Unmanned aerial vehicle power system, unmanned aerial vehicle control method and device and unmanned aerial vehicle

Abstract

The invention provides an unmanned aerial vehicle power system, an unmanned aerial vehicle control method, an unmanned aerial vehicle control device and an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. The system comprises power suites arranged on rotor shafts, and high-voltage electronic speed controllers of the power suites are used for receiving control signals sent by a flight control system; the control signal is determined based on a target control rotating speed after the flight control system determines the target control rotating speed based on an accelerator signal of a preset proportion; controlling a high-voltage motor to rotate based on the control signal to drive a propeller to rotate; in the rotation process of the high-voltage motor, the operation parameters of the unmanned aerial vehicle meet the following conditions that a current accelerator signal is located in a first preset range; the current motor efficiency is greater than preset efficiency; the current rotating speed is within a second preset range; the sum of the pulling forces of the rotor shafts of the unmanned aerial vehicle is greater than the target weight of the unmanned aerial vehicle. In the rotation process of the high-voltage motor, it needs to be guaranteed that the operation parameters of the unmanned aerial vehicle meet the conditions, and therefore the efficiency of the unmanned aerial vehicle power system can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a unmanned aerial vehicle power system, a unmanned aerial vehicle control method, a unmanned aerial vehicle control device and a unmanned aerial vehicle. Background Art

[0002] With the rapid development of the drone market, electric multi-rotor drones and composite wing drones have attracted the attention of a large number of users with their excellent operating performance and convenience of vertical take-off and landing, and have unique advantages in power inspection, logistics transportation, fire fighting, plant protection, emergency rescue and other fields. However, for drones with large loads, how to improve the efficiency of the drone power system has become an urgent problem to be solved. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a UAV power system, a UAV control method, a UAV control device and a UAV.

[0004] The present invention provides a UAV power system, comprising a power kit arranged on each rotor shaft of the UAV, wherein the power kit comprises a high-voltage electric regulator, a high-voltage motor and a propeller; The high-voltage electric regulator is used to receive a control signal sent by the flight control system of the UAV, wherein the control signal is a control signal determined based on the target control speed after the flight control system determines the target control speed based on the throttle signal of a preset ratio, and the preset ratio is determined based on the target system power efficiency of the power kit set by the user; The high-voltage electric regulator is further used to control the rotation of the high-voltage motor based on the control signal to drive the propeller to rotate; During the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: The current throttle signal is within a first preset range, and the upper limit of the first preset range is the preset ratio; The current motor efficiency is greater than the preset efficiency; The current speed is within a second preset range, and the second preset range is determined based on the preset efficiency; The sum of the pulling forces of the rotor shafts of the UAV is greater than the target weight of the UAV.

[0005] According to a UAV power system provided by the present invention, the power kit further includes a protector; The protector is used to receive a power supply signal sent by the electrical system of the drone and send the power supply signal to the high-voltage electric regulator.

[0006] According to a UAV power system provided by the present invention, an insulating adapter is provided on the rotor shaft, and the high-voltage motor is installed on the insulating adapter.

[0007] According to a UAV power system provided by the present invention, the high-voltage electric regulator includes a SiC-based high-voltage electric regulator.

[0008] According to a UAV power system provided by the present invention, the high-voltage electric regulator includes a PWM interface, a CAN bus interface and a serial communication interface, the priority of the PWM interface is greater than the priority of the CAN bus interface, and the priority of the CAN bus interface is greater than the priority of the serial communication interface; The high-voltage electric regulator is specifically used to receive the control signal sent by the flight control system of the UAV through the target communication interface, and the target communication interface is the interface among the PWM interface, the CAN bus interface and the serial communication interface that has no faults and has the highest priority.

[0009] According to a UAV power system provided by the present invention, the high-voltage electric regulator and the high-voltage motor are designed in an integrated manner.

[0010] The present invention also provides a method for controlling a drone, which is applied to the drone power system described in the above embodiment, and the method comprises: Receiving a control signal sent by the flight control system of the UAV, the control signal being a control signal determined by the flight control system based on a target control speed after the flight control system determines the target control speed based on a throttle signal of a preset ratio, wherein the preset ratio is determined based on a target system power efficiency of the power kit set by a user; Controlling the high-voltage motor to rotate based on the control signal to drive the propeller to rotate; During the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: The current throttle signal is within a first preset range, and the upper limit of the first preset range is the preset ratio; The current motor efficiency is greater than the preset efficiency; The current speed is within a second preset range, and the second preset range is determined based on the preset efficiency; The sum of the pulling forces of the rotor shafts of the UAV is greater than the target weight of the UAV.

[0011] The present invention also provides a drone, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any of the drone control methods described above is implemented.

[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the drone control method described in any one of the above is implemented.

[0013] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned drone control methods.

[0014] The invention provides a UAV power system, a UAV control method, a device and a UAV, wherein the UAV power system includes a power kit arranged on each rotor shaft of the UAV, each power kit includes a high-voltage electric regulator, a high-voltage motor and a propeller, and the high-voltage electric regulator is used to receive a control signal sent by the flight control system of the UAV, and the control signal is determined based on the target control speed after the flight control system determines the target control speed based on the throttle signal of a preset ratio, and controls the rotation of the high-voltage motor based on the control signal to drive the propeller to rotate; during the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: the current throttle signal is within the first preset range, the current motor efficiency is greater than the preset efficiency, the current speed is within the second preset range, and the sum of the pulling forces of each rotor shaft of the UAV is greater than the target weight of the UAV. It can be seen that during the rotation of the high-voltage motor, the invention needs to ensure that the current throttle signal is within the first preset range, the current motor efficiency is greater than the preset efficiency, the current speed is within the second preset range, and the sum of the pulling forces of each rotor shaft of the UAV is greater than the target weight of the UAV, thereby improving the efficiency of the UAV power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is one of the structural schematic diagrams of the UAV power system provided by an embodiment of the present invention.

[0017] Figure 2 It is a schematic diagram of a power system of a heavy-load rotary-wing UAV provided in an embodiment of the present invention.

[0018] Figure 3 It is a schematic diagram of a curve showing the efficiency and rotation speed of a high-voltage motor provided in an embodiment of the present invention.

[0019] Figure 4 This is the second structural schematic diagram of the UAV power system provided by an embodiment of the present invention.

[0020] Figure 5 It is a flowchart of a drone control method provided by an embodiment of the present invention.

[0021] Figure 6Schematic diagram of the structure of the drone control device provided by an embodiment of the present invention.

[0022] Figure 7 Schematic diagram of the physical structure of the UAV provided by the embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] First, let’s explain the relevant terms of drones: Rotor: The rotor is an important component of rotorcraft UAVs. During flight, it plays a dual role in generating lift and pull.

[0025] Airborne equipment: Equipment installed on the drone, which is the main component of the drone.

[0026] Power system: the system and equipment that provides power for the UAV.

[0027] Force efficiency: the ratio of weight to power, the power supply required when the power system outputs a certain pulling force. The higher the force efficiency, the higher the efficiency of the power system.

[0028] For UAV power systems with a payload greater than the preset payload (which can be set based on demand) and a flight time greater than the preset duration (which can be set based on demand), the following three problems need to be solved urgently: High voltage and high tensile force are the basis of load-bearing capacity. High voltage can reduce the load-bearing capacity of transmission cables, and high tensile force can increase the load-bearing capacity of the entire UAV platform and provide large load-bearing capacity guarantee to meet the needs of various application scenarios.

[0029] Long flight time guarantee. Long flight time affects the operation time and operation scene. The power energy must be stable and reliable for a long time, and the combat operation time must be long to meet the needs of emergency communication or lighting guarantee.

[0030] Stable, safe and reliable. The stability and reliability of the power system is crucial. The reliability of the power system is related to the safety of the entire UAV. It needs to adapt to the complex electromagnetic environment of high voltage and support plateau flight and flight between buildings.

[0031] At present, the efficiency of UAV power systems cannot meet the needs of large loads. Therefore, how to improve the efficiency of UAV power systems has become an urgent problem to be solved. When the efficiency of UAV power systems is improved, the flight time of UAVs will also be increased to meet the needs of various application scenarios.

[0032] Combine the following Figure 1-Figure 4 The UAV power system of the present invention is described.

[0033] Figure 1 FIG. 1 is one of the structural schematic diagrams of the UAV power system provided by an embodiment of the present invention. Figure 1 As shown, the UAV power system includes a power kit arranged on each rotor shaft of the UAV, and the power kit includes a high-voltage electric regulator, a high-voltage motor and a propeller.

[0034] The high-voltage electric regulator is used to receive a control signal sent by the flight control system of the UAV, wherein the control signal is a control signal determined based on the target control speed after the flight control system determines the target control speed based on the throttle signal of a preset ratio, and the preset ratio is determined based on the target system power efficiency of the power kit set by the user; The high-voltage electric regulator is further used to control the rotation of the high-voltage motor based on the control signal to drive the propeller to rotate; During the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: The current throttle signal is within a first preset range, and the upper limit of the first preset range is the preset ratio; the current motor efficiency is greater than the preset efficiency; the current speed is within a second preset range, and the second preset range is determined based on the preset efficiency; the sum of the pulling forces of each rotor shaft of the UAV is greater than the target weight of the UAV.

[0035] Among them, the preset efficiency is the efficiency value that the high-voltage motor itself can achieve. If the motor efficiency of the high-voltage motor is greater than 85%, the preset efficiency is 85%. The UAV can be a rotating UAV, for example, a large-load rotor UAV, which solves the power requirements of large-load rotor UAVs and improves the power efficiency of large-load rotor UAVs (compound wing UAVs or multi-rotors). Figure 2 Schematic diagram of a power system of a large-load rotary-wing UAV provided by an embodiment of the present invention. Figure 2As shown in the figure, the power system of a large-load rotor UAV is mainly composed of a rotating body, a speed regulator, a load and a protector. The rotating body mainly includes a high-voltage motor, which provides rated input, is the power source of the UAV, and provides rotational motion. The speed regulator is the controller of the high-voltage motor, which can be a SiC-based high-voltage electric regulator, receive control information in real time, control the rotation of the high-voltage motor based on the control information, and adjust the speed of the high-voltage motor. The load mainly includes propellers, which can be made of GF (glass fiber) and Epoxy (epoxy resin) composite materials, provide high torque and high force efficiency, provide tension and lift according to the different atmospheric pressures above and below the propeller, and are essential devices for UAV flight.

[0036] For example, the UAV power system is configured on the rotor shaft. The UAV power system is composed of multiple power kits. The number of power kits is the same as the number of rotor shafts of the UAV. The UAV power system requires the UAV's electrical system to provide a power supply signal, that is, the electrical system provides a power supply signal to the high-voltage electric regulator of the power kit to supply power to the high-voltage electric regulator; the UAV's flight control system calculates the target control speed based on the throttle signal of the first preset ratio, and then calculates the control current and control voltage of the control waveform in real time based on the target control speed through the speed loop and the current loop, and outputs the control waveform as a control signal to the high-voltage electric regulator. After receiving the control signal, the high-voltage electric regulator parses the control signal to obtain a three-phase UVW signal, and sends the three-phase UVW signal to the three-phase control line of the high-voltage motor respectively, so that the high-voltage motor rotates based on the received three-phase UVW signal. The rotation of the high-voltage motor provides lifting pull and flight power for the entire power system, that is, drives the propeller to rotate and generates lifting pull. When the speed reaches a certain value, the lifting pull of the entire power system is greater than the target weight of the UAV, and the take-off of the UAV can be completed. After take-off is completed, flight power is generated according to the control signal, thereby controlling the navigation and movement of the UAV.

[0037] Specifically, the flight control system of the drone can generate control signals based on the Space Vector Pulse Width Modulation (SVPWM) technology, which is a high-efficiency modulation technology commonly used in motor drives.

[0038] The UAV power system works under high voltage value UHV and power supply current I. The high voltage value UHV and power supply current I of the UAV power system can be obtained through the Hall sensor, and then the input power P of the entire UAV can be obtained. 总 =UHV I, assuming that the target weight of the entire drone (the sum of the drone's own weight and the load) is G, and the number of rotor axes of the drone is N, the minimum pulling force required by a single power kit is G / N. The power, speed, and force efficiency of a single power kit can be measured on a test bench to form a test table as shown in Table 1. The pulling force F and single-axis power P of a single power kit can be obtained by looking up the table or interpolating the value. 单 And the corresponding relationship between the throttle signal IN, the efficiency of the entire UAV power system .

[0039] Table 1

[0040] It should be noted that the specific data in Table 1 are only for illustrative purposes. In practical applications, actual measurements can be performed using a test bench.

[0041] When the target system force efficiency of the power kit set by the user is obtained, the throttle signal corresponding to the target system force efficiency can be found through Table 1. Taking the target system force efficiency as greater than 6.0 as an example, it can be found through Table 1 that the throttle signal corresponding to the target system force efficiency of 6.0 is 75%, and the preset ratio is 75%.

[0042] During the rotation of the high-voltage motor, the sum of the pulling forces of each rotor shaft of the drone needs to be greater than the target weight of the drone, where the target weight includes the weight of the drone itself and the load of the drone, to ensure that the drone can fly stably. The flight control system calculates and adjusts the pulling force output of each rotor by monitoring the speed, current and other parameters of each rotor to keep the sum of the pulling forces of each rotor shaft greater than the target weight of the drone. When it is detected that the current throttle signal is within the preset range (for example, 55%~75%), the flight control system will maintain the throttle signal output within this range to ensure that the high-voltage motor is neither overloaded nor too inefficient. If the current throttle signal is not within the first preset range, the flight control system will adjust the throttle according to flight requirements, for example, increase the throttle to maintain the flight altitude or flight speed, or reduce the throttle to save energy. When it is determined that the current motor efficiency is greater than or equal to the preset efficiency (for example, 85%), it means that the working state of the high-voltage motor meets the requirements. When the current motor efficiency is less than the preset efficiency, the flight control system adjusts the voltage, current and frequency parameters of the high-voltage motor so that the current motor efficiency is greater than or equal to the preset efficiency. Figure 3 is a schematic diagram of the efficiency and speed of the high-voltage motor provided by an embodiment of the present invention, such as Figure 3 As shown in the figure, the efficiency of the high-voltage motor increases with the increase of the speed under a certain speed. When the speed exceeds a certain value, the efficiency of the high-voltage motor begins to decrease. Therefore, when the current motor efficiency of the high-voltage motor is greater than the preset efficiency, Figure 3The curve shown can get the speed corresponding to the current motor efficiency. That is, in order to obtain high efficiency of the power system, the motor efficiency must be controlled above the preset efficiency, and the corresponding speed area is the high-efficiency speed area. Figure 3 shown That is the second preset range. In actual application, the curve of the efficiency and speed of the high-voltage motor can be stored in the memory for easy search. The current speed of the high-voltage motor is collected in real time. When the current speed is not within the second preset range, the output of the high-voltage motor is adjusted according to the preset algorithm so that the current speed is within the second preset range.

[0043] Through the above four conditions: the current throttle signal is within the first preset range, the current motor efficiency is greater than the preset efficiency, the current speed is within the second preset range, and the sum of the pulling forces of each rotor shaft of the UAV is greater than the target weight of the UAV, a high-efficiency single-axis power system can be obtained. Since each single-axis power system is highly efficient, the efficiency of the entire UAV is improved.

[0044] It should be noted that during the rotation of the high-voltage motor, the high-voltage electric regulator can also sample the temperature of the high-voltage motor based on a preset period, and monitor the status of the high-voltage motor in real time based on the sampled temperature, so as to provide data support for the flight. The present invention does not limit this.

[0045] In one embodiment, the high-voltage electric regulator and the high-voltage motor are integrated into one.

[0046] For example, in actual application, the high-voltage electric regulator and the high-voltage motor can be designed as an integrated whole. The integrated high-voltage electric regulator and the high-voltage motor can make the power system lighter and optimize the efficiency of the power system.

[0047] It should be noted that during the initial design of the UAV and the selection of various components, selection can also be based on a high-efficiency UAV power system, so that during the application stage, the UAV power system can be operated efficiently by adjusting the operating parameters of the UAV.

[0048] The UAV power system provided by the present invention includes a power kit arranged on each rotor shaft of the UAV, each power kit includes a high-voltage electric regulator, a high-voltage motor and a propeller, and the high-voltage electric regulator is used to receive a control signal sent by the flight control system of the UAV, and the control signal is determined based on the target control speed after the flight control system determines the target control speed based on the throttle signal of the preset ratio, and the high-voltage motor is controlled to rotate based on the control signal to drive the propeller to rotate; during the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: the current throttle signal is within the first preset range, the current motor efficiency is greater than the preset efficiency, the current speed is within the second preset range, and the sum of the pulling forces of each rotor shaft of the UAV is greater than the target weight of the UAV. It can be seen that in the rotation process of the high-voltage motor of the present invention, it is necessary to ensure that the current throttle signal is within the first preset range, the current motor efficiency is greater than the preset efficiency, the current speed is within the second preset range, and the sum of the pulling forces of each rotor shaft of the UAV is greater than the target weight of the UAV, so as to improve the efficiency of the UAV power system and ensure the efficient operation of the entire UAV.

[0049] In one embodiment, the power kit further includes a protector; the protector is used to receive a power supply signal sent by the electrical system of the drone and send the power supply signal to the high-voltage electric regulator.

[0050] Figure 4 FIG. 2 is a second structural diagram of a UAV power system provided by an embodiment of the present invention. Figure 4 As shown, the power sleeve also includes a protector, such as Figure 2 As shown, the protector can be a fuse or a filter, etc. The power supply signal provided by the electrical system of the drone is sent to the high-voltage electric regulator through the protector. The protector plays the role of overvoltage and overcurrent protection, which not only prevents the instability of the electrical system from causing damage to the power system, but also prevents the damage of the power system from causing damage to the electrical system.

[0051] In this embodiment, a protector is installed before the high-voltage electric regulator to ensure the safe and reliable operation of the UAV power system and effectively avoid damage to the UAV power system caused by overvoltage and overcurrent.

[0052] In one embodiment, an insulating adapter is provided on the rotor shaft, and the high-voltage motor is mounted on the insulating adapter.

[0053] For example, the safe installation of a UAV power system mainly considers the installation of high-voltage motors. The high-voltage motors are the vibration source and power source of the entire UAV. Insulating adapters are provided on each rotor shaft, and the high-voltage motors are installed on the insulating adapters. Insulated installation of the high-voltage motors can effectively isolate interference sources, block electromagnetic conduction, and effectively protect the UAV's low-voltage equipment and flight control system.

[0054] In one embodiment, the high voltage electric regulator includes a SiC-based high voltage electric regulator.

[0055] Among them, silicon carbide SiC is a compound semiconductor material composed of Si (silicon) and C (carbon), which is used in the manufacture of power devices.

[0056] For example, SiC-based high-voltage electric regulators include SiC power devices, such as SiC MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor, MOSFET, Metal-Oxide Semiconductor Field-Effect Transistor), etc. Due to the high switching frequency, high voltage resistance and high temperature resistance of SiC power devices, the control efficiency and response speed of high-voltage motors can be significantly improved. The working efficiency of SiC power devices is much higher than that of the same type of insulated gate bipolar transistor (IGBT) power devices. In the automation control system of high-voltage motors, the application of SiC power devices can reduce energy loss and improve system stability and reliability.

[0057] In this embodiment, a SiC-based high-voltage electric regulator is used to match the SiC-based high-voltage electric regulator with the power system to avoid damage or explosion of the high-voltage electric regulator, thereby ensuring the safe and reliable operation of the UAV and further improving the efficiency of the UAV power system.

[0058] In one embodiment, the high-voltage electric regulator includes a pulse width modulation (PWM) interface, a controller area network (CAN) interface and a serial communication interface, the priority of the PWM interface is greater than the priority of the CAN bus interface, and the priority of the CAN bus interface is greater than the priority of the serial communication interface.

[0059] The high-voltage electric regulator is specifically used to receive the control signal sent by the flight control system of the UAV through the target communication interface, and the target communication interface is the interface among the PWM interface, the CAN bus interface and the serial communication interface that has no faults and has the highest priority.

[0060] The serial communication interface may be an RS422 interface or an RS485 interface.

[0061] For example, priorities are set in advance for the PWM interface, CAN bus interface and serial communication interface, and the priority of the PWM interface is set to be higher than the priority of the CAN bus interface, and the priority of the CAN bus interface is higher than the priority of the serial communication interface. The flight control system of the UAV sends a control signal to the high-voltage electric regulator based on the priority of each interface, that is, when there are no faults in the PWM interface, the CAN bus interface and the serial communication interface, the flight control system of the UAV uses the PWM interface with the highest priority to send a control signal to the high-voltage electric regulator. When the PWM interface with the highest priority fails, it automatically switches to the CAN bus interface within a specified time, and sends a control signal to the high-voltage electric regulator through the CAN bus interface. If the fault of the PWM interface is restored at this time, it switches to the PWM interface again to ensure that the target communication interface for sending the control signal is the interface that has not failed and has the highest priority.

[0062] In this embodiment, based on the priority reception control signal of the PWM interface, CAN bus interface and serial communication interface, redundant control of the UAV power system is realized, which can effectively reduce cable damage caused by vibration or electromagnetic interference and ensure real-time and efficient control of the power system.

[0063] Figure 5 is a flow chart of a drone control method provided by an embodiment of the present invention, which is applied to the drone power system described in any of the above embodiments, such as Figure 5 As shown, the drone control method includes the following steps: Step 501: receiving a control signal sent by the flight control system of the UAV, wherein the control signal is a control signal determined based on the target control speed after the flight control system determines the target control speed based on a throttle signal of a preset ratio, and the preset ratio is determined based on a target system power efficiency of the power kit set by a user.

[0064] Step 502: Based on the control signal, the high-voltage motor is controlled to rotate to drive the propeller to rotate; during the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: the current throttle signal is within a first preset range, and the upper limit of the first preset range is the preset ratio; the current motor efficiency is greater than the preset efficiency; the current speed is within a second preset range, and the second preset range is determined based on the preset efficiency; the sum of the pulling forces of each rotor shaft of the UAV is greater than the target weight of the UAV.

[0065] It should be noted that the specific description of the above steps 501 and 502 can refer to the relevant description of the above-mentioned UAV power system side, and the present invention will not be repeated here.

[0066] The drone control method provided by the present invention receives a control signal sent by the flight control system of the drone, the control signal is determined based on the target control speed after the flight control system determines the target control speed based on the throttle signal of a preset ratio, and controls the rotation of the high-voltage motor based on the control signal to drive the propeller to rotate; during the rotation of the high-voltage motor, the operating parameters of the drone meet the following conditions: the current throttle signal is within the first preset range, the current motor efficiency is greater than the preset efficiency, the current speed is within the second preset range, and the sum of the pulling forces of each rotor shaft of the drone is greater than the target weight of the drone. It can be seen that during the rotation of the high-voltage motor of the present invention, it is necessary to ensure that the current throttle signal is within the first preset range, the current motor efficiency is greater than the preset efficiency, the current speed is within the second preset range, and the sum of the pulling forces of each rotor shaft of the drone is greater than the target weight of the drone, so as to improve the efficiency of the drone power system.

[0067] The drone control device provided by the present invention is described below. The drone control device described below and the drone control method described above can be referenced to each other.

[0068] Figure 6 is a schematic diagram of the structure of the drone control device provided by an embodiment of the present invention. Figure 6 As shown, the drone control device 600 includes a receiving unit 601 and a control unit 602; wherein: The receiving unit 601 is used to receive a control signal sent by the flight control system of the UAV, wherein the control signal is a control signal determined based on the target control speed after the flight control system determines the target control speed based on the throttle signal of a preset ratio, and the preset ratio is determined based on the target system power efficiency of the power kit set by the user; A control unit 602, configured to control the high-voltage motor to rotate based on the control signal, so as to drive the propeller to rotate; During the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: The current throttle signal is within a first preset range, and the upper limit of the first preset range is the preset ratio; The current motor efficiency is greater than the preset efficiency; The current speed is within a second preset range, and the second preset range is determined based on the preset efficiency; The sum of the pulling forces of the rotor shafts of the UAV is greater than the target weight of the UAV.

[0069] The drone control device provided by the present invention receives a control signal sent by the flight control system of the drone, the control signal is determined based on the target control speed after the flight control system determines the target control speed based on the throttle signal of a preset ratio, and controls the rotation of the high-voltage motor based on the control signal to drive the propeller to rotate; during the rotation of the high-voltage motor, the operating parameters of the drone meet the following conditions: the current throttle signal is within the first preset range, the current motor efficiency is greater than the preset efficiency, the current speed is within the second preset range, and the sum of the pulling forces of each rotor shaft of the drone is greater than the target weight of the drone. It can be seen that during the rotation of the high-voltage motor of the present invention, it is necessary to ensure that the current throttle signal is within the first preset range, the current motor efficiency is greater than the preset efficiency, the current speed is within the second preset range, and the sum of the pulling forces of each rotor shaft of the drone is greater than the target weight of the drone, thereby improving the efficiency of the drone power system.

[0070] Based on any of the above embodiments, the high-voltage electric regulator includes a PWM interface, a CAN bus interface and a serial communication interface, the priority of the PWM interface is greater than the priority of the CAN bus interface, and the priority of the CAN bus interface is greater than the priority of the serial communication interface; the receiving unit 601 is specifically used for: The control signal sent by the flight control system of the UAV through the target communication interface is received, and the target communication interface is the interface with the highest priority and no failure among the PWM interface, the CAN bus interface and the serial communication interface.

[0071] Figure 7 is a schematic diagram of the physical structure of the drone provided by an embodiment of the present invention, such as Figure 7 As shown, the drone may include: a processor 710, a communications interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communications interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the drone control method, which includes: A control signal sent by a flight control system of the UAV is received, wherein the control signal is a control signal determined based on the target control speed after the flight control system determines a target control speed based on a throttle signal of a preset ratio, and the preset ratio is determined based on a target system power efficiency of the power kit set by a user; the high-voltage motor is controlled to rotate based on the control signal to drive the propeller to rotate; during the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: the current throttle signal is within a first preset range, and the upper limit of the first preset range is the preset ratio; the current motor efficiency is greater than the preset efficiency; the current speed is within a second preset range, and the second preset range is determined based on the preset efficiency; the sum of the pulling forces of each rotor shaft of the UAV is greater than the target weight of the UAV.

[0072] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0073] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the drone control method provided by the above methods, the method includes: A control signal sent by a flight control system of the UAV is received, wherein the control signal is a control signal determined based on the target control speed after the flight control system determines a target control speed based on a throttle signal of a preset ratio, and the preset ratio is determined based on a target system power efficiency of the power kit set by a user; the high-voltage motor is controlled to rotate based on the control signal to drive the propeller to rotate; during the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: the current throttle signal is within a first preset range, and the upper limit of the first preset range is the preset ratio; the current motor efficiency is greater than the preset efficiency; the current speed is within a second preset range, and the second preset range is determined based on the preset efficiency; the sum of the pulling forces of each rotor shaft of the UAV is greater than the target weight of the UAV.

[0074] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for controlling a drone provided by the above methods is implemented, and the method comprises: A control signal sent by a flight control system of the UAV is received, wherein the control signal is a control signal determined based on the target control speed after the flight control system determines a target control speed based on a throttle signal of a preset ratio, and the preset ratio is determined based on a target system power efficiency of the power kit set by a user; the high-voltage motor is controlled to rotate based on the control signal to drive the propeller to rotate; during the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: the current throttle signal is within a first preset range, and the upper limit of the first preset range is the preset ratio; the current motor efficiency is greater than the preset efficiency; the current speed is within a second preset range, and the second preset range is determined based on the preset efficiency; the sum of the pulling forces of each rotor shaft of the UAV is greater than the target weight of the UAV.

[0075] The device embodiments described above are merely illustrative, 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 scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0076] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A UAV power system, It is characterized in that A power kit is provided on each rotor shaft of the UAV, wherein the power kit includes a high-voltage electric regulator, a high-voltage motor and a propeller; The high-voltage electric regulator is used to receive a control signal sent by the flight control system of the UAV, wherein the control signal is a control signal determined based on the target control speed after the flight control system determines the target control speed based on the throttle signal of a preset ratio, and the preset ratio is determined based on the target system power efficiency of the power kit set by the user; The high-voltage electric regulator is further used to control the rotation of the high-voltage motor based on the control signal to drive the propeller to rotate; During the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: The current throttle signal is within a first preset range, and the upper limit of the first preset range is the preset ratio; The current motor efficiency is greater than the preset efficiency; The current speed is within a second preset range, and the second preset range is determined based on the preset efficiency; The sum of the pulling forces of the rotor shafts of the UAV is greater than the target weight of the UAV.

2. The UAV power system according to claim 1, It is characterized in that The power kit also includes a protector; The protector is used to receive a power supply signal sent by the electrical system of the drone and send the power supply signal to the high-voltage electric regulator.

3. The UAV power system according to claim 1, It is characterized in that An insulating adapter is provided on the rotor shaft, and the high-voltage motor is mounted on the insulating adapter.

4. The UAV power system according to claim 1, It is characterized in that The high voltage electric regulator includes a SiC-based high voltage electric regulator.

5. The UAV power system according to claim 1, It is characterized in that The high-voltage electric regulator includes a PWM interface, a CAN bus interface and a serial communication interface, the priority of the PWM interface is higher than the priority of the CAN bus interface, and the priority of the CAN bus interface is higher than the priority of the serial communication interface; The high-voltage electric regulator is specifically used to receive the control signal sent by the flight control system of the UAV through the target communication interface, and the target communication interface is the interface among the PWM interface, the CAN bus interface and the serial communication interface that has no faults and has the highest priority.

6. The UAV power system according to any one of claims 1 to 5, It is characterized in that The high-voltage electric regulator and the high-voltage motor are designed in an integrated manner.

7. A method for controlling a drone, It is characterized in that Applied to the UAV power system according to any one of claims 1 to 6, the method comprising: Receiving a control signal sent by the flight control system of the UAV, the control signal being a control signal determined by the flight control system based on a target control speed after the flight control system determines the target control speed based on a throttle signal of a preset ratio, wherein the preset ratio is determined based on a target system power efficiency of the power kit set by a user; Controlling the high-voltage motor to rotate based on the control signal to drive the propeller to rotate; During the rotation of the high-voltage motor, the operating parameters of the UAV meet the following conditions: The current throttle signal is within a first preset range, and the upper limit of the first preset range is the preset ratio; The current motor efficiency is greater than the preset efficiency; The current speed is within a second preset range, and the second preset range is determined based on the preset efficiency; The sum of the pulling forces of the rotor shafts of the UAV is greater than the target weight of the UAV.

8. A drone comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the drone control method as claimed in claim 7 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by the processor, the drone control method as claimed in claim 7 is implemented.

10. A computer program product comprising a computer program, It is characterized in that When the computer program is executed by the processor, the drone control method as claimed in claim 7 is implemented.

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