Power system of automatic lifting target drone

Abstract

The invention relates to the technical field of target vehicle power systems, and particularly discloses a power system of an automatic lifting target drone, which comprises an automatic lifting target drone and a target vehicle, the target vehicle comprises a main control unit, a motor module, an engine module, a power battery module, a generator module, an energy management module and a stability control module. The main control unit is electrically connected with the motor module, the engine module, the power battery module, the generator module, the energy management module and the stability control module. The power management module is connected with the central processing unit and used for managing and distributing electric power provided by the power battery module. Through an accurate algorithm and automatic adjustment of the main control unit, all the modules can respond to environment changes in real time, and adaptability and intelligent management of the system under different working conditions are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of target vehicle power systems, and in particular to a power system for automatically lifting a target drone. Background Art

[0002] Automatic lifting target drone is widely used in public security, armed police, military, and academic units to carry out precision shooting training. It can carry out precise shooting and automatically report the target, monitor and record the impact point and bullet sequence in real time, and automatically count the number of hits and the number of hit rings. The lifting speed is adjustable.

[0003] The unmanned movement of the automatic lifting target drone is divided into track-based and trackless. Since the existing track-based target vehicle has a fixed route, its trajectory cannot be flexibly adjusted, which is not conducive to daily training; Although trackless target vehicles can flexibly adjust their route trajectories, since most of the target vehicles are used on high-drop slopes and mountain roads, changes in the target vehicle's height will cause the target vehicle's center of gravity to be unstable. When driven by an electric motor, although it is convenient for rapid response control of power, the battery life is difficult to meet training needs. When driven by an engine, although the battery life meets the needs, its power control cannot be adjusted quickly, which can easily cause rollover.

[0004] Therefore, there is an urgent need for a power system for an automatic lifting target drone that simultaneously meets the requirements of rapid power response and endurance. Summary of the invention

[0005] The embodiment of the present invention provides a power system for automatically lifting a target drone to overcome the above-mentioned technical problems existing in the prior art.

[0006] A power system of an automatic lifting target drone, comprising an automatic lifting target drone and a target vehicle, wherein the automatic lifting target drone is mounted and fixed on the target vehicle, the target vehicle comprises a main control unit, a motor module, an engine module, a power battery module, a generator module, an energy management module and a stability control module, and the main control unit is electrically connected to the motor module, the engine module, the power battery module, the generator module, the energy management module and the stability control module; The motor module includes a motor and a motor controller, the engine module includes an engine and a generator controller, the power battery module includes a main battery and a backup battery, the generator module includes a generator, the energy management module includes an energy distribution controller and a battery management system, and the stability control module includes a gyroscope, a height sensor and a center of gravity adjustment device.

[0007] The main control unit includes a central processing unit, a data storage device, a signal transceiver and a power management module. The central processing unit is connected to the data storage device through a data bus, and is used to store and process data collected by each module, and judge the road conditions according to preset algorithms and logics and issue corresponding instructions. The signal transceiver is connected to the central processing unit and is used to receive and send command signals; the power management module is connected to the central processing unit and is used to manage and distribute the power provided by the power battery module.

[0008] Preferably, in the motor module, the motor is connected to a motor controller, the motor controller controls the operation of the motor according to the instruction of the main control unit, the motor is installed on the drive axle of the target vehicle, the motor controller is installed on the motor, and the motor controller is connected to the main control unit through a cable; In the engine module, the engine is connected to the generator through a generator controller. The generator controller controls the operation of the engine according to the instructions of the main control unit, and charges the power battery module through the generator. The engine is installed at the rear of the target vehicle, and the generator is connected to the engine through a belt drive. The generator controller is installed on the generator and connected to the main control unit through a cable.

[0009] Preferably, in the power battery module, the main battery and the backup battery are connected in parallel, the main battery is the main power supply, and the backup battery is the emergency power supply. The main battery and the backup battery are connected by a battery switching device, which is installed in the battery module and is used to automatically switch to the backup battery when the main battery is low on power. Both the main battery and the backup battery are managed for charge and discharge and monitored for status through a battery management system. The battery management system is connected to the main control unit and transmits battery status data through a data bus.

[0010] Preferably, in the energy management module, the energy distribution controller manages the power distribution of the motor module and the engine module according to the instructions of the main control unit, so that under different driving conditions, the motor and the engine work together to achieve optimal power output and energy utilization. The battery management system monitors the status of the main battery and the backup battery in real time, and transmits the battery status data to the main control unit through the data bus. The main control unit sends instructions to the battery switching device through the signal transceiver based on the battery status data to ensure automatic switching to the backup battery when the main battery is low on power.

[0011] Preferably, in the energy management module, the energy distribution controller dynamically adjusts the power distribution of the motor and the engine according to the instructions of the main control unit; On flat roads, the electric motor module is the main power source, and the engine module is in a low-load or shutdown state; On slopes or high-load sections, the engine module increases its output power, charges the power battery module through the generator, and provides additional power support to the electric motor.

[0012] Preferably, the energy management module further includes an energy optimization algorithm, which is integrated in the main control unit and is used to dynamically adjust the power distribution of the motor and the engine according to the actual driving state and external environment of the target vehicle; Among them, the optimal power output of the motor module under different driving conditions is set as , the optimal power output of the engine module under different driving conditions is .

[0013] The actual power output of the motor module is , the actual power output of the engine module is .

[0014] Real-time battery status parameters including remaining power and battery temperature .

[0015] The optimization goal is to make the total energy consumption Minimize while ensuring that the power output of the electric motor and engine meets driving needs; Total energy consumption The expression is as follows: ; in, For time.

[0016] Preferably, the optimization steps of the energy optimization algorithm are as follows: Step 1: Collect current driving status parameters, including vehicle speed ,slope , road friction coefficient , Remaining battery power and battery temperature .

[0017] Step 2: Calculate the total required power based on the current driving state parameters . in, is the mass of the target vehicle, is the acceleration due to gravity, is the friction force, For transmission efficiency.

[0018] Step 3: Based on the total power requirement and battery status parameters , , the optimal power output of the motor and engine is calculated by the optimization algorithm described above and ; in, For time.

[0019] Step 4: Send instructions to the energy distribution controller through the signal transceiver to adjust the power output of the motor and engine.

[0020] Step 5: Monitor the battery status and driving status in real time, and execute steps 1 to 4 in a loop to achieve dynamic adjustment.

[0021] Preferably, in the stability control module, a gyroscope and an altitude sensor are installed at multiple positions of the target vehicle, the gyroscope is used to detect the posture change of the target vehicle, and the altitude sensor is used to detect the altitude change of the target vehicle; The data collected by the gyroscope and the height sensor in real time are transmitted to the main control unit through the signal transceiver. The main control unit sends instructions to the center of gravity adjustment device through the signal transceiver according to the real-time data of the gyroscope and the height sensor to adjust the center of gravity of the target vehicle.

[0022] Preferably, in the stability control module, the center of gravity adjustment device includes four electric push rods and a controller, the electric push rods are installed on the four corners of the target vehicle, and the controller is connected to the main control unit through a signal transceiver; When the main control unit receives real-time data from the gyroscope and height sensor, it sends instructions to the controller through the signal transceiver. The controller controls the extension and retraction length of the electric push rod according to the instructions and adjusts the center of gravity of the target vehicle.

[0023] Preferably, the stability control module also includes a height adjustment controller, which is installed in the main control unit and is used to control the operation of the height adjustment actuator according to the real-time data of the height adjustment sensor. The height adjustment actuator is installed at the bottom of the target vehicle and is used to adjust the height of the target vehicle. When the height change of the target vehicle causes the center of gravity of the target vehicle to be unstable, the height adjustment sensor monitors the height change of the target vehicle in real time and transmits it to the main control unit through the signal transceiver. The main control unit sends instructions to the height adjustment controller through the signal transceiver to adjust the operation of the height adjustment actuator, thereby ensuring the stability of the target vehicle under different target vehicle height changes and preventing rollover.

[0024] Beneficial effects: 1. Through the precise algorithm and automatic adjustment of the main control unit, each module can respond to environmental changes in real time, ensuring the adaptability and intelligent management of the system under different working conditions.

[0025] 2. The main control unit analyzes the data of the motor module and the engine module in real time, accurately adjusts the working status of the two, and realizes efficient energy distribution. This intelligent control can adjust the output of the motor and the engine in real time according to different working environments and needs, optimize energy utilization, and extend the service life of the system.

[0026] 3. The parallel connection of the main battery and the backup battery enables the system to automatically switch to the backup battery when the main battery is low on power, thus avoiding equipment downtime due to battery exhaustion. This automatic switching mechanism ensures the drone's continued operation in complex environments and improves the system's reliability.

[0027] 4. By optimizing battery management, energy distribution and battery switching processes, the overall performance, reliability and economy of the automatic lifting target drone are enhanced, ensuring the efficient operation of the target drone in a variety of working environments.

[0028] 5. Through intelligent energy management, flexible power distribution and dynamic charging mechanism, the fuel efficiency, power output and endurance of the automatic lifting target drone are improved, while the battery life is effectively extended and the overall reliability and adaptability of the system are enhanced.

[0029] 6. Through the coordinated work of the height adjustment controller and the height adjustment actuator, the automatic lifting target drone can adapt to different height changes in real time, maintain the stability of the target vehicle, prevent rollover, and effectively improve the safety, reliability and adaptability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 is a system block diagram of the present invention; Figure 2 It is a flow chart of the optimization steps of the energy optimization algorithm of the present invention; Figure 3 It is a schematic diagram of a stability control module block diagram of the present invention. DETAILED DESCRIPTION

[0032] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments. For some known technologies, those skilled in the art may also adopt other alternatives to implement them; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0033] See also Figure 1-Figure 3 The embodiment of the present invention provides a power system of an automatic lifting target drone, including an automatic lifting target drone and a target vehicle, wherein the automatic lifting target drone is installed and fixed on the target vehicle, the target vehicle includes a main control unit, a motor module, an engine module, a power battery module, a generator module, an energy management module and a stability control module, the main control unit is electrically connected to the motor module, the engine module, the power battery module, the generator module, the energy management module and the stability control module; the motor module includes a motor and a motor controller, the engine module includes an engine and a generator controller, the power battery module includes a main battery and a backup battery, the generator module includes a generator, the energy management module includes an energy distribution controller and a battery management system, and the stability control module includes a gyroscope, an altitude sensor and a center of gravity adjustment device; the main control unit includes a central processing unit, a data storage device, a signal transceiver and a power management module, the central processing unit is connected to the data storage device through a data bus, and is used to store and process data collected by each module, and judge the road condition according to the preset algorithm and logic and issue corresponding instructions, the signal transceiver is connected to the central processing unit, and is used to receive and send instruction signals; the power management module is connected to the central processing unit, and is used to manage and distribute the power provided by the power battery module.

[0034] In a possible implementation, the central processing unit is connected to the data storage device via a data bus and is responsible for processing the real-time data collected by each module. Its function is to judge the road condition, vehicle speed, slope, load and other information through preset algorithms and logic, and issue control instructions based on these data to ensure the normal operation of the system.

[0035] Furthermore, the data storage device is used to store the collected data of each module, such as battery power, vehicle speed, road condition information, etc. The stored data can be analyzed and dispatched by the central processor to ensure that the system can be adjusted according to the real-time situation.

[0036] Furthermore, the signal transceiver is used to receive control instructions input from the outside and transmit the instructions of the main control unit to each module. The signal transceiver not only plays the role of information exchange, but also ensures that the system can achieve remote control and feedback.

[0037] Furthermore, the power management module is connected to the power battery module, responsible for managing the battery charging and discharging process and regulating the power supply required by different modules. It ensures that each module (such as the motor, engine, etc.) can obtain stable power support according to the scheduling of the main control unit.

[0038] Furthermore, the coordinated work of the motor module and the engine module is the key to the efficient operation of the system. The motor module includes the motor and the motor controller, and the engine module includes the engine and the generator controller. The main control unit adjusts the operating state of the motor through the energy management module and the motor controller to achieve the best coordination with the engine module:

[0039] Specifically, the motor controller adjusts the output power of the motor according to the instructions issued by the main control unit, and coordinates with the engine module to ensure that the power of the motor and the engine is properly distributed under different road conditions and power requirements. The motor provides power for starting and low-speed driving, while the engine provides support under high speed or heavy load conditions.

[0040] The generator controller is connected to the engine, and converts the mechanical energy generated by the engine into electrical energy through the generator, and charges the power battery module. When the battery power is low, the main control unit starts the generator through the generator controller to provide continuous power supply for the system.

[0041] Furthermore, the power battery module includes a main battery and a backup battery, which are used to provide power for the motor module. The battery management system is connected to the main control unit to monitor the battery power and health status in real time. When the main battery is low on power, the battery management system will automatically switch to the backup battery to ensure stable operation of the system. The energy management module reasonably distributes the power of the motor module and the engine module through the energy distribution controller, optimizes energy use, and avoids unnecessary energy waste.

[0042] Furthermore, the stability control module monitors the target vehicle's attitude and height changes in real time through the gyroscope, height sensor and center of gravity adjustment device to ensure the stability of the target vehicle in motion. When the gyroscope and height sensor detect that the target vehicle's attitude is unstable, the main control unit will adjust the working state of the center of gravity adjustment device according to real-time data to avoid rollover or other instability by adjusting the target vehicle's center of gravity or attitude.

[0043] In an embodiment of the present invention, in the motor module, the motor is connected to the motor controller, the motor controller controls the operation of the motor according to the instructions of the main control unit, the motor is installed on the drive axle of the target vehicle, the motor controller is installed on the motor, and the motor controller is connected to the main control unit through a cable; in the engine module, the engine is connected to the generator through the generator controller, the generator controller controls the operation of the engine according to the instructions of the main control unit, and the power battery module is charged by the generator. The engine is installed at the rear of the target vehicle, the generator and the engine are connected to the engine through a belt drive, and the generator controller is installed on the generator and connected to the main control unit through a cable.

[0044] In a possible implementation, the motor module includes a motor and a motor controller. The motor is connected to the main control unit via the motor controller, and the motor controller controls the start and stop, speed and output power of the motor according to the instructions of the main control unit.

[0045] Specifically, the motor and the motor controller are directly connected to the drive axle of the target vehicle. The drive axle is used to transmit the power output by the motor to the wheels of the target vehicle to drive the target vehicle forward or backward. The motor controller is installed on the motor and directly receives instructions from the main control unit. By controlling the speed and torque of the motor, the motor controller can accurately adjust the driving speed and direction of the target vehicle to ensure the stability and flexibility of the target vehicle in different motion states.

[0046] Furthermore, the motor controller is connected to the main control unit via a cable and receives control signals from the main control unit. The main control unit adjusts the working state of the motor in real time based on real-time sensor data (such as battery power, vehicle speed, etc.) and a preset motion algorithm to achieve optimal power output.

[0047] Furthermore, the engine module includes an engine, a generator controller and a generator, which are responsible for charging the power battery module and providing additional power support when the electric motor cannot meet the power demand.

[0048] Specifically, the engine is connected to the generator through a generator controller. The generator controller controls the start and stop of the engine and its working state according to the instructions issued by the main control unit. The main control unit instructs the generator controller to start or stop the engine according to the battery power status and the movement requirements of the target vehicle to ensure the smooth progress of the battery charging process.

[0049] The generator is connected to the engine through a belt drive. The belt drive system can convert the engine's mechanical energy into electrical energy and charge the power battery module through the generator. The generator controller adjusts the generator's working state according to the instructions of the main control unit to ensure stable charging for the power battery when needed, avoiding insufficient battery power that causes the system to stop operating.

[0050] Furthermore, the generator controller is installed on the generator and connected to the main control unit via a cable to receive the power dispatching instructions issued by the main control unit. By coordinating with the main control unit, the generator controller can accurately control the operating status of the engine and generator to ensure the charging needs of the battery during long-term use.

[0051] In an embodiment of the present invention, in the power battery module, the main battery and the backup battery are connected in parallel, the main battery is the main power supply, and the backup battery is the emergency power supply. The main battery and the backup battery are connected by a battery switching device. The battery switching device is installed in the battery module and is used to automatically switch to the backup battery when the main battery is insufficient. The main battery and the backup battery are both managed for charge and discharge and monitored for status through a battery management system. The battery management system is connected to the main control unit and transmits battery status data through a data bus.

[0052] In one possible implementation, in the power battery module, the main battery and the backup battery are connected in parallel. The main battery is the main power source, usually with a large capacity and high discharge capacity, and is mainly responsible for providing the energy required for the daily operation of the target drone. The backup battery serves as an emergency backup power source, and is mainly enabled when the main battery is low on power, ensuring that the system can continue to operate and avoid shutdowns due to power exhaustion. The two are connected through a battery switching device, which is located in the battery module and plays the role of automatically switching batteries.

[0053] Furthermore, the battery switching device automatically starts when the main battery is low on power and switches to the backup battery for power supply. It uses a high-precision battery status monitoring system inside, which can detect the power level of the main battery in real time. When the power of the main battery reaches the preset low power threshold, the battery switching device will automatically disconnect the main battery from the circuit and switch to the backup battery. This process is seamless for the user, ensuring the continuous operation of the target drone without system downtime due to low power.

[0054] Furthermore, the battery management system (BMS) is used to manage the charge and discharge of the main battery and the backup battery and monitor the status. By real-time monitoring of battery voltage, temperature, current and other parameters, the BMS ensures the safe and stable operation of the battery and provides data support to the main control unit. The BMS is also responsible for managing the battery charging process to prevent overcharging or over-discharging to extend the battery life. When the battery status changes, the BMS will update the battery status data in real time and transmit it to the main control unit via the data bus. The main control unit determines whether it is necessary to switch batteries, whether it needs to be charged, etc. based on this data, and further optimizes the battery usage strategy.

[0055] Furthermore, the battery management system is connected to the main control unit through a data bus to transmit the battery status data in real time. The main control unit decides whether to switch batteries or adjust the operating status of the target drone based on the received data. During the battery switching process, the main control unit can respond in time to ensure the smooth operation of the power system. In addition, the main control unit can also control the battery charging process through the battery management system to ensure that the battery is in the best condition.

[0056] In the embodiment of the present invention, in the energy management module, the energy distribution controller manages the power distribution of the motor module and the engine module according to the instructions of the main control unit, so that under different driving conditions, the motor and the engine work together to achieve optimal power output and energy utilization. The battery management system monitors the status of the main battery and the backup battery in real time, and transmits the battery status data to the main control unit through the data bus. The main control unit sends instructions to the battery switching device through the signal transceiver based on the battery status data to ensure automatic switching to the backup battery when the main battery is insufficient.

[0057] In a possible implementation, the energy distribution controller in the energy management module is closely connected to the main control unit. The main control unit sends instructions to the energy distribution controller according to the current driving state and power demand of the target drone. The energy distribution controller determines the power distribution between the motor module and the engine module based on these instructions. For example, at low speed or starting stage, the system will give priority to the use of the motor to improve fuel efficiency and reduce emissions; while at high speed or when a larger power output is required, the engine and the motor are enabled at the same time to provide stronger power.

[0058] Furthermore, the energy distribution controller adjusts the power distribution between the motor module and the engine module in real time. The motor module is responsible for providing power through battery power, while the engine module relies on fuel for power. The system intelligently adjusts the working ratio of the motor and the engine according to different driving conditions (such as acceleration, climbing, cruising, etc.) to optimize the power system, ensure that energy is used to the greatest extent while ensuring performance, and improve the system's fuel economy and battery utilization efficiency.

[0059] Furthermore, the battery management system monitors the status of the main battery and the backup battery in real time, including important parameters such as battery voltage, current, and temperature. When the battery power is close to the set threshold, the battery management system will transmit the battery status data to the main control unit through the data bus. After receiving the battery status data, the main control unit determines whether it is necessary to switch batteries to ensure the continuous operation of the target drone.

[0060] Furthermore, when the main control unit determines that the main battery is low on power based on the battery status data, it sends a command through the signal transceiver to start the battery switching device. The battery switching device then disconnects the main battery and automatically switches to the backup battery for power supply, ensuring that the power system will not shut down due to battery exhaustion. The entire process is automatic and seamless, and the user does not need to intervene.

[0061] In an embodiment of the present invention, in the energy management module, the energy distribution controller dynamically adjusts the power distribution of the motor and the engine according to the instructions of the main control unit; on flat sections, the motor module is the main power source, and the engine module is in a low-load or shutdown state; on ramps or high-load sections, the engine module increases the output power, charges the power battery module through the generator, and provides additional power support for the motor.

[0062] In a possible implementation, the main control unit is connected to the energy distribution controller (the core component of the energy management module) through a communication interface. The main control unit sends instructions to the energy management module based on the road conditions (such as flat sections, ramps or high-load sections) acquired in real time and the operating status of the target drone. The core of these instructions is to adjust the power distribution of the motor module and the engine module to adapt to different working requirements.

[0063] Furthermore, on a flat road, the main control unit sets the motor module as the main power source through the energy management module, and the engine module is in a low-load or shutdown state. At this time, the motor module provides power through the battery module to drive the target drone forward, ensuring low power consumption and extending the battery life.

[0064] Furthermore, on a slope or high-load road section, when the system detects that additional power output is needed, the main control unit instructs the engine module to increase the output power through the energy management module. The engine module starts and provides additional power support, while charging the power battery module through the generator. In this way, the engine not only increases the output of the motor module when providing power, but also converts excess energy into electrical energy and stores it back into the battery system for use on subsequent flat sections or when the battery is low.

[0065] Furthermore, the battery management system (BMS) is connected to the power battery module to monitor the battery's charging status, power level, temperature and other parameters in real time. When the engine module charges the battery, the BMS ensures that the charging process is stable and safe. At the same time, the BMS will also feedback the battery status data to the main control unit, and the main control unit will adjust the working mode of the motor and engine according to the battery power level.

[0066] In an embodiment of the present invention, the energy management module further includes an energy optimization algorithm, which is integrated in the main control unit and is used to dynamically adjust the power distribution of the motor and the engine according to the actual driving state and external environment of the target vehicle; Among them, the optimal power output of the motor module under different driving conditions is set as , the optimal power output of the engine module under different driving conditions is .

[0067] The actual power output of the motor module is , the actual power output of the engine module is .

[0068] Real-time battery status parameters including remaining power and battery temperature .

[0069] The optimization goal is to make the total energy consumption Minimize while ensuring that the power output of the electric motor and engine meets driving needs; Total energy consumption The expression is as follows: ; in, For time.

[0070] In one possible implementation, the main control unit is responsible for executing the energy optimization algorithm and dynamically adjusting the power output of the motor and engine according to the actual driving state of the target vehicle (such as speed, acceleration, load) and the external environment (such as slope, road conditions). The main control unit receives real-time data from sensors (including vehicle speed, acceleration, road condition information, etc.), and works with the battery management system (BMS) to monitor the battery status (such as remaining power and battery temperature) in real time, and then calculates the optimal power output solution through the energy optimization algorithm.

[0071] Furthermore, the energy optimization algorithm is integrated into the main control unit, with the goal of minimizing total energy consumption while meeting the power output requirements of the motor and engine. The algorithm dynamically adjusts the power output of the motor module and the engine module through input real-time data (such as battery status, driving status, etc.), so that: the actual power output and the optimal power output of the motor module are balanced. The actual power output and the optimal power output of the engine module are also reasonably adjusted. The algorithm adjusts the power output of the motor and the engine to ensure that the energy consumption is minimized while meeting the driving requirements.

[0072] Furthermore, the power output of the motor module and the engine module are dynamically adjusted according to the instructions of the optimization algorithm. For example, when the battery power is low, the optimization algorithm may reduce the burden on the motor by increasing the power output of the engine module; when the battery power is high, the system will give priority to the motor module to reduce fuel consumption. In this way, the optimization algorithm ensures that energy consumption is minimized while improving the overall operating efficiency of the system.

[0073] Furthermore, the battery management system (BMS) is connected to the battery module to monitor the battery's remaining power and temperature and other status parameters in real time. The BMS feeds these status data back to the main control unit, which determines the battery's health and power reserve based on these data and adjusts the strategy of the energy optimization algorithm. For example, when the battery temperature is too high, the system may limit the power output of the motor to prevent the battery from overheating; when the battery power is low, the system may tend to start the engine module to provide more power support.

[0074] In the embodiment of the present invention, the optimization steps of the energy optimization algorithm are as follows: Step 1: Collect current driving status parameters, including vehicle speed ,slope , road friction coefficient , Remaining battery power and battery temperature .

[0075] Step 2: Calculate the total required power based on the current driving state parameters . in, is the mass of the target vehicle, is the acceleration due to gravity, is the friction force, For transmission efficiency.

[0076] Step 3: Based on the total power requirement and battery status parameters , , the optimal power output of the motor and engine is calculated by the optimization algorithm described above and ; in, For time.

[0077] Step 4: Send instructions to the energy distribution controller through the signal transceiver to adjust the power output of the motor and engine.

[0078] Step 5: Monitor the battery status and driving status in real time, and execute steps 1 to 4 in a loop to achieve dynamic adjustment.

[0079] In a possible implementation, collecting current driving state parameters is the basis of the entire optimization process. The following key parameters are collected in real time through various sensors on the vehicle (such as speed sensors, acceleration sensors, tilt sensors, and temperature sensors):

[0080] Vehicle speed: reflects the target vehicle’s driving speed.

[0081] Slope: reflects the slope of the current driving terrain.

[0082] Road friction coefficient: reflects the friction between the road surface and the tires.

[0083] Remaining battery power: reflects the current battery power status.

[0084] Battery temperature: used to determine battery health and avoid overheating.

[0085] These parameters are collected through sensors and sent to the main control unit to provide real-time data for subsequent calculations.

[0086] Furthermore, based on the driving state parameters collected in step 1, the main control unit calculates the total required power according to the formula.

[0087] Furthermore, based on the total power demand calculated in step 2, combined with the battery status parameters and The main control unit calculates the optimal power output of the motor and engine through an optimization algorithm (such as dynamic programming or other optimal control methods). and The key goal of this step is to properly distribute the power output of the electric motor and the engine according to the current battery charge and temperature conditions, maximize energy utilization efficiency, and avoid excessive discharge or overheating of the battery.

[0088] If the battery has a high remaining charge and the temperature is appropriate, the system tends to use the electric motor to reduce fuel consumption. If the battery is low or the temperature is high, the engine output may be increased to ensure that the vehicle can continue to drive.

[0089] Furthermore, once the optimization algorithm determines the optimal power output of the motor and engine, the main control unit sends instructions to the energy distribution controller through the signal transceiver to adjust the actual power output of the motor and engine. This control process is a closed loop, and the system continuously adjusts the power according to the actual situation to ensure that the vehicle can meet the driving needs at different times and save energy to the greatest extent.

[0090] Furthermore, the battery status and driving status change dynamically during the operation of the system. Therefore, the main control unit continuously monitors the remaining battery power and temperature, obtains information such as vehicle speed and slope in real time, and automatically adjusts the strategy of the energy optimization algorithm according to the changes. By looping through steps 1 to 4, the system can continuously optimize power distribution under different driving conditions to cope with changes in road conditions, vehicle load fluctuations, etc., to ensure the efficient operation of the entire system.

[0091] In an embodiment of the present invention, in the stability control module, gyroscopes and altitude sensors are installed at multiple positions of the target vehicle, the gyroscope is used to detect changes in the posture of the target vehicle, and the altitude sensor is used to detect changes in the altitude of the target vehicle; the data collected in real time by the gyroscope and the altitude sensor are transmitted to the main control unit through a signal transceiver, and the main control unit sends instructions to the center of gravity adjustment device through the signal transceiver based on the real-time data of the gyroscope and the altitude sensor to adjust the center of gravity of the target vehicle.

[0092] In a possible implementation, the gyroscope and the height sensor are respectively installed at multiple key positions of the target vehicle. The gyroscope is usually installed in the middle or chassis of the target vehicle to detect the attitude changes of the target vehicle, that is, the tilt angle and the rotation rate in real time. The height sensor is installed in different parts of the target vehicle to monitor the height changes of the target vehicle during the lifting process. Through the coordinated work of these two sensors, the system can understand the dynamic state of the target vehicle in real time.

[0093] Furthermore, the gyroscope and altitude sensor will continuously monitor the attitude and altitude data of the target vehicle, and transmit these real-time data to the main control unit through the signal transceiver. The signal transceiver ensures the immediacy and reliability of data transmission. After receiving the data from these sensors, the main control unit processes and analyzes them to obtain the current stability status of the target vehicle.

[0094] Furthermore, after receiving the real-time data from the gyroscope and the height sensor, the main control unit performs data fusion and analysis. Through the data from the gyroscope, the system can determine whether the target vehicle is tilted, the tilt angle, and the tilt direction; and through the data from the height sensor, the system can detect the lifting and lowering of the target vehicle. If the target vehicle has an unstable posture or height change, the system will respond according to the preset control strategy.

[0095] Furthermore, if the main control unit detects that the target vehicle is unstable (such as tilting too much or changing height too quickly), the algorithm calculates the center of gravity position that needs to be adjusted to restore the stability of the target vehicle. At this time, the main control unit sends instructions to the center of gravity adjustment device through the signal transceiver. The center of gravity adjustment device may include an electric motor or a hydraulic device, which is used to adjust the center of gravity position of the target vehicle, usually by changing the weight distribution of certain parts of the target vehicle.

[0096] Furthermore, after receiving the command, the center of gravity adjustment device immediately performs the corresponding adjustment operation. The adjustment device changes the center of gravity of the target vehicle according to the command so that the target vehicle returns to a predetermined stable posture. After the adjustment is completed, the center of gravity adjustment device transmits a feedback signal to the main control unit, which confirms the adjustment effect and performs subsequent monitoring and dynamic adjustment.

[0097] Furthermore, the stability control module will continuously monitor the target vehicle's attitude and altitude changes, and obtain data from the gyroscope and altitude sensor in real time. Even after the target vehicle adjusts its center of gravity, the system will continue to evaluate its stability. If new instability occurs, the system will readjust the center of gravity through step 4 to ensure that the target vehicle always remains stable.

[0098] In an embodiment of the present invention, in the stability control module, the center of gravity adjustment device includes four electric push rods and a controller. The electric push rods are installed on the four corners of the target vehicle, and the controller is connected to the main control unit through a signal transceiver; when the main control unit receives real-time data from the gyroscope and the height sensor, it sends instructions to the controller through the signal transceiver, and the controller controls the telescopic length of the electric push rods according to the instructions to adjust the center of gravity of the target vehicle.

[0099] In a possible implementation, during the operation of the target vehicle, the gyroscope and the altitude sensor continuously monitor the attitude (such as the tilt angle) and altitude change (such as the lifting state) of the target vehicle. The data of these sensors are transmitted to the main control unit in real time through the signal transceiver. The gyroscope provides real-time data on the rotation and tilt of the target vehicle, and the altitude sensor provides values ​​on the lifting of the target vehicle.

[0100] Furthermore, after receiving the data from the gyroscope and altitude sensor, the main control unit begins data fusion and analysis. If the target vehicle is unstable (such as excessive tilt or rapid altitude change), the main control unit will calculate the center of gravity position that needs to be adjusted and determine the direction and amplitude of the center of gravity adjustment.

[0101] Furthermore, once the main control unit decides on the readjustment strategy, it will send the adjustment instructions to the controller through the signal transceiver. As the middle layer, the controller is responsible for parsing and executing these instructions. The task of the controller is to control the extension and retraction of the electric push rod according to the instructions of the main control unit to achieve accurate adjustment of the center of gravity of the target vehicle.

[0102] Furthermore, after receiving the command, the controller controls the extension and retraction of the electric push rods at the four corners of the target vehicle to accurately adjust the center of gravity of the target vehicle. The electric push rods change the height of each corner of the target vehicle by extension and retraction, thereby changing the center of gravity position of the target vehicle as a whole. If it is necessary to lean forward or backward, the controller will instruct the corresponding electric push rods to extend and retract, pushing the target vehicle to respond in terms of center of gravity adjustment.

[0103] Furthermore, after the electric push rod has completed the adjustment, the center of gravity of the target vehicle has changed, and the system will monitor the attitude and height of the target vehicle again through the gyroscope and height sensor. If the new data shows that the target vehicle is still unstable, the system will continue to adjust to ensure the stability of the target vehicle. The whole process is real-time and continuous, with constant feedback and adjustment.

[0104] In an embodiment of the present invention, the stability control module also includes a height adjustment controller, which is installed in the main control unit and is used to control the operation of the height adjustment actuator according to the real-time data of the height adjustment sensor. The height adjustment actuator is installed at the bottom of the target vehicle and is used to adjust the height of the target vehicle. When the height change of the target vehicle causes the center of gravity of the target vehicle to be unstable, the height adjustment sensor monitors the height change of the target vehicle in real time and transmits it to the main control unit through the signal transceiver. The main control unit sends instructions to the height adjustment controller through the signal transceiver to adjust the operation of the height adjustment actuator, thereby ensuring the stability of the target vehicle under different target vehicle height changes and preventing rollover.

[0105] In a possible implementation, the height adjustment sensor is installed at the bottom of the target vehicle to monitor the height change of the target drone in real time. The height adjustment sensor will capture the height change of the target drone caused by the ups and downs of the ground, the lifting of the target vehicle or other external factors during operation. The sensor transmits the collected height data to the main control unit through a signal transceiver.

[0106] Furthermore, after receiving the data from the height adjustment sensor, the main control unit will perform real-time analysis and processing. The main control unit evaluates the difference between the current height of the target drone and the set height, and determines through the control algorithm whether it is necessary to adjust the height of the target vehicle or perform other stability compensation. If the height change exceeds the preset threshold, it may cause the center of gravity of the target vehicle to be unstable, and the system will initiate corresponding adjustment measures.

[0107] Furthermore, once the main control unit determines that the height of the target vehicle needs to be adjusted to maintain stability, it will send the adjustment command to the height adjustment controller through the signal transceiver. The height adjustment controller is located inside the main control unit and is responsible for receiving and parsing the commands from the main control unit. The controller adjusts the working state of the height adjustment actuator according to the received command and controls the actuator to make precise height adjustments.

[0108] Furthermore, the height adjustment actuator is usually installed at the bottom of the target vehicle. The function of the actuator is to accurately adjust the height of the target vehicle according to the instructions of the controller. When the system needs to increase the height of the target vehicle, the actuator will raise the bottom of the target vehicle through a lifting device (such as hydraulic, pneumatic or electric push rod); when the system needs to lower the height, the actuator will lower the target vehicle. The precise adjustment of the actuator ensures that the target vehicle maintains a stable state during the height change process to avoid excessive tilting or overturning.

[0109] Furthermore, after each actuator adjustment, the system will monitor the height change of the target vehicle again through the height adjustment sensor to confirm whether it has reached the predetermined stable height. If the height or posture of the target vehicle is still unstable, the system will continue to feedback and make adjustments to ensure that the target vehicle is always at a suitable and stable height to avoid the problem of unstable center of gravity caused by height changes.

[0110] The optional implementation modes of the embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical scheme of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

[0111] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0112] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the method described in each embodiment of the present application. In addition, various different implementation methods of the embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the ideas of the embodiments of the present invention, they should also be regarded as the contents disclosed in the embodiments of the present invention.

Claims

1. A power system for automatically lifting a target drone, characterized in that: It includes an automatic lifting target drone and a target vehicle, wherein the automatic lifting target drone is installed and fixed on the target vehicle, the target vehicle includes a main control unit, a motor module, an engine module, a power battery module, a generator module, an energy management module and a stability control module, and the main control unit is electrically connected to the motor module, the engine module, the power battery module, the generator module, the energy management module and the stability control module; The motor module includes a motor and a motor controller, the engine module includes an engine and a generator controller, the power battery module includes a main battery and a backup battery, the generator module includes a generator, the energy management module includes an energy distribution controller and a battery management system, and the stability control module includes a gyroscope, an altitude sensor, and a center of gravity adjustment device; The main control unit includes a central processing unit, a data storage device, a signal transceiver and a power management module. The central processing unit is connected to the data storage device through a data bus, and is used to store and process data collected by each module, and judge the road conditions according to preset algorithms and logics and issue corresponding instructions. The signal transceiver is connected to the central processing unit and is used to receive and send command signals; the power management module is connected to the central processing unit and is used to manage and distribute the power provided by the power battery module.

2. The power system of an automatic lifting target drone according to claim 1 is characterized in that: In the motor module, the motor is connected to the motor controller, the motor controller controls the operation of the motor according to the instruction of the main control unit, the motor is installed on the drive axle of the target vehicle, the motor controller is installed on the motor, and the motor controller is connected to the main control unit through a cable; In the engine module, the engine is connected to the generator through a generator controller. The generator controller controls the operation of the engine according to the instructions of the main control unit, and charges the power battery module through the generator. The engine is installed at the rear of the target vehicle, and the generator is connected to the engine through a belt drive. The generator controller is installed on the generator and connected to the main control unit through a cable.

3. The power system of an automatic lifting target drone according to claim 2 is characterized in that: In the power battery module, the main battery and the backup battery are connected in parallel, the main battery is the main power supply, and the backup battery is the emergency power supply. The main battery and the backup battery are connected by a battery switching device. The battery switching device is installed in the battery module and is used to automatically switch to the backup battery when the main battery is low on power. The main battery and the backup battery are both managed for charge and discharge and monitored for status through a battery management system. The battery management system is connected to the main control unit and transmits battery status data through a data bus.

4. The power system of the automatic lifting target drone according to claim 3 is characterized in that: In the energy management module, the energy distribution controller manages the power distribution of the motor module and the engine module according to the instructions of the main control unit, so that under different driving conditions, the motor and the engine work together to achieve optimal power output and energy utilization. The battery management system monitors the status of the main battery and the backup battery in real time, and transmits the battery status data to the main control unit through the data bus. The main control unit sends instructions to the battery switching device through the signal transceiver based on the battery status data to ensure automatic switching to the backup battery when the main battery is low on power.

5. The power system of an automatic lifting target drone according to claim 4, characterized in that: In the energy management module, the energy distribution controller dynamically adjusts the power distribution of the motor and the engine according to the instructions of the main control unit; On flat roads, the electric motor module is the main power source, and the engine module is in a low-load or shutdown state; On slopes or high-load sections, the engine module increases its output power, charges the power battery module through the generator, and provides additional power support to the electric motor.

6. The power system of the automatic lifting target drone according to claim 5 is characterized in that: The energy management module also includes an energy optimization algorithm, which is integrated in the main control unit and is used to dynamically adjust the power distribution of the motor and the engine according to the actual driving state and external environment of the target vehicle; Among them, the optimal power output of the motor module under different driving conditions is set as , the optimal power output of the engine module under different driving conditions is ; The actual power output of the motor module is , the actual power output of the engine module is ; Real-time battery status parameters including remaining power and battery temperature ; The optimization goal is to make the total energy consumption Minimize while ensuring that the power output of the electric motor and engine meets driving needs; Total energy consumption The expression is as follows: ； in, For time.

7. The power system of the automatic lifting target drone according to claim 6 is characterized in that: The optimization steps of the energy optimization algorithm are as follows: Step 1: Collect current driving status parameters, including vehicle speed ,slope , road friction coefficient , Remaining battery power and battery temperature ; Step 2: Calculate the total required power based on the current driving state parameters , ; in, is the mass of the target vehicle, is the acceleration due to gravity, is the friction force, is the transmission efficiency; Step 3: Based on the total power requirement and battery status parameters , , the optimal power output of the motor and engine is calculated by the optimization algorithm described above and ; in, For time; Step 4: Send instructions to the energy distribution controller through the signal transceiver to adjust the power output of the motor and the engine; Step 5: Monitor the battery status and driving status in real time, and execute steps 1 to 4 in a loop to achieve dynamic adjustment.

8. The power system of an automatic lifting drone according to claim 1, characterized in that: In the stability control module, a gyroscope and an altitude sensor are installed at multiple positions of the target vehicle, the gyroscope is used to detect the posture change of the target vehicle, and the altitude sensor is used to detect the altitude change of the target drone; The data collected by the gyroscope and the height sensor in real time are transmitted to the main control unit through the signal transceiver. The main control unit sends instructions to the center of gravity adjustment device through the signal transceiver according to the real-time data of the gyroscope and the height sensor to adjust the center of gravity of the target vehicle.

9. The power system of the automatic lifting target drone according to claim 8, characterized in that: In the stability control module, the center of gravity adjustment device includes four electric push rods and a controller. The electric push rods are installed on the four corners of the target vehicle, and the controller is connected to the main control unit through a signal transceiver; When the main control unit receives real-time data from the gyroscope and height sensor, it sends instructions to the controller through the signal transceiver. The controller controls the extension and retraction length of the electric push rod according to the instructions and adjusts the center of gravity of the target vehicle.

10. The power system of the automatic lifting target drone according to claim 9, characterized in that: The stability control module also includes a height adjustment controller, which is installed in the main control unit and is used to control the operation of the height adjustment actuator according to the real-time data of the height adjustment sensor. The height adjustment actuator is installed at the bottom of the target vehicle and is used to adjust the height of the target drone. When the height change of the target drone causes the center of gravity of the target vehicle to be unstable, the height adjustment sensor monitors the height change of the target drone in real time and transmits it to the main control unit through the signal transceiver. The main control unit sends instructions to the height adjustment controller through the signal transceiver to adjust the operation of the height adjustment actuator, thereby ensuring the stability of the target vehicle under different target drone height changes and preventing rollover.

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