Hydrogen-lithium hybrid power unmanned aerial vehicle and control system and control method thereof

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and discloses a hydrogen-lithium hybrid power unmanned aerial vehicle and a control system and a control method thereof. The control system of the hydrogen-lithium hybrid power unmanned aerial vehicle comprises a control unit, and a power supply control module, a temperature control module, a gas control module and an exhaust module which are in communication connection with the control unit, wherein the power supply control module collects the power supply quantity of a hydrogen fuel cell and a lithium battery and controls and distributes the power supply quantity to drive the unmanned aerial vehicle to start and fly; the temperature control module is used for radiating and cooling the hydrogen fuel cell; the gas control module is used for detecting hydrogen pressure and controlling hydrogen flow; the exhaust module is used for controlling exhaust of the hydrogen fuel cell. According to the method, the power supply quantity of the hydrogen fuel cell and the lithium battery is optimally controlled and distributed in the flight control process of the unmanned aerial vehicle, so that the problem of different requirements of the unmanned aerial vehicle on energy in the rapid starting and flight processes is solved, the energy utilization efficiency of the hydrogen-lithium hybrid power unmanned aerial vehicle is improved, and the application range of the hydrogen fuel cell on the unmanned aerial vehicle is expanded.

Description

Technical Field

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

[0002] Unmanned aerial vehicles (UAVs) are a new concept of aircraft that is developing rapidly. They are flexible, responsive, unmanned, and require low operation. UAVs can achieve real-time image transmission and high-risk area detection by carrying multiple types of sensors, and are a powerful supplement to satellite remote sensing and traditional aerial remote sensing. At present, the use of UAVs has expanded to the three major fields of military, scientific research, and civil use. Specifically, they are widely used in the fields of communications, meteorology, agriculture, ocean, exploration, photography, rescue, disaster prevention and reduction, crop yield estimation, drug control and anti-smuggling, border patrol, and public security and anti-terrorism.

[0003] A common shortcoming of existing drones is their short flight time. Ordinary civilian small drones generally do not fly for more than 45 minutes. The small size of civilian small drones limits their weight, so there is always a limit on the battery size. If the battery capacity is increased, the energy consumption will also increase accordingly.

[0004] Hydrogen energy is one of the important components of clean energy. The safest and most efficient way to use it is to convert it into electrical energy through fuel cells. The principle is that hydrogen and oxygen (or air) undergo an electrochemical reaction to generate water and release electrical energy and heat energy. The energy in the fuel cell is converted into electrical energy, and the theoretical utilization rate of hydrogen energy can reach up to 80%. Therefore, at the same weight, the energy storage and conversion efficiency of fuel cells are much higher than traditional internal combustion engines and lithium batteries. It is completely feasible to use fuel cells as a power source to replace traditional batteries.

[0005] Although hydrogen fuel cells meet the requirements of long-flight UAVs, they cannot meet the requirements of quick start of UAVs because hydrogen fuel needs a certain amount of time to reach the normal working voltage when charging power, which affects their application in UAVs. In the prior art, lithium batteries are used alone to meet the starting power requirements of UAVs. During flight, both lithium batteries and hydrogen fuel cells are in a dynamic change of power supply. Therefore, it is necessary to reasonably allocate and utilize the power supply of lithium batteries and hydrogen fuel cells to improve the energy utilization efficiency of hydrogen-lithium hybrid UAVs. Summary of the invention

[0006] The purpose of the present invention is to provide a hydrogen-lithium hybrid UAV and its control system and control method, so as to solve the problem of different energy requirements for the rapid start-up and flight process of the UAV and improve the energy utilization efficiency of the hydrogen-lithium hybrid UAV.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] The present invention first provides a control system for a hydrogen-lithium hybrid UAV, the hydrogen-lithium hybrid UAV comprises a hydrogen fuel cell and a lithium battery, and the control system of the hydrogen-lithium hybrid UAV comprises:

[0009] A power control module, the power control module is used to collect the power supply of the hydrogen fuel cell and the lithium battery and control and distribute the power supply of the hydrogen fuel cell and the lithium battery to drive the UAV to start and fly;

[0010] A temperature control module, the temperature control module is used to collect the real-time temperature of the hydrogen fuel cell and start or shut down a cooling fan according to the real-time temperature, the cooling fan is provided with an exhaust port of the hydrogen fuel cell and is used to dissipate heat and cool the hydrogen fuel cell;

[0011] A gas control module, the gas control module is used to detect the hydrogen pressure in the hydrogen storage bottle and control the hydrogen flow rate, the hydrogen storage bottle is used to provide hydrogen for the hydrogen fuel cell;

[0012] An exhaust module, the exhaust module comprising an exhaust valve provided at an exhaust port of the hydrogen fuel cell, the exhaust valve being used to control exhaust of the hydrogen fuel cell;

[0013] A control unit, wherein the control unit is communicatively connected to the power control module, the temperature control module, the gas control module and the exhaust module respectively, and the control unit is used to control the startup state and the flight state of the UAV and control the power supply distribution of the power control module according to the startup state and the flight state. The control unit monitors and controls the hydrogen fuel cell and the lithium battery through the temperature control module, the gas control module and the exhaust module.

[0014] In some embodiments, the control system of the hydrogen-lithium hybrid UAV further includes a DC-DC converter, the input end of the DC-DC converter is connected to the power supply output ends of the hydrogen fuel cell and the lithium battery, the DC-DC converter is used to convert the power supply of the hydrogen fuel cell and / or the power supply of the lithium battery into output power and send it to the power system to drive the UAV to start or fly, and the hydrogen fuel cell charges the lithium battery through the DC-DC converter.

[0015] In some embodiments, the working process of the power control module is:

[0016] First, the power supply of the lithium battery is collected, and it is determined whether the power supply of the lithium battery meets the starting power requirement of the UAV. If not, the lithium battery is charged or replaced until the starting power requirement is met. The lithium battery supplies power to the UAV to start the UAV, and the hydrogen fuel cell is started;

[0017] During the flight of the UAV, the power control module collects the power supply of the hydrogen fuel cell and the power supply of the lithium battery in real time. If the power supply of the hydrogen fuel cell is less than the power required for the stable operation of the UAV, the power supply of the hydrogen fuel cell is increased. If it is still less than the power required for the stable operation of the UAV after the increase, the hydrogen fuel cell and lithium battery are started to supply power together. If the power supply of the hydrogen fuel cell is greater than the power required for the stable operation of the UAV, the hydrogen fuel cell is used to supply power alone. At the same time, the hydrogen fuel cell can charge the lithium battery. If the power supply of the lithium battery is lower than the warning power value, a warning is issued and a return prompt is given.

[0018] In some embodiments, the working process of the temperature control module is:

[0019] The real-time temperature of the hydrogen fuel cell is collected, and when the real-time temperature is higher than a first set temperature, the cooling fan is started to dissipate heat and cool the hydrogen fuel cell; when the real-time temperature is lower than a second set temperature, the cooling fan is turned off, and the first set temperature is greater than the second set temperature.

[0020] In some embodiments, the exhaust module sets the exhaust time T through the control unit, and the hydrogen fuel cell is exhausted once every exhaust time T; or the hydrogen fuel cell is exhausted once every time the performance of the hydrogen fuel cell decreases by Q.

[0021] In some embodiments, when the hydrogen fuel cell is connected to a load and is working, the hydrogen fuel cell is exhausted every time its performance decreases by 1%-2%. If the performance does not decrease after the exhaust time T, the hydrogen fuel cell is exhausted once according to the exhaust time T, where T≤60s.

[0022] The present invention also provides a control method for a hydrogen-lithium hybrid UAV. According to the control system of the hydrogen-lithium hybrid UAV provided in any of the above embodiments, the control method for the hydrogen-lithium hybrid UAV comprises the following steps:

[0023] S1, the power control module collects the power supply of the hydrogen fuel cell and the lithium battery and feeds it back to the control unit, and the control unit determines whether the power supply of the hydrogen fuel cell and the lithium battery meets the power required for starting and flying the UAV according to the power required for starting and flying the UAV; after ensuring that the power is met, the control unit sends a power supply allocation instruction for starting or flying to the power control module;

[0024] S2, the power control module starts the lithium battery to drive the drone to start, and simultaneously starts the hydrogen fuel cell;

[0025] S3, after the UAV is started, the control unit collects the power supply of the hydrogen fuel cell and the power supply of the lithium battery in real time through the power control module, collects the real-time temperature of the hydrogen fuel cell through the temperature control module, and collects the hydrogen pressure in the hydrogen storage bottle through the gas control module, and controls the exhaust of the hydrogen fuel cell through the exhaust module to ensure the stable flight of the UAV.

[0026] In some embodiments, in step S3, after the drone is started, the control unit collects the real-time temperature of the hydrogen fuel cell according to the temperature control module, and starts the cooling fan to dissipate heat and cool the hydrogen fuel cell when the real-time temperature of the hydrogen fuel cell is greater than a first set temperature, and turns off the cooling fan when the real-time temperature is lower than a second set temperature, and the first set temperature is greater than the second set temperature;

[0027] The control unit collects the power supply of the hydrogen fuel cell and the power supply of the lithium battery in real time according to the power control module, and collects the hydrogen pressure in the hydrogen storage bottle according to the gas control module; if the power supply of the hydrogen fuel cell is less than the power required for the flight of the UAV, the power supply of the hydrogen fuel cell is increased, and if it is still less than the power required for the flight of the UAV after the increase, the hydrogen fuel cell and lithium battery are started to supply power together; if the power supply of the hydrogen fuel cell is greater than the power required for the flight of the UAV, the hydrogen fuel cell is used alone for power supply, and the hydrogen fuel cell can charge the lithium battery at the same time. If the power supply of the lithium battery is lower than the minimum power value or the hydrogen pressure is lower than the minimum pressure value, an early warning is issued and a prompt to return is given.

[0028] The present invention also provides a hydrogen-lithium hybrid UAV, comprising a hydrogen fuel cell, a lithium battery and a control system of the hydrogen-lithium hybrid UAV provided in any of the above embodiments.

[0029] In some embodiments, the hydrogen fuel cell, the lithium battery and the control system of the hydrogen-lithium hybrid UAV are arranged in sequence along the length direction of the fuselage of the hydrogen-lithium hybrid UAV. The hydrogen fuel cell and the lithium battery are fixed to the top of the fuselage through a fixing bracket and have a heat dissipation space between them and the bottom plate. A cooling fan is provided in the heat dissipation space, and heat dissipation holes are provided on the bottom plate.

[0030] Beneficial effects of the present invention:

[0031] The control system of the hydrogen-lithium hybrid UAV provided by the present invention divides the control system into a control unit and a power control module, a temperature control module, an air control module and an exhaust module which are respectively communicatively connected to the control unit according to a modular design method, thereby realizing flight control of the UAV and improving flight efficiency; the power control module can control and distribute the power supply of the hydrogen fuel cell and the lithium battery, and can distribute and control the power supply of the hydrogen fuel cell and the lithium battery according to the different power requirements of the start-up drive and the flight drive of the UAV, so as to meet the power requirements and working environment requirements of the UAV, and is conducive to optimizing the use of the power supply of the hydrogen fuel cell and the lithium battery, solving the different energy requirements of the UAV during rapid start-up and flight, and is conducive to improving the energy utilization rate of the hydrogen-lithium hybrid UAV, thereby expanding the application scope of the hydrogen fuel cell in the UAV.

[0032] The control method of the hydrogen-lithium hybrid UAV provided by the present invention realizes the power supply distribution control for the startup and flight status of the UAV, thereby compensating for the long startup time of the hydrogen fuel cell through the lithium battery, and realizes the monitoring and control of the real-time temperature of the hydrogen fuel cell on the UAV, the hydrogen pressure in the hydrogen storage bottle and the exhaust time of the hydrogen fuel cell, which is beneficial to improving the flight efficiency of the UAV.

[0033] The hydrogen-lithium hybrid UAV provided by the present invention can quickly start the UAV and monitor and control the hydrogen fuel cell and lithium battery in flight through the control system of the hydrogen-lithium hybrid UAV, thereby solving the application limitation and energy distribution problems of hydrogen fuel cells in UAVs, and can start and drive through lithium batteries, thereby solving the problem of long start-up time of hydrogen fuel cells. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 1 is a schematic diagram of the structure of a control system of a hydrogen-lithium hybrid UAV provided by an embodiment of the present invention;

[0035] Figure 2 It is a schematic diagram of the working process of the power control module in the control system of the hydrogen-lithium hybrid UAV provided by an embodiment of the present invention;

[0036] Figure 3It is a schematic diagram of the working process of the temperature control module and the exhaust module in the control system of the hydrogen-lithium hybrid UAV provided by an embodiment of the present invention;

[0037] Figure 4 It is a structural cross-sectional view of a hydrogen-lithium hybrid UAV provided by an embodiment of the present invention.

[0038] In the figure:

[0039] 1. Fuselage; 11. Bottom plate; 2. Hydrogen fuel cell; 3. Lithium battery; 4. Cooling fan; 5. Landing gear; 51. Connecting rod; 52. Support rod; 6. Hydrogen storage bottle. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0041] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0043] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0044] The embodiment of the present invention provides a control system for a hydrogen-lithium hybrid UAV, which is used for a hydrogen-lithium hybrid UAV. The hydrogen-lithium hybrid UAV includes a hydrogen fuel cell 2 and a lithium battery 3. The hydrogen fuel cell 2 is provided with a hydrogen raw material by a hydrogen storage bottle 6. The hydrogen storage bottle 6 and the hydrogen fuel cell 2 are connected by a hydrogen pipeline. The hydrogen pipeline is provided with an electromagnetic pressure reducing valve for monitoring the hydrogen pressure and controlling the hydrogen flow. The control system of the hydrogen-lithium hybrid UAV provided by the present invention is as follows: Figure 1 As shown, it includes a power control module, a temperature control module, a gas control module, an exhaust module and a control unit, and the control unit is respectively connected to the power control module, the temperature control module, the gas control module and the exhaust module. Among them, the power control module is used to collect the power supply of the hydrogen fuel cell 2 and the lithium battery 3 and control and distribute the power supply of the hydrogen fuel cell 2 and the lithium battery 3 to drive the UAV to start and fly; the temperature control module is used to collect the real-time temperature of the hydrogen fuel cell 2 and start or shut down the cooling fan 4 according to the real-time temperature. The cooling fan 4 is provided with an exhaust port of the hydrogen fuel cell 2 and is used to dissipate heat and cool the hydrogen fuel cell 2; the gas control module is used to detect the hydrogen pressure in the hydrogen storage bottle 6 and control the hydrogen flow rate. It can be understood that the gas control module realizes hydrogen pressure information collection and hydrogen flow control by communicating with the electromagnetic pressure reducing valve. The exhaust module includes an exhaust valve provided at the exhaust port of the hydrogen fuel cell 2, and the exhaust valve is used to control the exhaust of the hydrogen fuel cell 2; the control unit is used to control the start-up state and flight state of the UAV and control the power supply distribution of the power control module according to the start-up state and flight state. The control unit monitors and controls the hydrogen fuel cell 2 and the lithium battery 3 through the temperature control module, the gas control module and the exhaust module.

[0045] The control system of the hydrogen-lithium hybrid UAV provided by the present invention divides the control system into a control unit and a power control module, a temperature control module, an air control module and an exhaust module which are respectively communicatively connected to the control unit according to a modular design method, thereby realizing the startup and flight control of the UAV and improving the flight efficiency; the power control module can control and distribute the power supply of the hydrogen fuel cell 2 and the lithium battery 3, and according to the different power requirements of the startup drive and flight drive of the UAV provided by the control unit, the power control module distributes and controls the power supply of the hydrogen fuel cell 2 and the lithium battery 3 to meet the startup power requirements and flight power requirements of the UAV, which is conducive to optimizing the utilization of the power supply of the hydrogen fuel cell 2 and the lithium battery 3, improving the power supply efficiency and making up for the deficiency of the long startup time of the hydrogen fuel cell 2, thereby expanding the application scope of the hydrogen fuel cell 2 in the UAV.

[0046] It should be explained that the gas control module is electrically connected to the electromagnetic pressure reducing valve to control the valve opening of the electromagnetic pressure reducing valve to prevent the hydrogen fuel cell 2 from being damaged due to excessive hydrogen flow or the hydrogen fuel cell 2 from being too inefficient due to too little hydrogen flow. In some embodiments, the hydrogen flow can also be controlled by setting a flow meter on the hydrogen pipe to detect the hydrogen consumption or a pressure gauge to detect the hydrogen pressure in the hydrogen storage bottle 6.

[0047] In some embodiments, the control system of the hydrogen-lithium hybrid UAV also includes a DC-DC converter, the input end of the DC-DC converter is connected to the power supply output end of the hydrogen fuel cell 2 and the lithium battery 3, the DC-DC converter is used to convert the power supply of the hydrogen fuel cell 2 and / or the power supply of the lithium battery 3 into output power and send it to the power system to drive the UAV to start or fly, and the hydrogen fuel cell 2 can charge the lithium battery 3 through the DC-DC converter.

[0048] Among them, the power system includes an electronic speed regulator and a motor, which are used to drive the drone.

[0049] In some embodiments, the working process of the power control module is:

[0050] First, the power supply of the lithium battery 3 is collected, and it is determined whether the power supply of the lithium battery 3 meets the starting power requirement of the drone. If not, the lithium battery 3 is charged or replaced until the starting power requirement is met. The lithium battery 3 supplies power to the drone to start it, and the hydrogen fuel cell 2 is started;

[0051] During the flight of the UAV, the power control module collects the power supply of the hydrogen fuel cell 2 and the power supply of the lithium battery 3 in real time. If the power supply of the hydrogen fuel cell 2 is less than the power required for the stable operation of the UAV, the power supply of the hydrogen fuel cell 2 is increased. If it is not increased or is still less than the power required for the stable operation of the UAV after the increase, the hydrogen fuel cell 2 and the lithium battery 3 are started for mixed power supply; if the power supply of the hydrogen fuel cell 2 is greater than the power required for the stable operation of the UAV, the hydrogen fuel cell 2 is used alone for power supply, and the hydrogen fuel cell 2 can charge the lithium battery 3 at the same time. If the power supply of the lithium battery 3 is lower than the warning power value, a warning is issued and a prompt to return is given.

[0052] By connecting the output end of the hydrogen fuel cell 2 to the input end of the lithium battery 3, the electricity generated by the hydrogen fuel cell 2 can ensure the normal operation of the drone while storing excess electricity in the lithium battery 3, avoiding waste of electricity and ensuring that the lithium battery 3 is in a healthy state to cope with emergencies.

[0053] In some embodiments, the working process of the temperature control module is:

[0054] like Figure 2, collect the real-time temperature of the hydrogen fuel cell 2, start the cooling fan 4 to dissipate heat and cool the hydrogen fuel cell 2 when the real-time temperature is greater than the first set temperature, and turn off the cooling fan 4 when the real-time temperature is lower than the second set temperature. The first set temperature is greater than the second set temperature.

[0055] Among them, the first set temperature is 80°C, and the second set temperature is 60°C. For the hydrogen fuel cell 2, the catalytic reaction rate of the membrane electrode is affected by temperature, humidity, etc. The higher the temperature, the higher the catalytic reaction rate (50°C-60°C is most suitable). However, too high a temperature can easily cause the evaporation of water in the proton exchange membrane in the membrane electrode, resulting in a decrease in the catalytic reaction rate of the fuel cell. Therefore, a temperature control module is provided to perform heat dissipation and cooling control on the hydrogen fuel cell 2, which is beneficial to improving the working efficiency of the hydrogen fuel cell 2.

[0056] In some embodiments, the exhaust module sets the exhaust time T through the control unit, and the hydrogen fuel cell 2 is exhausted once every exhaust time T; or the hydrogen fuel cell 2 is exhausted once every time the performance (such as conversion power) of the hydrogen fuel cell 2 decreases by Q.

[0057] During the operation of the hydrogen fuel cell 2, the exhaust module controls the timed exhaust of the hydrogen fuel cell 2. At this time, the exhaust time T is generally set to 13s. If the exhaust time reaches 13s, the electromagnetic exhaust valve at the exhaust port of the hydrogen fuel cell 2 is controlled to exhaust once. At the same time, the exhaust module restarts the timing to prepare for the next exhaust.

[0058] In some embodiments, when the hydrogen fuel cell 2 is connected to a load and is working, the exhaust time T is determined by the performance of the hydrogen fuel cell 2. The hydrogen fuel cell 2 is exhausted once every 1%-2% decrease in performance. If the performance does not decrease after the exhaust time T is reached, the exhaust is performed once according to the exhaust time T, T≤60s. The exhaust time T here is the forced exhaust time, which is generally greater than the exhaust time of the scheduled exhaust, but not higher than 60s, that is, if the performance of the hydrogen fuel cell 2 does not decrease within a period of 13s-60s, the hydrogen fuel cell 2 is forced to exhaust once, which is beneficial to activate the membrane electrode and make the membrane electrode more efficient.

[0059] The present invention also provides a control method for a hydrogen-lithium hybrid UAV. According to the control system of the hydrogen-lithium hybrid UAV provided in any of the above embodiments, the control method for the hydrogen-lithium hybrid UAV comprises the following steps:

[0060] S1, the power control module collects the power supply of the hydrogen fuel cell 2 and the lithium battery 3 and feeds it back to the control unit. The control unit determines whether the power supply of the hydrogen fuel cell 2 and the lithium battery 3 meets the power required for the start-up and flight of the UAV according to the power required for the start-up and flight of the UAV; after ensuring that the power supply meets the requirements, the control unit sends a start-up or flight power supply allocation instruction to the power control module;

[0061] The power required for the drone to start and fly can be calculated by the drone flight control system and sent to the control unit. Figure 3 Before starting, the power control module first determines whether the power supply of the lithium battery 3 meets the starting power requirement of the drone. If not, the lithium battery 3 needs to be charged or replaced. If it is satisfied, go to S2.

[0062] S2, the power control module starts the lithium battery 3 to drive the UAV to start, and simultaneously starts the hydrogen fuel cell 2 to start working. In this way, the UAV is quickly started by the lithium battery 3, solving the problem of long startup time when the hydrogen fuel cell 2 is used alone for power supply.

[0063] S3, after the UAV is started, the control unit collects the power supply of the hydrogen fuel cell 2 and the power supply of the lithium battery 3 in real time through the power control module, collects the real-time temperature of the hydrogen fuel cell 2 through the temperature control module, and collects the hydrogen pressure in the hydrogen storage bottle 6 through the gas control module, and controls the exhaust of the hydrogen fuel cell 2 through the exhaust module to ensure the stable flight of the UAV.

[0064] The control method of the hydrogen-lithium hybrid UAV provided by the present invention realizes the power supply distribution control of the UAV startup state and flight state, and further compensates for the problem of long startup time of the hydrogen fuel cell 2 in a low temperature environment through the lithium battery 3, and realizes the monitoring and control of the real-time temperature of the hydrogen fuel cell 2 on the UAV, the hydrogen pressure in the hydrogen storage bottle 6 and the exhaust time of the hydrogen fuel cell 2, which is beneficial to improving the flight efficiency of the UAV.

[0065] In some embodiments, in step S3, after the drone is started, the control unit collects the real-time temperature of the hydrogen fuel cell 2 according to the temperature control module, and starts the cooling fan 4 to dissipate heat and cool the hydrogen fuel cell 2 when the real-time temperature of the hydrogen fuel cell 2 is greater than the first set temperature, and turns off the cooling fan 4 when the real-time temperature is lower than the second set temperature. The first set temperature is greater than the second set temperature; usually, the first set temperature is 80°C, the second set temperature is 60°C, and the suitable working environment temperature of the hydrogen fuel cell 2 is between the first set temperature and the second set temperature. If the temperature is too high, heat dissipation and cooling are required, and if the temperature is too low, self-circulation heating and heating are required. During the flight of the drone, the temperature control module can realize the real-time collection and monitoring of the real-time temperature of the hydrogen fuel cell 2 to ensure the stable operation of the hydrogen fuel cell 2.

[0066] The control unit collects the power supply of the hydrogen fuel cell 2 and the power supply of the lithium battery 3 in real time according to the power control module, and collects the hydrogen pressure in the hydrogen storage bottle 6 according to the gas control module; Figure 3If the power supply of the hydrogen fuel cell 2 is less than the power required for the UAV to fly, the power supply of the hydrogen fuel cell 2 is increased. If the power supply is not increased or is still less than the power required for the UAV to fly after the increase, the hydrogen fuel cell 2 and the lithium battery 3 are started for mixed power supply; if the power supply of the hydrogen fuel cell 2 after the increase is greater than the power required for the UAV to fly, the hydrogen fuel cell 2 is used alone for power supply, and the hydrogen fuel cell 2 can charge the lithium battery 3 at the same time; if the power supply of the lithium battery 3 is lower than the warning power value or the hydrogen pressure is lower than the minimum pressure value, a warning is issued and a prompt to return is given.

[0067] During the flight of the drone, the flight state is constantly changing, and the required power is also constantly changing. The control unit can send power distribution instructions to the power control module according to the flight state of the drone. Among them, the flight state includes take-off state, cruising or stable flight state, acceleration state and harsh environment state, etc. When cruising or stable flight, the hydrogen fuel cell 2 is used to supply power alone and detect the state of the lithium battery 3. When the power of the lithium battery 3 is less than 85%, the lithium battery 3 is automatically charged; in the acceleration state, the power supply of the hydrogen fuel cell 2 is increased, that is, the power, or the hydrogen fuel cell 2 and the lithium battery 3 are used for mixed power supply. In harsh environments, attention should be paid to detecting battery performance. When the power of the lithium battery 3 is less than 20% or the hydrogen storage capacity in the hydrogen storage bottle 6 is less than 20% (pressure percentage), an early warning is issued and a prompt to return is prompted.

[0068] The present invention also provides a hydrogen-lithium hybrid UAV, comprising a hydrogen fuel cell 2, a lithium battery 3 and a control system of the hydrogen-lithium hybrid UAV provided in any of the above embodiments.

[0069] The hydrogen-lithium hybrid UAV provided by the present invention monitors and controls the hydrogen fuel cell 2 and the lithium battery 3 in the startup state and the flight state of the UAV through the control system of the hydrogen-lithium hybrid UAV, thereby solving the problem of application limitation of the hydrogen fuel cell 2 on the UAV, and starting and driving through the lithium battery 3, thereby solving the problem that the long startup time of the hydrogen fuel cell 2 affects the rapid startup of the UAV.

[0070] In some embodiments, the hydrogen fuel cell 2, the lithium battery 3 and the control system of the hydrogen-lithium hybrid UAV are arranged in sequence along the length direction of the fuselage 1 of the hydrogen-lithium hybrid UAV. The hydrogen fuel cell 2 and the lithium battery 3 are fixed to the top of the fuselage 1 through a fixing bracket and have a heat dissipation space between them and the bottom plate 11. A cooling fan 4 is provided in the heat dissipation space, and heat dissipation holes are provided on the bottom plate 11.

[0071] like Figure 4As shown, a lithium battery 3, a hydrogen fuel cell 2 and a hydrogen storage bottle 6 are arranged on the top of the fuselage 1 of the drone. There is a heat dissipation space between the hydrogen fuel cell 2 and the bottom plate 11 of the fuselage 1 for heat dissipation. After the heat dissipation fan 4 is started, the high-temperature exhaust gas from the exhaust port of the hydrogen fuel cell 2 can be quickly discharged through the heat dissipation hole. A vent is provided on the fuselage 1 of the drone. During the flight of the drone, air will enter the air inlet of the hydrogen fuel cell 2 through the vent due to the pressure and meet the oxygen demand of the hydrogen fuel cell 2. Preferably, a grille and a dust net are arranged on the air outlet side of the vent, i.e., the inner side of the fuselage 1.

[0072] In this embodiment, the UAV also includes a landing gear 5, which is hinged on the UAV fuselage 1. The landing gear 5 includes a laterally arranged support rod 52 and a vertically arranged connecting rod 51 of an integrated structure. The connecting rod 51 is hinged to the bottom of the UAV fuselage 1, and the connecting rod 51 is arranged as a telescopic rod. The telescopic movable part of the telescopic rod is fixed by a sleeve, and a rubber protective pad is provided on the upper sleeve of the cross bar. The landing gear 5 as a whole can use carbon fiber material to reduce weight.

[0073] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A control system for a hydrogen-lithium hybrid UAV, the hydrogen-lithium hybrid UAV comprising a hydrogen fuel cell (2) and a lithium battery (3), characterized in that: The control system of the hydrogen-lithium hybrid UAV includes: A power control module, the power control module is used to collect the power supply of the hydrogen fuel cell (2) and the lithium battery (3) and control and distribute the power supply of the hydrogen fuel cell (2) and the lithium battery (3) to drive the drone to start and fly; a temperature control module, the temperature control module being used to collect the real-time temperature of the hydrogen fuel cell (2) and start or stop a cooling fan (4) according to the real-time temperature, the cooling fan (4) being provided with an exhaust port of the hydrogen fuel cell (2) and being used to dissipate heat and cool the hydrogen fuel cell (2); a gas control module, the gas control module being used to detect the hydrogen pressure in the hydrogen storage bottle (6) and control the hydrogen flow rate, the hydrogen storage bottle (6) being used to provide hydrogen for the hydrogen fuel cell (2); An exhaust module, the exhaust module comprising an exhaust valve arranged at an exhaust port of the hydrogen fuel cell (2), the exhaust valve being used to control the exhaust of the hydrogen fuel cell (2); A control unit, wherein the control unit is communicatively connected to the power control module, the temperature control module, the gas control module and the exhaust module respectively, and the control unit is used to control the startup and flight status of the UAV and control the power supply distribution of the power control module according to the startup and flight status, and the control unit monitors and controls the hydrogen fuel cell (2) and the lithium battery (3) through the temperature control module, the gas control module and the exhaust module.

2. The control system of the hydrogen-lithium hybrid UAV according to claim 1 is characterized in that: It also includes a DC-DC converter, the input end of the DC-DC converter is connected to the power supply output ends of the hydrogen fuel cell (2) and the lithium battery (3), the DC-DC converter is used to convert the power supply of the hydrogen fuel cell (2) and / or the power supply of the lithium battery (3) into output power and send it to the power system to drive the unmanned aerial vehicle to start or fly, and the hydrogen fuel cell (2) charges the lithium battery (3) through the DC-DC converter.

3. The control system of the hydrogen-lithium hybrid UAV according to claim 1, characterized in that: The working process of the power control module is as follows: First, the power supply of the lithium battery (3) is collected, and it is determined whether the power supply of the lithium battery (3) meets the starting power requirement of the drone; if not, the lithium battery (3) is charged or replaced until the starting power requirement is met, and the lithium battery (3) supplies power to the drone for starting, and the hydrogen fuel cell (2) is started; During the flight of the drone, the power control module collects the power supply of the hydrogen fuel cell (2) and the power supply of the lithium battery (3) in real time. If the power supply of the hydrogen fuel cell (2) is less than the power required for the stable operation of the drone, the power supply of the hydrogen fuel cell (2) is increased. If it is still less than the power required for the stable operation of the drone after the increase, the hydrogen fuel cell (2) and the lithium battery (3) are started to supply power in combination. If the power supply of the hydrogen fuel cell (2) is greater than the power required for the stable operation of the drone, the hydrogen fuel cell (2) is used alone for power supply. At the same time, the hydrogen fuel cell (2) can charge the lithium battery (3). If the power supply of the lithium battery (3) is lower than the warning power value, a warning is issued and a return prompt is given.

4. The control system of the hydrogen-lithium hybrid UAV according to claim 1, characterized in that: The working process of the temperature control module is as follows: The real-time temperature of the hydrogen fuel cell (2) is collected, and when the real-time temperature is greater than a first set temperature, the cooling fan (4) is started to dissipate heat and cool the hydrogen fuel cell (2); when the real-time temperature is lower than a second set temperature, the cooling fan (4) is turned off, and the first set temperature is greater than the second set temperature.

5. The control system of the hydrogen-lithium hybrid UAV according to claim 1, characterized in that: The exhaust module sets the exhaust time T through the control unit, and the hydrogen fuel cell (2) is exhausted once every exhaust time T; or the hydrogen fuel cell (2) is exhausted once every performance decrease of Q.

6. The control system of the hydrogen-lithium hybrid UAV according to claim 5, characterized in that: When the hydrogen fuel cell (2) is connected to a load and is working, the hydrogen fuel cell (2) is exhausted every time its performance decreases by 1%-2%. If the performance does not decrease after the exhaust time T, the hydrogen fuel cell (2) is exhausted once according to the exhaust time T, where T≤60s.

7. A control method for a hydrogen-lithium hybrid UAV, characterized in that: According to the control system of the hydrogen-lithium hybrid UAV according to any one of claims 1 to 6, the control method of the hydrogen-lithium hybrid UAV comprises the following steps: S1, the power control module collects the power supply of the hydrogen fuel cell (2) and the lithium battery (3) and feeds it back to the control unit, and the control unit determines whether the power supply of the hydrogen fuel cell (2) and the lithium battery (3) meets the power required for starting and flying the UAV according to the power required for starting and flying the UAV; after ensuring that the power is met, the control unit sends a power supply allocation instruction for starting or flying to the power control module; S2, the power control module starts the lithium battery (3) to drive the drone to start, and simultaneously starts the hydrogen fuel cell (2); S3, after the UAV is started, the control unit collects the power supply of the hydrogen fuel cell (2) and the power supply of the lithium battery (3) in real time through the power control module, collects the real-time temperature of the hydrogen fuel cell (2) through the temperature control module, and collects the hydrogen pressure in the hydrogen storage bottle (6) through the gas control module, and controls the exhaust of the hydrogen fuel cell (2) through the exhaust module to ensure the stable flight of the UAV.

8. The control method of hydrogen-lithium hybrid UAV according to claim 7, characterized in that: In step S3, after the drone is started, the control unit collects the real-time temperature of the hydrogen fuel cell (2) according to the temperature control module, and starts the cooling fan (4) to dissipate heat and cool the hydrogen fuel cell (2) when the real-time temperature of the hydrogen fuel cell (2) is higher than a first set temperature, and turns off the cooling fan (4) when the real-time temperature is lower than a second set temperature, and the first set temperature is greater than the second set temperature; The control unit collects the power supply of the hydrogen fuel cell (2) and the power supply of the lithium battery (3) in real time according to the power control module, and collects the hydrogen pressure in the hydrogen storage bottle (6) according to the gas control module; if the power supply of the hydrogen fuel cell (2) is less than the power required for the flight of the unmanned aerial vehicle, the power supply of the hydrogen fuel cell (2) is increased; if it is still less than the power required for the flight of the unmanned aerial vehicle after the increase, the hydrogen fuel cell (2) and the lithium battery (3) are started to supply power in combination; if the power supply of the hydrogen fuel cell (2) is greater than the power required for the flight of the unmanned aerial vehicle, the hydrogen fuel cell (2) is used alone for power supply, and the hydrogen fuel cell (2) can charge the lithium battery (3); if the power supply of the lithium battery (3) is lower than the minimum power value or the hydrogen pressure is lower than the minimum pressure value, an early warning is issued and a return prompt is given.

9. A hydrogen-lithium hybrid UAV, characterized in that: A control system comprising a hydrogen fuel cell (2), a lithium battery (3) and a hydrogen-lithium hybrid UAV as claimed in any one of claims 1 to 6.

10. The hydrogen-lithium hybrid UAV according to claim 9, characterized in that: The hydrogen fuel cell (2), the lithium battery (3) and the control system of the hydrogen-lithium hybrid UAV are arranged in sequence along the length direction of the fuselage (1) of the hydrogen-lithium hybrid UAV; the hydrogen fuel cell (2) and the lithium battery (3) are fixed to the top of the fuselage (1) via a fixing bracket and have a heat dissipation space between them and the bottom plate (11); a heat dissipation fan (4) is provided in the heat dissipation space; and heat dissipation holes are provided on the bottom plate (11).

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