Unmanned aerial vehicle with rack battery conformal architecture and control method thereof

Abstract

The unmanned aerial vehicle is characterized in that a mounting groove is formed in the upper end of a rack, four paddle protection covers are connected to the periphery of the mounting groove, arc-shaped battery cavities are formed in the inner sides of the paddle protection covers, and special-shaped batteries are mounted in the arc-shaped battery cavities; the lower end of the unmanned aerial vehicle body is connected into the mounting groove through an interface module, and protruding parts at the four corners of the unmanned aerial vehicle body are provided with driving assemblies on the inner side of the paddle protection cover. The power supply circuit board is mounted in the mounting groove and is connected with the four special-shaped batteries; the driving circuit board is installed in the interface module and connected with the four driving assemblies. The method comprises the steps of monitoring the health state of the special-shaped battery; and switching between a high-performance mode and an equalization mode is carried out according to the charge state of the special-shaped battery. According to the unmanned aerial vehicle, the overall weight can be effectively reduced through the mode of the rack battery conformal framework, and the installation space can be effectively saved. According to the method, efficient and accurate switching of the working modes of the unmanned aerial vehicle can be automatically realized, and the working efficiency of the unmanned aerial vehicle can be ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle with a frame-battery conformal architecture and a control method thereof. Background Art

[0002] At present, drones have been widely used in many fields such as meteorological monitoring, land and resources law enforcement, environmental protection, remote sensing aerial photography, earthquake relief, express delivery, etc. With the continuous development of the Internet of Things, the use of drones for Internet of Things technology is increasing. In order to achieve better control of drone flight, drone lightweight design and the application of multiple sensors are imperative. Lightweight drones can effectively reduce energy consumption and significantly improve endurance and maneuverability, which can make drones more flexible and efficient when performing tasks. The synergy of multiple sensors can provide drones with more accurate environmental perception, positioning navigation and status monitoring functions. The body size of traditional drones is small, and the battery volume and weight account for a large proportion, resulting in low endurance of drones, reducing the installation space of drones, and thus severely limiting the installation of sensors. This limits the operating efficiency of drones and is not conducive to meeting diverse mission requirements. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention provides a UAV with a frame battery conformal architecture and a control method thereof. The UAV can effectively reduce the overall weight and overall energy consumption and effectively save installation space through the frame battery conformal architecture mode, which helps to improve the endurance of the UAV and can be conducive to meeting diverse mission requirements. The method has a simple implementation process and a high degree of intelligence. It can automatically realize efficient and accurate switching of the UAV's working modes, ensure the operating efficiency of the UAV, and ensure the stability and reliability of the UAV during operation.

[0004] In order to achieve the above-mentioned object, the present invention provides a drone with a frame-battery conformal architecture, including a frame, a special-shaped battery, a curved battery cover, a power supply circuit board, a drone body, a drive assembly and a flight control platform; A mounting groove is provided in the center area of ​​the upper end of the frame, and four annular blade protection covers are integrally fixedly connected to the four sides thereof; four arc-shaped battery cavities are respectively provided on the inner sides of the four blade protection covers, and the inner sides of the four arc-shaped battery cavities are respectively connected to the mounting groove through four connecting channels provided inside the frame; Four special-shaped batteries are installed in four arc-shaped battery cavities respectively; Four arc-shaped battery covers are respectively sealed at the opening ends of the four arc-shaped battery cavities; The power supply circuit board is installed at the bottom of the installation groove, and two connecting electrodes are installed in parallel on its upper end, and four groups of receiving electrodes are connected around it; the four groups of receiving electrodes are connected to four special-shaped batteries through four groups of power lines respectively inserted in four connecting channels; The four corners of the drone body protrude and extend outwards in all directions, and four protrusions are formed at positions corresponding to the four blade protection covers. An interface module is installed at the center of the lower end of the drone body. A driving circuit board is arranged inside the interface module, and two electrode interfaces are provided at the lower end thereof at positions corresponding to the two connection motors, and the two electrode interfaces are connected to the driving circuit board. The drone body is fixedly connected to the frame, and the interface module is inserted into the installation groove. At the same time, the two electrode interfaces are correspondingly fitted on the outside of the two connection electrodes. Four drive assemblies are respectively arranged on the inner sides of four blade protection covers, the drive assemblies include a drive motor and blades, the drive motor is fixedly connected to the lower end of the protrusion, the power supply cable on the drive motor is connected to the drive circuit board, and the blades are fixedly sleeved on the output shaft of the drive motor; The flight control platform is fixedly installed in the central area of ​​the upper end of the UAV body and is connected to the driving circuit board.

[0005] Furthermore, in order to effectively reduce the weight of the drone host, an arc-shaped depression is formed between two adjacent protrusions toward the center of the drone body; and the drone body is provided with four drain holes on the inner side of the four arc-shaped depressions.

[0006] Furthermore, in order to quickly realize the connection and disconnection operation between the drone body and the frame, it also includes a mechanical clip, a pair of mechanical clips are relatively fixedly connected to the upper end of the frame, and are relatively buckled on the outer sides of a pair of arc-shaped recesses.

[0007] Furthermore, in order to efficiently manage and protect the four special-shaped batteries, the power supply circuit board is connected with a BMS control circuit and four MOS tubes, and the BMS control circuit controls the four special-shaped batteries through the four MOS tubes. In this way, the cooperation of the BMS control circuit and the four MOS tubes can facilitate the state detection, series-parallel intelligent control and protection control of the special-shaped batteries, and can also help ensure that the drone can switch between the balanced mode and the performance mode conveniently and reliably.

[0008] Furthermore, in order to facilitate the quick and reliable connection between the drone body and the flight control platform, and at the same time, to utilize the accommodating groove to provide more installation space for different types of sensors, thereby providing a convenient basis for effectively expanding the functions of the drone, an accommodating groove is opened at the center of the upper end of the drone body, and the lower end of the flight control platform is fixedly connected with a mounting boss at a position corresponding to the accommodating groove, and the mounting boss is fixedly inserted in the accommodating groove.

[0009] Furthermore, in order to support and protect the fuselage during takeoff or landing, it also includes support frames, and four support frames are installed at the lower end of the frame in a rectangular shape. The four support frames can stably support the drone, effectively ensuring the stability and safety during takeoff and landing, and at the same time, ensuring that the drone can be stably parked in various terrain conditions.

[0010] Furthermore, in order to effectively reduce the space occupied by the battery and to effectively adapt to the arc-shaped installation space formed in the blade protection cover, the special-shaped battery is C-shaped.

[0011] Furthermore, in order to monitor the temperature, current and voltage signals of each special-shaped battery in real time, a monitoring component is also included. Four monitoring components are respectively installed in four arc-shaped battery cavities and are all connected to the flight control platform; the monitoring component includes a temperature sensor, a current sensor and a voltage sensor. The temperature sensor is snugly connected to the special-shaped battery for real-time collection of current signals, and the voltage sensor is connected to the special-shaped battery for real-time collection of voltage signals.

[0012] In the present invention, four annular blade protection covers are integrally fixedly connected to the four sides of the frame, and at the same time, four arc-shaped battery cavities are respectively opened on the inner sides of the four blade protection covers. On the one hand, the weight of the entire frame can be effectively reduced through the hollow structure of the blade protection covers, and on the other hand, the four blade protection covers can be used to provide effective protection for four special-shaped batteries respectively, reducing the risk of accidental damage to the batteries. On the other hand, it is convenient to install four special-shaped batteries in the four arc-shaped battery cavities respectively. In this way, the batteries can be embedded on the inner sides of the blade protection covers on the frame, thereby realizing a conformal frame battery architecture mode, significantly reducing the installation space occupied by the battery in the body, thereby ensuring the lightweight of the drone, and creating favorable conditions for the installation of various sensors on the drone body through the saved installation space, thereby promoting the rapid development of drones towards a more intelligent direction. Since the battery is installed inside the frame instead of on the main body of the drone, a large amount of installation space can be released for the main body of the drone, and the space for installing other sensors on the main body of the drone is increased. It is convenient to arrange and install more other sensors on the main body of the drone, which helps to expand the application range of the drone and improve its adaptability and functionality in different scenarios. An installation groove is provided in the central area of ​​the upper end of the frame, and a power supply circuit board is installed at the bottom of the installation groove. At the same time, the four arc-shaped battery cavities are connected to the installation groove provided in the central area of ​​the frame through four connecting channels provided inside the frame, so that the power supply circuit board can be connected to the four special-shaped batteries through four groups of power lines passing through the four connecting channels, and then the connection between the power supply circuit board and the four special-shaped batteries can be established, ensuring a reliable supply of electricity. Four arc-shaped battery covers are respectively encapsulated at the open ends of the four arc-shaped battery cavities, which can effectively protect the four special-shaped batteries and prevent the special-shaped batteries from falling off from the arc-shaped battery cavities. Two connecting electrodes are installed in parallel at the upper end of the power supply circuit board, which can facilitate quick and reliable connection with the interface module by plugging. The four corners of the drone body are extended outward to form four protrusions. This ensures that there is no interference between the blades and further effectively reduces the weight of the drone body. The four protrusions correspond to the inner sides of the four blade protection covers, and the drive components are installed under the protrusions. The four blade protection covers can be used to provide effective protection for the four drive components, reducing the risk of accidental damage to the blades. An interface module is installed at the center of the lower end of the drone body, and two electrode interfaces are provided on the interface module at intervals. During the connection between the drone body and the frame, the interface module can be directly embedded in the installation groove on the frame, and the two electrode interfaces can be directly plugged and connected with the two connecting electrodes, ensuring a stable and reliable connection between the power supply circuit board and the interface module.At the same time, this plug-in connection method, combined with the separated structural design, can make it easier to separate the frame from the drone body. Since the special-shaped battery is installed on the inner side of the blade protection cover, after the drone body is separated from the frame, it is convenient to replace and maintain the battery, which effectively shortens the operation time and provides new technical ideas and foundations for subsequent fully automated drone research. For example, a device for automatically replacing batteries can be designed to further improve the efficiency of battery replacement and maintenance. A drive circuit board is set inside the interface module, and the drive motor circuit is connected to the drive component. It is not only convenient to control the action of the drive component through the drive circuit board, but also conveniently supply electricity to the drive component after the power supply circuit board is connected to the drive circuit board through two connecting electrodes and two electrode interfaces. The use of four special-shaped batteries embedded in four blade protection covers as the power source of the drone completely subverts the traditional installation method of drone batteries. It not only effectively solves the problem that the weight of the traditional integral battery is usually concentrated at one point, but also effectively balances the weight distribution through a split arrangement, optimizes the space share and weight share of the battery, and greatly improves the stability and flexibility of the drone.

[0013] The drone adopts the model of frame battery conformal structure, combined with the hollow structure of the blade protection cover, the four protrusions extending from the four corners of the drone body, and the distributed arrangement of four special-shaped batteries, so that the weight distribution is more uniform and reasonable. At the same time, it effectively reduces the overall weight, which is conducive to reducing energy consumption and significantly improves the endurance of the drone, bringing great convenience for long-distance inspections and operations in complex environments. At the same time, it reduces the frequency of charging or battery replacement and effectively improves the operation efficiency. At the same time, the battery is installed inside the frame, which saves a lot of sensor installation space for the drone body. Various types of sensors can be flexibly arranged on the drone body according to different working conditions, which helps to meet diverse mission requirements. Such an innovative design not only improves the performance and efficiency of the drone, but also expands a broader space for the application of drones in different fields.

[0014] The present invention also provides a control method for a drone with a frame-battery conformal architecture, using a drone with a frame-battery conformal architecture, comprising the following steps: Step 1: Four special-shaped batteries are monitored respectively through four monitoring components to obtain temperature signals, current signals and voltage signals of the special-shaped batteries respectively, and the temperature signals, current signals and voltage signals are sent to the data acquisition module. The data acquisition module samples the temperature signals, current signals and voltage signals according to the set sampling frequency and sends them to the flight control platform; the flight control platform obtains temperature data, current data and voltage data according to the temperature signals, current signals and voltage signals respectively; Step 2: The flight control platform uses a preset algorithm combined with the obtained temperature data, current data and voltage data to judge the health status of the special-shaped battery. When the health status of each special-shaped battery is within the normal range, step 3 is executed. When the health status of any special-shaped battery is not within the normal range, step 4 is directly executed; Step 3: Switching the UAV working mode; S31: The flight control platform (10) sets the rated charge state according to the current flight altitude, flight distance and current health status. ; S32: Obtain the current state of charge value of the special-shaped battery (8) using the ampere-hour integration method according to formula (1) , and and For comparison, > When the high performance mode condition is met, ≦ When the high-performance mode condition is not satisfied, it is determined that the high-performance mode condition cannot be satisfied. When the four special-shaped batteries (8) all satisfy the high-performance mode condition, the four MOS tubes (602) are controlled to simultaneously perform action 1, so that the positive electrodes of the four special-shaped batteries (8) are connected together. At the same time, the negative electrodes of the four special-shaped batteries (8) are also connected together. The total current of the battery pack is increased by connecting the four special-shaped batteries (8) in parallel, so that the UAV operates in the high-performance mode. At the same time, the flight control platform (10) sends a high-performance mode prompt message to the control terminal through the wireless communication module. When any special-shaped battery (8) cannot satisfy the high-performance mode condition, the four MOS tubes (602) are controlled to simultaneously perform action 2, so that the positive and negative electrodes of the four special-shaped batteries (8) are connected in sequence. The total capacity of the battery pack is increased by connecting the four special-shaped batteries (8) in series, so that the UAV operates in the balanced mode. At the same time, the flight control platform (10) sends a balanced mode prompt message to the control terminal through the wireless communication module. During this process, the flight control platform (10) uses a preset algorithm in combination with the real-time temperature data, current data and voltage data to judge the health status of the special-shaped battery (8); when the health status of each special-shaped battery (8) is within a normal range, the current working mode is maintained; when the health status of any special-shaped battery (8) is not within the normal range, step four is directly executed; (1); In the formula, is the initial state of charge of the battery, is the rated capacity of the battery, is the charge and discharge current of the battery; Step 4: End the control process. At the same time, the flight control platform sends an abnormal power status prompt message to the control terminal through the wireless communication module, so that the operator can control the drone to return in time.

[0015] Furthermore, in order to provide more flexible and diverse control options, the operator can easily adjust the working mode of the UAV according to actual conditions and specific needs to meet the flight requirements in different mission scenarios. In S32 of step three, when the four special-shaped batteries all meet the high-performance mode conditions, the flight control platform sends a prompt message to the control terminal through the wireless communication module to open the manual control window, so that the operator can send a working mode switching instruction to the flight control platform through the control terminal. When any special-shaped battery does not meet the high-performance mode conditions, the flight control platform sends a prompt message to the control terminal to close the manual control window through the wireless communication module.

[0016] In the present invention, temperature data, current data and voltage data are obtained according to the battery temperature signal, current signal and voltage signal, and then the health status is judged based on the temperature data, current data and voltage data. It can be judged whether the battery is in a normal state based on the battery health status. When it is in a normal state, it can be convenient to switch the working mode of the drone. When it is in an abnormal state, it can timely send out abnormal power state prompt information, so as to facilitate the operator to take effective countermeasures in time. The SOC estimation of the battery state of charge is carried out by the ampere-hour integration method, and the state of charge of the battery can be obtained more accurately and quickly, and then it can be quickly and accurately judged according to the state of charge of the battery that it meets the high-performance or balanced working mode. When all four batteries meet the high-performance mode conditions, the four MOS tubes are controlled to perform action one at the same time, so that the four special-shaped batteries are connected in parallel, and the current supply can be effectively increased by parallel connection, so that reliable protection can be provided for the drone to work in the high-performance mode. When any battery does not meet the high-performance mode conditions, the four MOS tubes are controlled to perform action two at the same time, so that the four special-shaped batteries are connected in series, and the capacity of the battery pack can be effectively increased by series connection, so as to provide reliable protection for the long-term operation of the drone.

[0017] The implementation process of this method is simple and highly intelligent. It fully considers the health status of each battery and can intelligently determine whether multiple batteries can meet the high-performance working mode or the balanced working mode according to different charge states. It can also conveniently switch between parallel or series connection modes of multiple batteries by controlling multiple MOS tubes, thereby achieving efficient and precise control of the UAV working mode, ensuring the operating efficiency of the UAV, and at the same time, ensuring the stability and reliability of the UAV during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the UAV in the present invention; Figure 2 It is a structural schematic diagram of the main body of the drone in the present invention; Figure 3It is a structural schematic diagram of the rack in the present invention; Figure 4 It is a schematic diagram of the connection state between the power supply circuit board and four special-shaped batteries in the present invention; Figure 5 This is a block diagram of the connection principle between the BMS control circuit and the special-shaped battery through the MOS tube in the present invention; Figure 6 It is a flow chart of the control method in the present invention.

[0019] In the figure: 1. UAV body, 101. electrode interface, 102. protrusion, 103. arc-shaped recess, 104. interface module, 105. leakage hole; 2. frame, 201. blade protection cover, 202. support frame, 203. installation groove, 204. arc-shaped battery cavity; 3. mechanical buckle; 4. drive motor; 5. blade; 6. power supply circuit board, 601. connection electrode, 602. MOS tube, 603. BMS control circuit, 604. receiving electrode; 7. power cord; 8. special-shaped battery; 9. arc-shaped battery cover; 10. flight control platform. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings.

[0021] like Figures 1 to 5 As shown, the present invention provides a drone with a frame-battery conformal structure, including a frame 2, a special-shaped battery 8, an arc-shaped battery cover 9, a power supply circuit board 6, a drone body 1, a drive assembly and a flight control platform 10; A mounting groove 203 is provided in the center area of ​​the upper end of the frame 2, and four annular blade protection covers 201 are integrally formed and fixedly connected around the mounting groove 203; four arc-shaped battery cavities 204 are respectively provided on the inner sides of the four blade protection covers 201, and the inner sides of the four arc-shaped battery cavities 204 are respectively connected to the mounting groove 203 through four connecting channels provided inside the frame 2; Four special-shaped batteries 8 are respectively installed in four arc-shaped battery cavities 204; as a further preferred embodiment, the positive and negative tabs of the special-shaped battery 8 correspond to the positions of the communication channels, and when the special-shaped battery 8 is snugly installed in the arc-shaped battery cavity 204, the positive and negative tabs thereof are deeply inserted into the communication channels, so that the electrical connection between the power supply circuit board 6 and the special-shaped battery 8 can be quickly and conveniently established later; Four arc-shaped battery covers 9 are respectively encapsulated at the opening ends of the four arc-shaped battery cavities 204; The power supply circuit board 6 is installed at the bottom of the installation groove 203, and two connecting electrodes 601 are installed in parallel on its upper end, and four groups of receiving electrodes 604 are connected around it; the four groups of receiving electrodes 604 are connected to four special-shaped batteries 8 through four groups of power lines 7 respectively inserted in four connecting channels; The four corners of the drone body 1 protrude and extend outwards in all directions, and four protrusions 102 are formed at positions corresponding to the four blade protection covers 201. An interface module 104 is installed at the center of the lower end of the drone body 1. The shape and size of the interface module 104 are adapted to the mounting groove 203. A driving circuit board is provided inside the interface module 104, and two electrode interfaces 101 are provided at the lower end thereof at positions corresponding to the two connection motors 601. The two electrode interfaces 101 are connected to the driving circuit board; the drone body 1 is fixedly connected to the frame 2, and the interface module 104 is inserted into the mounting groove 203. At the same time, the two electrode interfaces 101 are correspondingly fitted on the outside of the two connection electrodes 601; As a preferred embodiment, the drone body 1 may be in a quasi-square shape, with a non-linear structure between its two ends, and its four ends are located at the four corners of the same square; Four driving components are respectively arranged on the inner sides of four blade protection covers 201, and the driving components include a driving motor 4 and a blade 5, and the driving motor 4 is fixedly connected to the lower end of the protrusion 102, and the power supply cable on the driving motor 4 is connected to the driving circuit board, and the blade 5 is fixedly sleeved on the output shaft of the driving motor 4; The flight control platform 10 is fixedly mounted in the central area of ​​the upper end of the drone body 1 and is connected to the driving circuit board.

[0022] In order to effectively reduce the weight of the drone host, an arc-shaped depression 103 is formed between two adjacent protrusions 102 toward the center of the drone body 1 ; the drone body 1 is provided with four drain holes 105 on the inner side of the four arc-shaped depressions 103 .

[0023] In order to quickly realize the connection and disconnection operation between the drone body and the frame, it also includes a mechanical buckle 3. A pair of mechanical buckles 3 are relatively fixedly connected to the upper end of the frame 2 and are relatively buckled on the outer sides of a pair of arc-shaped recesses 103.

[0024] In order to efficiently manage and protect the four special-shaped batteries, the power supply circuit board 6 is connected with a BMS (Battery Management System) control circuit 603 and four MOS tubes 602. The BMS control circuit respectively connects the four special-shaped batteries 8 through the four MOS tubes 602. The MOS tube 602 plays an important role as an electronic switch. When the drone needs to switch to the balance mode, that is, when performing the series operation, the corresponding MOS tube 602 can be controlled to perform action 1 at the same time, and the positive and negative electrodes of the four special-shaped batteries 8 are connected in sequence, so as to achieve series connection. This series connection method can increase the total capacity of the battery pack and provide more lasting energy support for the operation of the drone in the balance mode. When the drone needs to switch to the performance mode, the corresponding MOS tube 602 can be controlled to perform action 2 at the same time, so that the positive electrodes of the four special-shaped batteries 8 are connected together, and the negative electrodes are also connected together to achieve parallel connection. In the parallel state, the total capacity of the battery pack is increased, providing a more powerful power for the operation of the drone in the performance mode. In this way, the cooperation of the BMS control circuit and the four MOS tubes can facilitate the state detection, series-parallel intelligent control and protection control of special-shaped batteries, and can also help ensure that the drone can reliably switch between the balanced mode and the performance mode. On the basis of setting up the BMS control circuit, it is easy to realize real-time monitoring and all-round protection of the battery state, and can realize multiple important functions such as overcharge protection, over-discharge protection, overcurrent protection, short-circuit protection, etc. It can also balance the state of the single battery through balanced charging, thereby effectively extending the battery life, ensuring that the drone can operate safely and reliably in different modes, and providing a strong guarantee for the stable performance and long service life of the drone.

[0025] In order to facilitate the quick and reliable connection between the drone body and the flight control platform, and at the same time, in order to utilize the accommodating groove to provide more installation space for different types of sensors, so as to provide a convenient basis for effectively expanding the functions of the drone, an accommodating groove is opened at the center of the upper end of the drone body 1, and the lower end of the flight control platform 10 is fixedly connected with a mounting boss at a position corresponding to the accommodating groove, and the mounting boss is fixedly inserted in the accommodating groove.

[0026] In order to support and protect the fuselage during takeoff or landing, a support frame 202 is also included, and four support frames 202 are installed in a rectangular shape at the lower end of the frame 2. The four support frames can stably support the drone, effectively ensuring the stability and safety during takeoff and landing, and at the same time, ensuring that the drone can be stably parked under various terrain conditions.

[0027] In order to effectively reduce the space occupied by the battery and to effectively adapt to the arc-shaped installation space formed in the blade protection cover, the special-shaped battery 8 is C-shaped.

[0028] In order to monitor the temperature, current and voltage signals of each special-shaped battery in real time, a monitoring component is also included. Four monitoring components are respectively installed in the four arc-shaped battery cavities 204 and are all connected to the flight control platform 10; the monitoring component includes a temperature sensor, a current sensor and a voltage sensor. The temperature sensor is closely connected to the surface of the special-shaped battery 8 for real-time collection of temperature signals, the current sensor is connected to the special-shaped battery 8 for real-time collection of current signals, and the voltage sensor is connected to the special-shaped battery 8 for real-time collection of voltage signals.

[0029] In the present invention, four annular blade protection covers are integrally fixedly connected to the four sides of the frame, and at the same time, four arc-shaped battery cavities are respectively opened on the inner sides of the four blade protection covers. On the one hand, the weight of the entire frame can be effectively reduced through the hollow structure of the blade protection covers, and on the other hand, the four blade protection covers can be used to provide effective protection for four special-shaped batteries respectively, reducing the risk of accidental damage to the batteries. On the other hand, it is convenient to install four special-shaped batteries in the four arc-shaped battery cavities respectively. In this way, the batteries can be embedded on the inner sides of the blade protection covers on the frame, thereby realizing a conformal frame battery architecture mode, significantly reducing the installation space occupied by the battery in the body, thereby ensuring the lightweight of the drone, and creating favorable conditions for the installation of various sensors on the drone body through the saved installation space, thereby promoting the rapid development of drones towards a more intelligent direction. Since the battery is installed inside the frame instead of on the main body of the drone, a large amount of installation space can be released for the main body of the drone, and the space for installing other sensors on the main body of the drone is increased. It is convenient to arrange and install more other sensors on the main body of the drone, which helps to expand the application range of the drone and improve its adaptability and functionality in different scenarios. An installation groove is provided in the central area of ​​the upper end of the frame, and a power supply circuit board is installed at the bottom of the installation groove. At the same time, the four arc-shaped battery cavities are connected to the installation groove provided in the central area of ​​the frame through four connecting channels provided inside the frame, so that the power supply circuit board can be connected to the four special-shaped batteries through four groups of power lines passing through the four connecting channels, and then the connection between the power supply circuit board and the four special-shaped batteries can be established, ensuring a reliable supply of electricity. Four arc-shaped battery covers are respectively encapsulated at the open ends of the four arc-shaped battery cavities, which can effectively protect the four special-shaped batteries and prevent the special-shaped batteries from falling off from the arc-shaped battery cavities. Two connecting electrodes are installed in parallel at the upper end of the power supply circuit board, which can facilitate quick and reliable connection with the interface module by plugging. The four corners of the drone body are extended outward to form four protrusions. This ensures that there is no interference between the blades and further effectively reduces the weight of the drone body. The four protrusions correspond to the inner sides of the four blade protection covers, and the drive components are installed under the protrusions. The four blade protection covers can be used to provide effective protection for the four drive components, reducing the risk of accidental damage to the blades. An interface module is installed at the center of the lower end of the drone body, and two electrode interfaces are provided on the interface module at intervals. During the connection between the drone body and the frame, the interface module can be directly embedded in the installation groove on the frame, and the two electrode interfaces can be directly plugged and connected with the two connecting electrodes, ensuring a stable and reliable connection between the power supply circuit board and the interface module.At the same time, this plug-in connection method, combined with the separated structural design, can make it easier to separate the frame from the drone body. Since the special-shaped battery is installed on the inner side of the blade protection cover, after the drone body is separated from the frame, it is convenient to replace and maintain the battery, which effectively shortens the operation time and provides new technical ideas and foundations for subsequent fully automated drone research. For example, a device for automatically replacing batteries can be designed to further improve the efficiency of battery replacement and maintenance. A drive circuit board is set inside the interface module, and the drive motor circuit is connected to the drive component. It is not only convenient to control the action of the drive component through the drive circuit board, but also conveniently supply electricity to the drive component after the power supply circuit board is connected to the drive circuit board through two connecting electrodes and two electrode interfaces. The use of four special-shaped batteries embedded in four blade protection covers as the power source of the drone completely subverts the traditional installation method of drone batteries. It not only effectively solves the problem that the weight of the traditional integral battery is usually concentrated at one point, but also effectively balances the weight distribution through a split arrangement, optimizes the space share and weight share of the battery, and greatly improves the stability and flexibility of the drone.

[0030] The drone adopts the model of frame battery conformal structure, combined with the hollow structure of the blade protection cover, the four protrusions extending from the four corners of the drone body, and the distributed arrangement of four special-shaped batteries, so that the weight distribution is more uniform and reasonable. At the same time, it effectively reduces the overall weight, which is conducive to reducing energy consumption and significantly improves the endurance of the drone, bringing great convenience for long-distance inspections and operations in complex environments. At the same time, it reduces the frequency of charging or battery replacement and effectively improves the operation efficiency. At the same time, the battery is installed inside the frame, which saves a lot of sensor installation space for the drone body. Various types of sensors can be flexibly arranged on the drone body according to different working conditions, which helps to meet diverse mission requirements. Such an innovative design not only improves the performance and efficiency of the drone, but also expands a broader space for the application of drones in different fields.

[0031] like Figure 6 As shown, the present invention also provides a control method for a drone with a frame-battery conformal architecture, using a drone with a frame-battery conformal architecture, comprising the following steps: Step 1: Four special-shaped batteries 8 are monitored respectively by four monitoring components to obtain temperature signals, current signals and voltage signals of the special-shaped batteries 8 respectively, and the temperature signals, current signals and voltage signals are sent to the data acquisition module. The data acquisition module samples the temperature signals, current signals and voltage signals according to the set sampling frequency and sends them to the flight control platform 10; the flight control platform 10 obtains temperature data, current data and voltage data according to the temperature signals, current signals and voltage signals respectively; Step 2: The flight control platform 10 uses a preset algorithm to combine the obtained temperature data, current data and voltage data to judge the health state (SOH) of the battery. When the health state of each special-shaped battery 8 is within the normal range, step 3 is executed. When the health state of any special-shaped battery 8 is not within the normal range, step 4 is directly executed. Step 3: Switching of the UAV working mode is realized; S31: Estimating the state of charge (SOC); the flight control platform 10 sets the rated SOC according to the current flight altitude, flight distance and current health status ; S32: Obtain the state of charge value of the special-shaped battery 8 using the ampere-hour integration method according to formula (1) , and and For comparison, > When the high performance mode condition is met, ≦ When the high-performance mode condition is not met, it is determined that the high-performance mode condition cannot be met. When the four special-shaped batteries 8 all meet the high-performance mode condition, the four MOS tubes 602 are controlled to perform action 1 (turned on or turned on) at the same time, so that the positive poles of the four special-shaped batteries 8 are connected together, and at the same time, the negative poles of the four special-shaped batteries 8 are also connected together, and the total current of the battery pack is increased by connecting the four special-shaped batteries 8 in parallel, so that the UAV works in the high-performance mode. At the same time, the flight control platform 10 sends a prompt message of meeting the high-performance mode to the control terminal through the wireless communication module; when any special-shaped battery 8 cannot meet the high-performance mode condition, the four MOS tubes 602 are controlled to perform action 2 (turned on or turned off) at the same time, so that the positive and negative poles of the four special-shaped batteries 8 are connected in sequence, and the total capacity of the battery pack is increased by connecting the four special-shaped batteries 8 in series, so that the UAV works in the balanced mode. At the same time, the flight control platform 10 sends a balanced mode prompt message to the control terminal through the wireless communication module; In this process, the flight control platform 10 uses a preset algorithm combined with the real-time temperature data, current data and voltage data to judge the health status of the special-shaped battery 8. When the health status of each special-shaped battery 8 is within the normal range, the current working mode is maintained. When the health status of any special-shaped battery 8 is not within the normal range, step 4 is directly executed; (1); In the formula, is the initial state of charge of the battery, is the rated capacity of the battery, is the charge and discharge current of the battery; Step 4: End the control process. At the same time, the flight control platform 10 sends an abnormal power status prompt message to the control terminal through the wireless communication module, so that the operator can control the drone to return in time.

[0032] As a preferred embodiment, the flight control platform 10 is equipped with an inertial navigation unit, a GPS positioning sensor, and a barometer.

[0033] In order to provide more flexible and diverse control options, the operator can easily adjust the working mode of the UAV according to actual conditions and specific needs to meet the flight requirements in different mission scenarios. In step three, in S32, when the four special-shaped batteries 8 all meet the high-performance mode conditions, the flight control platform 10 sends a prompt message to the control terminal through the wireless communication module to open the manual control window, so that the operator can send a working mode switching instruction to the flight control platform 10 through the control terminal. When any special-shaped battery 8 does not meet the high-performance mode conditions, the flight control platform 10 sends a prompt message to the control terminal to close the manual control window through the wireless communication module. In this way, unexpected accidents caused by human misoperation can be avoided.

[0034] In the present invention, temperature data, current data and voltage data are obtained according to the battery temperature signal, current signal and voltage signal, and then the health status is judged based on the temperature data, current data and voltage data. It can be judged whether the battery is in a normal state based on the battery health status. When it is in a normal state, it can be convenient to switch the working mode of the drone. When it is in an abnormal state, it can timely send out abnormal power state prompt information, so as to facilitate the operator to take effective countermeasures in time. The SOC estimation of the battery state of charge is carried out by the ampere-hour integration method, and the state of charge of the battery can be obtained more accurately and quickly, and then it can be quickly and accurately judged according to the state of charge of the battery that it meets the high-performance or balanced working mode. When all four batteries meet the high-performance mode conditions, the four MOS tubes are controlled to perform action one at the same time, so that the four special-shaped batteries are connected in parallel, and the current supply can be effectively increased by parallel connection, so that reliable protection can be provided for the drone to work in the high-performance mode. When any battery does not meet the high-performance mode conditions, the four MOS tubes are controlled to perform action two at the same time, so that the four special-shaped batteries are connected in series, and the capacity of the battery pack can be effectively increased by series connection, so as to provide reliable protection for the long-term operation of the drone.

[0035] The implementation process of this method is simple and highly intelligent. It fully considers the health status of each battery and can intelligently determine whether multiple batteries can meet the high-performance working mode or the balanced working mode according to different charge states. It can also conveniently switch between parallel or series connection modes of multiple batteries by controlling multiple MOS tubes, thereby achieving efficient and precise control of the UAV working mode, ensuring the operating efficiency of the UAV, and at the same time, ensuring the stability and reliability of the UAV during operation.

Claims

1. A drone with a frame-battery conformal architecture, comprising a frame (2), characterized in that: It also includes a special-shaped battery (8), a curved battery cover (9), a power supply circuit board (6), a drone body (1), a drive component and a flight control platform (10); A mounting groove (203) is provided in the central area of ​​the upper end of the frame (2), and four annular blade protection covers (201) are integrally formed and fixedly connected to the four sides thereof; four arc-shaped battery cavities (204) are respectively provided on the inner sides of the four blade protection covers (201), and the inner sides of the four arc-shaped battery cavities (204) are respectively connected to the mounting groove (203) through four connecting channels provided inside the frame (2); Four special-shaped batteries (8) are respectively installed in four arc-shaped battery cavities (204); Four arc-shaped battery covers (9) are respectively encapsulated at the opening ends of the four arc-shaped battery cavities (204); The power supply circuit board (6) is mounted at the bottom of the mounting groove (203), and two connecting electrodes (601) are mounted in parallel on its upper end, and four groups of receiving electrodes (604) are connected around it; the four groups of receiving electrodes (604) are connected to four special-shaped batteries (8) via four groups of power lines (7) respectively inserted into four connecting channels; The four corners of the drone body (1) protrude and extend outward in all directions, and four protrusions (102) are formed at positions corresponding to the four blade protection covers (201); an interface module (104) is installed at the center of the lower end of the drone body (1); a driving circuit board is provided inside the interface module (104); two electrode interfaces (101) are provided at the lower end of the interface module (104) at positions corresponding to the two connection motors (601); the two electrode interfaces (101) are connected to the driving circuit board; the drone body (1) is fixedly connected to the frame (2), and the interface module (104) is inserted into the installation groove (203); at the same time, the two electrode interfaces (101) are correspondingly mounted on the outside of the two connection electrodes (601); Four drive assemblies are respectively arranged on the inner sides of four blade protection covers (201), the drive assemblies comprising a drive motor (4) and a blade (5), the drive motor (4) being fixedly connected to the lower end of the protrusion (102), the power supply cable on the drive motor (4) being connected to the drive circuit board, and the blade (5) being fixedly sleeved on the output shaft of the drive motor (4); The flight control platform (10) is fixedly mounted in the central area of ​​the upper end of the drone body (1) and is connected to the drive circuit board.

2. The drone with a frame-battery conformal architecture according to claim 1, characterized in that: Between two adjacent protrusions (102), an arc-shaped depression is formed toward the center of the drone body (1) to form an arc-shaped depression (103); the drone body (1) is provided with four drain holes (105) on the inner sides of the four arc-shaped depressions (103).

3. The drone with a frame-battery conformal architecture according to claim 2, characterized in that: It also comprises mechanical buckles (3), wherein a pair of mechanical buckles (3) are relatively fixedly connected to the upper end of the frame (2) and are relatively buckled on the outer sides of a pair of arc-shaped recesses (103).

4. A drone with a frame-battery conformal architecture according to claim 1, characterized in that: The power supply circuit board (6) is connected to a BMS control circuit (603) and four MOS tubes (602), and the BMS control circuit controls four special-shaped batteries (8) through the four MOS tubes (602).

5. The drone with a frame-battery conformal architecture according to claim 1 or 2, characterized in that: An accommodating groove is provided at the centre of the upper end of the drone body (1), and a mounting boss is fixedly connected to the lower end of the flight control platform (10) at a position corresponding to the accommodating groove, and the mounting boss is fixedly inserted into the accommodating groove.

6. The drone with a frame-battery conformal architecture according to claim 1 or 2, characterized in that: It also includes support frames (202), and four support frames (202) are installed at the lower end of the frame (2) in a rectangular shape.

7. The drone with a frame-battery conformal architecture according to claim 1, characterized in that: The special-shaped battery (8) is C-shaped.

8. The drone with a frame-battery conformal architecture according to claim 1, characterized in that: It also includes monitoring components, wherein four monitoring components are respectively installed in four arc-shaped battery cavities (204) and are all connected to the flight control platform (10); the monitoring components include a temperature sensor, a current sensor and a voltage sensor, the temperature sensor is closely connected to the surface of the special-shaped battery (8) and is used to collect temperature signals in real time, the current sensor is connected to the special-shaped battery (8) and is used to collect current signals in real time, and the voltage sensor is connected to the special-shaped battery (8) and is used to collect voltage signals in real time.

9. A control method for a drone with a frame-battery conformal structure, using a drone with a frame-battery conformal structure as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: four monitoring components are used to monitor four special-shaped batteries (8) respectively, and temperature signals, current signals and voltage signals of the special-shaped batteries (8) are obtained respectively, and the temperature signals, current signals and voltage signals are sent to a data acquisition module. The data acquisition module samples the temperature signals, current signals and voltage signals according to a set sampling frequency and sends them to a flight control platform (10); the flight control platform (10) obtains temperature data, current data and voltage data respectively according to the temperature signals, current signals and voltage signals; Step 2: The flight control platform (10) uses a preset algorithm in combination with the obtained temperature data, current data and voltage data to judge the health status of the special-shaped batteries (8); when the health status of each special-shaped battery (8) is within a normal range, step 3 is executed; when the health status of any special-shaped battery (8) is not within the normal range, step 4 is directly executed; Step 3: Switching of the working mode of the drone is realized; S31: The flight control platform (10) sets the rated charge state according to the current flight altitude, flight distance and current health status ; S32: according to formula (1), the current state of charge value of the special-shaped battery (8) is obtained by using the ampere-hour integration method , and and For comparison, > When the high performance mode condition is met, ≦ When the high-performance mode condition is not satisfied, it is determined that the high-performance mode condition cannot be satisfied. When the four special-shaped batteries (8) all satisfy the high-performance mode condition, the four MOS tubes (602) are controlled to simultaneously perform action 1, so that the positive electrodes of the four special-shaped batteries (8) are connected together. At the same time, the negative electrodes of the four special-shaped batteries (8) are also connected together. The total current of the battery pack is increased by connecting the four special-shaped batteries (8) in parallel, so that the UAV operates in the high-performance mode. At the same time, the flight control platform (10) sends a high-performance mode prompt message to the control terminal through the wireless communication module. When any special-shaped battery (8) cannot satisfy the high-performance mode condition, the four MOS tubes (602) are controlled to simultaneously perform action 2, so that the positive and negative electrodes of the four special-shaped batteries (8) are connected in sequence. The total capacity of the battery pack is increased by connecting the four special-shaped batteries (8) in series, so that the UAV operates in the balanced mode. At the same time, the flight control platform (10) sends a balanced mode prompt message to the control terminal through the wireless communication module. During this process, the flight control platform (10) uses a preset algorithm in combination with the real-time temperature data, current data and voltage data to judge the health status of the special-shaped battery (8); when the health status of each special-shaped battery (8) is within a normal range, the current working mode is maintained; when the health status of any special-shaped battery (8) is not within the normal range, step four is directly executed; （1）； In the formula, is the initial state of charge of the battery, is the rated capacity of the battery, is the charge and discharge current of the battery; Step 4: End the control process. At the same time, the flight control platform (10) sends a power abnormality status prompt message to the control terminal through the wireless communication module, so that the operator can control the drone to return in time.

10. The control method of a drone with a frame-battery conformal architecture according to claim 8, characterized in that: In step three, S32, when the four special-shaped batteries (8) all meet the high-performance mode condition, the flight control platform (10) sends a prompt message to the control terminal through the wireless communication module to open the manual control window, so that the operator can send a working mode switching instruction to the flight control platform (10) through the control terminal. When any special-shaped battery (8) does not meet the high-performance mode condition, the flight control platform (10) sends a prompt message to the control terminal through the wireless communication module to close the manual control window.

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