaneous power, which is environmentally friendly and energy-saving.

[0093] The method of this embodiment can be used to execute Figure 1 The steps, specific implementation principles and implementation processes of the device embodiment shown are similar and will not be repeated here.

[0094] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0095] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0096] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A fixed-wing UAV, characterized in that: The UAV includes a flight platform, airborne equipment and a power system; wherein, The power system is arranged in the middle of the UAV, and the power system includes a hydrogen fuel cell, a supplementary battery, a motor, a propeller, and a solar panel. The hydrogen fuel cell is connected to the motor, the supplementary battery is connected to the motor, the motor is connected to the propeller, and the solar panel is connected to the supplementary battery. The hydrogen fuel cell is arranged at the tail of the supplementary battery, the motor is arranged at the tail of the hydrogen fuel cell, the propeller is arranged at the tail of the motor, and the solar panel is installed on the upper surface of the wing of the flight platform; The power system is used to switch the energy supply battery based on the flight stage of the UAV to provide electrical energy for the motor, and the flight stage includes at least a take-off stage and a cruising stage; the hydrogen fuel cell is used to supply power to the motor during the take-off stage and the cruising stage of the UAV, and the energy replenishment battery is used to supply power to the motor during the take-off stage of the UAV, wherein the motor power change from the take-off stage to the cruising stage of the UAV is predicted according to the historical flight curve corresponding to the flight stage, the motor power change is corrected according to the real-time flight environment of the flight stage, and the power supply power of the hydrogen fuel cell and the power supply time and power of the energy replenishment battery are adjusted in real time according to the change direction and change size of the corrected motor power change; The historical flight curve is corrected based on the difference between the parameters of the drone and the parameters of the drone corresponding to the historical flight curve and the difference in the route to obtain the latest flight curve of the drone; and the change in the motor power of the drone is predicted based on the latest flight curve; Calculate the difference between the real-time power supply of the hydrogen fuel cell and the rated maximum power supply; predict the direction of change of the motor power of the motor of the drone in the second time period in the future based on the relationship between the motor power and the flight time in the historical take-off phase of the drone; adjust the switching state of the energy replenishment battery based on the difference and the direction of change of the motor power; if the predicted power difference in the first cycle is already difficult to be supplied by the hydrogen fuel cell, and the demand in the second cycle is still increasing, turn on the energy replenishment battery two cycles in advance.

2. The fixed-wing UAV according to claim 1, characterized in that: The power system also includes a hydrogen storage tank, and the number of solar panels is proportional to the surface area of ​​the wing; the hydrogen storage tank is connected to the hydrogen fuel cell through a pipeline, and the hydrogen storage tank is used to provide hydrogen to the hydrogen fuel cell during the take-off and cruising stages of the UAV, and the capacity of the hydrogen storage tank is proportional to the flight time of the UAV; the energy replenishment battery is connected to the airborne equipment, and the energy replenishment battery is also used to supply power to the airborne equipment during the cruising stage of the UAV.

3. The fixed-wing UAV according to claim 1, characterized in that: The wing is the lifting surface of the UAV, and the wing includes a middle wing section and an outer wing section. The plan shape of the middle wing section is a rectangle, and the plan shape of the outer wing section is a trapezoid. The vertical tail is the stabilizing surface of the UAV, and the plan shape of the vertical tail is a trapezoid. The solar panel is installed on the middle wing section of the wing, and is used to charge the energy replenishment battery during the cruising stage of the UAV.

4. The fixed-wing UAV according to claim 1, characterized in that: The body structure of the UAV is made of carbon fiber composite material, the shape of the wing is streamlined, the airfoil of the wing is a symmetrical airfoil, the area of ​​the wing is greater than a first preset threshold, the thickness of the wing is less than a second preset threshold, the wingspan of the wing is greater than a third preset threshold, the chord of the wing is greater than a fourth preset threshold, and the weight of the energy replenishment battery is less than a fifth preset threshold.

5. The fixed-wing UAV according to claim 1, characterized in that: The flight platform comprises a fuselage, wings, and a vertical tail. The fuselage is connected to the airborne equipment and the power system, the fuselage is connected to the wings, the vertical tail is installed at the tail of the fuselage and connected to the wings through a reinforcing beam, and the rudder of the vertical tail is connected to the airborne equipment; the flight platform is used to provide structural support for the airborne equipment and the power system; The airborne equipment includes a flight control system, part of which is arranged inside the wing, and part of which is arranged inside the vertical tail. The flight control system includes a sensor module, a data processing module, a control module, and a communication module. The sensor module is used to collect flight data of the UAV during flight, the communication module is used to transmit the flight data to the ground, the data processing module is used to process the flight data, and the control module is used to control the flight of the UAV based on the processed data.

6. A method for providing energy for fixed-wing UAV flight, characterized in that: The fixed-wing UAV flight energy supply method is applied to the fixed-wing UAV according to any one of claims 1 to 5, and the method comprises: matching motors based on flight parameters of the drone; The capacity of the energy supply battery is determined based on the power of the motor during the flight phase of the UAV; the energy supply battery includes at least a hydrogen fuel cell; the hydrogen in the hydrogen fuel cell is provided by a hydrogen storage tank, the capacity of the hydrogen storage tank is determined according to the flight time of the UAV, and the capacity of the energy supplement battery is determined according to the difference between the energy supply capacity of the hydrogen fuel cell and the capacity of the energy supply battery; Matching a real-time energy supply battery based on the real-time flight status of the drone, wherein the real-time energy supply battery includes a hydrogen fuel cell, a supplementary energy battery, and a hydrogen fuel cell; The drone is powered based on the real-time power supply battery.

7. The method according to claim 6, characterized in that The determining the capacity of the energy supply battery based on the power of the motor during the flight phase of the drone includes: Determining the rated power of the motor based on the flight phase of the UAV; the flight phase includes at least a take-off phase and a cruising phase; Determining the energy consumption of the UAV during the flight phase based on the rated power of the motor and the duration of the flight phase; Determining the capacity of the hydrogen storage tank based on the flight time of the drone, and determining the energy supply capacity of the hydrogen fuel cell based on the capacity of the hydrogen storage tank; When the power of the hydrogen fuel cell is less than the rated power of the motor, the capacity of the energy supplement battery is determined based on the difference between the energy consumption of the UAV during the flight phase and the energy supply capacity of the hydrogen fuel cell.

8. The method according to claim 7, characterized in that The matching of the real-time energy supply battery based on the real-time flight status of the drone includes: Determining the real-time power of the motor based on the real-time flight status of the drone; Based on the priority of the energy supply battery, the power of the hydrogen fuel cell with a high priority is compared with the real-time power of the motor; wherein the priority of the hydrogen fuel cell is higher than that of the energy supplement battery; When the power of the hydrogen fuel cell is less than the real-time power of the motor, determining that the flight phase of the UAV is a take-off phase, and determining that the real-time energy supply battery includes the hydrogen fuel cell and the energy supplement battery for power supply; When the power of the hydrogen fuel cell is greater than or equal to the real-time power of the motor, it is determined that the flight phase of the UAV is the cruising phase, and it is determined that the real-time energy supply battery includes the hydrogen fuel cell for power supply.

9. The method according to claim 8, characterized in that After determining that the real-time energy supply battery includes a hydrogen fuel cell, the method further includes: Controlling the shutdown of the energy supplement battery based on a power regulator; The energy supplement battery is charged based on the solar panel, and the connection between the solar panel and the energy supplement battery is cut off based on the control panel after the energy supplement battery is fully charged.

10. The method according to claim 6, characterized in that The matching of the real-time energy supply battery based on the real-time flight status of the drone includes: Before the UAV takes off, a historical flight curve identical to the flight route of the UAV is obtained, wherein the historical flight curve is a relationship between the motor power and the flight time of the UAV; After the UAV takes off, predicting a motor power change from a take-off stage to a cruising stage of the UAV according to the historical flight curve, wherein the motor power change includes a change direction and a change value; The motor power change in the first time period in the future is corrected in real time according to the real-time flight environment after the UAV takes off, and the power supply of the hydrogen fuel cell and the energy replenishment battery is controlled according to the corrected change direction and the change value; the take-off stage to the cruising stage of the UAV includes a first flight stage, a second flight stage and a third flight stage. In the first flight stage, the power supply of the hydrogen fuel cell increases, in the second flight stage, the power supply of the hydrogen fuel cell remains unchanged, the power supply of the energy replenishment battery increases, and in the third flight stage, the power supply of the energy replenishment battery decreases.

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