Battery management method and system of hydrogen-lithium hybrid unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and discloses a battery management method and system for a hydrogen-lithium hybrid unmanned aerial vehicle. The battery management method of the hydrogen-lithium hybrid unmanned aerial vehicle comprises the steps of collecting first electric quantity of a lithium battery, and ensuring the starting power requirement of the unmanned aerial vehicle; collecting the pressure of the hydrogen storage bottle to ensure the starting requirement of the hydrogen fuel cell; acquiring second electric quantity of the hydrogen fuel cell in real time, and performing energy management control on the lithium battery and the hydrogen fuel cell; collecting the environment temperature of the hydrogen fuel cell in real time, and performing thermal management control on the external environment temperature of the hydrogen fuel cell; collecting reactor core temperature and humidity of the hydrogen fuel cell in real time, and performing inlet temperature and humidity control on the gas inlet side of the hydrogen fuel cell; and controlling exhaust gas of the hydrogen fuel cell and performing thermal management control on the exhaust gas. According to the invention, the problem of different requirements on energy in the rapid starting and flying process of the unmanned aerial vehicle is solved, management on the environment temperature of the hydrogen fuel cell and the temperature and humidity of the reactor core is realized, and the environmental adaptability of the hydrogen fuel cell is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a battery management method and system for a hydrogen-lithium hybrid unmanned aerial vehicle. 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 hydrogen 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 a hydrogen 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 hydrogen fuel cells are much higher than traditional internal combustion engines and lithium batteries. It is completely feasible to use hydrogen fuel cells as a power source to replace traditional batteries.

[0005] Although the use of hydrogen fuel cells meets the demand for long flight time of drones, since hydrogen fuel needs a certain startup time to reach the normal working voltage when it is powered and charged, it cannot meet the demand for rapid startup of drones, affecting its application in drones. In the prior art, lithium batteries are used alone to meet the starting power requirements of drones. During the 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 drones. At the same time, since hydrogen fuel cells have high requirements for ambient temperature and proton exchange membranes have high requirements for temperature and humidity, how to improve the environmental adaptability of air-cooled hydrogen fuel cells is a problem that needs to be solved urgently. Summary of the invention

[0006] The purpose of the present invention is to provide a battery management method and system for a hydrogen-lithium hybrid UAV, so as to solve the problem of different energy requirements for the rapid start-up and flight process of the UAV, solve the energy management and thermal management problems of the battery, improve the environmental adaptability of air-cooled hydrogen fuel cells, and improve the working efficiency of hydrogen fuel cells.

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

[0008] The present invention provides a battery management method for a hydrogen-lithium hybrid UAV, wherein the hydrogen-lithium hybrid UAV is provided with a lithium battery and a hydrogen fuel cell; the battery management method for the hydrogen-lithium hybrid UAV comprises the following steps:

[0009] Collecting the first power of the lithium battery to ensure the starting power requirement of the UAV;

[0010] Collecting the hydrogen pressure of the hydrogen storage bottle to ensure the start-up requirements of the hydrogen fuel cell;

[0011] After the hydrogen fuel cell is started, a second electric quantity of the hydrogen fuel cell is collected in real time, and energy management and control of the lithium battery and the hydrogen fuel cell are performed according to the real-time power demand of the UAV;

[0012] Collecting the ambient temperature of the hydrogen fuel cell in real time, and performing thermal management control on the external ambient temperature of the hydrogen fuel cell;

[0013] The core temperature and humidity of the hydrogen fuel cell are collected in real time, and the intake temperature and humidity of the intake side of the hydrogen fuel cell are controlled; the exhaust of the hydrogen fuel cell is controlled and thermal management control is performed on the exhaust.

[0014] In some embodiments, energy management control is performed on the lithium battery and the hydrogen fuel cell, specifically: if the second power of the hydrogen fuel cell is less than the power required for the UAV to fly, the power supply of the hydrogen fuel cell is increased or the lithium battery is started for hybrid power supply; if after increasing the power supply of the hydrogen fuel cell, the second power of the hydrogen fuel cell is still less than the power required for the UAV to fly, the lithium battery is started for hybrid power supply; if the second power of the hydrogen fuel cell is greater than the power required for the UAV to fly, the hydrogen fuel cell is used alone for power supply.

[0015] In some embodiments, thermal management control is performed on the external environment temperature of the hydrogen fuel cell, specifically:

[0016] A first air flow channel and a second air flow channel are arranged on the fuselage. When the ambient temperature is greater than a first set temperature, the first air flow channel and the second air flow channel are opened at the same time to increase the contact area between the outside air and the hydrogen fuel cell for heat dissipation and cooling; when the ambient temperature is lower than the second set temperature, the hydrogen fuel cell contacts the outside air through the first air flow channel to obtain air supply and heat dissipation, the second air flow channel is in a closed state, and the first set temperature is greater than the second set temperature.

[0017] In some embodiments, the air intake temperature and humidity of the hydrogen fuel cell air intake side is controlled, specifically:

[0018] The temperature and humidity of the air, the temperature and humidity of the exhaust gas of the hydrogen fuel cell, and the core temperature and humidity are collected, the exhaust gas is subjected to temperature and humidity treatment according to the temperature and humidity of the air and the core temperature and humidity, and then the exhaust gas after temperature and humidity treatment is mixed with air to obtain a mixed gas, and the mixed gas enters the air intake side of the hydrogen fuel cell.

[0019] In some embodiments, the exhaust of the hydrogen fuel cell is controlled specifically by: setting an exhaust valve at the exhaust port of the hydrogen fuel cell, and the exhaust valve is opened once for exhaust at every exhaust time T of the hydrogen fuel cell; or the exhaust valve is opened once for exhaust every time the performance of the hydrogen fuel cell drops by a specified value Q.

[0020] 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.

[0021] In some embodiments, thermal management control is performed on the exhaust gas, specifically: the temperature of the exhaust gas of the hydrogen fuel cell is collected, and when the temperature of the exhaust gas is lower than a third set temperature, at least a portion of the exhaust gas is mixed with air and enters the intake side of the hydrogen fuel cell to increase the gas temperature on the intake side; when the temperature of the exhaust gas is higher than the third set temperature, the exhaust gas is directly discharged or at least a portion of the exhaust gas is cooled and mixed with air and then enters the intake side of the hydrogen fuel cell.

[0022] The present invention also provides a battery management system for a hydrogen-lithium hybrid UAV, wherein the hydrogen-lithium hybrid UAV comprises a hydrogen storage bottle, a lithium battery and a hydrogen fuel cell arranged in a fuselage, and a heat dissipation space is provided between the hydrogen fuel cell and the bottom plate of the fuselage; the battery management system for the hydrogen-lithium hybrid UAV comprises:

[0023] A power control module, the power control module is used to perform energy management control on the lithium battery and the hydrogen fuel cell according to the first power of the lithium battery and the second power of the hydrogen fuel cell;

[0024] A hydrogen fuel cell thermal management control module, the hydrogen fuel cell thermal management control module is used to perform thermal management control on the external ambient temperature of the hydrogen fuel cell according to the ambient temperature in the heat dissipation space;

[0025] A hydrogen fuel cell temperature and humidity control module, the hydrogen fuel cell temperature and humidity control module is used to control the temperature and humidity of the intake air on the cathode side of the hydrogen fuel cell according to the core temperature and humidity of the hydrogen fuel cell, and to control the exhaust of the hydrogen fuel cell and perform thermal management on the exhaust;

[0026] A main control module, the main control module is used to collect the hydrogen pressure of the hydrogen storage bottle, the ambient temperature of the hydrogen fuel cell and the core temperature and humidity, the main control module is communicatively connected to the power control module, the hydrogen fuel cell thermal management control module and the hydrogen fuel cell temperature and humidity control module, and sends the hydrogen pressure of the hydrogen storage bottle, the ambient temperature and the core temperature and humidity to the power control module, the hydrogen fuel cell thermal management control module and the hydrogen fuel cell temperature and humidity control module respectively, to perform battery management control on the lithium battery and the hydrogen fuel cell.

[0027] In some embodiments, the power control module first collects the first power of the lithium battery and determines whether the first power 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, and the lithium battery supplies power to the UAV for starting; the main control module sends an instruction to start the hydrogen fuel cell to the power control module according to the collected hydrogen pressure, and the power control module starts the hydrogen fuel cell and performs energy management control on the lithium battery and the hydrogen fuel cell.

[0028] In some embodiments, the battery management 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 end 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 can charge the lithium battery through the DC-DC converter.

[0029] In some embodiments, the hydrogen fuel cell thermal management control module includes:

[0030] A temperature sensor, disposed in the fuselage, for detecting the ambient temperature of the hydrogen fuel cell;

[0031] An air flow channel control mechanism, wherein a second air hole is provided on the bottom plate of the fuselage to form a second air flow channel, and the air flow channel control mechanism is used to selectively open or close the second air flow channel;

[0032] A main control module, wherein the main control module is communicatively connected to the temperature sensor and the air flow channel control mechanism, and the main control module controls the air flow channel control mechanism to open or close the second air flow channel according to the ambient temperature.

[0033] In some embodiments, the air flow channel control mechanism includes a diverter plate and a driving mechanism disposed at the second air hole, the driving mechanism is communicatively connected to the main control module, the output end of the driving mechanism is connected to the diverter plate, and the driving mechanism is used to drive the diverter plate to open or close the second air flow channel.

[0034] In some embodiments, the driving mechanism is fixedly mounted on the fuselage, and the driving mechanism drives the diverter plate to rotate toward the inside of the fuselage to open the second air flow channel, and the driving mechanism drives the diverter plate to rotate from the inside of the fuselage toward the second air hole to close the second air flow channel.

[0035] In some embodiments, two second air holes are provided, and the two second air holes are respectively arranged opposite to the two hydrogen fuel cells.

[0036] In some embodiments, a plurality of first air holes are spaced and dispersedly disposed on the bottom plate of the fuselage to form a first air flow channel, and the hydrogen fuel cell disposed in the fuselage is connected to the outside air through the first air flow channel to obtain oxygen and dissipate heat.

[0037] In some embodiments, the second air holes are disposed on both sides of the plurality of first air holes, and the diverter plate is rotatably disposed on a side of the second air holes close to the first air holes.

[0038] In some embodiments, the hydrogen fuel cell temperature and humidity control module includes:

[0039] A cold and hot air mixing chamber, wherein the cold and hot air mixing chamber is provided with a cold air inlet, a hot air inlet and a mixed gas outlet, wherein the cold air inlet is connected to the outside air, wherein the hydrogen fuel cell is provided with an oxygen inlet and an exhaust port, wherein the mixed gas outlet is connected to the oxygen inlet and provides mixed gas to the hydrogen fuel cell, wherein the exhaust port is provided with an exhaust pipe, wherein one end of the exhaust pipe away from the exhaust port is connected to the hot air inlet;

[0040] An exhaust treatment chamber, the exhaust treatment chamber is arranged on the exhaust pipe, and the exhaust treatment chamber is used to process the temperature and humidity of the exhaust gas of the hydrogen fuel cell and then send it into the cold and hot air mixing chamber;

[0041] A first control valve is provided on the exhaust pipe to adjust the flow rate of the exhaust gas entering the cold and hot air mixing chamber.

[0042] In some embodiments, the exhaust treatment chamber is arranged on the exhaust pipe, and the exhaust treatment chamber includes a second control valve, a gas drying chamber and a humidity holding chamber. The first port of the second control valve is connected to the exhaust pipe, and the second port and the third port are respectively connected to the gas drying chamber and the humidity holding chamber. The gas drying chamber and the humidity holding chamber process and discharge the exhaust respectively, and then mix and enter the hot and cold air mixing chamber through the exhaust pipe. The second control valve adjusts the gas flow rate of the exhaust gas entering the gas drying chamber and the humidity holding chamber according to the temperature and humidity of the exhaust gas. The first control valve is arranged at the front end of the hot and cold air mixing chamber.

[0043] In some embodiments, the exhaust treatment chamber is disposed on the exhaust pipe, and the exhaust treatment chamber includes a condensate collection device and a branch pipeline. The branch pipeline is disposed on the exhaust pipe between the condensate collection device and the exhaust port. A device to be heated is disposed on the branch pipeline. The exhaust gas passing through the branch pipeline is cooled down after heat exchange with the device to be heated and enters the condensate collection device for condensate collection. The first control valve is disposed on the exhaust pipe between the condensate collection device and the cold and hot air mixing chamber.

[0044] In some embodiments, the branch pipelines and the equipment to be heated are provided in plurality and arranged in one-to-one correspondence, and each branch pipeline selectively conducts to the exhaust pipe through a third control valve.

[0045] In some embodiments, the hydrogen fuel cell temperature and humidity control module further includes a discharge valve, and the discharge valve is disposed on one end of the exhaust pipe of the hydrogen fuel cell close to the exhaust port.

[0046] The present invention also provides a hydrogen-lithium hybrid UAV, comprising the battery management system of the hydrogen-lithium hybrid UAV provided in any of the above embodiments.

[0047] In some embodiments, the hydrogen-lithium hybrid drone further includes a cooling fan, which is disposed inside the fuselage, with an air inlet of the cooling fan facing the hydrogen fuel cell and an air outlet of the cooling fan facing the outside of the fuselage.

[0048] Beneficial effects of the present invention:

[0049] The thermal management control method for a hydrogen-lithium hybrid UAV provided by the present invention performs energy management control on a lithium battery and a hydrogen fuel cell according to a first power level of the lithium battery and a second power level of the hydrogen fuel cell, and performs thermal management on the hydrogen fuel cell according to the ambient temperature, core temperature and humidity, and exhaust of the hydrogen fuel cell, thereby solving the problem of different energy requirements for rapid startup and flight of the UAV, solving the energy management and thermal management problems of the battery, and facilitating improving the environmental adaptability of air-cooled hydrogen fuel cells.

[0050] The thermal management control system of the hydrogen-lithium hybrid UAV provided by the present invention realizes battery energy management and battery thermal management of the hydrogen-lithium hybrid UAV by setting a main control module to communicate with a power control module, a hydrogen fuel cell thermal management control module and a hydrogen fuel cell temperature and humidity control module, and combines the hydrogen pressure of the hydrogen storage bottle to perform battery management control on the lithium battery and the hydrogen fuel cell, thereby improving the environmental adaptability of the air-cooled hydrogen fuel cell.

[0051] The hydrogen-lithium hybrid UAV provided by the present invention realizes rapid startup of the hydrogen-lithium hybrid UAV and monitoring and control of the hydrogen fuel cell and lithium battery in flight state through the battery management and control system of the hydrogen-lithium hybrid UAV, solves the application limitation problem and energy distribution problem of hydrogen fuel cells in UAVs, realizes thermal management control of the hydrogen fuel cell, and improves the environmental adaptability of the hydrogen fuel cell. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 Schematic diagram of the principle of the thermal management control method of the hydrogen-lithium hybrid UAV provided by an embodiment of the present invention;

[0053] Figure 2 is a schematic structural diagram of a hydrogen-lithium hybrid UAV provided by an embodiment of the present invention;

[0054] Figure 3 Schematic diagram of the positional relationship between the first air hole, the second air hole and the diverter plate in the hydrogen-lithium hybrid UAV provided by an embodiment of the present invention;

[0055] Figure 4 It is a schematic diagram of the gas flow and heat exchange process in the first air flow channel and the second air flow channel of the hydrogen-lithium hybrid UAV provided by an embodiment of the present invention;

[0056] Figure 5 1 is a schematic diagram of the structure of a battery management system for a hydrogen-lithium hybrid UAV provided in an embodiment of the present invention;

[0057] Figure 6 This is a flow chart of an energy management method executed by a power control module in a battery management system of a hydrogen-lithium hybrid UAV provided by an embodiment of the present invention;

[0058] Figure 7It is a flow chart of a thermal management method executed by a thermal management control module of a hydrogen fuel cell in a battery management system of a hydrogen-lithium hybrid UAV provided by an embodiment of the present invention;

[0059] Figure 8 This is a schematic diagram of the structure of the hydrogen fuel cell temperature and humidity control module in the battery management system of the hydrogen-lithium hybrid drone provided by the embodiment of the present invention. Figure 1 ;

[0060] Fig. 9 This is a schematic diagram of the structure of the hydrogen fuel cell temperature and humidity control module in the battery management system of the hydrogen-lithium hybrid drone provided by the embodiment of the present invention. Figure 2 .

[0061] In the figure:

[0062] 100, fuselage; 101, bottom plate; 102, first air hole; 103, second air hole; 104, splitter plate; 1041, hinge; 105, driving mechanism;

[0063] 200, hydrogen fuel cell; 201, oxygen inlet; 202, exhaust port; 203, exhaust pipe;

[0064] 300, lithium battery; 400, hydrogen storage bottle; 401, electromagnetic pressure reducing valve; 500, cooling fan; 600, landing gear; 601, connecting rod; 602, support rod; 700, equipment to be heated;

[0065] 1. Main control module;

[0066] 2. Power control module;

[0067] 3. Hydrogen fuel cell thermal management control module;

[0068] 4. Hydrogen fuel cell temperature and humidity control module; 41. Cold and hot air mixing chamber; 411. Cold air inlet; 412. Hot air inlet; 413. Mixed gas outlet; 414. Blower; 415. Air filter; 42. Exhaust treatment chamber; 421. Gas drying chamber; 422. Humidity holding chamber; 423. Second control valve; 424. Condensate collection device; 425. Branch pipeline; 426. Third control valve; 427. Hot mixing chamber; 43. First control valve; 44. Discharge valve;

[0069] 5. DC-DC converter. DETAILED DESCRIPTION

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] The present invention provides a battery management method and system for a hydrogen-lithium hybrid UAV, such as Figure 1-Figure 4As shown, a hydrogen fuel cell 200 and a lithium battery are sequentially arranged in the fuselage 100 of a hydrogen-lithium hybrid UAV (hereinafter referred to as a UAV). In this embodiment, an air-cooled hydrogen fuel cell 200 is taken as an example. Two hydrogen fuel cells 200 are arranged on both sides of a hydrogen storage bottle 400. A heat dissipation space is provided between the hydrogen fuel cell 200 and a bottom plate 101 of the fuselage 100. A heat dissipation fan 500 is arranged in the heat dissipation space. The air inlet of the heat dissipation fan 500 faces the hydrogen fuel cell 200, and the air outlet faces the bottom plate 101. At least a first air hole is provided on the bottom plate 101. 102 is used to provide air to the hydrogen fuel cell 200; a propeller and a landing gear 600 are provided on the fuselage 100, and the landing gear 600 is hinged on the fuselage 100. The landing gear 600 includes a laterally arranged support rod 602 and a vertically arranged connecting rod 601 of an integrated structure, and the connecting rod 601 is hinged to the bottom of the fuselage 100, and the connecting rod 601 is arranged as a telescopic rod, and the telescopic movable part of the telescopic rod is fixed by a sleeve compression, and a rubber protective pad is provided on the upper sleeve of the crossbar. The landing gear 600 can use carbon fiber material to reduce weight as a whole.

[0075] The battery management method of the hydrogen-lithium hybrid UAV provided in the embodiment of the present invention is used to perform energy management and thermal management on the lithium battery 300 and the hydrogen fuel cell 200 of the hydrogen-lithium hybrid UAV. Specifically, the battery management method of the hydrogen-lithium hybrid UAV includes the following steps:

[0076] Collect the first power of the lithium battery 300 to ensure the starting power requirement of the drone;

[0077] Collect the hydrogen pressure of the hydrogen storage bottle 400 to ensure the start-up requirements of the hydrogen fuel cell 200;

[0078] Starting the hydrogen fuel cell 200, collecting the second electric quantity of the hydrogen fuel cell 200 in real time, and performing energy management control on the lithium battery 300 and the hydrogen fuel cell 200 according to the real-time power demand of the UAV;

[0079] Collect the ambient temperature of the hydrogen fuel cell 200 in real time and perform thermal management control on the external ambient temperature of the hydrogen fuel cell 200;

[0080] The core temperature and humidity of the hydrogen fuel cell 200 are collected in real time, and the intake temperature and humidity of the intake side of the hydrogen fuel cell 200 are controlled; the exhaust of the hydrogen fuel cell 200 is controlled and the exhaust is thermally managed.

[0081] The thermal management control method for a hydrogen-lithium hybrid UAV provided by the present invention performs energy management control on the lithium battery 300 and the hydrogen fuel cell 200 according to the first power of the lithium battery 300 and the second power of the hydrogen fuel cell 200, which is beneficial to improving the energy utilization rate of the hydrogen-lithium hybrid UAV; thermal management of the hydrogen fuel cell 200 is performed according to the ambient temperature, core temperature and humidity, and exhaust temperature and humidity of the hydrogen fuel cell 200, which solves the problem of different energy requirements for rapid start-up and flight of the UAV, solves the energy management and thermal management problems of the battery, and is beneficial to improving the environmental adaptability of the air-cooled hydrogen fuel cell 200.

[0082] In some embodiments, energy management control is performed on the lithium battery 300 and the hydrogen fuel cell 200, specifically: if the second power of the hydrogen fuel cell 200 is less than the power required for the UAV flight, the power supply of the hydrogen fuel cell 200 is increased or the lithium battery 300 is started for hybrid power supply; if after increasing the power supply of the hydrogen fuel cell 200, the second power of the hydrogen fuel cell 200 is still less than the power required for the UAV flight, the lithium battery 300 is started for hybrid power supply; if the second power of the hydrogen fuel cell 200 is greater than the power required for the UAV flight, the hydrogen fuel cell 200 is used alone for power supply.

[0083] Among them, the first power and the second power are both power values ​​collected in real time, and are sent to the main control module 1 in real time for monitoring and management. The power required for the start-up and flight of the drone can be calculated by the main control module 1 and sent to the power control module 2. Before the drone is started, the power control module 2 first determines whether the first power of the lithium battery 300 meets the starting power requirement of the drone. If not, the lithium battery 300 needs to be charged or replaced until the starting requirement is met, and the lithium battery 300 is started to drive the drone to start. At the same time, the main control module 1 collects the hydrogen pressure in the hydrogen storage bottle 400 and determines whether it meets the starting and use requirements of the hydrogen fuel cell 200. If not, hydrogen is supplemented until the requirements are met, and after the lithium battery 300 is started, the hydrogen fuel cell 200 is started to start working. In this way, the drone is quickly started by the lithium battery 300, which solves the problem of long starting time when the hydrogen fuel cell 200 is used alone. After the UAV is started, the power control module 2 collects the second power of the hydrogen fuel cell 200 and the first power of the lithium battery 300 in real time. If the second power of the hydrogen fuel cell 200 is less than the power required for the UAV to fly, the power supply of the hydrogen fuel cell 200 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 lithium battery 300 is started at the same time for mixed power supply; if the second power of the hydrogen fuel cell 200 after the increase is greater than the power required for the UAV to fly, the hydrogen fuel cell 200 will supply power alone, and the hydrogen fuel cell 200 can charge the lithium battery 300 at the same time; if the first power of the lithium battery 300 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 to achieve safe flight.

[0084] During the flight of the drone, the flight state is constantly changing, and the required power is also constantly changing. The flight state includes take-off state, cruising or stable flight state, acceleration state and harsh environment state. When cruising or stable flight, the hydrogen fuel cell 200 is used to supply power alone and detect the state of the lithium battery 300. When the power of the lithium battery 300 is less than 85%, the lithium battery 300 is automatically charged; in the acceleration state, the power supply of the hydrogen fuel cell 200 is increased or the hydrogen fuel cell 200 and the lithium battery 300 are used for mixed power supply. In harsh environments, attention should be paid to detecting the performance of the hydrogen fuel cell 200 and the lithium battery 300. When the power of the lithium battery 300 is less than 20% or the hydrogen storage capacity in the hydrogen storage bottle 400 is less than 20% (pressure percentage), an early warning is issued and a prompt to return is given.

[0085] In some embodiments, the external environment temperature of the hydrogen fuel cell 200 is thermally managed and controlled, specifically:

[0086] A first air flow channel and a second air flow channel are arranged on the fuselage 100. When the ambient temperature T is greater than the first set temperature T1 (such as 15°C), the first air flow channel and the second air flow channel are opened at the same time to increase the contact area between the outside air and the hydrogen fuel cell 200 for heat dissipation and cooling; when the ambient temperature T is lower than the second set temperature T2 (such as 10°C), the hydrogen fuel cell 200 contacts the outside air through the first air flow channel to obtain air supply and dissipate heat; the second air flow channel is in a closed state, and the first set temperature is greater than the second set temperature.

[0087] In this embodiment, the temperature in the heat dissipation space is detected and uploaded as the ambient temperature T. It can be understood that a first air hole 102 is provided on the bottom plate 101 of the fuselage 100 to form a first air flow channel for air supply and heat dissipation of the hydrogen fuel cell 200. Since the space in the fuselage 100 is small, the hydrogen fuel cell 200 continuously generates heat during operation, and the air volume and heat dissipation effect of the first air flow channel are insufficient. Therefore, by setting a second air flow channel, the second air flow channel is automatically opened and closed according to the ambient temperature T, thereby improving the flexible adjustment capability of the ambient temperature T, meeting the ambient temperature T requirements of the hydrogen fuel cell 200, and improving the environmental adaptability and working efficiency of the hydrogen fuel cell 200.

[0088] In some embodiments, the air intake temperature and humidity control is performed on the air intake side of the hydrogen fuel cell 200, specifically:

[0089] The temperature and humidity of the air, the temperature and humidity of the exhaust gas of the hydrogen fuel cell 200 and the core temperature and humidity are collected, and the exhaust gas is temperature- and humidity-treated according to the temperature and humidity of the air and the core temperature and humidity, and then mixed with the air to obtain a mixed gas, which enters the air intake side of the hydrogen fuel cell 200.

[0090] It can be understood that the air intake side of the hydrogen fuel cell 200 includes an oxygen inlet 201 and a hydrogen inlet. The hydrogen is provided by the hydrogen storage bottle 400, so the temperature and humidity of the hydrogen are stable. The oxygen is provided by the air, so the temperature and humidity vary. The temperature and humidity requirements of the ion exchange membrane of the hydrogen fuel cell 200 are relatively high. Therefore, it is necessary to process the exhaust energy and temperature and humidity of the hydrogen fuel cell 200 so that it can meet the temperature and humidity requirements of the intake side after mixing with the air, thereby ensuring the temperature operation of the hydrogen fuel cell 200 and effectively utilizing the exhaust energy, which is energy-saving and environmentally friendly.

[0091] In some embodiments, the exhaust of the hydrogen fuel cell 200 is controlled, specifically: an exhaust valve is set at the exhaust port 202 of the hydrogen fuel cell 200, and the exhaust valve is opened once for exhaust at every exhaust time t1 of the hydrogen fuel cell 200; or the exhaust valve is opened once for exhaust every time the performance of the hydrogen fuel cell 200 drops by a specified value Q.

[0092] During the operation of the hydrogen fuel cell 200, the hydrogen fuel cell 200 is controlled to exhaust at a fixed time, and the exhaust time t1 is generally set to 13s. If the exhaust time 13s is reached, the electromagnetic exhaust valve at the exhaust port 202 of the hydrogen fuel cell 200 is controlled to exhaust once, and the timing is restarted to prepare for the next exhaust.

[0093] In some embodiments, when the hydrogen fuel cell 200 is connected to a load for operation, the exhaust time is determined by the performance of the hydrogen fuel cell 200. The hydrogen fuel cell 200 is exhausted once for every 1%-2% decrease in performance (such as conversion power). If the performance does not decrease after the exhaust time t2 is reached, the exhaust is performed once according to the exhaust time t2, and t2≤60s. The exhaust time t2 here is the forced exhaust time, which is generally greater than the exhaust time t1 of the timed exhaust, but is not higher than 60s, that is, if the performance of the hydrogen fuel cell 200 does not decrease within a period of 13s-60s, the hydrogen fuel cell 200 is forced to exhaust once, which is conducive to activating the membrane electrode and making the membrane electrode more efficient.

[0094] In some embodiments, thermal management control is performed on the exhaust gas, specifically: the temperature of the exhaust gas of the hydrogen fuel cell 200 is collected, and when the temperature of the exhaust gas is lower than the third set temperature, at least a portion of the exhaust gas is mixed with air and enters the intake side of the hydrogen fuel cell 200 to increase the gas temperature on the intake side; when the temperature of the exhaust gas is higher than the fourth set temperature, the exhaust gas is directly discharged or at least a portion of the exhaust gas is cooled and mixed with air and then enters the intake side of the hydrogen fuel cell 200.

[0095] By performing thermal management on the exhaust gas, the exhaust gas energy can be reused, and by controlling the exhaust gas, the hydrogen fuel cell 200 can be prevented from operating at low temperatures for a long time, and the environmental temperature adaptability of the hydrogen fuel cell 200 can be adjusted as soon as possible.

[0096] It is additionally noted that the cooling fan 500 in the fuselage 100 is mainly used for the thermal management of the hydrogen fuel cell 200. When the hydrogen fuel cell 200 is started, the cooling fan 500 is turned on to assist the air heat exchange in the first air flow channel and increase the air volume. When the second air flow channel is turned on, the hot air discharge can be increased. However, for the hydrogen fuel cell 200, 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), but too high a temperature easily causes the water in the proton exchange membrane in the membrane electrode to evaporate, resulting in a decrease in the catalytic reaction rate of the hydrogen fuel cell 200. Therefore, for the cooling fan 500, when the core temperature is greater than the third set temperature (80°C), it is necessary to ensure that the cooling fan 500 is turned on or the wind speed of the cooling fan 500 is increased or decreased to dissipate heat and cool the hydrogen fuel cell 200. When the core temperature is lower than the fourth set temperature (60°C), the cooling fan 500 can be turned off or the wind speed of the cooling fan 500 can be reduced. The third set temperature is greater than the fourth set temperature. This achieves heat dissipation and cooling control of the hydrogen fuel cell 200 at high temperatures and exhaust heat circulation control at low temperatures, which is beneficial to improving the environmental adaptability of the hydrogen fuel cell 200.

[0097] The present invention also provides a battery management system for a hydrogen-lithium hybrid drone. As a prior art, the hydrogen-lithium hybrid drone includes a hydrogen storage bottle 400, a lithium battery 300 and a hydrogen fuel cell 200 arranged in a fuselage 100, and a heat dissipation space is provided between the hydrogen fuel cell 200 and the bottom plate 101 of the fuselage 100; Figure 1 and Figure 5The battery management system of the hydrogen-lithium hybrid UAV includes a power control module 2, a hydrogen fuel cell thermal management control module 3, a hydrogen fuel cell temperature and humidity control module 4 and a main control module 1, wherein the power control module 2 is used to perform energy management control on the lithium battery 300 and the hydrogen fuel cell 200 according to the first power of the lithium battery 300 and the second power of the hydrogen fuel cell 200; the hydrogen fuel cell thermal management control module 3 is used to perform thermal management control on the external environmental temperature of the hydrogen fuel cell 200 according to the ambient temperature in the heat dissipation space; the hydrogen fuel cell temperature and humidity control module 4 is used to control the hydrogen fuel cell 200 according to the core temperature and humidity of the hydrogen fuel cell 200 The temperature and humidity of the intake air on the cathode side of the main control module 1 is controlled, and the exhaust of the hydrogen fuel cell 200 is controlled and the exhaust is thermally managed; the main control module 1 is used to collect the hydrogen pressure of the hydrogen storage bottle 400, the ambient temperature and the core temperature and humidity of the hydrogen fuel cell 200, and the main control module 1 is connected to the power control module 2, the hydrogen fuel cell thermal management control module 3 and the hydrogen fuel cell temperature and humidity control module 4, and the hydrogen pressure, ambient temperature and the core temperature and humidity of the hydrogen storage bottle 400 are sent to the power control module 2, the hydrogen fuel cell thermal management control module 3 and the hydrogen fuel cell temperature and humidity control module 4, respectively, and the lithium battery 300 and the hydrogen fuel cell 200 are battery management controlled. Among them, the main control module 1 controls the start-up of the hydrogen fuel cell 200 according to the hydrogen pressure of the hydrogen storage bottle 400, and the main control module 1 is used to centrally collect the relevant thermal management parameter information of the lithium battery 300 and the hydrogen fuel cell 200, including the ambient temperature and the core temperature and humidity, as well as the temperature and humidity of the air, the temperature and humidity of the exhaust gas, and the collected thermal management parameter data are sent to the corresponding control modules respectively to perform the thermal management control of the hydrogen fuel cell 200. It should be noted that the above thermal management parameters are respectively realized by setting corresponding temperature and humidity sensors, wherein the hydrogen pressure can be collected and flow controlled by setting a solenoid valve.

[0098] The thermal management control system of the hydrogen-lithium hybrid UAV provided by the present invention realizes the collection of thermal management parameters by setting up a main control module 1, and communicates with a power control module 2, a hydrogen fuel cell thermal management control module 3 and a hydrogen fuel cell temperature and humidity control module 4 to realize battery management control of the lithium battery 300 and the hydrogen fuel cell 200, thereby realizing battery energy management of the hydrogen-lithium hybrid UAV and thermal management of the hydrogen fuel cell 200, which is beneficial to improving the environmental adaptability of the air-cooled hydrogen fuel cell 200.

[0099] In some embodiments, the power control module 2 first collects the first power of the lithium battery 300, and determines whether the first power of the lithium battery 300 meets the starting power requirement of the drone. If not, the lithium battery 300 is charged or replaced until the starting power requirement is met, and the lithium battery 300 supplies power to the drone for starting; the main control module 1 sends an instruction to start the hydrogen fuel cell 200 to the power control module 2 according to the collected hydrogen pressure, and the power control module 2 starts the hydrogen fuel cell 200, and performs energy management control on the lithium battery 300 and the hydrogen fuel cell 200.

[0100] like Figure 5 As shown, the power control module 2 collects the first power of the lithium battery 300 and the second power of the hydrogen fuel cell 200, the main control module 1 collects the first power and the second power provided by the power control module 2, the main control module 1 collects the hydrogen pressure of the hydrogen storage bottle 400, determines the start of the hydrogen fuel cell 200 according to the hydrogen pressure, and sends a start instruction to the power control module 2 to start the hydrogen fuel cell 200. The main control module 1 sends a lithium battery 300 start instruction, a replacement instruction or a charging instruction to the power control module 2 in combination with the current state of the drone. It can be understood that the power module is an execution unit, which is used to directly control the alternating or simultaneous operation of the lithium battery 300 and the hydrogen fuel cell 200. At the same time, the power control module 2 executes the battery energy management method according to the first power and the second power, specifically:

[0101] Combination Figure 6 First, the first power of the lithium battery 300 is collected, and it is determined whether the first power of the lithium battery 300 meets the starting power requirement of the drone. If not, the lithium battery 300 is charged or replaced until the starting power requirement is met, and the lithium battery 300 supplies power to the drone for starting;

[0102] The main control module 1 collects the hydrogen pressure and determines whether the hydrogen pressure meets the startup and operation requirements of the hydrogen fuel cell 200. If so, the hydrogen fuel cell 200 is started directly; if the hydrogen pressure does not meet the requirements, the hydrogen storage bottle 400 is replenished with hydrogen and then the hydrogen fuel cell 200 is started; after the hydrogen fuel cell 200 is started, the main control module 1 controls the hydrogen pressure to meet the power requirement of the hydrogen fuel cell 200.

[0103] During the flight of the drone, the power control module 2 collects the second power of the hydrogen fuel cell 200 and the first power of the lithium battery 3003 in real time. If the second power of the hydrogen fuel cell 200 is less than the power required for the stable operation of the drone, the power supply of the hydrogen fuel cell 200 is increased. If it is not increased or is still less than the power required for the stable operation of the drone after the increase, the mixed power supply of the hydrogen fuel cell 200 and the lithium battery 300 is started; if the second power of the hydrogen fuel cell 200 is greater than the power required for the stable operation of the drone, the hydrogen fuel cell 200 is used to supply power alone. At the same time, if the first power of the lithium battery 300 is not fully charged, the hydrogen fuel cell 200 can charge the lithium battery 300 until the lithium battery 300 is fully charged. When the first power of the lithium battery 300 is lower than the warning power value, a warning is issued and a prompt to return; when the hydrogen pressure is lower than the minimum pressure value, the main control module 1 issues a warning and prompts to return.

[0104] In some embodiments, the battery management system of the hydrogen-lithium hybrid UAV further includes a DC-DC converter 5, the input end of the DC-DC converter 5 is connected to the power supply output end of the hydrogen fuel cell 200 and the lithium battery 300, and the DC-DC converter 5 is used to convert the power supply of the hydrogen fuel cell 200 and / or the power supply of the lithium battery 300 into output power and then send it to the power system to drive the UAV to start or fly. The hydrogen fuel cell 200 can charge the lithium battery 300 through the DC-DC converter 5, so that the power generated by the hydrogen fuel cell 200 can store the excess power in the lithium battery 300 while ensuring the normal operation of the UAV, avoiding the waste of power and ensuring that the lithium battery 300 is in a healthy state to cope with emergencies. By setting the DC-DC converter 5, the lithium battery 300 or the hydrogen fuel cell 200 can supply power to the main control module 1, the power control module 2, the hydrogen fuel cell thermal management control module 3 and the hydrogen fuel cell temperature and humidity control module 4.

[0105] In some embodiments, the hydrogen fuel cell thermal management control module 3 includes a temperature sensor, an air flow channel control mechanism and a main control module 1. The temperature sensor is arranged in the fuselage 100 and is used to detect the ambient temperature of the hydrogen fuel cell 200; a second air hole 103 is provided on the bottom plate 101 of the fuselage 100 to form a second air flow channel, and the air flow channel control mechanism is used to selectively open or close the second air flow channel; the main control module 1 is communicatively connected to the temperature sensor and the air flow channel control mechanism, and the main control module 1 controls the air flow channel control mechanism to open or close the second air flow channel according to the ambient temperature.

[0106] Combination Figure 2-Figure 4As shown, in the embodiment of the present invention, a plurality of first air holes 102 are arranged at intervals and dispersedly on the bottom plate 101 of the fuselage 100 to form a first air flow channel, and the hydrogen fuel cell 200 arranged in the fuselage 100 is connected to the outside air through the first air flow channel to obtain oxygen and dissipate heat. The first air hole 102 is in a normally open state, and the first air hole 102 is realized by hollowing out the bottom plate 101 of the shell structure of the fuselage 100. The first air hole 102 is used to provide air (oxygen) to the hydrogen fuel cell 200 for electrochemical reaction. At the same time, the outside air and the hydrogen fuel cell 200 can be in contact to achieve heat exchange; taking the air-cooled hydrogen fuel cell 200 as an example, the hydrogen fuel cell 200 is provided with hydrogen by the hydrogen storage bottle 400, and the first air flow channel formed by the first air hole 102 provides oxygen. The air and fuel (hydrogen) react electrochemically in the hydrogen fuel cell 200 to generate electrical energy and supply the power system of the drone. Among them, the hydrogen storage bottle 400 is arranged between the two hydrogen fuel cells 200 to reasonably arrange the internal space of the fuselage 100. The hydrogen fuel cell 200 obtains oxygen and dissipates heat through the first air hole 102 on the fuselage 100. The outside air enters the fuselage 100 through the first air hole 102, which can ensure that the hydrogen fuel cell 200 in the fuselage 100 has sufficient air intake, and increase the heat exchange between the surface of the hydrogen fuel cell 200 and the outside air to achieve heat dissipation. An air flow channel control mechanism is provided at the second air hole 103, and the main control module 1 and the temperature sensor are arranged inside the fuselage 100. By arranging the second air hole 103 on the fuselage 100 and arranging the temperature sensor in the fuselage 100 to collect the ambient temperature and send it to the main control module 1, the main control module 1 can control the air flow channel control mechanism to selectively open and close the second air flow channel according to the ambient temperature, so as to increase or reduce the heat dissipation of the hydrogen fuel cell 200, realize the automatic control of the ambient temperature of the hydrogen fuel cell 200, solve the problem of poor heat dissipation effect of the hydrogen fuel cell 200 in the fuselage 100, and improve the working stability and environmental adaptability of the hydrogen fuel cell 200.

[0107] In some embodiments, two second air holes 103 are provided, and the two second air holes 103 are respectively arranged opposite to the two hydrogen fuel cells 200, so as to flexibly control the corresponding second air holes 103 to be opened or closed according to the ambient temperature of the hydrogen fuel cell 200. It can be understood that the arrangement of the second air holes 103 is conducive to the outside air entering the interior of the fuselage 100 and directly impacting the hydrogen fuel cell 200 so that the cold air can hit the outside of the hydrogen fuel cell 200 and carry the heat of the hydrogen fuel cell 200 to discharge and realize heat exchange, heat dissipation and cooling.

[0108] In some embodiments, the air flow channel control mechanism includes a diverter plate 104 and a driving mechanism 105 disposed at the second air hole 103, the driving mechanism 105 is communicatively connected to the main control module 1, the output end of the driving mechanism 105 is connected to the diverter plate 104, and the driving mechanism 105 is used to drive the diverter plate 104 to open or close the second air flow channel.

[0109] Figure 3 The left side of the middle bottom plate 101 is shown as the second air hole 103 (without the diverter plate 104), and the right side of the bottom plate 101 is the diverter plate 104 set on the second air hole 103. The diverter plate 104 is set to rotate to open and close the second air hole 103, which is conducive to the main control module 1 to control the opening and closing of the second air flow channel, and realize the automatic control and management of the ambient temperature of the hydrogen fuel cell 200. In this embodiment, the diverter plate 104 is rotatably connected to the bottom plate 101 through the hinge 1041, which has a simple structure, is easy to connect, and has a small weight. By setting a driving mechanism 105 to drive the diverter plate 104 to rotate, the main control module 1 can realize the automatic drive control of the diverter plate 104. The main control module 1 controls the driving mechanism 105 according to the ambient temperature of the hydrogen fuel cell 200, thereby realizing the selective opening or closing of the second air flow channel for adjustment according to the ambient temperature. When the second air flow channel is opened, the contact area between the outside air and the hydrogen fuel cell 200 increases, the heat exchange effect is enhanced, and it is conducive to the rapid cooling of the hydrogen fuel cell 200. When the ambient temperature of the hydrogen fuel cell 200 is low, the hydrogen fuel cell 200 only takes in air and dissipates heat through the first air hole 102, which is beneficial to the circulation of heat of the hydrogen fuel cell 200 in the heat dissipation space to maintain or increase the ambient temperature of the hydrogen fuel cell 200 as soon as possible.

[0110] In some embodiments, the driving mechanism 105 is fixedly disposed on the fuselage 100. The driving mechanism 105 drives the diverter plate 104 to rotate toward the inside of the fuselage 100 to open the second air flow channel. The driving mechanism 105 drives the diverter plate 104 to rotate from the inside of the fuselage 100 toward the second air hole 103 to close the second air flow channel.

[0111] Among them, the driving mechanism 105 can adopt a linear driving structure such as a cylinder, or a rotating driving mechanism 105 such as a rotating motor. Taking the linear driving mechanism 105 as an example, the output end of the driving mechanism 105 is hinged with the diverter plate 104, and the driving mechanism 105 is connected to the main control module 1 for communication. The main control module 1 controls the driving mechanism 105 to drive the diverter plate 104 to rotate to open or close the second air flow channel, thereby realizing automatic control of the diverter plate 104, and it is easy to control the rotation angle of the diverter plate 104, and accurately control the air flow rate and airflow direction. It should be noted that the movement of the diverter plate 104 is a rotation into the fuselage 100, so when the diverter plate 104 rotates to open the second air flow channel, it does not affect the appearance of the fuselage 100.

[0112] In some embodiments, the second air holes 103 are disposed on both sides of the plurality of first air holes 102 , and the splitter plate 104 is rotatably disposed on one side of the second air holes 103 close to the first air holes 102 .

[0113] like Figure 3 , two driving mechanisms 105 are respectively arranged on both sides of the first air hole 102 on the bottom plate 101, and the output end of the driving mechanism 105 extends toward the diverter plate 104 and is hinged with the diverter plate 104, wherein the driving mechanism 105 and the hinge 1041 of the diverter plate 104 are arranged at intervals to facilitate rotation control. The plane where the second air hole 103 is located and the plane where the first air hole 102 is located are respectively arranged at a certain angle on the bottom plate 101 to adapt to the shape of the fuselage 1, and when the two driving mechanisms 105 simultaneously control the two diverter plates 104 to flip inward, there will be no position interference.

[0114] In some embodiments, the hydrogen fuel cell thermal management control module 3 also includes a cooling fan 500, which is disposed inside the fuselage 100, with the air inlet of the cooling fan 500 facing the hydrogen fuel cell 200 and the air outlet of the cooling fan 500 facing the outside of the fuselage 100.

[0115] Preferably, a cooling fan 500 is provided under each hydrogen fuel cell 200. The cooling fan 500 can increase the air disturbance in the cooling space, thereby increasing the air flow and heat dissipation, and can quickly discharge the heat on the surface of the hydrogen fuel cell 200. When the diverter plate 104 rotates toward the inside of the fuselage 100 to open the second air hole 103, the cooling fan 500 can discharge the hot air on the surface of the hydrogen fuel cell 200 to the second air hole 103, thereby facilitating the rapid discharge of hot air in the fuselage 100 and reducing heat accumulation. At the same time, after the diverter plate 104 rotates to open the second air hole 103, the space between the two diverter plates 104 where the first air hole 102 is located continues to provide air; the part of the two diverter plates 104 away from the first air hole 102 is connected to the outside air by the second air hole 103 to form a second air flow channel, and the gas flow exchange in the second air flow channel realizes heat dissipation. By providing the cooling fan 500, the heat of the hydrogen fuel cell 200 can be discharged to the outside air faster, and the rapid heat dissipation and cooling of the hydrogen fuel cell 200 can be achieved.

[0116] like Figure 7 As shown, according to the ambient temperature T, when the ambient temperature T is greater than the first set temperature T1, the main control module 1 detects the state of the second air flow channel. If the second air flow channel is in a closed state, the second air flow channel is opened through the air flow channel control mechanism, otherwise the current state of the diverter plate 104 is maintained, and the second air flow channel is in an open state;

[0117] When the ambient temperature T is lower than the second set temperature T2, the main control module 1 detects the state of the second air flow channel. If the second air flow channel is in a closed state, the current state of the diverter plate 104 is maintained, and the closed state of the second air flow channel is maintained. Otherwise, the second air flow channel is closed by the air flow channel control mechanism. The above can ensure that the hydrogen fuel cell 200 always operates at a suitable temperature between the second set temperature T2 and the first set temperature T1.

[0118] In some embodiments, the hydrogen fuel cell temperature and humidity control module 4 includes a hot and cold air mixing chamber 41, an exhaust treatment chamber 42 and a first control valve 43. The hot and cold air mixing chamber 41 is provided with a cold air inlet 411, a hot air inlet 412 and a mixed gas outlet 413. The cold air inlet 411 is connected to the outside air. The hydrogen fuel cell 200 is provided with an oxygen inlet 201 and an exhaust port 202. The mixed gas outlet 413 is connected to the oxygen inlet 201 and provides a mixed gas for the hydrogen fuel cell 200. The exhaust port 202 is provided with an exhaust pipe 203, and the end of the exhaust pipe 203 away from the exhaust port 202 is connected to the hot air inlet 412; the exhaust treatment chamber 42 is provided on the exhaust pipe 203, and the exhaust treatment chamber 42 is used to send the exhaust gas of the hydrogen fuel cell 200 into the hot and cold air mixing chamber 41 after temperature and humidity treatment; the first control valve 43 is provided on the exhaust pipe 203 to adjust the flow rate of the distributed exhaust gas entering the hot and cold air mixing chamber 41.

[0119] In this embodiment, the outside air is the source of cold air and also the source of oxygen raw material for the hydrogen fuel cell 200. The hydrogen fuel cell 200 is also provided with an oxygen inlet 201 and an exhaust port 202. The mixed gas outlet 413 is connected to the oxygen inlet 201 to provide mixed gas for the hydrogen fuel cell 200. The exhaust port 202 is provided with an exhaust pipe 203. The end of the exhaust pipe 203 away from the exhaust port 202 is connected to the hot air inlet 412. The exhaust gas discharged from the exhaust port 202 here is the source of hot air. The mixed gas is a mixed gas of the cold air and the hot air mentioned above. By adjusting the ratio of the cold air and the hot air, the temperature of the mixed gas can be adjusted. The exhaust treatment chamber 42 is arranged on the exhaust pipe 203. The exhaust treatment chamber 42 is used to send the exhaust gas of the hydrogen fuel cell 200 into the cold and hot air mixing chamber 41 after subjecting it to temperature and humidity treatment. The treatment here includes dehumidification and moisturizing, as well as cooling and other treatments; the first control valve 43 is arranged on the exhaust pipe 203 to control the gas flow entering the hot air inlet 412 in the exhaust pipe 203, so as to adjust the flow ratio of cold air and hot air; one port of the first control valve 43 is for leakage, which can directly discharge excess exhaust gas.

[0120] In some embodiments, the exhaust treatment chamber 42 is disposed on the exhaust pipe 203, and the exhaust treatment chamber 42 includes a second control valve 423, a gas drying chamber 421 and a humidity holding chamber 422. The first port of the second control valve 423 is connected to the exhaust pipe 203, and the second port and the third port are respectively connected to the gas drying chamber 421 and the humidity holding chamber 422. The exhaust gas of the gas drying chamber 421 and the humidity holding chamber 422 are mixed and enter the hot and cold air mixing chamber 41 through the exhaust pipe 203. The second control valve 423 adjusts the gas flow of the exhaust gas entering the gas drying chamber 421 and the humidity holding chamber 422 according to the temperature and humidity of the exhaust gas. The first control valve 43 is disposed at the front end of the hot and cold air mixing chamber 41.

[0121] like Figure 8, the dotted line is the communication connection line, the communication signal includes gas pressure and temperature and humidity signals, the solid line is the gas circulation pipeline, in this embodiment, the gas drying chamber 421 is used to dry and dehumidify the exhaust gas, so as to reduce the gas humidity of the oxygen inlet 201 of the hydrogen fuel cell 200; the humidity holding chamber 422 is used to moisturize the exhaust gas. When the gas humidity is low, it affects the normal use of the proton exchange membrane of the hydrogen fuel cell 200, so it is necessary to adjust the humidity of the gas. The second control valve 423 is used to adjust the ratio of the exhaust gas entering the gas drying chamber 421 and the humidity holding chamber 422, and after mixing in the hot gas mixing chamber 427, it enters the cold and hot air mixing chamber 41 through the exhaust pipe 203 and mixes with the cold air to obtain the intake side mixed gas with suitable temperature and humidity. During the startup phase of the hydrogen fuel cell 200, when the ambient temperature, i.e., the cold air temperature, is low, the temperature of the oxygen inlet 201 is generally low, and the discharge volume of the first control valve 43 is reduced, increasing the hot air circulation volume, and reducing the rotation speed of the blower 414 and the cooling fan 500 at the cold air inlet, thereby increasing the intake temperature of the cold and hot air mixing chamber 41 on the intake side of the hydrogen fuel cell 200 and reducing the heat carried away by the exhaust gas; when the temperature is high, the exhaust gas is directly discharged through the first control valve 43. When the humidity is high, the flow rate entering the gas drying chamber 421 can be increased, and the flow rate entering the humidity holding chamber 422 can be reduced; when the humidity is low, the flow rate entering the gas drying chamber 421 can be reduced, and the flow rate entering the humidity holding chamber 422 can be increased; the cold air and the hot exhaust gas are mixed in the hot gas mixing chamber 427 and then enter the exhaust pipe 203 to heat the mixed gas, thereby increasing the gas temperature at the oxygen inlet 201, which is conducive to quickly improving the temperature and humidity on the intake side of the hydrogen fuel cell 200. Compared with the prior art, there is no need to increase parasitic power consumption or weight, and the temperature of the oxygen inlet 201 can be increased and the humidity can be adjusted, thereby achieving energy saving by reusing high-temperature gas. In the above embodiment, a hot mixing chamber 427 is provided so that the exhaust gas is mixed in the hot mixing chamber 427 after passing through the gas drying chamber 421 and the humidity maintaining chamber 422, and then connected to the exhaust pipe 203 through the hot mixing chamber 427 and enters the hot and cold air mixing chamber 41 through the first control valve 43, which is beneficial for re-detecting the temperature and humidity of the exhaust gas treated by the exhaust treatment chamber 42, and then the flow rate of the hot gas entering the hot and cold air mixing chamber 41 can be further adjusted by the opening degree and leakage effect of the first control valve 43, so as to realize the precise control of the temperature and humidity of the gas on the intake side of the hydrogen fuel cell 200.

[0122] In some embodiments, the exhaust treatment chamber 42 is disposed on the exhaust pipe 203, and the exhaust treatment chamber 42 includes a condensate collection device 424 and a branch pipe 425. The branch pipe 425 is disposed on the exhaust pipe 203 between the condensate collection device 424 and the exhaust port 202. The branch pipe 425 is provided with a heating device 700. The exhaust passing through the branch pipe 425 has its temperature reduced after heat exchange in the heating device 700 and enters the condensate collection device 424 for condensate collection. The first control valve 43 is disposed on the exhaust pipe 203 between the condensate collection device 424 and the hot and cold air mixing chamber 41.

[0123] like Fig. 9 It can be understood that after the hydrogen fuel cell 200 is started and begins to work normally, the hydrogen fuel cell 200 generates a large amount of heat. By setting up a branch pipeline 425, the high-temperature exhaust gas can be heated to the heating device 700 through the branch pipeline 425. The heating method is such as heat exchange through a heat exchange plate or a heat exchanger to achieve cooling of the high-temperature exhaust gas. The water content in the exhaust gas after cooling decreases. The moisture in the low-temperature exhaust gas is collected through the condensate collection device 424 to achieve dehumidification of the low-temperature exhaust gas. The condensate collection device 424 is provided with a drain valve for regularly draining the condensate. The drain valve can also be connected to the main control module 1 through communication to achieve automatic drainage. It can be understood that a temperature and humidity sensor can be provided at the outlet of the condensate collection device 424 to detect the humidity of the low-temperature exhaust gas. If the humidity is too high, the gas flow entering the gas drying chamber 421 is increased. If the humidity is insufficient and the temperature is too low, the opening and closing of the branch pipeline 425 can be adjusted to control the temperature and humidity of the exhaust gas and increase the gas flow entering the humidity maintaining chamber 422. If the humidity is appropriate and the temperature is high, the gas flow entering the branch pipeline 425 for heat exchange with the heating equipment 700 is increased. The control is specifically carried out through the temperature and humidity data collected by the main control module 1.

[0124] In some embodiments, a plurality of branch pipelines 425 and a heating device 700 are respectively provided and arranged in one-to-one correspondence, and each branch pipeline 425 is selectively connected to the exhaust pipe 203 through the third control valve 426 .

[0125] like Fig. 9 As shown, two branch pipelines 425 are provided on the exhaust pipe 203 for heat exchange heating of at least two devices to be heated 700. The third control valve 426 is communicatively connected to the main control module 1, and can realize automatic switching control of the branch pipeline 425. Among them, the third control valve 426 is an electric valve with adjustable flow. In the above embodiment, the exhaust pipe 203 can also be connected to the main heat cycle line of the drone, and the device to be heated 700 can be connected to the main heat cycle line through the third control valve 426, which is more convenient to control the exhaust direction in the exhaust pipe 203.

[0126] In some embodiments, the hydrogen fuel cell temperature and humidity control module 4 further includes a discharge valve 44 , which is disposed on one end of the exhaust pipe 203 of the hydrogen fuel cell 200 close to the exhaust port 202 .

[0127] In this embodiment, when the exhaust temperature is high, the exhaust can be directly discharged through the discharge valve 44 to increase the rapid heat dissipation of the hydrogen fuel cell 200 and avoid the temperature being too high for a short time. Figure 8 and Fig. 9 As shown, the first control valve 43 is a three-port valve, one of which also has a discharge function. The temperature and humidity of the mixed gas are adjusted according to the flow ratio of the temperature and humidity of the gas discharged from the exhaust treatment chamber 42 and the temperature and humidity of the outside air. The flow of the hot gas entering the cold and hot air mixing chamber 41 is adjusted by adjusting the discharge amount of the first control valve 43.

[0128] It should be noted that, in the above-mentioned embodiment, the temperature, humidity and gas pressure are measured by a plurality of temperature sensors, humidity sensors and electromagnetic pressure relief valves or pressure sensors, and sent to the main control module 1, so that the main control module 1 can control the opening of the first control valve 43, the second control valve 423, the third control valve 426 and the relief valve 44, so as to achieve flow regulation, thereby controlling the temperature and humidity, and providing suitable environmental conditions for the normal operation of the hydrogen fuel cell 200. Among them, an air filter 415 is also provided at the cold air inlet 411 of the cold and hot air mixing chamber 41 for filtering the outside air; a blower 414 is provided for adjusting the air intake flow rate of the air; and a temperature and humidity sensor is provided for detecting the temperature and humidity of the air.

[0129] The present invention also provides a hydrogen-lithium hybrid UAV, including the battery management system of the hydrogen-lithium hybrid UAV provided by any of the above embodiments.

[0130] The hydrogen-lithium hybrid UAV provided by the present invention realizes rapid startup of the hydrogen-lithium hybrid UAV and monitoring and control of the hydrogen fuel cell 200 and the lithium battery 300 in flight state through the battery management and control system of the hydrogen-lithium hybrid UAV, solves the application limitation problem and energy distribution problem of the hydrogen fuel cell 200 in the UAV, realizes thermal management control of the hydrogen fuel cell 200, and improves the environmental adaptability of the hydrogen fuel cell 200.

[0131] 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 battery management method for a hydrogen-lithium hybrid drone, wherein the hydrogen-lithium hybrid drone is provided with a lithium battery (300) and a hydrogen fuel cell (200), characterized in that: The battery management method of the hydrogen-lithium hybrid UAV comprises the following steps: collecting a first electric quantity of the lithium battery (300) to ensure the starting power requirement of the drone; collecting the hydrogen pressure of the hydrogen storage bottle (400) to ensure the start-up requirements of the hydrogen fuel cell (200); After the hydrogen fuel cell (200) is started, a second electric quantity of the hydrogen fuel cell (200) is collected in real time, and energy management control is performed on the lithium battery (300) and the hydrogen fuel cell (200) according to the real-time power demand of the drone; collecting the ambient temperature of the hydrogen fuel cell (200) in real time, and performing thermal management control on the external ambient temperature of the hydrogen fuel cell (200); The core temperature and humidity of the hydrogen fuel cell (200) are collected in real time, and the intake temperature and humidity of the intake side of the hydrogen fuel cell (200) are controlled; the exhaust of the hydrogen fuel cell (200) is controlled and thermal management control is performed on the exhaust.

2. The battery management method for hydrogen-lithium hybrid UAV according to claim 1, characterized in that: Energy management control is performed on the lithium battery (300) and the hydrogen fuel cell (200), specifically: if the second power of the hydrogen fuel cell (200) is less than the power required for the drone to fly, the power supply of the hydrogen fuel cell (200) is increased or the lithium battery (300) is started to perform hybrid power supply; if after increasing the power supply of the hydrogen fuel cell (200), the second power of the hydrogen fuel cell (200) is still less than the power required for the drone to fly, the lithium battery (300) is started to perform hybrid power supply; if the second power of the hydrogen fuel cell (200) is greater than the power required for the drone to fly, the hydrogen fuel cell (200) is used alone to supply power.

3. The battery management method for hydrogen-lithium hybrid UAV according to claim 1, characterized in that: Thermal management control is performed on the external environment temperature of the hydrogen fuel cell (200), specifically: A first air flow channel and a second air flow channel are arranged on the fuselage (100); when the ambient temperature is greater than a first set temperature, the first air flow channel and the second air flow channel are opened simultaneously to increase the contact area between the outside air and the hydrogen fuel cell (200) for heat dissipation and cooling; when the ambient temperature is lower than the second set temperature, the hydrogen fuel cell (200) contacts the outside air through the first air flow channel to obtain air supply and dissipate heat, the second air flow channel is in a closed state, and the first set temperature is greater than the second set temperature.

4. The battery management method for hydrogen-lithium hybrid UAV according to claim 1, characterized in that: The air intake temperature and humidity of the hydrogen fuel cell (200) are controlled by: The temperature and humidity of the air, the temperature and humidity of the exhaust gas of the hydrogen fuel cell (200), and the core temperature and humidity are collected, the exhaust gas is subjected to temperature and humidity treatment according to the temperature and humidity of the air and the core temperature and humidity, and then the exhaust gas after the temperature and humidity treatment is mixed with the air to obtain a mixed gas, and the mixed gas enters the air intake side of the hydrogen fuel cell (200).

5. The battery management method for hydrogen-lithium hybrid UAV according to claim 1, characterized in that: The exhaust of the hydrogen fuel cell (200) is controlled, specifically, by: providing an exhaust valve at the exhaust port (202) of the hydrogen fuel cell (200), and the exhaust valve is opened once for exhaust at every exhaust time t1 of the hydrogen fuel cell (200); or the exhaust valve is opened once for exhaust every time the performance of the hydrogen fuel cell (200) decreases by a specified value Q.

6. The battery management method for hydrogen-lithium hybrid UAV according to claim 5, characterized in that: When the hydrogen fuel cell (200) is connected to a load for operation, the hydrogen fuel cell (200) is exhausted once every time the performance of the hydrogen fuel cell (200) decreases by 1%-2%. If the performance does not decrease after the exhaust time t2 is reached, the hydrogen fuel cell (200) is exhausted once according to the exhaust time t2, where t2≤60s.

7. The battery management method for hydrogen-lithium hybrid UAV according to claim 5, characterized in that: The exhaust gas is thermally managed and controlled, specifically: the temperature of the exhaust gas of the hydrogen fuel cell (200) is collected, and when the temperature of the exhaust gas is lower than a third set temperature, at least a portion of the exhaust gas is mixed with air and then enters the intake side of the hydrogen fuel cell (200) to increase the gas temperature on the intake side; when the temperature of the exhaust gas is higher than a fourth set temperature, the exhaust gas is directly discharged or at least a portion of the exhaust gas is cooled and then mixed with air and then enters the intake side of the hydrogen fuel cell (200).

8. A battery management system for a hydrogen-lithium hybrid drone, the hydrogen-lithium hybrid drone comprising a hydrogen storage bottle (400), a lithium battery (300) and a hydrogen fuel cell (200) arranged in a fuselage (100), wherein a heat dissipation space is provided between the hydrogen fuel cell (200) and a bottom plate (101) of the fuselage (100); characterized in that: The battery management system of the hydrogen-lithium hybrid UAV includes: A power control module (2), the power control module (2) being used to collect a first amount of electricity of the lithium battery (300) and a second amount of electricity of the hydrogen fuel cell (200), and to perform energy management control on the lithium battery (300) and the hydrogen fuel cell (200); A hydrogen fuel cell thermal management control module (3), the hydrogen fuel cell thermal management control module (3) being used to perform thermal management control on the external ambient temperature of the hydrogen fuel cell (200) according to the ambient temperature in the heat dissipation space; A hydrogen fuel cell temperature and humidity control module (4), the hydrogen fuel cell temperature and humidity control module (4) being used to control the temperature and humidity of the intake air on the cathode side of the hydrogen fuel cell (200) according to the core temperature and humidity of the hydrogen fuel cell (200), and to control the exhaust of the hydrogen fuel cell (200) and perform thermal management on the exhaust; A main control module (1), the main control module (1) is used to collect the hydrogen pressure of the hydrogen storage bottle (400), the ambient temperature of the hydrogen fuel cell (200) and the core temperature and humidity, the main control module (1) is communicatively connected to the power control module (2), the hydrogen fuel cell thermal management control module (3) and the hydrogen fuel cell temperature and humidity control module (4), and sends the hydrogen pressure of the hydrogen storage bottle (400), the ambient temperature and the core temperature and humidity to the power control module (2), the hydrogen fuel cell thermal management control module (3) and the hydrogen fuel cell temperature and humidity control module (4) respectively, so as to perform battery management control on the lithium battery (300) and the hydrogen fuel cell (200).

9. The battery management system of the hydrogen-lithium hybrid UAV according to claim 8, characterized in that: The power control module (2) first collects a first electric quantity of the lithium battery (300), and determines whether the first electric quantity of the lithium battery (300) meets the starting power requirement of the drone; if not, the lithium battery (300) is charged or replaced until the starting power requirement is met, and the lithium battery (300) supplies power to the drone for starting; the main control module (1) sends an instruction to start the hydrogen fuel cell (200) to the power control module (2) according to the collected hydrogen pressure, and the power control module (2) starts the hydrogen fuel cell (200), and performs energy management control on the lithium battery (300) and the hydrogen fuel cell (200).

10. The battery management system of the hydrogen-lithium hybrid UAV according to claim 9, characterized in that: The invention also comprises a DC-DC converter (5), wherein the input end of the DC-DC converter (5) is connected to the power supply output ends of the hydrogen fuel cell (200) and the lithium battery (300), and the DC-DC converter (5) is used to convert the power supply of the hydrogen fuel cell (200) and / or the power supply of the lithium battery (300) into output power and then send it to the power system to drive the unmanned aerial vehicle to start or fly. The hydrogen fuel cell (200) can charge the lithium battery (300) through the DC-DC converter (5).

11. The battery management system of the hydrogen-lithium hybrid UAV according to claim 8, characterized in that: The hydrogen fuel cell thermal management control module (3) comprises: A temperature sensor, disposed in the body (100), for detecting the ambient temperature of the hydrogen fuel cell (200); An air flow channel control mechanism, wherein a second air hole (103) is provided on the bottom plate (101) of the fuselage (100) to form a second air flow channel, and the air flow channel control mechanism is used to selectively open or close the second air flow channel; A main control module, wherein the main control module is communicatively connected to the temperature sensor and the air flow channel control mechanism, and the main control module controls the air flow channel control mechanism to open or close the second air flow channel according to the ambient temperature.

12. The battery management system of the hydrogen-lithium hybrid UAV according to claim 11, characterized in that: The air flow channel control mechanism comprises a diverter plate (104) and a driving mechanism (105) arranged at the second air hole (103); the driving mechanism (105) is communicatively connected to the main control module; an output end of the driving mechanism (105) is connected to the diverter plate (104); and the driving mechanism (105) is used to drive the diverter plate (104) to open or close the second air flow channel.

13. The battery management system of the hydrogen-lithium hybrid UAV according to claim 12, characterized in that: The driving mechanism (105) is fixedly arranged on the fuselage (100), and the driving mechanism (105) drives the diverter plate (104) to rotate toward the inside of the fuselage (100) to open the second air flow channel, and the driving mechanism (105) drives the diverter plate (104) to rotate from the inside of the fuselage (100) toward the second air hole (103) to close the second air flow channel.

14. The battery management system of the hydrogen-lithium hybrid UAV according to claim 13, characterized in that: Two second air holes (103) are provided, and the two second air holes (103) are respectively arranged opposite to the two hydrogen fuel cells (200).

15. The battery management system of the hydrogen-lithium hybrid UAV according to claim 14, characterized in that: A plurality of first air holes (102) are arranged at intervals and dispersedly on the bottom plate (101) of the fuselage (100) to form a first air flow channel, and the hydrogen fuel cell (200) arranged in the fuselage (100) is connected to the outside air through the first air flow channel to obtain oxygen and dissipate heat.

16. The battery management system of the hydrogen-lithium hybrid UAV according to claim 15, characterized in that: The second air holes (103) are arranged on both sides of the plurality of first air holes (102), and the splitter plate (104) is rotatably arranged on a side of the second air holes (103) close to the first air holes (102).

17. The battery management system of the hydrogen-lithium hybrid UAV according to claim 8, characterized in that: The hydrogen fuel cell temperature and humidity control module (4) comprises: a cold and hot air mixing chamber (41), the cold and hot air mixing chamber (41) being provided with a cold air inlet (411), a hot air inlet (412) and a mixed gas outlet (413), the cold air inlet (411) being connected to the outside air, the hydrogen fuel cell (200) being provided with an oxygen inlet (201) and an exhaust port (202), the mixed gas outlet (413) being connected to the oxygen inlet (201) and providing mixed gas to the hydrogen fuel cell (200), the exhaust port (202) being provided with an exhaust pipe (203), the end of the exhaust pipe (203) facing away from the exhaust port (202) being connected to the hot air inlet (412); An exhaust treatment chamber (42), the exhaust treatment chamber (42) being arranged on the exhaust pipe (203), the exhaust treatment chamber (42) being used to treat the temperature and humidity of the exhaust gas of the hydrogen fuel cell (200) and then send the exhaust gas into the cold and hot air mixing chamber (41); A first control valve (43), wherein the first control valve (43) is arranged on the exhaust pipe (203) to adjust the flow rate of the exhaust gas entering the cold and hot air mixing chamber (41).

18. The battery management system of the hydrogen-lithium hybrid UAV according to claim 17, characterized in that: The exhaust treatment chamber (42) is arranged on the exhaust pipe (203), and the exhaust treatment chamber (42) comprises a second control valve (423), a gas drying chamber (421) and a humidity holding chamber (422). The first port of the second control valve (423) is connected to the exhaust pipe (203), and the second port and the third port are respectively connected to the gas drying chamber (421) and the humidity holding chamber (422). The gas drying chamber (421) and the humidity holding chamber (422) respectively process and discharge the exhaust gas, and then mix the exhaust gas and enter the hot and cold air mixing chamber (41) through the exhaust pipe (203). The second control valve (423) adjusts the gas flow of the exhaust gas entering the gas drying chamber (421) and the humidity holding chamber (422) according to the temperature and humidity of the exhaust gas. The first control valve (43) is arranged at the front end of the hot and cold air mixing chamber (41).

19. The battery management system of the hydrogen-lithium hybrid UAV according to claim 17, characterized in that: The exhaust treatment chamber (42) is arranged on the exhaust pipe (203), and the exhaust treatment chamber (42) comprises a condensate collecting device (424) and a branch pipeline (425). The branch pipeline (425) is arranged on the exhaust pipe (203) between the condensate collecting device (424) and the exhaust port (202). The branch pipeline (425) is provided with a device to be heated (700). The exhaust gas passing through the branch pipeline (425) is cooled down after heat exchange in the device to be heated (700) and enters the condensate collecting device (424) for condensate collection. The first control valve (43) is arranged on the exhaust pipe (203) between the condensate collecting device (424) and the cold and hot air mixing chamber (41).

20. The battery management system of the hydrogen-lithium hybrid UAV according to claim 19, characterized in that: The branch pipelines (425) and the equipment to be heated (700) are respectively provided in plurality and arranged in one-to-one correspondence, and each branch pipeline (425) selectively conducts to the exhaust pipe (203) via a third control valve (426).

21. The battery management system of the hydrogen-lithium hybrid UAV according to claim 17, characterized in that: The hydrogen fuel cell temperature and humidity control module (4) further comprises a discharge valve (44), wherein the discharge valve (44) is arranged on one end of the exhaust pipe (203) of the hydrogen fuel cell (200) close to the exhaust port (202).

22. A hydrogen-lithium hybrid drone, characterized in that: A battery management system for a hydrogen-lithium hybrid drone comprising any one of claims 8-21.

23. The hydrogen-lithium hybrid UAV according to claim 22, characterized in that: The invention also comprises a cooling fan (500), wherein the cooling fan (500) is arranged inside the fuselage (100), an air inlet of the cooling fan (500) faces the hydrogen fuel cell (200), and an air outlet of the cooling fan (500) faces the outside of the fuselage (100).

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