Cantilever unmanned aerial vehicle liquid cooling system

Abstract

The invention provides a cantilever unmanned aerial vehicle liquid cooling system, which comprises a liquid pump, a liquid cooling pipe and a calculation module, and is characterized in that the liquid pump is arranged on a fuselage of a cantilever unmanned aerial vehicle and drives cooling liquid to be injected into the liquid cooling pipe; the liquid cooling pipe is arranged on a cantilever of the cantilever unmanned aerial vehicle and is connected with the liquid pump and a propeller motor of the cantilever unmanned aerial vehicle, and the propeller motor adopts liquid immersion type or spraying type liquid cooling; and the calculation module collects the motor power of the propeller motor, calculates target power according to the motor power, and adjusts the liquid pump power of the liquid pump according to the target power. The immersion liquid cooling motor is adopted, the temperature of a motor coil is effectively reduced through direct contact of cooling liquid and a heating source, and stability of the unmanned aerial vehicle in the operation process is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a cantilever drone liquid cooling system. Background Art

[0002] For a large-load quadcopter octarotor drone, the load capacity and take-off weight of the drone itself are closely related to the drone motor. The selected motor is light in weight and high in power, which can reduce the weight of the entire drone. However, the corresponding problem and defect is that the current passing through the motor of a large-load multi-rotor drone is large during flight. According to the heat formula Q=I 2 RT (Q stands for heat, I stands for current, R stands for resistance, and T stands for time). The greater the current, the higher the heat generated. The high-power brushless motor generates serious heat, and the coils and magnets of the brushless motor cannot operate at high temperatures for a long time, resulting in the drone being unable to work stably for a long time. At the same time, it also shortens the service life of the motor, and thus cannot increase the actual power used by the motor, shortens the flight time, and reduces the utilization rate of the battery.

[0003] To address the serious problem of motor heating, the existing technology uses direct air cooling, that is, the propeller motor is cooled by the airflow generated by the rotation of the propeller during the flight of the drone. However, the cooling efficiency of air cooling is low, and it is unable to solve the problem of motor overheating caused by heat accumulation during the long-term flight of the drone, ultimately causing the drone to be unable to work for a long time. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a cantilever UAV liquid cooling system to solve the technical defects existing in the prior art.

[0005] According to a first aspect of an embodiment of the present application, a cantilever drone liquid cooling system is provided, comprising a liquid pump 1, a liquid cooling pipe and a computing module, wherein:

[0006] The liquid pump 1 is arranged on the fuselage of the cantilever UAV and drives the coolant to be injected into the liquid cooling pipe;

[0007] The liquid cooling pipe is arranged on the cantilever of the cantilever drone, connecting the liquid pump 1 and the propeller motor of the cantilever drone, and the propeller motor adopts immersion or spray liquid cooling;

[0008] The calculation module collects the motor power of the propeller motor, calculates the target power according to the motor power, and adjusts the liquid pump power of the liquid pump 1 according to the target power.

[0009] Optionally, the cantilever drone liquid cooling system further includes an ambient temperature determination module, wherein:

[0010] The ambient temperature determination module collects ambient temperature data and sends the ambient temperature data to the calculation module, and the calculation module updates the target power according to the ambient temperature data.

[0011] Optionally, the liquid cooling pipe includes an upper cooling row 31 and a lower cooling row 32, wherein the upper cooling row 31 is arranged in the middle section of the cantilever of the cantilever drone, and the lower cooling row 32 is arranged in the middle section of the cantilever of the cantilever drone.

[0012] Optionally, the propeller motor includes an upper motor 41 and a lower motor 42, wherein any one of the upper motor 41 and the lower motor 42 is composed of a motor mounting plate 411, a motor stator 412, a motor rotor 413, a liquid cooling box 414, an upper liquid outlet 415, an external motor shaft 416, a bearing 417, a sealing ring 418, a liquid cooling end cover 419 and a quick-release propeller seat 4110.

[0013] Optionally, the liquid cooling pipe includes a liquid cooling outlet pipe 21 and a liquid cooling inlet pipe 22, wherein:

[0014] The liquid outlet cooling pipe 21 transports the coolant driven by the liquid pump 1 into the lower motor 42, and injects the coolant output by the lower motor 42 into the upper motor 41 via the lower cooling row 32;

[0015] The liquid inlet cooling pipe 22 transports the cooling liquid output by the upper motor 41 to the liquid pump 1 via the upper cooling row 31 .

[0016] Optionally, when the cantilever drone is started, the computing module sends a start instruction to the liquid pump 1, and the liquid pump 1 is started with a preset initial power.

[0017] Optionally, the target power is greater than the initial power.

[0018] Optionally, the cantilever drone liquid cooling system further includes a motor temperature determination module, wherein:

[0019] The motor temperature determination module collects the motor temperature data of the propeller motor and sends the motor temperature data to the calculation module. The calculation module updates the target power according to the motor temperature data.

[0020] The cantilever drone liquid cooling system provided by the present application includes a liquid pump 1, a liquid cooling pipe and a computing module, wherein the liquid pump 1 is arranged on the fuselage of the cantilever drone to drive the coolant to be injected into the liquid cooling pipe; the liquid cooling pipe is arranged on the cantilever of the cantilever drone to connect the liquid pump 1 with the propeller motor of the cantilever drone; the computing module collects the motor power of the propeller motor, calculates the target power according to the motor power, and adjusts the liquid pump power of the liquid pump 1 according to the target power. The immersion liquid-cooled motor adopted can effectively reduce the motor coil temperature through direct contact between the coolant and the heat source, thereby ensuring the stability of the drone during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 It is a schematic diagram of a flow chart of a cantilever UAV liquid cooling system provided by an embodiment of the present application;

[0023] Figure 2 This is a schematic diagram of the motor structure of a cantilever UAV liquid cooling system provided by an embodiment of the present application;

[0024] Figure 3 This is a schematic diagram of the motor installation of a cantilever UAV liquid cooling system provided in one embodiment of the present application.

[0025] Among them, 1-liquid pump, 21-liquid outlet cooling pipe, 22-liquid inlet cooling pipe, 31-upper cooling row, 32-lower cooling row, 41-upper motor, 42-lower motor;

[0026] 411-motor mounting plate, 412-motor stator, 413-motor rotor, 414-liquid cooling box, 415-upper liquid outlet, 416-motor external shaft, 417-bearing, 418-sealing ring, 419-liquid cooling end cover, 4110-quick-release propeller seat;

[0027] 51-liquid inlet, 52-wire hole, 53-wire hole, 54-bottom plate concentric positioning circle, 55-motor bottom plate mounting hole, 56-stator wiring harness, 57-motor mounting hole, 58-motor positioning circle, 59-motor shaft, 60-external shaft concentric hole, 61-external shaft mounting hole, 62-motor rotor mounting hole, 63-bearing mounting surface, 64-sealing ring mounting surface, 65-box inner cavity, 66-end cover positioning circle. DETAILED DESCRIPTION

[0028] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0029] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms of "a", "said" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0030] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0031] In the present application, a cantilever drone liquid cooling system is provided. Figure 1 A schematic diagram of a cantilever UAV liquid cooling system provided according to an embodiment of the present application is shown, which specifically includes a liquid pump 1, a liquid cooling pipe and a computing module, wherein:

[0032] The liquid pump 1 is arranged on the fuselage of the cantilever UAV and drives the coolant to be injected into the liquid cooling pipe;

[0033] The liquid cooling pipe is arranged on the cantilever of the cantilever drone, connecting the liquid pump 1 and the propeller motor of the cantilever drone, and the propeller motor adopts immersion or spray liquid cooling;

[0034] The calculation module collects the motor power of the propeller motor, calculates the target power according to the motor power, and adjusts the liquid pump power of the liquid pump 1 according to the target power.

[0035] Among them, the propeller motor adopts immersion or spray liquid cooling. Specifically, the immersion liquid cooling is implemented by injecting the coolant into the propeller motor through the liquid cooling pipe, so that the coil and magnet of the outer rotor brushless motor are immersed in the coolant, and the heat generated by the motor during operation is absorbed through the direct contact between the coolant and the coil and magnet; the spray liquid cooling is implemented by adding a spray nozzle above the motor coil, and the high-voltage output of the spray nozzle is used to spray the coolant on the motor coil and magnet, thereby taking away the heat generated by the motor during operation. And in order to ensure that the coolant does not affect the actual work of the propeller motor, the coolant is selected from low-conductivity, low-viscosity and high-thermal conductivity materials.

[0036] Furthermore, the liquid cooling pipe includes an upper cooling row 31 and a lower cooling row 32, wherein the upper cooling row 31 is arranged in the middle section of the cantilever of the cantilever UAV, and the lower cooling row 32 is arranged in the middle section of the cantilever of the cantilever UAV.

[0037] Furthermore, the propeller motor includes an upper motor 41 and a lower motor 42, wherein any one of the upper motor 41 and the lower motor 42 is composed of a motor mounting plate, a motor stator, a motor rotor, a liquid cooling box, an upper liquid outlet, an external motor shaft, a bearing, a sealing ring, a liquid cooling end cover and a quick-release propeller seat.

[0038] Furthermore, the liquid cooling pipe includes a liquid cooling outlet pipe 21 and a liquid cooling inlet pipe 22, wherein the liquid cooling outlet pipe 21 transports the coolant driven by the liquid pump 1 to be injected into the lower motor 42, and injects the coolant output by the lower motor 42 into the upper motor 41 via the lower cooling row 32; the liquid cooling inlet pipe 22 transports the coolant output by the upper motor 41 to the liquid pump 1 via the upper cooling row 31.

[0039] Among them, on the cantilever drone, for any cantilever, two propellers are arranged at the end of the cantilever, and the propeller motors that drive the two propellers are respectively an upper motor 41 and a lower motor 42. Through the liquid cooling pipe, the liquid pump 1, the upper motor 41 and the lower motor 42 are connected in series to form a circulating liquid circuit. In the circulating liquid circuit, an upper radiator 31 is arranged on the liquid cooling pipe between the liquid pump 1 and the upper motor 41, and a lower radiator 32 is arranged on the liquid cooling pipe between the upper motor 41 and the lower motor 42.

[0040] Based on this, in order to avoid vortexes in the coolant injected into the propeller motor, two upper and lower radiators are used, and the coolant pipeline is replaced. The coolant flows out of the liquid pump 1 and enters the lower motor 42. The liquid outlet of the lower motor 42 enters the lower radiator 32. The outlet of the lower radiator 32 enters the upper motor 41. The outlet of the upper motor 41 enters the upper radiator 31. The outlet of the upper radiator 31 enters the liquid pump 1. The entire liquid circuit is connected in series. The coolant starts from the liquid pump 1 and returns to the liquid pump 1 for a cycle.

[0041] In addition, through the above cold plate arrangement, the coolant is cooled by a radiator before being injected into the upper motor 41 or the liquid pump 1, so that the temperature of the coolant is reduced, thereby improving the heat dissipation effect of the propeller motor. Taking the lower radiator 32 as an example, when the coolant flowing through the lower motor 42 dissipates the heat of the lower motor 42, the temperature of the coolant will inevitably rise. The coolant with increased temperature is directly injected into the upper motor 41, which will undoubtedly cause the heat dissipation effect of the upper motor 41 to decrease. Therefore, the coolant output by the lower motor 42 will be cooled by the lower radiator 32, which will cause the temperature of the coolant injected into the upper motor 41 to drop, thereby ensuring that the upper motor 41 has a better heat dissipation effect.

[0042] Furthermore, if any cantilever of the cantilever drone only includes one motor, then the coolant output by the liquid pump 1 will be injected into the propeller motor along the outlet cooling pipe 21 through the lower cooling row 32, and the coolant output by the propeller motor will be injected into the liquid pump 1 along the inlet cooling pipe 22 through the upper cooling row 31, forming a cycle. It should be noted that if any cantilever only includes one motor, then only one cooling row can be arranged, and the cooling row can be arranged in the middle section of either the outlet cooling pipe 21 or the inlet cooling pipe 22.

[0043] Based on this, since the coolant in the liquid cooling pipe is injected into the propeller motor, the airtightness of the propeller motor needs to be ensured at this time. Figure 2 As shown in the schematic diagram of the motor structure of a cantilever UAV liquid cooling system, the upper motor 41 and the lower motor 42 are both composed of a motor mounting plate 411, a motor stator 412, a motor rotor 413, a liquid cooling box 414, an upper liquid outlet 415, an external motor shaft 416, a bearing 417, a sealing ring 418, a liquid cooling end cover 419 and a quick-release propeller seat 4110.

[0044] Specifically, the bearing 417 may be a deep groove ball bearing in actual application scenarios. For the installation process of the propeller motor, Figure 3As shown in the motor installation diagram of a cantilever UAV liquid cooling system provided, the motor mounting plate 411 must be installed first, and the relevant parts need to be installed at the positions of the liquid inlet 51, the wire hole seal 52, and the wire hole 53, and fixed with screws to ensure that they will not fall off; the motor stator harness 56 is passed through the wire hole 53, and the bottom plate concentric positioning circle 54 and the motor positioning circle 58 are positioned to ensure that the motor stator 412 is installed concentrically with the motor mounting plate 411, and the installation accuracy is confirmed with a micrometer to ensure that the accuracy is within 0.05mm, and then the motor bottom plate mounting hole 55 and the motor mounting hole 57 are fixed with screws, that is, the motor stator 412 is installed on the motor mounting bottom plate 411. After the installation is completed, check whether the motor is loose on the bottom plate and whether the motor rotor 413 rotates normally without jamming and interference. After the motor is installed on the base plate, epoxy resin is used to seal the motor stator harness 56 and the wire hole 53 to ensure that liquid does not flow out from between the harnesses and to ensure that the motor stator harness 56 and the wire hole 53 are well sealed.

[0045] After the motor is installed, the external motor shaft 416 needs to be installed on the motor rotor 413. Since the original motor shaft is shorter and is not suitable for liquid-cooled motors, it is necessary to redesign an external motor shaft 416 that matches the original motor. The rotation of the motor rotor 413 drives the rotation of the external motor shaft 416. Since the motor shaft itself has concentricity requirements, that is, when the external motor shaft 416 is installed on the motor rotor 413, it is necessary to ensure that the concentricity of the external motor shaft 416 and the motor rotor 413 is consistent, and the accuracy is controlled within 0.05mm. During installation, the motor shaft 59 and the external shaft concentric hole 60 ensure concentric positioning, and the external shaft mounting hole 61 and the motor rotor mounting hole 62 are fixed by screws to complete the installation of the external motor shaft 416. After the installation is completed, the accuracy is confirmed with a micrometer.

[0046] After confirming the accuracy, install the upper liquid outlet 415 on the liquid cooling box 414 and fix it with screws. After the upper liquid outlet 415 is installed, install the liquid cooling box 414 on the motor mounting base 411 and fix it with screws. After the fixation is completed, inject liquid into the box and observe whether there is any leakage in the liquid cooling box. Let it stand for 24 hours. If there is any leakage, proceed to the next step of installation. During the waiting process, you can install the bearing 417, sealing ring 418, and liquid cooling end cover 419. First, install the sealing ring 418 into the liquid-cooled end cover 419. The installation surface of the sealing ring 418 is on the sealing ring installation surface 64 of the liquid-cooled end cover 419. The concentricity is also guaranteed here. At the same time, the sealing ring 418 also ensures the sealing of the external motor shaft 416 during rotation. At high speed, the fit between the external motor shaft 416 and the sealing ring 418 will become tighter and tighter. After the installation is completed, install the bearing 417 into the liquid-cooled end cover 419. Its installation surface is at the bearing installation surface 63. Thread glue needs to be applied on the surface of the bearing 417 to ensure that the bearing 417 will not fall off during rotation and to ensure a tight fit during installation. The axial force and radial force during rotation will not cause deformation of the liquid-cooled end cover 419.

[0047] After the bearing 417 and the sealing ring 418 are installed on the liquid cooling end cover 419, the complete liquid cooling end cover 419 is installed on the liquid cooling box 414. After the motor external shaft 416 passes through the concentric holes of the bearing 417 and the sealing ring 418, the box inner cavity 55 is matched with the end cover positioning circle 56 for installation. The positioning circle of the end cover positioning circle 56 is positioned with the inner cavity circle of the box inner cavity 55 to ensure the installation accuracy of the liquid cooling end cover 419 and the concentricity of the entire liquid cooling box during the installation process, ensuring that there is no eccentricity during the rotation of the motor rotor, and ensuring the safety of the aircraft flight. After the installation is completed, the entire box is fixed with screws, and finally the quick-release propeller seat 4110 is installed on the end cover positioning circle 56 to complete the installation of the entire box. The propeller matched with the quick-release propeller seat 4110 is matched with the motor external shaft 416 to form a quick release and replacement of the propeller. The external motor shaft 416 adopts the form of a rectangular spline to prevent the left and right and up and down movement of the propeller during rotation, while also ensuring the concentricity of the propeller. For motors with different rotation directions, the thread rotation direction of the external rectangular spline shaft is also different.

[0048] It should be noted that the external motor shaft 416 and the quick-release propeller seat 4110 form a matching device. While the motor shaft realizes power transmission, it also realizes the quick release of the propeller, that is, the propeller is installed on the quick-release propeller seat 4110, and the propeller and the propeller seat form a whole to realize quick release.

[0049] Furthermore, when the cantilever drone is started, the computing module sends a start instruction to the liquid pump 1, and the liquid pump 1 is started with a preset initial power.

[0050] Furthermore, the target power is greater than the initial power.

[0051] Among them, when the cantilever drone is started, the motor rotor begins to rotate. At this time, the liquid pump 1 needs to be started synchronously to inject coolant into the propeller motor; when the motor rotor is rotating, if the injection rate cannot match the rotation rate of the motor rotor, it will cause cavities in the coolant inside the propeller motor. The cavity will greatly affect the normal operation of the propeller motor. Therefore, when the cantilever drone is started, the liquid pump 1 is guaranteed to start with a preset initial power, wherein the initial power is determined by the size of the liquid cooling tube and the capacity of the propeller motor.

[0052] Based on this, in the process of the propeller motor of the cantilever drone continuously increasing its speed, the amount of liquid injection to ensure that there is no cavity inside the propeller motor increases, and the heat accumulation rate of the propeller motor will also increase. In this case, the liquid pump power of the liquid pump 1 needs to be increased to increase the liquid injection amount and heat dissipation efficiency; however, due to the rotation of the propeller, the air flow rate near the upper cooling row 31 and the lower cooling row 32 arranged in the middle part of the cantilever will increase, then the cooling effect of the upper cooling row 31 and the lower cooling row 32 on the coolant will be improved, at this time the temperature of the coolant drops, and the heat dissipation effect on the propeller motor increases, therefore, the target power is calculated as follows:

[0053]

[0054] Among them, V m is the target power, V d is the motor power, a, b, c are all intermediate parameters, aV d Characterize the motor power as V d In this case, in order to ensure that there is no cavity inside the propeller motor, the liquid pump power required by the liquid pump 1 is bV d Characterize the motor power as V d In this case, to offset the heat accumulation of the propeller motor, the liquid pump power required by liquid pump 1, cV d Characterize the motor power as V d In this case, the airflow generated by the propeller cools down the coolant in the upper cold plate and the lower cold plate, so that the liquid pump 1 can reduce the liquid pump power.

[0055] It should be noted that when aV d Greater than bV d -cV d When aV is , it means that at this time, the liquid pump power under the condition that no cavity is generated in the propeller motor can make the flow of coolant meet the heat dissipation demand of the propeller motor. On the contrary, when aV d Less than or equal to bV d -cVd When , it means that at this time, the liquid pump power meets the heat dissipation demand of the propeller motor, so that no cavity is generated in the propeller motor.

[0056] Furthermore, the cantilever drone liquid cooling system also includes an ambient temperature determination module, wherein the ambient temperature determination module collects ambient temperature data and sends the ambient temperature data to the calculation module, and the calculation module updates the target power according to the ambient temperature data.

[0057] Furthermore, the cantilever UAV liquid cooling system also includes a motor temperature determination module, wherein the motor temperature determination module collects motor temperature data of the propeller motor and sends the motor temperature data to the calculation module, and the calculation module updates the target power according to the motor temperature data.

[0058] Among them, different ambient temperatures will affect the heat accumulation process of the propeller motor. For example, the heat dissipation requirement of the propeller motor of a cantilever drone in winter is less than that of the propeller of a cantilever drone in summer. In this case, the calculation formula for the target power is as follows:

[0059]

[0060] Wherein, d is an intermediate parameter, T1 is the ambient temperature data, and dT1 represents the liquid pump power required by the liquid pump 1 in order to offset the heat accumulation of the propeller motor caused by the ambient temperature when the ambient temperature is T1.

[0061] In addition, a temperature sensor may be arranged inside the propeller motor to collect the motor temperature data of the propeller motor, and the liquid pump power may be adjusted according to the collected motor temperature data. The target power calculation formula at this time is as follows:

[0062]

[0063] Among them, e is the intermediate parameter, T2 is the motor temperature data, and eT2 represents the liquid pump power required by the liquid pump 1 when the motor temperature data is at T2 so that the propeller motor meets the heat dissipation requirements. At this time, it is only necessary to judge the size between the liquid pump power required to ensure that no cavity is generated in the propeller motor and the liquid pump power required to meet the heat dissipation requirements of the propeller motor, and take the larger one as the target power.

[0064] According to an embodiment of the present application, a computing module is provided, and the components of the computing module include but are not limited to a memory and a processor. The processor and the memory are connected via a bus, and the database is used to store data.

[0065] The computing module also includes an access device, which enables the computing module to communicate via one or more networks. Examples of these networks include a combination of a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a communication network such as the Internet. The access device may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a global interconnection for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0066] In one embodiment of the present application, the above-mentioned components of the computing module and other components not shown may also be connected to each other, for example, via a bus. It should be understood that the computing module may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.) or other types of mobile devices, or a stationary computing device such as a desktop computer or a PC. The computing module may also be a mobile or stationary server.

[0067] The processor is used to execute computer executable instructions for each step in the process of calculating the target power. An embodiment of the present application also provides a computer readable storage medium, which stores computer instructions, which are used to implement each step in the process of calculating the target power when the instructions are executed by the processor. An embodiment of the present application also provides a chip, which stores a computer program, which performs each step in the process of calculating the target power when the computer program is executed by the chip.

[0068] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0069] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0070] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0071] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0072] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and use the present application well. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A cantilever UAV liquid cooling system, characterized in that: It comprises a liquid pump (1), a liquid cooling pipe and a computing module, wherein: The liquid pump (1) is arranged on the fuselage of the cantilever drone and drives the coolant to be injected into the liquid cooling pipe; The liquid cooling pipe is arranged on the cantilever of the cantilever drone, connecting the liquid pump (1) and the propeller motor of the cantilever drone, and the propeller motor adopts immersion or spray liquid cooling; The calculation module collects the motor power of the propeller motor, calculates the target power according to the motor power, and adjusts the liquid pump power of the liquid pump (1) according to the target power.

2. The system according to claim 1, characterized in that The cantilever drone liquid cooling system also includes an ambient temperature determination module, wherein: The ambient temperature determination module collects ambient temperature data and sends the ambient temperature data to the calculation module, and the calculation module updates the target power according to the ambient temperature data.

3. The system according to claim 1, characterized in that The liquid cooling pipe comprises an upper cooling row (31) and a lower cooling row (32), wherein the upper cooling row (31) is arranged in the middle section of the cantilever of the cantilever drone, and the lower cooling row (32) is arranged in the middle section of the cantilever of the cantilever drone.

4. The system according to claim 3, characterized in that The propeller motor comprises an upper motor (41) and a lower motor (42), wherein any one of the upper motor (41) and the lower motor (42) is composed of a motor mounting plate (411), a motor stator (412), a motor rotor (413), a liquid cooling box (414), an upper liquid outlet (415), an external motor shaft (416), a bearing (417), a sealing ring (418), a liquid cooling end cover (419) and a quick-release propeller seat (4110).

5. The system according to claim 4, characterized in that The liquid cooling pipe comprises a liquid cooling outlet pipe (21) and a liquid cooling inlet pipe (22), wherein: The liquid outlet cooling pipe (21) transports the cooling liquid driven by the liquid pump (1) to be injected into the lower motor (42), and injects the cooling liquid output by the lower motor (42) into the upper motor (41) via the lower cooling row (32); The liquid inlet cooling pipe (22) transports the cooling liquid output by the upper motor (41) to the liquid pump (1) via the upper cooling row (31).

6. The system according to claim 5, characterized in that When the cantilever drone is started, the computing module sends a start instruction to the liquid pump (1), and the liquid pump (1) is started with a preset initial power.

7. The system according to claim 6, characterized in that The target power is greater than the initial power.

8. The system according to claim 1, characterized in that The cantilever drone liquid cooling system also includes a motor temperature determination module, wherein: The motor temperature determination module collects the motor temperature data of the propeller motor and sends the motor temperature data to the calculation module. The calculation module updates the target power according to the motor temperature data.

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