A UAV with a conformal rack-mount battery architecture and its control method

Abstract

A UAV with a conformal rack-mount battery architecture and its control method are disclosed. The UAV has a mounting groove at the upper end of the rack, around which four propeller guards are connected. An arc-shaped battery cavity is formed inside the propeller guard, and irregularly shaped batteries are installed within the arc-shaped battery cavity. The lower end of the UAV body is connected to the mounting groove via an interface module, and drive components are installed on the protrusions at its four corners inside the propeller guards. A power supply circuit board is installed in the mounting groove and connected to the four irregularly shaped batteries. A drive circuit board is installed in the interface module and connected to the four drive components. The method involves monitoring the health status of the irregularly shaped batteries and switching between a high-performance mode and a balancing mode based on the state of charge of the irregularly shaped batteries. This UAV, through its conformal rack-mount battery architecture, effectively reduces overall weight and saves installation space. This method can automatically and efficiently switch the UAV's operating modes, ensuring the UAV's operational efficiency.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically relating to a UAV with a conformal frame-battery architecture and its control method. Background Technology

[0002] Currently, drones are widely used in many fields such as meteorological monitoring, land and resources law enforcement, environmental protection, remote sensing aerial photography, earthquake relief, and express delivery. With the continuous development of the Internet of Things (IoT), drones are increasingly utilizing IoT technology. To achieve better control over drone flight, lightweight design and the application of multiple sensors are imperative. Lightweight design effectively reduces energy consumption and significantly improves endurance and maneuverability, enabling drones to perform tasks more flexibly and efficiently. The synergistic effect of multiple sensors can provide drones with more accurate environmental perception, positioning and navigation, and status monitoring. Traditional drones have a small fuselage size, but the battery volume and weight account for a large proportion, resulting in low endurance and reduced installation space, which severely limits sensor installation. This restricts the operational efficiency of drones and is also detrimental to meeting diverse mission requirements. Summary of the Invention

[0003] To address the problems existing in the prior art, this invention provides a UAV with a conformal rack-battery architecture and its control method. This UAV, through its conformal rack-battery architecture, effectively reduces overall weight and energy consumption, saves installation space, improves its endurance, and better meets diverse mission requirements. The method is simple to implement and highly intelligent, automatically and accurately switching between UAV operating modes, ensuring operational efficiency, stability, and reliability during operation.

[0004] To achieve the above objectives, the present invention provides a UAV with a conformal frame battery architecture, including a frame, an irregularly shaped battery, an arc-shaped battery cover, a power supply circuit board, a UAV body, a drive assembly, and a flight control platform;

[0005] The upper center area of ​​the frame is provided with a mounting groove, and four ring-shaped propeller protective covers are integrally formed and fixedly connected around it; four arc-shaped battery cavities are respectively provided on the inner side of the four propeller protective covers, and the inner side of the four arc-shaped battery cavities are respectively connected to the mounting groove through four connecting channels opened inside the frame.

[0006] The four irregularly shaped batteries are respectively installed in four arc-shaped battery cavities;

[0007] Four arc-shaped battery covers are respectively encapsulated at the opening ends of four arc-shaped battery cavities;

[0008] The power supply circuit board is installed at the bottom of the mounting groove, with two connecting electrodes installed parallel to each other at its upper end, and four sets of receiving electrodes connected around it; the four sets of receiving electrodes are connected to four irregularly shaped batteries through four sets of power lines that pass through four connecting channels respectively.

[0009] The four corners of the drone body protrude outwards and form four protrusions at the positions corresponding to the four propeller protective covers. An interface module is installed at the center of the lower end of the drone body. The interface module has a drive circuit board inside, and two electrode interfaces are opened at the lower end of the module at the positions corresponding to the two connecting motors. The two electrode interfaces are connected to the drive circuit board. The drone body is fixedly connected to the frame, and the interface module is inserted into the mounting groove. At the same time, the two electrode interfaces are fitted onto the outside of the two connecting electrodes.

[0010] Four drive components are respectively set inside the four blade protective covers. Each drive component includes a drive motor and blades. The drive motor is fixedly connected to the lower end of the protrusion, and the power supply cable on the drive motor is connected to the drive circuit board. The blades are fixedly mounted on the output shaft of the drive motor.

[0011] The flight control platform is fixedly installed in the central area of ​​the upper part of the UAV body and connected to the drive circuit board.

[0012] Furthermore, in order to effectively reduce the weight of the drone host, two adjacent protrusions are recessed in an arc shape towards the center of the drone host to form an arc-shaped recess; the drone host has four drainage holes on the inner side of the four arc-shaped recesses.

[0013] Furthermore, in order to quickly connect and disconnect the drone body from the frame, mechanical clips are also included. A pair of mechanical clips are fixedly connected to the upper end of the frame and are fastened to the outer side of a pair of arc-shaped recesses.

[0014] Furthermore, to efficiently manage and protect the four irregularly shaped batteries, a BMS control circuit and four MOSFETs are connected to the power supply circuit board. The BMS control circuit controls each of the four irregularly shaped batteries through the four MOSFETs. This combination of the BMS control circuit and the four MOSFETs facilitates state detection, intelligent series-parallel control, and protection control of the irregularly shaped batteries. It also helps ensure convenient and reliable switching between the drone's balanced mode and performance mode.

[0015] Furthermore, in order to facilitate a quick and reliable connection between the UAV body and the flight control platform, and to provide more installation space for different types of sensors by utilizing the receiving groove, so as to provide a convenient basis for effectively expanding the functions of the UAV, a receiving groove is provided at the center of the upper end of the UAV body, and a mounting boss is fixedly connected to the lower end of the flight control platform at the position corresponding to the receiving groove, and the mounting boss is fixedly inserted into the receiving groove.

[0016] Furthermore, to provide support and protection for the fuselage during takeoff and landing, four support frames are included, mounted in a rectangular pattern at the lower end of the frame. These four support frames stably support the drone, effectively ensuring stability and safety during takeoff and landing, and also ensuring stable parking for the drone in various terrain conditions.

[0017] Furthermore, in order to effectively reduce the space occupied by the battery, and at the same time, in order to effectively adapt to the arc-shaped installation space formed inside the propeller protective cover, the irregularly shaped battery is C-shaped.

[0018] Furthermore, in order to monitor the temperature, current, and voltage signals of each irregularly shaped battery in real time, a monitoring component is also included. The four monitoring components are respectively installed in the 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 attached to the irregularly shaped battery and is used to collect the current signal in real time. The voltage sensor is connected to the irregularly shaped battery and is used to collect the voltage signal in real time.

[0019] In this invention, four annular propeller guards are integrally formed and fixedly connected to the frame. Simultaneously, four arc-shaped battery cavities are formed on the inner sides of each of the four propeller guards. This design effectively reduces the overall weight of the frame through the hollow structure of the propeller guards. Furthermore, the four propeller guards provide effective protection for four irregularly shaped batteries, reducing the risk of accidental battery damage. Additionally, it facilitates the installation of the four irregularly shaped batteries in the four arc-shaped battery cavities, allowing the batteries to be embedded inside the propeller guards on the frame. This achieves a conformal battery architecture for the frame, significantly reducing the installation space occupied by the batteries. This ensures the lightweight design of the drone and creates favorable conditions for installing various sensors on the drone body through the saved installation space, thereby promoting the rapid development of drones towards greater intelligence. Because the batteries are installed inside the frame rather than on the drone body, a significant amount of installation space is freed up on the drone body. This increases the space available for installing other sensors, facilitating the deployment of more sensors and expanding the drone's application range, thus improving its adaptability and functionality in different scenarios. A mounting recess is located in the center of the upper part of the frame, and a power supply circuit board is installed at the bottom of this recess. Four arc-shaped battery cavities are connected to the mounting recess in the center of the frame via four connecting channels inside the frame. This allows the power supply circuit board to connect to the four irregularly shaped batteries via four sets of power lines passing through the four connecting channels, ensuring a reliable power supply. Four arc-shaped battery covers are sealed at the openings of the four arc-shaped battery cavities, effectively protecting the batteries and preventing them from detaching. Two parallel connection electrodes are mounted on the upper part of the power supply circuit board, facilitating quick and reliable connection to the interface module via a plug-in method. The four corners of the drone body extend outwards to form four protrusions, ensuring no interference between the propeller blades and further reducing the weight of the drone body. These four protrusions correspond to the inner sides of four propeller blade protective covers, with drive components mounted below them. This allows the four propeller blade protective covers to effectively protect the four drive components, reducing the risk of accidental propeller damage. An interface module is mounted at the lower center of the drone body, with two spaced-apart electrode interfaces. During the connection between the drone body and the frame, the interface module is directly embedded in the mounting groove on the frame, and the two electrode interfaces and two connecting electrodes can be directly plugged in, ensuring a stable and reliable connection between the power supply circuit board and the interface module.Meanwhile, this plug-in connection method, combined with the separate structural design, makes it easier to separate the frame from the drone body. Since the irregularly shaped batteries are installed inside the propeller guards, battery replacement and maintenance are convenient after the drone body is separated from the frame, effectively shortening operation time. This provides new technical ideas and a foundation for subsequent fully automated drone research; for example, an automatic battery replacement device can be designed to further improve battery replacement and maintenance efficiency. A drive circuit board is placed inside the interface module, connecting the drive motor circuit to the drive components. This not only facilitates control of the drive components' movements via the drive circuit board but also allows for convenient power supply to the drive components after the power supply circuit board is connected to the drive circuit board via two connection electrodes and two electrode interfaces. Using four irregularly shaped batteries, each embedded in one of the four propeller guards, as the drone's power source completely overturns the traditional drone battery installation method. This not only effectively solves the problem that the weight of traditional integral batteries is usually concentrated in one point but also effectively balances the weight distribution through a separate arrangement, optimizing the battery's space and weight ratio, thus significantly improving the drone's stability and flexibility.

[0020] This drone employs a conformal frame-battery architecture, combined with a hollow propeller shield, four protruding sections at the four corners of the drone body, and a distributed arrangement of four irregularly shaped batteries. This results in a more even and rational weight distribution, effectively reducing overall weight, decreasing energy consumption, and significantly improving the drone's endurance. This greatly facilitates long-distance inspections and operations in complex environments, while also reducing the frequency of charging or battery swapping, effectively improving operational efficiency. Furthermore, by installing the batteries internally within the frame, significant space is saved for sensor installation on the drone body. Various types of sensors can be flexibly deployed on the drone body to meet diverse mission requirements. This innovative design not only improves the drone's performance and efficiency but also expands its application scope across different fields.

[0021] This invention also provides a control method for a UAV with a rack-and-battery conformal architecture, comprising the following steps:

[0022] Step 1: Four monitoring components monitor the four irregularly shaped batteries respectively, obtaining temperature, current, and voltage signals from each battery. These signals are then sent to the data acquisition module, which samples them at a set sampling frequency and sends them to the flight control platform. The flight control platform then obtains the temperature, current, and voltage data based on these signals.

[0023] Step 2: The flight control platform uses a preset algorithm to combine the obtained temperature, current and voltage data to judge the health status of the irregularly shaped batteries. When the health status of each irregularly shaped battery is within the normal range, proceed to step 3. When the health status of any irregularly shaped battery is outside the normal range, proceed directly to step 4.

[0024] Step 3: Switch 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. ;

[0025] S32: The state of charge of the current irregular battery (8) is obtained by using the ampere-hour integration method according to formula (1). and will and When comparing, > When the conditions for high-performance mode are met, it is determined that the conditions are met. ≦ When the conditions for high performance mode cannot be met, if all four irregularly shaped batteries (8) meet the conditions for high performance mode, control the four MOS transistors (602) to execute action one at the same time, so that the positive terminals of the four irregularly shaped batteries (8) are connected together, and at the same time, the negative terminals of the four irregularly shaped batteries (8) are also connected together. By connecting the four irregularly shaped batteries (8) in parallel, the total current of the battery pack is increased, so that the UAV works in high performance mode. At the same time, the flight control platform (10) sends a prompt message that the high performance mode is met to the control terminal through the wireless communication module. If any one of the irregularly shaped batteries (8) cannot meet the conditions for high performance mode, control the four MOS transistors (602) to execute action two at the same time, so that the positive and negative terminals of the four irregularly shaped batteries (8) are connected in sequence. By connecting the four irregularly shaped batteries (8) in series, the total capacity of the battery pack is increased, so that the UAV works in balanced mode. At the same time, the flight control platform (10) sends a prompt message that the balanced mode is met to the control terminal through the wireless communication module.

[0026] During this process, the flight control platform (10) uses a preset algorithm to combine the real-time temperature data, current data and voltage data to judge the health status of the irregular battery (8). When the health status of each irregular battery (8) is within the normal range, the current working mode is maintained. When the health status of any irregular battery (8) is not within the normal range, step four is executed directly.

[0027] (1);

[0028] In the formula, It is the initial state of charge of the battery. It is the battery's rated capacity. This is the charging and discharging 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.

[0029] Furthermore, in order to provide more flexible and diverse control options, allowing operators to conveniently adjust the drone's operating mode according to actual conditions and specific needs to meet flight requirements in different mission scenarios, in step S32 of step three, when all four irregularly shaped batteries meet the high-performance mode conditions, the flight control platform sends a prompt message to the control terminal via the wireless communication module to open the manual control window, enabling the operator to send a working mode switching command to the flight control platform via the control terminal. When any irregularly shaped battery does not meet the high-performance mode conditions, the flight control platform sends a prompt message to the control terminal via the wireless communication module to close the manual control window.

[0030] In this invention, temperature, current, and voltage data are obtained based on battery temperature, current, and voltage signals. The battery's health status is then assessed based on this data, allowing the operator to determine if the battery is in a normal state. When in a normal state, switching between drone operating modes is convenient; when in an abnormal state, a power status alert is promptly issued, enabling the operator to take timely and effective countermeasures. The ampere-hour integral method is used to estimate the battery's state of charge (SOC), providing a relatively accurate and rapid determination of whether the battery meets the high-performance or balanced operating mode requirements. When all four batteries meet the high-performance mode conditions, four MOSFETs are simultaneously executed in action one, connecting the four irregularly shaped batteries in parallel. This parallel connection effectively increases the current supply, providing reliable support for the drone's operation in high-performance mode. When any one battery does not meet the high-performance mode conditions, four MOSFETs are simultaneously executed in action two, connecting the four irregularly shaped batteries in series. This series connection effectively increases the battery pack's capacity, providing reliable support for the drone's long-term operation.

[0031] This method is simple to implement 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 states of charge. It can also conveniently switch the parallel or series connection mode between multiple batteries by controlling multiple MOSFETs, thus achieving efficient and precise control of the UAV's working mode, ensuring the UAV's operational efficiency, and at the same time, ensuring the stability and reliability of the UAV during operation. Attached Figure Description

[0032] Figure 1This is a schematic diagram of the structure of the UAV in this invention;

[0033] Figure 2 This is a schematic diagram of the main body of the drone in this invention;

[0034] Figure 3 This is a schematic diagram of the frame structure in this invention;

[0035] Figure 4 This is a schematic diagram showing the connection status between the power supply circuit board and the four irregularly shaped batteries in this invention;

[0036] Figure 5 This is a block diagram illustrating the connection principle between the BMS control circuit and the irregularly shaped battery via a MOS transistor in this invention.

[0037] Figure 6 This is a flowchart of the control method in this invention.

[0038] In the diagram: 1. UAV body, 101. Electrode interface, 102. Protrusion, 103. Arc-shaped recess, 104. Interface module, 105. Hole; 2. Frame, 201. Propeller protective cover, 202. Support frame, 203. Mounting groove, 204. Arc-shaped battery cavity; 3. Mechanical buckle; 4. Drive motor; 5. Propeller blade; 6. Power supply circuit board, 601. Connecting electrode, 602. MOSFET, 603. BMS control circuit, 604. Receiving electrode; 7. Power cable; 8. Irregularly shaped battery; 9. Arc-shaped battery cover; 10. Flight control platform. Detailed Implementation

[0039] The invention will now be further described with reference to the accompanying drawings.

[0040] like Figures 1 to 5 As shown, the present invention provides a UAV with a conformal frame battery architecture, including a frame 2, an irregularly shaped battery 8, an arc-shaped battery cover 9, a power supply circuit board 6, a UAV body 1, a drive assembly and a flight control platform 10;

[0041] The upper center area of ​​the frame 2 is provided with a mounting groove 203, and four ring-shaped blade protective covers 201 are integrally formed and fixedly connected around it; four arc-shaped battery chambers 204 are respectively provided on the inner side of the four blade protective covers 201, and the inner side of the four arc-shaped battery chambers 204 are respectively connected to the mounting groove 203 through four connecting channels opened inside the frame 2.

[0042] Four irregularly shaped batteries 8 are respectively installed in four arc-shaped battery cavities 204; as a further preferred option, the positive and negative tabs of the irregularly shaped batteries 8 are located at the position of the connecting channel. When the irregularly shaped batteries 8 are installed in close fit in the arc-shaped battery cavity 204, their positive and negative tabs are inserted into the connecting channel, so that the electrical connection between the power supply circuit board 6 and the irregularly shaped batteries 8 can be quickly and conveniently established in the future.

[0043] Four arc-shaped battery covers 9 are respectively encapsulated at the opening ends of four arc-shaped battery cavities 204;

[0044] The power supply circuit board 6 is installed at the bottom of the mounting groove 203, and two connecting electrodes 601 are installed parallel to each other at its upper end. Four sets of receiving electrodes 604 are connected around its perimeter. The four sets of receiving electrodes 604 are connected to four irregularly shaped batteries 8 through four sets of power lines 7 that pass through four connecting channels respectively.

[0045] The four corners of the UAV body 1 extend outwards and form four protrusions 102 at the positions corresponding to the four propeller protective covers 201. An interface module 104 is installed at the lower center of the UAV body 1. The shape and size of the interface module 104 are adapted to the mounting groove 203. The interface module 104 has a drive circuit board inside, and two electrode interfaces 101 are opened at the lower end corresponding to the two connecting motors 601. The two electrode interfaces 101 are connected to the drive circuit board. The UAV 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 onto the outside of the two connecting electrodes 601.

[0046] As a preferred embodiment, the main body 1 of the drone can be roughly square, with a non-linear structure between its two ends, and its four ends located at the four corners of the same square;

[0047] Four drive components are respectively disposed inside the four blade protective covers 201. Each drive component includes a drive motor 4 and a blade 5. The drive motor 4 is fixedly connected to the lower end of the protrusion 102, and the power supply cable on the drive motor 4 is connected to the drive circuit board. The blade 5 is fixedly mounted on the output shaft of the drive motor 4.

[0048] The flight control platform 10 is fixedly installed in the central area of ​​the upper part of the UAV body 1 and is connected to the drive circuit board.

[0049] In order to effectively reduce the weight of the drone host, two adjacent protrusions 102 are recessed in an arc shape towards the center of the drone body 1 to form an arc-shaped recess 103; the drone body 1 has four drainage holes 105 on the inner side of the four arc-shaped recesses 103.

[0050] In order to enable quick connection and disconnection of the drone body from the frame, mechanical buckles 3 are also included. A pair of mechanical buckles 3 are fixedly connected to the upper end of the frame 2 and are fastened to the outer side of a pair of arc-shaped recesses 103.

[0051] To efficiently manage and protect the four irregularly shaped batteries, the power supply circuit board 6 is connected to a BMS (Battery Management System) control circuit 603 and four MOSFETs 602. The BMS control circuit connects the four MOSFETs 602 to the four irregularly shaped batteries 8. The MOSFETs 602 act as electronic switches. When the drone needs to switch to equalization mode (i.e., during series connection), the corresponding MOSFETs 602 can simultaneously execute action one, connecting the positive and negative terminals of the four irregularly shaped batteries 8 sequentially, thus achieving series connection. This series connection increases the total capacity of the battery pack, providing more sustained power support for the drone's operation in equalization mode. When the drone needs to switch to performance mode, the corresponding MOSFETs 602 can simultaneously execute action two, connecting the positive and negative terminals of the four irregularly shaped batteries 8 together, achieving parallel connection. In parallel connection, the total capacity of the battery pack is increased, providing more powerful performance for the drone's operation in performance mode. In this way, the cooperation between the BMS control circuit and the four MOSFETs facilitates the state detection, intelligent series and parallel control, and protection control of irregularly shaped batteries. It also helps ensure reliable switching between equalization and performance modes for the drone. Based on the BMS control circuit, real-time monitoring and comprehensive protection of the battery state are easily achieved, enabling multiple important functions such as overcharge protection, over-discharge protection, overcurrent protection, and short-circuit protection. Furthermore, by equalizing the charging process, the state of individual battery cells is balanced, effectively extending battery life. This ensures safe and reliable operation of the drone in different modes, providing strong support for the drone's stable performance and long service life.

[0052] In order to facilitate a quick and reliable connection between the UAV body and the flight control platform, and to provide more installation space for different types of sensors by utilizing the receiving groove, so as to provide a convenient basis for effectively expanding the functions of the UAV, the upper center of the UAV body 1 is provided with a receiving groove, and the lower end of the flight control platform 10 is fixedly connected to a mounting boss at the position corresponding to the receiving groove, and the mounting boss is fixedly inserted into the receiving groove.

[0053] To provide support and protection for the fuselage during takeoff and landing, four support frames 202 are also included, which are rectangularly mounted on the lower end of the frame 2. These four support frames stably support the drone, effectively ensuring stability and safety during takeoff and landing, and also ensuring that the drone can be stably parked in various terrain conditions.

[0054] In order to effectively reduce the space occupied by the battery, and in order to effectively adapt to the arc-shaped installation space formed inside the propeller protective cover, the irregularly shaped battery 8 is C-shaped.

[0055] To enable real-time monitoring of the temperature, current, and voltage signals of each irregularly shaped battery, a monitoring component is also included. Four monitoring components are installed in 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 attached to the surface of the irregularly shaped battery 8 to collect temperature signals in real time. The current sensor is connected to the irregularly shaped battery 8 to collect current signals in real time. The voltage sensor is connected to the irregularly shaped battery 8 to collect voltage signals in real time.

[0056] In this invention, four annular propeller guards are integrally formed and fixedly connected to the frame. Simultaneously, four arc-shaped battery cavities are formed on the inner sides of each of the four propeller guards. This design effectively reduces the overall weight of the frame through the hollow structure of the propeller guards. Furthermore, the four propeller guards provide effective protection for four irregularly shaped batteries, reducing the risk of accidental battery damage. Additionally, it facilitates the installation of the four irregularly shaped batteries in the four arc-shaped battery cavities, allowing the batteries to be embedded inside the propeller guards on the frame. This achieves a conformal battery architecture for the frame, significantly reducing the installation space occupied by the batteries. This ensures the lightweight design of the drone and creates favorable conditions for installing various sensors on the drone body through the saved installation space, thereby promoting the rapid development of drones towards greater intelligence. Because the batteries are installed inside the frame rather than on the drone body, a significant amount of installation space is freed up on the drone body. This increases the space available for installing other sensors, facilitating the deployment of more sensors and expanding the drone's application range, thus improving its adaptability and functionality in different scenarios. A mounting recess is located in the center of the upper part of the frame, and a power supply circuit board is installed at the bottom of this recess. Four arc-shaped battery cavities are connected to the mounting recess in the center of the frame via four connecting channels inside the frame. This allows the power supply circuit board to connect to the four irregularly shaped batteries via four sets of power lines passing through the four connecting channels, ensuring a reliable power supply. Four arc-shaped battery covers are sealed at the openings of the four arc-shaped battery cavities, effectively protecting the batteries and preventing them from detaching. Two parallel connection electrodes are mounted on the upper part of the power supply circuit board, facilitating quick and reliable connection to the interface module via a plug-in method. The four corners of the drone body extend outwards to form four protrusions, ensuring no interference between the propeller blades and further reducing the weight of the drone body. These four protrusions correspond to the inner sides of four propeller blade protective covers, with drive components mounted below them. This allows the four propeller blade protective covers to effectively protect the four drive components, reducing the risk of accidental propeller damage. An interface module is mounted at the lower center of the drone body, with two spaced-apart electrode interfaces. During the connection between the drone body and the frame, the interface module is directly embedded in the mounting groove on the frame, and the two electrode interfaces and two connecting electrodes can be directly plugged in, ensuring a stable and reliable connection between the power supply circuit board and the interface module.Meanwhile, this plug-in connection method, combined with the separate structural design, makes it easier to separate the frame from the drone body. Since the irregularly shaped batteries are installed inside the propeller guards, battery replacement and maintenance are convenient after the drone body is separated from the frame, effectively shortening operation time. This provides new technical ideas and a foundation for subsequent fully automated drone research; for example, an automatic battery replacement device can be designed to further improve battery replacement and maintenance efficiency. A drive circuit board is placed inside the interface module, connecting the drive motor circuit to the drive components. This not only facilitates control of the drive components' movements via the drive circuit board but also allows for convenient power supply to the drive components after the power supply circuit board is connected to the drive circuit board via two connection electrodes and two electrode interfaces. Using four irregularly shaped batteries, each embedded in one of the four propeller guards, as the drone's power source completely overturns the traditional drone battery installation method. This not only effectively solves the problem that the weight of traditional integral batteries is usually concentrated in one point but also effectively balances the weight distribution through a separate arrangement, optimizing the battery's space and weight ratio, thus significantly improving the drone's stability and flexibility.

[0057] This drone employs a conformal frame-battery architecture, combined with a hollow propeller shield, four protruding sections at the four corners of the drone body, and a distributed arrangement of four irregularly shaped batteries. This results in a more even and rational weight distribution, effectively reducing overall weight, decreasing energy consumption, and significantly improving the drone's endurance. This greatly facilitates long-distance inspections and operations in complex environments, while also reducing the frequency of charging or battery swapping, effectively improving operational efficiency. Furthermore, by installing the batteries internally within the frame, significant space is saved for sensor installation on the drone body. Various types of sensors can be flexibly deployed on the drone body to meet diverse mission requirements. This innovative design not only improves the drone's performance and efficiency but also expands its application scope across different fields.

[0058] like Figure 6 As shown, the present invention also provides a control method for a UAV with a rack-and-battery conformal architecture, which includes the following steps:

[0059] Step 1: Four monitoring components monitor the four irregularly shaped batteries 8 respectively, obtaining temperature, current, and voltage signals of the batteries 8. These signals are then sent to the data acquisition module. The data acquisition module samples the temperature, current, and voltage signals according to a 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 based on the temperature, current, and voltage signals, respectively.

[0060] Step 2: The flight control platform 10 uses a preset algorithm to combine the obtained temperature data, current data, and voltage data to determine the state of health (SOH) of the battery. When the state of health of each irregularly shaped battery 8 is within the normal range, step 3 is executed. When the state of health of any irregularly shaped battery 8 is not within the normal range, step 4 is executed directly. Step 3: Implement the switching of the UAV's working mode.

[0061] S31: Estimate State of Charge (SOC); Flight control platform 10 sets the rated state of charge based on current flight altitude, flight distance, and current health status. ;

[0062] S32: The state of charge value of the irregularly shaped battery 8 is obtained by using the ampere-hour integration method according to formula (1). and will and When comparing, > When the conditions for high-performance mode are met, it is determined that the conditions are met. ≦ If the conditions for high-performance mode cannot be met, and all four irregularly shaped batteries 8 meet the conditions for high-performance mode, the four MOSFETs 602 are controlled to simultaneously perform action one (turn off or turn on), connecting the positive terminals of the four irregularly shaped batteries 8 together. At the same time, the negative terminals of the four irregularly shaped batteries 8 are also connected together. By connecting the four irregularly shaped batteries 8 in parallel, the total current of the battery pack is increased, allowing the UAV to operate in high-performance mode. Simultaneously, the flight control platform 10 sends a prompt message indicating that high-performance mode is met to the control terminal via the wireless communication module. If any one of the irregularly shaped batteries 8 fails to meet the conditions for high-performance mode, the four MOSFETs 602 are controlled to simultaneously perform action two (turn on or turn off), connecting the positive and negative terminals of the four irregularly shaped batteries 8 sequentially. By connecting the four irregularly shaped batteries 8 in series, the total capacity of the battery pack is increased, allowing the UAV to operate in balanced mode. Simultaneously, the flight control platform 10 sends a prompt message indicating balanced mode to the control terminal via the wireless communication module.

[0063] During this process, the flight control platform 10 uses a preset algorithm to combine the real-time temperature data, current data and voltage data to judge the health status of the irregular battery 8. When the health status of each irregular battery 8 is within the normal range, the current working mode is maintained. When the health status of any irregular battery 8 is not within the normal range, step four is executed directly.

[0064] (1);

[0065] In the formula, It is the initial state of charge of the battery. It is the battery's rated capacity. It is the charging and discharging current of the battery;

[0066] Step 4: End the control process. At the same time, the flight control platform 10 sends an abnormal power status prompt to the control terminal through the wireless communication module, so that the operator can control the drone to return in time.

[0067] As a preferred embodiment, the flight control platform 10 is equipped with an inertial navigation unit, a GPS positioning sensor, and a barometer.

[0068] To provide more flexible and diverse control options, allowing operators to easily adjust the drone's operating mode according to actual conditions and specific needs to meet flight requirements in different mission scenarios, in step S32 of step three, when all four irregularly shaped batteries 8 meet the high-performance mode conditions, the flight control platform 10 sends a prompt message to the control terminal via the wireless communication module to open the manual control window, enabling the operator to send a working mode switching command to the flight control platform 10 via the control terminal. When any irregularly shaped battery 8 does not meet the high-performance mode conditions, the flight control platform 10 sends a prompt message to the control terminal via the wireless communication module to close the manual control window. This avoids accidents caused by human error.

[0069] In this invention, temperature, current, and voltage data are obtained based on battery temperature, current, and voltage signals. The battery's health status is then assessed based on this data, allowing the operator to determine if the battery is in a normal state. When in a normal state, switching between drone operating modes is convenient; when in an abnormal state, a power status alert is promptly issued, enabling the operator to take timely and effective countermeasures. The ampere-hour integral method is used to estimate the battery's state of charge (SOC), providing a relatively accurate and rapid determination of whether the battery meets the high-performance or balanced operating mode requirements. When all four batteries meet the high-performance mode conditions, four MOSFETs are simultaneously executed in action one, connecting the four irregularly shaped batteries in parallel. This parallel connection effectively increases the current supply, providing reliable support for the drone's operation in high-performance mode. When any one battery does not meet the high-performance mode conditions, four MOSFETs are simultaneously executed in action two, connecting the four irregularly shaped batteries in series. This series connection effectively increases the battery pack's capacity, providing reliable support for the drone's long-term operation.

[0070] This method is simple to implement 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 states of charge. It can also conveniently switch the parallel or series connection mode between multiple batteries by controlling multiple MOSFETs, thus achieving efficient and precise control of the UAV's working mode, ensuring the UAV's operational efficiency, and at the same time, ensuring the stability and reliability of the UAV during operation.

Claims

1. A UAV with a conformal rack-battery architecture, comprising a rack (2), characterized in that, It also includes irregularly shaped batteries (8), arc-shaped battery covers (9), power supply circuit boards (6), drone body (1), drive components and flight control platform (10). The upper center area of ​​the frame (2) is provided with a mounting groove (203), and four ring-shaped blade protective covers (201) are integrally formed and fixedly connected around it; four arc-shaped battery chambers (204) are respectively provided on the inner side of the four blade protective covers (201), and the inner side of the four arc-shaped battery chambers (204) are respectively connected to the mounting groove (203) through four connecting channels opened inside the frame (2); Four irregularly 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 four arc-shaped battery cavities (204); The power supply circuit board (6) is installed at the bottom of the mounting groove (203), with two connecting electrodes (601) installed parallel to each other at its upper end, and four sets of receiving electrodes (604) connected around it; the four sets of receiving electrodes (604) are connected to four irregularly shaped batteries (8) through four sets of power lines (7) respectively passing through four connecting channels. The four corners of the UAV body (1) extend outwards and form four protrusions (102) at the positions corresponding to the four propeller guards (201). An interface module (104) is installed at the center of the lower end of the UAV body (1). The interface module (104) has a drive circuit board inside. Two electrode interfaces (101) are opened at the lower end of the interface module (104) at the positions corresponding to the two connecting motors (601). The two electrode interfaces (101) are connected to the drive circuit board. The UAV 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 onto the outside of the two connecting electrodes (601). The four drive components are respectively set inside the four blade protective covers (201). The drive components include a drive motor (4) and a blade (5). The drive motor (4) is fixedly connected to the lower end of the protrusion (102). The power supply cable on the drive motor (4) is connected to the drive circuit board. The blade (5) is fixedly mounted on the output shaft of the drive motor (4). The flight control platform (10) is fixedly installed in the central area of ​​the upper part of the UAV body (1) and connected to the drive circuit board.

2. The UAV with a conformal frame battery architecture according to claim 1, characterized in that, The two adjacent protrusions (102) are recessed in an arc shape towards the center of the UAV body (1) to form an arc-shaped recess (103); the UAV body (1) has four drainage holes (105) on the inner side of the four arc-shaped recesses (103).

3. The UAV with a conformal frame battery architecture according to claim 2, characterized in that, It also includes mechanical buckles (3), a pair of mechanical buckles (3) are fixedly connected to the upper end of the frame (2) and are fastened to the outer side of a pair of arc-shaped recesses (103).

4. The UAV with a conformal frame battery 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 transistors (602). The BMS control circuit connects to four irregularly shaped batteries (8) through the four MOS transistors (602).

5. A UAV with a conformal frame battery architecture according to claim 1 or 2, characterized in that, The upper center of the main body (1) of the UAV has a receiving groove, and the lower end of the flight control platform (10) is fixedly connected to a mounting boss at the position corresponding to the receiving groove, and the mounting boss is fixedly inserted into the receiving groove.

6. A UAV with a conformal rack-battery architecture according to claim 1 or 2, characterized in that, It also includes support frames (202), four of which are rectangularly mounted on the lower end of the frame (2).

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

8. The UAV with a conformal frame battery architecture according to claim 1, characterized in that, It also includes monitoring components. The four monitoring components are installed in the four arc-shaped battery cavities (204) respectively 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 attached to the surface of the irregular battery (8) to collect temperature signals in real time. The current sensor is connected to the irregular battery (8) to collect current signals in real time. The voltage sensor is connected to the irregular battery (8) to collect voltage signals in real time.

9. A control method for a UAV with a conformal frame-battery architecture, comprising a UAV with a conformal frame-battery architecture as described in any one of claims 1 to 8, characterized in that, Includes the following steps: Step 1: The four irregularly shaped batteries (8) are monitored by four monitoring components respectively, and the temperature signal, current signal and voltage signal of the irregularly shaped batteries (8) are obtained respectively. The temperature signal, current signal and voltage signal are sent to the data acquisition module. The data acquisition module samples the temperature signal, current signal and voltage signal according to the set sampling frequency and sends them to the flight control platform (10). The flight control platform (10) obtains the temperature data, current data and voltage data respectively based on the temperature signal, current signal and voltage signal. 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 status of the irregular battery (8). When the health status of each irregular battery (8) is within the normal range, step 3 is executed. When the health status of any irregular battery (8) is not within the normal range, step 4 is executed directly. Step 3: Implement the switching of the UAV working mode. S31: The flight control platform (10) sets the rated state of charge based on the current flight altitude, flight distance and current health status. S32: The state of charge of the current irregular battery (8) is obtained by using the ampere-hour integration method according to formula (1). and will and When comparing, > When the conditions for high-performance mode are met, it is determined that the conditions are met. ≦ When the conditions for high performance mode cannot be met, if all four irregularly shaped batteries (8) meet the conditions for high performance mode, control the four MOS transistors (602) to execute action one simultaneously, so that the positive terminals of the four irregularly shaped batteries (8) are connected together, and at the same time, the negative terminals of the four irregularly shaped batteries (8) are also connected together. By connecting the four irregularly shaped batteries (8) in parallel, the total current of the battery pack is increased, so that the UAV works in high performance mode. At the same time, the flight control platform (10) sends a prompt message that the high performance mode is met to the control terminal through the wireless communication module. If any one of the irregularly shaped batteries (8) cannot meet the conditions for high performance mode, control the four MOS transistors (602) to execute action two simultaneously, so that the positive and negative terminals of the four irregularly shaped batteries (8) are connected in sequence. By connecting the four irregularly shaped batteries (8) in series, the total capacity of the battery pack is increased, so that the UAV works in balanced mode. At the same time, the flight control platform (10) sends a prompt message that the balanced mode is met to the control terminal through the wireless communication module. During this process, the flight control platform (10) uses a preset algorithm to combine the real-time temperature data, current data and voltage data to judge the health status of the irregular battery (8). When the health status of each irregular battery (8) is within the normal range, the current working mode is maintained. When the health status of any irregular battery (8) is not within the normal range, step four is executed directly. （1）； In the formula, This refers to the battery's initial state of charge. It is the battery's rated capacity. It is the charging and discharging 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 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 for a UAV with a conformal frame battery architecture according to claim 9, characterized in that, In step S32 of step three, when all four irregularly shaped batteries (8) 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 command to the flight control platform (10) through the control terminal. When any one of the irregularly shaped batteries (8) does not 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 close the manual control window.

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