A power supply protection device, method and system for a vehicle in operation

Abstract

The invention discloses a power supply protection device, method and system for a delivery vehicle. The method comprises the following steps: obtaining the SOC value of a battery of the delivery vehicle; obtaining the state of a switch for enabling airdropping, and executing the operation of a direct power-on control module if the switch state is invalid; or, selecting whether to enter the airdrop mode through confirmation of an operator, and continuing to execute the operation of the direct power-on control module when the airdrop mode is not selected; after selecting to enter the airdrop mode, controlling all power-consuming devices except the power-on and power-off controllers to be powered off through a power-off-then-on control module; determining whether the delivery vehicle has landed by airdropping according to airdrop determination parameters; and determining whether to restore power supply according to the power level of the battery of the delivery vehicle and the airdrop state. The invention can solve the problem that the vehicle must be powered off for the safety of the vehicle during the airdrop process, and must be powered on according to the state of the vehicle after the airdrop landing is completed to realize vehicle positioning and searching and normal operation of the vehicle's power-consuming devices.

Description

Technical Field

[0001] The present invention belongs to the technical field of special vehicles, and more specifically, relates to a power supply protection device, method and system for a vehicle in operation. Background Art

[0002] Special vehicles can be driven on the road and also meet the requirements of airdrop operations. During the airdrop process, the vehicle must be powered off for the safety of the vehicle. At the same time, after the airdrop landing is completed, the vehicle must be powered on according to its status to achieve the needs of vehicle positioning and normal operation of the vehicle's electrical equipment. The power-on and power-off control systems of ordinary vehicles lack sufficient automation and stability, and cannot meet the needs of special vehicles for high-reliability power supply when performing tasks; the existing power-on and power-off control methods may lack flexibility and cannot adapt to the power management needs of special vehicles in different states; the energy management strategies of ordinary vehicles may not be efficient enough, resulting in the inability to reasonably allocate and use electricity when the demand for electricity increases; the safety measures of ordinary vehicles may not be strict enough to ensure the safety of personnel and equipment when performing high-risk tasks; the existing power supply protection devices are large in size, single in function, lack of integrated and intelligent design, and are not conducive to installation and operation in the small space of special vehicles. Summary of the invention

[0003] In view of the above defects or improvement needs of the prior art, the present invention provides a power supply protection device, method and system for a delivery vehicle, which solves the problem that the vehicle must be powered off for the safety of the vehicle during the airdrop process, and must be powered on according to the status of the vehicle after the airdrop landing is completed to achieve vehicle positioning and normal operation of the vehicle's electrical equipment; the special vehicle power supply protection device of the present invention improves the automation, stability and flexibility of power on and off control through integrated and intelligent design, optimizes the energy management strategy, and strengthens safety measures, thereby being able to meet the needs of special vehicles for high-reliability power supplies when performing tasks.

[0004] In order to achieve the above object, one aspect of the present invention provides a power supply protection method for a vehicle in operation, which is implemented by using a power supply protection device for the vehicle in operation, and comprises the following steps:

[0005] S1: Obtain the SOC value of the battery of the operational vehicle;

[0006] S2: Obtain the status of the airdrop enable preparation switch. If the switch status is invalid, the first airdrop power relay is controlled to be disconnected through the direct power-on control module, so that the automatic positioning device is powered off and the vehicle positioning information will not be sent; at the same time, the second airdrop power relay is controlled to be closed so that the electrical system of the vehicle's wire-controlled chassis is powered to support the normal operation of the vehicle; if the switch status is valid, the delivery vehicle enters the airdrop mode and executes step S4;

[0007] S3: Obtain the status of the airdrop enable switch. If the switch status is invalid, request the intelligent information terminal to display a pop-up window "Do you want to enter the airdrop mode" through the power on and off controller. If the operator selects "No" and does not enter the airdrop mode, the first airdrop power relay is controlled to be disconnected, and the automatic positioning device does not need power supply to send vehicle positioning information; the second airdrop power relay is closed, and the vehicle's wire-controlled chassis electrical system supplies power to the vehicle; if the operator selects "Yes", when entering the airdrop mode, step S4 is executed;

[0008] S4: After the delivery vehicle enters the airdrop mode, the power-off control module is used to control the power-off of all electrical equipment except the power-on and power-off controllers; the airdrop judgment parameters are obtained; according to the airdrop judgment parameters, it is determined whether the delivery vehicle has landed by airdrop; according to the SOC value of the battery of the delivery vehicle, it is determined whether the battery power of the delivery vehicle is sufficient; according to the power of the battery of the delivery vehicle and the airdrop status, it is determined whether to restore the power supply.

[0009] Furthermore, the power supply protection device of the delivery vehicle includes a battery, a main power switch, a body controller, an airdrop enable preparation switch, an acceleration sensor assembly, an automatic positioning device, a whole vehicle wire-controlled chassis electrical system, and a delivery vehicle status monitoring device.

[0010] The vehicle body controller includes a power-on and power-off controller, a battery power estimation module, a direct power-on control module, and a power-off-first-on-later control module;

[0011] The airdrop enabling preparation switch, the acceleration sensor assembly, the automatic positioning device, and the intelligent information terminal are connected to the upper and lower power controllers;

[0012] The vehicle-by-wire chassis electrical system is provided with an intelligent information terminal;

[0013] The power on and off controller exchanges information with the intelligent information terminal via the CAN bus;

[0014] The automatic positioning device is used for sending vehicle positioning information after the airdropped vehicle lands;

[0015] The airdrop enabling preparation switch is used to control the power supply to the automatic positioning device;

[0016] A first airdrop power relay for supplying power to the automatic positioning device is provided between the power up and down controller and the automatic positioning device; a second airdrop power relay for supplying power to the entire vehicle's wire-controlled chassis electrical system is provided between the power up and down controller and the entire vehicle's wire-controlled chassis electrical system;

[0017] The first airdrop power relay and the second airdrop power relay are connected with a current sensor;

[0018] The acceleration sensor assembly includes a left front vertical acceleration sensor, a right front vertical acceleration sensor, a left rear vertical acceleration sensor, a right rear vertical acceleration sensor, which are respectively installed on the left front suspension, the right front suspension, the left rear suspension, and the right rear suspension of the operational vehicle, and are used to detect the impact size of the corresponding suspensions, as well as a central gravity acceleration sensor for detecting the acceleration at the center of the vehicle.

[0019] Furthermore, the acquisition of the airdrop determination parameters in step S4 includes the following steps:

[0020] S41: Obtaining the maximum vertical impact acceleration of the delivery vehicle according to the readings of the left front vertical acceleration sensor, the right front vertical acceleration sensor, the left rear vertical acceleration sensor, and the right rear vertical acceleration sensor of the delivery vehicle;

[0021] S42: Calculating the speed of the delivery vehicle in the vertical direction according to the reading of the central gravity acceleration sensor of the delivery vehicle;

[0022] S43: Obtain airdrop determination parameters according to the maximum vertical impact acceleration of the delivery vehicle and the speed of the delivery vehicle in the vertical direction.

[0023] Further, in step S4, determining whether the delivery vehicle has landed by airdrop according to the airdrop determination parameter includes:

[0024] If the airdrop judgment parameter is greater than the landing impact threshold, the delivery vehicle will be airdropped and landed; otherwise, the delivery vehicle is in the airdropping or airdrop preparation state.

[0025] Further, in step S4, judging whether the battery of the operational vehicle is sufficient in power according to the SOC value of the battery of the operational vehicle includes: when the SOC value of the battery of the operational vehicle is greater than or equal to the sufficient power threshold SOC of the battery of the operational vehicle, it indicates that the battery of the operational vehicle is sufficient in power;

[0026] When the SOC value of the battery of the operational vehicle is less than the sufficient power threshold SOC of the battery of the operational vehicle, it indicates that the battery of the operational vehicle is insufficiently charged.

[0027] Further, the step S4 of determining whether to restore power supply according to the power of the battery of the delivery vehicle and the airdrop determination parameter includes:

[0028] If the delivery vehicle lands after airdropping and the battery of the delivery vehicle is sufficiently charged, the first airdrop power relay is controlled to close through the power-down-first-on-later control module, and the automatic positioning device is powered to send vehicle positioning information; the second airdrop power relay is controlled to close, and the whole vehicle wire-controlled chassis electrical system is powered to make the whole vehicle work;

[0029] If the delivery vehicle is airdropped and landed, and the battery of the delivery vehicle is insufficient, in order to improve the battery life of the vehicle and help the combatants find the position of the airdropped vehicle, the first airdrop power relay is controlled to close through the power-down-then-power-up control module, so that the automatic positioning device is powered and sends the vehicle positioning information; at the same time, the second airdrop power relay is controlled to disconnect, and the electrical system of the vehicle's wire-controlled chassis stops working without power supply;

[0030] If the delivery vehicle is in the airdrop process or in the airdrop preparation state, the first airdrop power relay is controlled to be disconnected through the power-down-then-power-on control module, and the automatic positioning device sends the vehicle positioning information without power supply; the second airdrop power relay is controlled to be disconnected, so that the electrical system of the vehicle's wire-controlled chassis stops working without power supply.

[0031] Furthermore, the step S1 of obtaining the SOC value of the battery of the operational vehicle through the battery power estimation module on the vehicle body controller includes the following steps:

[0032] S11: obtaining the current of the battery of the operational vehicle at time k-2, time k-1, and time k through a current sensor, and calculating the amount of power change of the battery of the operational vehicle according to the current at time k-1 and time k;

[0033] S12: Calculate the change rate of the current of the battery of the operational vehicle at time k-1 and time k according to the current of the battery of the operational vehicle at time k-2, time k-1, and time k;

[0034] S13: Obtaining a set of linear current equations of the battery of the operational vehicle at time k-1 and time k according to the rate of change of the current of the operational vehicle at time k-1 and time k;

[0035] S14: Calculating the coordinates of the intersection of the equation group according to the current linear equation group of the battery of the put into operation vehicle at time k-1 and time k;

[0036] S15: Calculating the compensation amount of the change in the amount of electricity of the battery of the operating vehicle according to the intersection coordinate value, the current sensor detection value at time k-1, the detection time interval, and the current sensor detection value at time k;

[0037] S16: Calculate the power of the battery of the operational vehicle at time k based on the compensation amount of the power change of the battery of the operational vehicle, the power change of the battery of the operational vehicle, and the power of the battery of the operational vehicle at time k-1;

[0038] S17: Calculate the SOC value of the battery of the vehicle to be put into operation based on the power of the battery of the vehicle to be put into operation at time k.

[0039] Further, in step S15, the compensation amount of the change in the amount of electricity of the battery of the operating vehicle is calculated based on the three points (to, Io), (0, I(k-1)), and (Δt, I(k)); the compensation amount of the change in the amount of electricity of the battery of the operating vehicle is the area of ​​the triangle formed by the three points (to, Io), (0, I(k-1)), and (Δt, I(k)); according to the mathematical formula for calculating the area of ​​the triangle using the coordinates of the three known points, it can be known that the compensation amount of the change in the amount of electricity of the battery of the operating vehicle is expressed by formula (5):

[0040] ΔQB(k-1)=(to*I(k-1)-to*I(k)+0*I(k)-0*Io+Δt*Io-0*I(k-1)) / 2 (5)

[0041] Among them, ΔQB(k-1) is the compensation amount of the change in the amount of power of the battery of the operating vehicle at time k-1; (to, Io) is the coordinate of the intersection of the equation group described in step S14; Io is the current coordinate of the intersection of the equation group; to is the time coordinate of the intersection of the equation group; I(k-1) is the detection value of the current sensor at time k-1; I(k) is the detection value of the current sensor at time k; Δt is the detection time interval;

[0042] In step S16, the current of the vehicle battery at time k is equal to the sum of the compensation amount of the change in the amount of electricity of the vehicle battery, the change in the amount of electricity of the vehicle battery and the amount of electricity of the vehicle battery at time k-1, which is expressed by formula (6):

[0043] Q(k)=Q(k-1)+ΔQ(k-1)+ΔQB(k-1) (6)

[0044] Among them, ΔQ(k-1) is the change in the battery power of the operating vehicle at time k-1; Q(k-1) is the battery power of the operating vehicle at time k-1.

[0045] Furthermore, the calculation formula of the airdrop determination parameter δ is:

[0046] δ=αmax*β1+v*β2 (10)

[0047] Where: β1 is the impact conversion coefficient; β2 is the speed conversion coefficient; v is the speed of the vehicle in the vertical direction; αmax is the maximum vertical impact acceleration of the operational vehicle.

[0048] A second aspect of the present invention provides a power supply protection system for a vehicle in operation, which is used to implement the power supply protection method for the vehicle in operation, comprising:

[0049] Battery power estimation module: used to obtain the SOC value of the battery of the operational vehicle;

[0050] The airdrop enable switch status acquisition module is used to obtain the status of the airdrop enable switch. If the switch status is invalid, it means that the vehicle is not in airdrop mode. If the switch status is valid, the delivery vehicle enters airdrop mode.

[0051] The direct power-on control module is used to control the first airdrop power relay to be disconnected when the airdrop enable preparation switch state is invalid, so that the automatic positioning device is powered off and the vehicle positioning information will not be sent; at the same time, the second airdrop power relay is controlled to be closed so that the electrical system of the vehicle's wire-controlled chassis is powered to support the normal operation of the vehicle;

[0052] The power-on-before-off control module is used to request the intelligent information terminal to display a pop-up window "whether to enter the airdrop mode" through the power-on and power-off controllers when the airdrop enable preparation switch state is invalid. When the operator selects "no" and does not enter the airdrop mode, the first airdrop power relay is controlled to be disconnected, and the automatic positioning device does not need power supply to send vehicle positioning information; the second airdrop power relay is closed, and the vehicle's wire-controlled chassis electrical system supplies power to the entire vehicle; the operator selects "yes" to enter the airdrop mode, and all electrical equipment except the power-on and power-off controllers are controlled to be powered off; obtain airdrop judgment parameters; determine whether the delivery vehicle has landed by airdrop according to the airdrop judgment parameters; determine whether the delivery vehicle battery is sufficient according to the SOC value of the delivery vehicle battery; decide whether to restore power supply according to the battery power of the delivery vehicle and the airdrop status.

[0053] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0054] A power supply protection device, method and system for a delivery vehicle of the present invention are intended to ensure the power supply safety of the delivery vehicle during the airdrop process and the rapid recovery after landing; monitor and calculate the SOC value of the battery in real time through a battery power estimation module on the body controller; determine whether the vehicle is ready to enter the airdrop mode, and if the switch state is invalid, execute the operation of the direct power-on control module: control the first airdrop power relay to be disconnected, so that the automatic positioning device is powered off to avoid sending vehicle positioning information; control the second airdrop power relay to be closed to ensure that the electrical system of the vehicle's wire-controlled chassis is powered to support the normal operation of the vehicle; if the switch state is valid, it means that the vehicle is ready to enter the airdrop mode; before the vehicle is ready to enter the airdrop mode, the operator confirms whether to enter the airdrop mode; if the operator selects "no", the airdrop mode is not entered, and the same power control operation as S2 is executed; if the operator selects "yes", Enter the airdrop mode; in the airdrop mode, all electrical equipment except the upper and lower power controllers are powered off through the power-on control module that powers off first and then on to ensure power safety during the airdrop process; obtain airdrop judgment parameters, and determine whether the delivery vehicle has landed by airdrop according to the airdrop judgment parameters; determine whether the delivery vehicle battery has sufficient power according to the SOC value of the delivery vehicle battery; determine whether to restore power supply according to the power of the delivery vehicle battery and the airdrop status; through the power supply protection method of the present invention, the delivery vehicle can maintain power safety during the airdrop process, and quickly restore power supply after landing to ensure the normal operation and positioning of the vehicle; the special vehicle power supply protection device of the present invention improves the automation, stability and flexibility of upper and lower power control through integrated and intelligent design, optimizes the energy management strategy, and strengthens safety measures, so as to meet the needs of special vehicles for high-reliability power supply when performing tasks. The present invention can solve the problem that the vehicle must be powered off for the safety of the vehicle during the airdrop process, and at the same time, the power-on operation must be performed according to the state of the vehicle after the airdrop landing is completed to realize the vehicle positioning search and the normal operation of the whole vehicle electrical equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a schematic diagram of the structure of a power supply protection device for a vehicle in operation according to an embodiment of the present invention;

[0056] Figure 2 A schematic diagram of a flow chart of a power supply protection method for a vehicle in operation according to an embodiment of the present invention;

[0057] Figure 3 This is a schematic diagram of the structure of a power supply protection system for a vehicle in operation according to an embodiment of the present invention;

[0058] Figure 4 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention.

[0059] In all the drawings, the same figure marks represent the same technical features, specifically: 1-up and down power controller, 2-airdrop enable preparation switch, 3-acceleration sensor assembly, 31-left front vertical acceleration sensor, 32-right front vertical acceleration sensor, 33-left rear vertical acceleration sensor, 34-right rear vertical acceleration sensor, 35-center gravity acceleration sensor, 4-automatic positioning device, 6-vehicle wire-controlled chassis electrical system, 7-CAN bus, 8-first airdrop power relay, 9-second airdrop power relay, 10-current sensor. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0061] Based on the above reasons, if Figure 1As shown, one aspect of the present invention provides a power supply protection device for a delivery vehicle, comprising a battery, a main power switch, a body controller, an airdrop enable preparation switch 2, an acceleration sensor assembly 3, an automatic positioning device 4, a whole vehicle wire-controlled chassis electrical system 6, and a delivery vehicle status monitoring device; the body controller comprises an upper and lower power controller 1, a battery power estimation module, a direct power-on control module, and a first-down-then-on power-on control module; the airdrop enable preparation switch 2, the acceleration sensor assembly 3, the automatic positioning device 4, and the intelligent information terminal 5 are connected to the upper and lower power controller 1; the whole vehicle wire-controlled chassis electrical system 6 is provided with an intelligent information terminal 5; the upper and lower power controller 1 and the intelligent information terminal 5 exchange information through a CAN bus 7; the automatic positioning device 4 is used for the delivery vehicle to send vehicle positioning information after airdrop landing to facilitate vehicle search; the airdrop enable preparation switch 2 is used to control the power supply of the automatic positioning device; a first airdrop power relay 8 is provided between the upper and lower power controller 1 and the automatic positioning device 4, which is used to supply power to the automatic positioning device The power supply control of the automatic positioning device 4 is provided; a second airdrop power relay 9 is provided between the upper and lower power controller 1 and the whole vehicle wire-controlled chassis electrical system 6, which is used to control the power supply of the whole vehicle wire-controlled chassis electrical system 6; the first airdrop power relay 8 and the second airdrop power relay 9 are connected to a current sensor 10; the current sensor 10 is used to detect the total discharge current of the battery of the automatic positioning device 4 or the whole vehicle wire-controlled chassis electrical system 6; the acceleration sensor assembly 3 includes a left front vertical acceleration sensor 31, a right front vertical acceleration sensor 32, left rear vertical acceleration sensor 33, right rear vertical acceleration sensor 34 and center gravity acceleration sensor 35; the left front vertical acceleration sensor 31, right front vertical acceleration sensor 32, left rear vertical acceleration sensor 33, right rear vertical acceleration sensor 34 are respectively installed on the left front suspension, right front suspension, left rear suspension and right rear suspension of the operational vehicle, and are used to detect the impact size of the corresponding suspension; the center gravity acceleration sensor 35 is used to detect the acceleration at the center of the vehicle, and is used to calculate the moving speed of the center of the vehicle.

[0062] like Figure 2 As shown, the second aspect of the present invention provides a power supply protection method for a commissioning vehicle, which is implemented by applying the power supply protection device for the commissioning vehicle, and includes the following steps:

[0063] S1: Obtain the SOC value of the battery of the operational vehicle through the battery power estimation module on the body controller;

[0064] S2: Obtain the status of the airdrop enable preparation switch. If the switch status is invalid, it means that the vehicle is not in the airdrop mode. The first airdrop power relay 8 is controlled to be disconnected by the direct power-on control module, so that the automatic positioning device 4 is powered off and the vehicle positioning information is not sent; at the same time, the second airdrop power relay 9 is controlled to be closed, so that the vehicle wire-controlled chassis electrical system 6 is powered to support the normal operation of the vehicle; if the switch status is valid, the delivery vehicle enters the airdrop mode and executes step S4;

[0065] S3: Obtain the status of the airdrop enable switch. If the switch status is invalid, request the intelligent information terminal 5 to display a pop-up window "whether to enter the airdrop mode" through the power on and off controller 1. When the operator selects "no" and does not enter the airdrop mode, the first airdrop power relay 8 is controlled to be disconnected, and the automatic positioning device 4 does not need power supply to send vehicle positioning information; the second airdrop power relay 9 is closed, and the vehicle wire-controlled chassis electrical system 6 supplies power to the vehicle; when the operator selects "yes", when entering the airdrop mode, step S4 is executed;

[0066] S4: After the delivery vehicle enters the airdrop mode, the power-off control module is used to control all electrical equipment except the power-on and power-off controller 1 to cut off power; the airdrop judgment parameter is obtained; according to the airdrop judgment parameter, it is determined whether the delivery vehicle has landed by airdrop; according to the SOC value of the battery of the delivery vehicle, it is determined whether the battery power of the delivery vehicle is sufficient; according to the power of the battery of the delivery vehicle and the airdrop status, it is determined whether to restore power supply.

[0067] Furthermore, when the state of the airdrop enable preparation switch in step S2 is invalid, the delivery vehicle is not in the airdrop mode; when the state of the airdrop enable preparation switch is valid, the vehicle is in the airdrop mode; the direct power-on control module in step S2 controls the closing and opening of the first airdrop power relay 8 connected to the automatic positioning device 4 and the second airdrop power relay 9 connected to the vehicle's wire-controlled chassis electrical system 6 according to the state of the airdrop enable preparation switch, thereby realizing power supply control of the automatic positioning device 4 and the vehicle's wire-controlled chassis electrical system 6.

[0068] Furthermore, in S4, after the delivery vehicle enters the airdrop mode, for the safety of the airdrop process, all electrical equipment except the power on and off controller 1 are powered off, that is, the first airdrop power relay 8 is disconnected through the direct power-on control module, and the automatic positioning device sends the vehicle positioning information without power supply; at the same time, the second airdrop power relay 9 is disconnected, and the vehicle's wire-controlled chassis electrical system 6 is not powered and stops working.

[0069] Furthermore, the acquisition of the airdrop determination parameters in step S4 includes the following steps:

[0070] S41: Obtaining the maximum vertical impact acceleration of the delivery vehicle according to the readings of the left front vertical acceleration sensor 31, the right front vertical acceleration sensor 32, the left rear vertical acceleration sensor 33, and the right rear vertical acceleration sensor 34 of the delivery vehicle;

[0071] S42: Calculate the speed of the delivery vehicle in the vertical direction according to the reading of the center gravity acceleration sensor 35 of the delivery vehicle;

[0072] S43: Obtaining airdrop determination parameters according to the maximum vertical impact acceleration of the delivery vehicle and the speed of the delivery vehicle in the vertical direction;

[0073] Further, in step S4, determining whether the delivery vehicle has landed by airdrop according to the airdrop determination parameter includes:

[0074] If the airdrop judgment parameter is greater than the landing impact threshold, the delivery vehicle is airdropped and landed; otherwise, the delivery vehicle is in the airdrop or airdrop preparation state; the landing impact threshold is matched and calibrated according to the weight and size of the delivery vehicle.

[0075] Furthermore, in step S4, whether the battery of the vehicle is sufficiently charged is judged based on the SOC value of the battery of the vehicle, including: when the SOC value of the battery of the vehicle is greater than or equal to the sufficient charge threshold SOC1 of the battery of the vehicle, it indicates that the battery of the vehicle is sufficiently charged; when the SOC value of the battery of the vehicle is less than the sufficient charge threshold SOC1 of the battery of the vehicle, it indicates that the battery of the vehicle is insufficient.

[0076] Further, the step S4 of determining whether to restore power supply according to the power of the battery of the delivery vehicle and the airdrop determination parameter includes:

[0077] If the delivery vehicle lands by airdrop and the battery of the delivery vehicle is sufficiently charged, the first airdrop power relay 8 is controlled to close by the power-down-before-power-up control module, and the automatic positioning device 4 is powered to send the vehicle positioning information; the second airdrop power relay 9 is controlled to close, and the vehicle wire-controlled chassis electrical system 6 is powered to make the vehicle work;

[0078] If the delivery vehicle is airdropped and landed, and the battery of the delivery vehicle is insufficient, in order to improve the battery life of the vehicle and help the combatants find the position of the airdropped vehicle, the first airdrop power relay 8 is controlled to close through the power-down-then-power-up control module, so that the automatic positioning device 4 is powered and sends the vehicle positioning information; at the same time, the second airdrop power relay 9 is controlled to be disconnected, and the vehicle wire-controlled chassis electrical system 6 stops working without power supply;

[0079] If the delivery vehicle is in the airdrop process or in the airdrop preparation state, the first airdrop power relay 8 is controlled to be disconnected through the power-down-then-power-on control module, and the automatic positioning device 4 sends the vehicle positioning information without power supply; the second airdrop power relay 9 is controlled to be disconnected, so that the vehicle's wire-controlled chassis electrical system 6 stops working without power supply.

[0080] Furthermore, the battery of the vehicle put into operation in step S1 is a battery of the vehicle put into operation; the SOC value of the battery of the vehicle put into operation is obtained by the battery power estimation module on the vehicle body controller, including the following steps:

[0081] S11: obtaining the current of the battery of the operational vehicle at time k-2, time k-1, and time k through a current sensor, and calculating the amount of power change of the battery of the operational vehicle according to the current at time k-1 and time k;

[0082] S12: Calculate the change rate of the current of the battery of the operational vehicle at time k-1 and time k according to the current of the battery of the operational vehicle at time k-2, time k-1, and time k;

[0083] S13: Obtaining a set of linear current equations of the battery of the operational vehicle at time k-1 and time k according to the rate of change of the current of the operational vehicle at time k-1 and time k;

[0084] S14: Calculating the coordinates of the intersection of the equation group according to the current linear equation group of the battery of the put into operation vehicle at time k-1 and time k;

[0085] S15: Calculating the compensation amount of the change in the amount of electricity of the battery of the operating vehicle according to the intersection coordinate value, the current sensor detection value at time k-1, the detection time interval, and the current sensor detection value at time k;

[0086] S16: Calculate the power of the battery of the operational vehicle at time k based on the compensation amount of the power change of the battery of the operational vehicle, the power change of the battery of the operational vehicle, and the power of the battery of the operational vehicle at time k-1;

[0087] S17: Calculate the SOC value of the battery of the vehicle to be put into operation based on the power of the battery of the vehicle to be put into operation at time k.

[0088] Furthermore, the amount of change in the battery charge of the operational vehicle in step S11 is calculated by formula (1):

[0089]

[0090] Where: I(k-1) is the current sensor detection value at time k-1; I(k) is the current sensor detection value at time k; ΔQ(k-1) is the change in battery power at time k-1; Δt is the detection time interval;

[0091] Furthermore, in step S12, the rate of change of the current of the battery of the vehicle in operation of the automatic positioning device or the vehicle-by-wire chassis electrical system at time k-1 and time k is expressed by formula (2):

[0092]

[0093] Where: Ia(k-1) is the rate of change of the current at time k-1; Ia(k) is the rate of change of the current at time k;

[0094] Furthermore, the current linear equations of the automatic positioning device or the vehicle-by-wire chassis electrical system at time k-1 and time k in step S13 are expressed by equation (3):

[0095]

[0096] The current straight line equation group consists of a current straight line equation passing through (0, I(k-1)) and having a slope of Ia(k-1) and a current straight line equation passing through (Δt, I(k)) and having a slope of Ia(k).

[0097] Furthermore, the intersection coordinates of the equation group in step S14 are expressed by equation (4):

[0098]

[0099] Where: Io is the current coordinate of the intersection of the equations; to is the time coordinate of the intersection of the equations;

[0100] Further, in step S15, the compensation amount of the change in the amount of electricity of the battery of the operating vehicle is calculated based on the three points (to, Io), (0, I(k-1)), and (Δt, I(k)); the compensation amount of the change in the amount of electricity of the battery of the operating vehicle is the area of ​​the triangle formed by the three points (to, Io), (0, I(k-1)), and (Δt, I(k)); according to the mathematical formula for calculating the area of ​​the triangle using the coordinates of the three known points, it can be known that the compensation amount of the change in the amount of electricity of the battery of the operating vehicle is expressed by formula (5):

[0101] ΔQB(k-1)=(to*I(k-1)-to*I(k)+0*I(k)-0*Io+Δt*Io-0*I(k-1)) / 2 (5)

[0102] Among them, ΔQB(k-1) is the compensation amount for the change in the battery charge of the vehicle in operation at time k-1.

[0103] Furthermore, in step S16, the current of the battery of the operational vehicle at time k is equal to the sum of the compensation amount of the change in the amount of electricity of the battery of the operational vehicle, the change in the amount of electricity of the battery of the operational vehicle, and the amount of electricity of the battery of the operational vehicle at time k-1, which is expressed by formula (6):

[0104] Q(k)=Q(k-1)+ΔQ(k-1)+ΔQB(k-1) (6)

[0105] Furthermore, the SOC value of the battery of the vehicle in operation in step S17 is expressed by formula (7):

[0106]

[0107] Among them: SOC is the SOC value of the battery of the operating vehicle; Qm is the power of the battery of the operating vehicle when it is fully charged.

[0108] Furthermore, the maximum vertical impact acceleration αmax of the delivery vehicle in step S41 is expressed by the following formula:

[0109] αmax=max(α fl , α fr , α rl , α rr ) (8)

[0110] Among them, α fl is the left front vertical acceleration; α fr Right front vertical acceleration; α rl is the left rear vertical acceleration; α rr is the right rear vertical acceleration;

[0111] Furthermore, in step S42, the speed v of the transport vehicle in the vertical direction is calculated by the following formula:

[0112]

[0113] Where v is the speed of the vehicle in the vertical direction; α o is the heart gravity acceleration sensor; t1 is the timing time for entering the airdrop mode;

[0114] Furthermore, in order to ensure the accuracy of airdrop landing judgment in step S43, the vertical maximum impact acceleration and the speed of the vehicle in the vertical direction are comprehensively considered, and the airdrop judgment parameter is used for judgment; the airdrop judgment parameter is equal to the sum of the vertical maximum impact acceleration multiplied by the obtained value of the impact conversion coefficient and the speed of the vehicle in the vertical direction multiplied by the obtained value of the speed conversion coefficient; the calculation formula of the airdrop judgment parameter δ is:

[0115] δ=αmax*β1+v*β2 (10)

[0116] Among them: β1 is the impact conversion coefficient; β2 is the velocity conversion coefficient.

[0117] The present invention provides a power supply protection method for a delivery vehicle, which obtains the SOC value of the delivery vehicle battery through a battery power estimation module; obtains the state of the airdrop enable preparation switch through an airdrop enable preparation switch state acquisition module, and if the switch state is invalid, executes the operation of the direct power-on control module; or, selects whether to enter the airdrop mode through the confirmation of an operator, and when the airdrop mode is not selected, continues to execute the operation of the direct power-on control module; after entering the airdrop mode, controls all electrical equipment except the power on and off controllers to be powered off through a power-off-then-on control module; determines whether the delivery vehicle has landed by airdrop according to airdrop determination parameters; and determines whether to restore power supply according to the power of the delivery vehicle battery and the airdrop state; the present invention can solve the problem that the vehicle must be powered off for the safety of the vehicle during the airdrop process, and must be powered on according to the state of the vehicle after the airdrop landing is completed to realize vehicle positioning and normal operation of the electrical equipment of the whole vehicle.

[0118] like Figure 3 As shown, the second aspect of the present invention provides a power supply protection system for a vehicle in operation, which is used to implement the above-mentioned design method, including:

[0119] Battery power estimation module: used to obtain the SOC value of the battery of the operational vehicle; specifically, by calculating the current change rate of the battery of the operational vehicle and the linear equation group of the current, the change in the battery power is estimated, and the compensation amount of the battery power change is calculated, so as to obtain the SOC value of the battery of the operational vehicle, and judge whether the battery power of the operational vehicle is sufficient according to the SOC value of the battery of the operational vehicle;

[0120] The airdrop enable switch status acquisition module is used to obtain the status of the airdrop enable switch. If the switch status is invalid, it means that the vehicle is not in airdrop mode. If the switch status is valid, the delivery vehicle enters airdrop mode.

[0121] The direct power-on control module is used to control the first airdrop power relay 8 to be disconnected when the airdrop enable preparation switch state is invalid, so that the automatic positioning device 4 is powered off and the vehicle positioning information is not sent; at the same time, the second airdrop power relay 9 is controlled to be closed, so that the vehicle wire-controlled chassis electrical system 6 is powered to support the normal operation of the vehicle;

[0122] The power-on-before-off control module is used to request the intelligent information terminal 5 to display a pop-up window "whether to enter the airdrop mode" through the power-on and power-off controller 1 when the airdrop enable preparation switch state is invalid. When the operator selects "no" and does not enter the airdrop mode, the first airdrop power relay 8 is controlled to be disconnected, and the automatic positioning device 4 does not need power supply to send vehicle positioning information; the second airdrop power relay 9 is closed, and the whole vehicle wire-controlled chassis electrical system 6 supplies power to the whole vehicle; the operator selects "yes" to enter the airdrop mode, then all electrical equipment except the power-on and power-off controller 1 is controlled to be powered off; obtain airdrop judgment parameters; determine whether the delivery vehicle is airdropped and landed according to the airdrop judgment parameters; determine whether the delivery vehicle battery is sufficient according to the SOC value of the delivery vehicle battery; decide whether to restore power supply according to the power of the delivery vehicle battery and the airdrop status; that is, in the airdrop mode, according to the confirmation of the operator, the first airdrop power relay 8 and the second airdrop power relay 9 are controlled to be disconnected to ensure safety, and after the delivery vehicle is airdropped and landed, decide whether to restore power supply according to the power of the delivery vehicle battery and the airdrop judgment parameters.

[0123] It should be noted that the power supply protection system for the commissioning vehicle provided in this embodiment can be a computer program (including program code) running in a computer device, for example, the power supply protection system for the commissioning vehicle is an application software; the power supply protection system for the commissioning vehicle can be used to execute the corresponding steps in the above method provided in the embodiment of the present application.

[0124] In some feasible implementations, the power supply protection system for the vehicle in operation provided in this embodiment can be implemented by a combination of software and hardware. As an example, the power supply protection system for the vehicle in operation provided in the embodiment of the present application can be a processor in the form of a hardware decoding processor, which is programmed to execute the power supply protection method for the vehicle in operation provided in the embodiment of the present application. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0125] In some feasible implementations, the power supply protection system for the commissioning vehicle provided in this embodiment can be implemented in software, which can be software in the form of programs and plug-ins, and include a series of modules to implement the power supply protection method for the commissioning vehicle provided in the embodiment of the present invention.

[0126] The power supply protection system for the delivery vehicle provided in this embodiment obtains the SOC value of the delivery vehicle battery through the battery power estimation module; obtains the state of the airdrop enable preparation switch through the airdrop enable preparation switch state acquisition module to determine whether the vehicle is ready to enter the airdrop mode. If the switch state is invalid, the operation of the direct power-on control module is executed: the first airdrop power supply relay is controlled to be disconnected to cut off the power of the automatic positioning device to avoid sending the vehicle positioning information; the second airdrop power supply relay is controlled to be closed to ensure that the electrical system of the vehicle's wire-controlled chassis is powered to support the normal operation of the vehicle; if the switch state is valid, it indicates that the vehicle is ready to enter the airdrop mode; before the vehicle is ready to enter the airdrop mode, the operator confirms whether to enter the airdrop mode; if the operator selects "no" and does not enter the airdrop mode, the operation with the direct power-on control module is executed. The same power control operation; if the operator selects "yes", enter the airdrop mode; in the airdrop mode, all electrical equipment except the upper and lower power controllers are powered off through the power-off-then-on control module to ensure power safety during the airdrop process; determine whether the delivery vehicle has landed by airdrop according to the airdrop judgment parameter; determine whether the delivery vehicle battery has sufficient power according to the SOC value of the delivery vehicle battery; determine whether to restore power supply according to the power of the delivery vehicle battery and the airdrop status; the present invention can ensure the power safety of the delivery vehicle during the airdrop process and the rapid recovery after landing; solve the problem that the vehicle must be powered off for the safety of the vehicle during the airdrop process, and must be powered on according to the vehicle status after the airdrop landing is completed to achieve vehicle positioning and normal operation of the vehicle electrical equipment.

[0127] A third aspect of the present invention further provides an electronic device, Figure 4 Schematic diagram of the structure of the electronic device of this embodiment. Figure 4As shown, the electronic device 1000 in this embodiment may include: a processor 1001, a network interface 1004 and a memory 1005. In addition, the above-mentioned electronic device 1000 may also include: a user interface 1003, and at least one communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. Among them, the user interface 1003 may include a display screen (Display), a keyboard (Keyboard), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1004 may be a high-speed RAM memory, or it may be a non-volatile memory (non-volatile memory), such as at least one disk storage. The memory 1005 may optionally also be at least one storage device located away from the aforementioned processor 1001. As Figure 4 As shown, the memory 1005 as a computer-readable storage medium may include an operating system, a network communication module, a user interface module, and a device control application program.

[0128] like Figure 4 In the electronic device 1000 shown, the network interface 1004 can provide a network communication function; the user interface 1003 is mainly used to provide an input interface for the user; and the processor 1001 can be used to call the device control application stored in the memory 1005 to achieve:

[0129] S1: Obtain the SOC value of the battery of the operational vehicle;

[0130] S2: Obtain the state of the airdrop enable preparation switch. If the switch state is invalid, it means that the vehicle is not in the airdrop mode. The first airdrop power relay 8 is controlled to be disconnected, so that the automatic positioning device 4 is powered off and the vehicle positioning information is not sent. At the same time, the second airdrop power relay 9 is controlled to be closed so that the vehicle wire-controlled chassis electrical system 6 is powered to support the normal operation of the vehicle. If the switch state is valid, the delivery vehicle enters the airdrop mode and executes step S4.

[0131] S3: When the state of the airdrop enable preparation switch is invalid, the power on and off controller 1 is used to request the intelligent information terminal 5 to display a pop-up window "Whether to enter the airdrop mode". When the operator selects "No" and does not enter the airdrop mode, the first airdrop power relay 8 is controlled to be disconnected, and the automatic positioning device 4 does not need power supply to send vehicle positioning information; the second airdrop power relay 9 is closed, and the vehicle-by-wire chassis electrical system 6 supplies power to the vehicle; when the operator selects "Yes" and enters the airdrop mode, step S4 is executed;

[0132] S4: After the delivery vehicle enters the airdrop mode, it controls all electrical equipment except the power on and off controller 1 to cut off power; obtains airdrop determination parameters; determines whether the delivery vehicle has landed by airdrop according to the airdrop determination parameters; determines whether the battery power of the delivery vehicle is sufficient according to the SOC value of the battery of the delivery vehicle; and determines whether to restore power supply according to the battery power of the delivery vehicle and the airdrop status.

[0133] It should be understood that in some feasible implementations, the processor 1001 may be a central processing unit (CPU), or other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0134] In a specific implementation, the electronic device 1000 can execute the above-mentioned functions through its built-in functional modules. Figure 2 For the implementation methods provided in each step, please refer to the implementation methods provided in the above steps for details, which will not be repeated here.

[0135] The electronic device provided in this embodiment obtains the SOC value of the battery of the delivery vehicle through the battery power estimation module; obtains the state of the airdrop enable preparation switch through the airdrop enable preparation switch state acquisition module to determine whether the vehicle is ready to enter the airdrop mode. If the switch state is invalid, the operation of the direct power-on control module is executed: the first airdrop power supply relay is controlled to be disconnected to cut off the power of the automatic positioning device to avoid sending the vehicle positioning information; the second airdrop power supply relay is controlled to be closed to ensure that the electrical system of the vehicle's wire-controlled chassis is powered to support the normal operation of the vehicle; if the switch state is valid, it means that the vehicle is ready to enter the airdrop mode; before the vehicle is ready to enter the airdrop mode, the operator confirms whether to enter the airdrop mode; if the operator selects "No", the airdrop mode is not entered, and the same power-on control module as the direct power-on control module is executed. Source control operation; if the operator selects "yes", enter the airdrop mode; in the airdrop mode, all electrical equipment except the upper and lower power controllers are powered off through the power-off-first-then-on control module to ensure the power safety during the airdrop process; determine whether the delivery vehicle has landed by airdrop according to the airdrop judgment parameter; determine whether the delivery vehicle battery has sufficient power according to the SOC value of the delivery vehicle battery; determine whether to restore power supply according to the power of the delivery vehicle battery and the airdrop status; the present invention can ensure the power safety of the delivery vehicle during the airdrop process and the rapid recovery after landing; solve the problem that the vehicle must be powered off for the safety of the vehicle during the airdrop process, and at the same time, after the airdrop landing is completed, it must be powered on according to the status of the vehicle to realize vehicle positioning and normal operation of the vehicle's electrical equipment.

[0136] The present application also provides a computer-readable storage medium, which stores a computer program and is executed by a processor to implement Figure 2 For the methods provided in each step, please refer to the implementation methods provided in the above steps for details, which will not be repeated here.

[0137] The computer-readable storage medium provided in this embodiment obtains the SOC value of the battery of the delivery vehicle through the battery power estimation module; obtains the state of the airdrop enable preparation switch through the airdrop enable preparation switch state acquisition module to determine whether the vehicle is ready to enter the airdrop mode. If the switch state is invalid, the operation of the direct power-on control module is executed: the first airdrop power supply relay is controlled to be disconnected to cut off the power of the automatic positioning device to avoid sending the vehicle positioning information; the second airdrop power supply relay is controlled to be closed to ensure that the electrical system of the vehicle's wire-controlled chassis is powered to support the normal operation of the vehicle; if the switch state is valid, it means that the vehicle is ready to enter the airdrop mode; before the vehicle is ready to enter the airdrop mode, the operator confirms whether to enter the airdrop mode; if the operator selects "No", the airdrop mode is not entered, and the same operation as the direct power-on control module is executed. power control operation; if the operator selects "yes", enter the airdrop mode; in the airdrop mode, all electrical equipment except the power on and off controllers are powered off through the power-off-first-then-on control module to ensure power safety during the airdrop process; determine whether the delivery vehicle has landed by airdrop according to the airdrop determination parameter; determine whether the delivery vehicle battery has sufficient power according to the SOC value of the delivery vehicle battery; determine whether to restore power supply according to the power of the delivery vehicle battery and the airdrop status; the present invention can ensure the power safety of the delivery vehicle during the airdrop process and the rapid recovery after landing; solve the problem that the vehicle must be powered off for the safety of the vehicle during the airdrop process, and at the same time, it must be powered on according to the vehicle status after the airdrop landing is completed to realize vehicle positioning and normal operation of the vehicle electrical equipment.

[0138] Any reference to memory, storage, database or other medium used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0139] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A power supply protection method for a vehicle in operation, characterized in that: The implementation is achieved by using the power supply protection device of the operational vehicle, including the following steps: S1: Obtain the SOC value of the battery of the operational vehicle; S2: obtaining the state of the airdrop enabling preparation switch; if the switch state is invalid, indicating that the vehicle is not in the airdrop mode, the first airdrop power supply relay (8) is controlled to be disconnected, so that the automatic positioning device (4) is powered off and the vehicle positioning information is not sent; at the same time, the second airdrop power supply relay (9) is controlled to be closed, so that the vehicle's wire-controlled chassis electrical system (6) is powered to support the normal operation of the vehicle; If the switch status is valid, the delivery vehicle enters the airdrop mode and executes step S4; S3: obtaining the state of the airdrop enabling preparation switch; if the switch state is invalid, requesting the intelligent information terminal (5) to display a pop-up window "whether to enter the airdrop mode" through the power on and off controller (1); the operator selects "no" and does not enter the airdrop mode, controlling the first airdrop power relay (8) to be disconnected, and the automatic positioning device (4) sends the vehicle positioning information without power supply; the second airdrop power relay (9) is closed, and the vehicle wire-controlled chassis electrical system (6) supplies power to the vehicle; the operator selects "yes" and enters the airdrop mode, and executes step S4; S4: After the delivery vehicle enters the airdrop mode, all electrical devices except the upper and lower power controllers (1) are powered off; airdrop determination parameters are obtained; whether the delivery vehicle has landed by airdrop is determined based on the airdrop determination parameters; whether the battery power of the delivery vehicle is sufficient based on the SOC value of the battery of the delivery vehicle; and whether to restore power supply is determined based on the battery power of the delivery vehicle and the airdrop status.

2. A power supply protection method for a vehicle in operation according to claim 1, characterized in that: The power supply protection device of the delivery vehicle comprises a storage battery, a main power switch, a body controller, an airdrop enabling preparation switch (2), an acceleration sensor assembly (3), an automatic positioning device (4), a whole vehicle wire-controlled chassis electrical system (6), and a delivery vehicle status monitoring device. The vehicle body controller comprises a power on and off controller (1), a battery power estimation module, a direct power on control module and a power off first then on control module; The airdrop enabling preparation switch (2), the acceleration sensor assembly (3), the automatic positioning device (4), and the intelligent information terminal (5) are connected to the upper and lower power controller (1); The whole vehicle wire-controlled chassis electrical system (6) is provided with an intelligent information terminal (5); The power on and off controller (1) and the intelligent information terminal (5) perform information exchange via a CAN bus (7); The automatic positioning device (4) is used to send vehicle positioning information after the delivery vehicle lands after airdrop; The airdrop enabling preparation switch (2) is used to control the power supply of the automatic positioning device; A first airdrop power relay (8) for controlling power supply to the automatic positioning device (4) is provided between the power up and down controller (1) and the automatic positioning device (4); a second airdrop power relay (9) for controlling power supply to the entire vehicle's wire-controlled chassis electrical system (6) is provided between the power up and down controller (1) and the entire vehicle's wire-controlled chassis electrical system (6); The first airdrop power relay (8) and the second airdrop power relay (9) are connected to a current sensor (10); The acceleration sensor assembly (3) comprises a left front vertical acceleration sensor (31), a right front vertical acceleration sensor (32), a left rear vertical acceleration sensor (33), a right rear vertical acceleration sensor (34) respectively mounted on the left front suspension, the right front suspension, the left rear suspension and the right rear suspension of the operational vehicle, and used to detect the impact magnitude of the corresponding suspensions, and a central gravity acceleration sensor (35) used to detect the acceleration at the center of the vehicle.

3. A power supply protection method for a vehicle in operation according to claim 2, characterized in that: The acquisition of airdrop determination parameters in step S4 includes the following steps: S41: obtaining the maximum vertical impact acceleration of the delivery vehicle according to the readings of the left front vertical acceleration sensor (31), the right front vertical acceleration sensor (32), the left rear vertical acceleration sensor (33), and the right rear vertical acceleration sensor (34) of the delivery vehicle; S42: Calculating the speed of the delivery vehicle in the vertical direction according to the reading of the central gravity acceleration sensor (35) of the delivery vehicle; S43: Obtain airdrop determination parameters according to the maximum vertical impact acceleration of the delivery vehicle and the speed of the delivery vehicle in the vertical direction.

4. A power supply protection method for a vehicle in operation according to any one of claims 1 to 3, characterized in that: In step S4, judging whether the delivery vehicle has landed by airdrop according to the airdrop judgment parameter includes: If the airdrop judgment parameter is greater than the landing impact threshold, the delivery vehicle will be airdropped and landed; otherwise, the delivery vehicle is in the airdropping or airdrop preparation state.

5. A power supply protection method for a vehicle in operation according to any one of claims 1 to 3, characterized in that: In step S4, judging whether the battery of the vehicle in operation is sufficient in power according to the SOC value of the battery of the vehicle in operation, including: when the SOC value of the battery of the vehicle in operation is greater than or equal to the sufficient power threshold value SOC1 of the battery of the vehicle in operation, it indicates that the battery of the vehicle in operation is sufficient in power; When the SOC value of the battery of the operational vehicle is less than the sufficient power threshold value SOC1 of the battery of the operational vehicle, it indicates that the battery of the operational vehicle is insufficiently charged.

6. A power supply protection method for a vehicle in operation according to claim 2 or 3, characterized in that: Determining whether to restore power supply according to the power of the battery of the delivery vehicle and the airdrop determination parameter in step S4 includes: If the delivery vehicle lands after airdropping and the battery of the delivery vehicle is sufficiently charged, the first airdrop power relay (8) is controlled to close through the power-down-then-power-up control module, and the automatic positioning device (4) is powered to send vehicle positioning information; the second airdrop power relay (9) is controlled to close, and the whole vehicle wire-controlled chassis electrical system (6) is powered to make the whole vehicle work; If the delivery vehicle is airdropped and landed, and the battery of the delivery vehicle is insufficient, in order to improve the battery life of the vehicle and help combatants find the location of the airdropped vehicle, the first airdrop power relay (8) is controlled to close through the power-down-then-power-up control module, so that the automatic positioning device (4) is powered and sends vehicle positioning information; at the same time, the second airdrop power relay (9) is controlled to be disconnected, and the vehicle wire-controlled chassis electrical system (6) is not powered and stops working; If the delivery vehicle is in the airdrop process or in the airdrop preparation state, the first airdrop power supply relay (8) is controlled to be disconnected through the power-down-then-power-on control module, and the automatic positioning device (4) sends vehicle positioning information without power supply; the second airdrop power supply relay (9) is controlled to be disconnected, so that the vehicle's wire-controlled chassis electrical system (6) stops working without power supply.

7. A power supply protection method for a vehicle in operation according to any one of claims 1 to 3, characterized in that: The battery of the vehicle put into operation in step S1 is a battery of the vehicle put into operation; the step of obtaining the SOC value of the battery of the vehicle put into operation comprises the following steps: S11: obtaining the current of the battery of the operational vehicle at time k-2, time k-1, and time k through a current sensor, and calculating the amount of power change of the battery of the operational vehicle according to the current at time k-1 and time k; S12: Calculate the change rate of the current of the battery of the operational vehicle at time k-1 and time k according to the current of the battery of the operational vehicle at time k-2, time k-1, and time k; S13: Obtaining a set of linear current equations of the battery of the operational vehicle at time k-1 and time k according to the rate of change of the current of the operational vehicle at time k-1 and time k; S14: Calculating the coordinates of the intersection of the equation group according to the current linear equation group of the battery of the put into operation vehicle at time k-1 and time k; S15: Calculating the compensation amount of the change in the amount of electricity of the battery of the operating vehicle according to the intersection coordinate value, the current sensor detection value at time k-1, the detection time interval, and the current sensor detection value at time k; S16: Calculate the power of the battery of the operational vehicle at time k based on the compensation amount of the power change of the battery of the operational vehicle, the power change of the battery of the operational vehicle, and the power of the battery of the operational vehicle at time k-1; S17: Calculate the SOC value of the battery of the vehicle to be put into operation based on the power of the battery of the vehicle to be put into operation at time k.

8. A power supply protection method for a vehicle in operation according to claim 7, characterized in that: In step S15, the compensation amount of the change in the amount of electricity of the battery of the operating vehicle is calculated based on the three points (to, Io), (0, I(k-1)), and (Δt, I(k)); the compensation amount of the change in the amount of electricity of the battery of the operating vehicle is the area of ​​the triangle formed by the three points (to, Io), (0, I(k-1)), and (Δt, I(k)); according to the mathematical formula for calculating the area of ​​the triangle using the coordinates of the three known points, it can be known that the compensation amount of the change in the amount of electricity of the battery of the operating vehicle is expressed by formula (5): ΔQB(k-1)=(to*I(k-1)-to*I(k)+0*I(k)-0*Io+Δt*Io-0*I(k-1)) / 2 (5) Among them, ΔQB(k-1) is the compensation amount of the change in the amount of power of the battery of the operating vehicle at time k-1; (to, Io) is the coordinate of the intersection of the equation group described in step S14; Io is the current coordinate of the intersection of the equation group; to is the time coordinate of the intersection of the equation group; I(k-1) is the detection value of the current sensor at time k-1; I(k) is the detection value of the current sensor at time k; Δt is the detection time interval; In step S16, the current of the vehicle battery at time k is equal to the sum of the compensation amount of the change in the amount of electricity of the vehicle battery, the change in the amount of electricity of the vehicle battery and the amount of electricity of the vehicle battery at time k-1, which is expressed by formula (6): Q(k)=Q(k-1)+ΔQ(k-1)+ΔQB(k-1) (6) Among them, ΔQ(k-1) is the change in the battery power of the operating vehicle at time k-1; Q(k-1) is the battery power of the operating vehicle at time k-1.

9. A power supply protection method for a vehicle in operation according to any one of claims 1 to 3, characterized in that: The calculation formula of the airdrop determination parameter δ is: δ=αmax*β1+v*β2 (10) Where: β1 is the impact conversion coefficient; β2 is the speed conversion coefficient; v is the speed of the vehicle in the vertical direction; αmax is the maximum vertical impact acceleration of the operational vehicle.

10. A power supply protection system for a vehicle in operation, characterized in that: A method for implementing power supply protection of a vehicle in operation as claimed in any one of claims 1 to 9, comprising: Battery power estimation module: used to obtain the SOC value of the battery of the operational vehicle; The airdrop enable switch status acquisition module is used to obtain the status of the airdrop enable switch. If the switch status is invalid, it means that the vehicle is not in airdrop mode. If the switch status is valid, the delivery vehicle enters airdrop mode. The direct power-on control module is used to control the first airdrop power supply relay (8) to be disconnected when the airdrop enabling preparation switch state is invalid, so that the automatic positioning device (4) is powered off and the vehicle positioning information is not sent; at the same time, the second airdrop power supply relay (9) is controlled to be closed so that the whole vehicle wire-controlled chassis electrical system (6) is powered to support the normal operation of the whole vehicle; The power-on-before-off control module is used to request the intelligent information terminal (5) to display a pop-up window "whether to enter the airdrop mode" through the power-on and power-off controller (1) when the airdrop enabling preparation switch state is invalid, and the operator selects "no" to not enter the airdrop mode, control the first airdrop power supply relay (8) to be disconnected, and the automatic positioning device (4) sends vehicle positioning information without power supply; the second airdrop power supply relay (9) is closed, and the whole vehicle wire-controlled chassis electrical system (6) supplies power to the whole vehicle; the operator selects "yes" to enter the airdrop mode, and then control all electrical equipment except the power-on and power-off controller (1) to be powered off; obtain airdrop determination parameters; determine whether the delivery vehicle has landed by airdrop according to the airdrop determination parameters; determine whether the delivery vehicle battery is sufficient according to the SOC value of the delivery vehicle battery; and determine whether to restore power supply according to the battery power of the delivery vehicle battery and the airdrop state.

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