Energy complementing method and system for unmanned aerial vehicle nest on wind-light-electricity intelligent tower

Abstract

The invention relates to an energy complementing method and system for an unmanned aerial vehicle nest on a wind-light-electricity intelligent tower, and belongs to the field of electric power inspection. According to the method, wind energy and solar energy are complemented to supply energy to the unmanned aerial vehicle nest on the wind-light-electricity intelligent tower, and the wind energy and the solar energy are controlled to supply energy to the unmanned aerial vehicle nest in a real-time compensation mode based on the wind power generation power and the solar power generation power; the unmanned aerial vehicle nest adopts a power compensation battery pack and a communication guarantee battery pack to store energy respectively; and the daily average inspection frequency of the unmanned aerial vehicle is calculated by utilizing initial conditions such as energy storage equipment capacity, solar energy and wind energy charging power of the unmanned aerial vehicle nest. According to the method, real-time compensation energy supply can be performed on the unmanned aerial vehicle nest based on the wind power generation power and the solar power generation power, the availability of the tower-mounted nest in different scenes is guaranteed by adopting an energy supply method of double-battery-pack energy storage, and the unmanned aerial vehicle flow can be calculated, so that the deployment position and the inspection range of the nest are planned; therefore, the repetition rate of the inspection range of the on-tower inspection unmanned aerial vehicle nest is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of electric power inspection, and specifically relates to a method and system for replenishing energy for an unmanned aerial vehicle nest on a wind and photovoltaic power intelligent tower. Background Art

[0002] With the development and popularization of drone applications, drone applications have become more extensive. Currently, most drone nests used on transmission towers are powered by solar power systems. Solar power systems have high seasonality and day-night restrictions. In winter and the Spring Festival, the sunshine is weak and the power generation is low. The power generation is sufficient during the day but low at night. However, the use of wind power alone will result in unstable power generation. The power generation increases and decreases with the wind speed in the region and has a strong randomness. At the same time, if only the power compensation battery pack is used for power supply, an external power supply is required, which further increases the demand for wiring and battery charging and discharging management. Summary of the invention

[0003] The purpose of the present invention is to address the gaps in the prior art and provide a method and system for replenishing energy for a drone nest on a wind and photovoltaic intelligent tower. The method calculates the flow rate of the drone inspection nest on the tower based on the solar energy and wind power generation equipment of the tower nest, thereby planning the nest deployment location and inspection range to reduce the repetition rate of the tower nest inspection range; at the same time, the energy supply method using dual battery packs for energy storage can further ensure the availability of the tower nest in different scenarios.

[0004] To achieve the above-mentioned purpose, the technical solution of the present invention is: a method for replenishing energy for a drone nest on a wind and photovoltaic intelligent tower, which adopts the complementarity of wind energy and solar energy to supply energy for the drone nest on the wind and photovoltaic intelligent tower, and controls the wind energy and solar energy based on the wind power generation power and the solar power generation power to provide real-time compensation energy for the drone nest.

[0005] In one embodiment of the present invention, the drone nest uses a power compensation battery pack and a communication guarantee battery pack to store energy separately.

[0006] In one embodiment of the present invention, the real-time energy replenishment strategy for controlling wind energy and solar energy to provide real-time compensation energy for the drone nest based on wind power generation power and solar power generation power is as follows:

[0007] Considering the energy conversion efficiency η1 and the standby power W of the drone nest P The power required by the drone nest to charge the drone is W. C , use the following formula to calculate the communication guarantee battery pack capacity C1 and the power compensation battery pack capacity C2;

[0008]

[0009] Among them, V wTo make the drone nest work, the rated voltage of the battery pack, C1 is much smaller than C2, k1 represents the working time that the communication compensation battery pack capacity can maintain, and k2 represents the number of charging times that the power compensation battery pack capacity can maintain;

[0010] The solar power generation and wind power generation are denoted as W s , W w , then the total power generation W all With the total energy replenishment current I all :

[0011]

[0012] W all with I all It is a random value, and its value changes according to the weather;

[0013] According to I all The range determines whether to provide energy for the communication protection battery pack or the power compensation battery pack:

[0014]

[0015] m is the time compensation coefficient, which means that if the charging current per hour remains unchanged, it takes m hours to fully charge the battery pack; Case 1 means that the overall energy replenishment current is between the 1C charging current of the power compensation battery pack and the communication guarantee battery pack, or the overall energy replenishment current is less than the 1C charging current of the communication guarantee battery pack. At this time, priority is given to compensating energy for the communication guarantee battery pack to ensure communication needs; Case 2 means that the overall energy replenishment current is greater than the 1C charging current of the power compensation battery pack, and priority is given to compensating energy for the power compensation battery pack; in Case 1 or Case 2, when any battery pack reaches the cut-off voltage, the compensation energy supply is stopped, and the battery pack that has not reached the cut-off voltage is compensated for energy supply.

[0016] In one embodiment of the present invention, the setting of the m value is used to determine the priority of the compensation energy supply, and different time compensation coefficients m are selected according to different regions.

[0017] In one embodiment of the present invention, the equivalent description of the daily average energy supplement power of wind energy and solar energy is as follows:

[0018]

[0019] W ac It represents the average complementary power provided by wind energy and solar energy in one day, that is, the average power provided in hours; D N is 24, that is, there are 24 hours in a day; η is the overall efficiency of wind and solar energy complementary energy supply; T sa The duration of sunlight.

[0020] In one embodiment of the present invention, when the initial power of the power compensation battery pack is zero, the maximum inspection flow rate N of the drone is calculated as follows:

[0021] The total energy consumed by the drone each time it completes an inspection mission and charges is described by the following formula:

[0022] P1=W C +(T C +T W )W p

[0023] P1 represents the total energy consumption of the drone during a complete inspection mission and charging process; the single inspection time of the drone is T W After the inspection mission is completed, the drone returns to the nest for charging. C ;

[0024] The total amount of electricity generated by solar and wind energy during drone inspection and charging is expressed as follows:

[0025] P2=(T C +T W )W ac

[0026] P2 indicates that when the drone performs an inspection mission and charges, wind energy and solar energy complement each other to compensate for the energy supply; by comparing the difference between P1 and P2, the additional charging time required by the drone when the drone nest is insufficiently supplied with energy is defined:

[0027]

[0028] The maximum number of times a drone can perform tasks per day, that is, the maximum inspection flow, is expressed by the following formula:

[0029]

[0030] N is the maximum inspection flow of the drone per day.

[0031] In one embodiment of the present invention, when the initial power of the power compensation battery pack is not zero, the maximum inspection flow rate N' of the drone is calculated as follows:

[0032] Taking into account the situation that the initial power of the power compensation battery pack is not zero, the additional charging time required for the drone when the drone nest is insufficiently powered, and the remaining power of the power compensation battery pack after charging is completed:

[0033]

[0034] t' represents the additional charging time required by the drone when the initial charge of the power compensation battery pack is not zero; P initThe initial charge of the power compensation battery pack, P' init Indicates the remaining power of the power compensation battery pack after charging is completed, P max The maximum energy storage capacity of the power compensation battery pack;

[0035] (1) When P2-P1≥0, the power of the power compensation battery pack will not decrease, that is, P' init ≥P init ; At this time, t'=0, the maximum number of times the drone can perform tasks every day, that is, the maximum inspection flow, is expressed by the following formula:

[0036]

[0037] (2) When P2-P1<0, the power of the power compensation battery pack will continue to decay. Based on the decay R of the power of the power compensation battery pack after charging the machine nest, the number of charging times K required for the power of the power compensation battery pack to decay to 0 is calculated. Based on this, the additional waiting time t for the nth charging is calculated. n , get the total duration of the drone's nth charging Then the maximum inspection flow of the drone is calculated:

[0038]

[0039] N' is the maximum inspection flow of the UAV when the initial power of the power compensation battery pack is not 0 and P2-P1≥0, t >k The additional charging time required when the power compensation battery pack is depleted.

[0040] In one embodiment of the present invention, when P2-P1<0, the attenuation R of the power of the power compensation battery pack after charging the engine nest is described by the following formula:

[0041]

[0042] R represents the attenuation of the power compensation battery pack after charging the machine nest when P2-P1<0, and the number of charging times K required when the power compensation battery pack decays to 0:

[0043]

[0044] K is the number of times the power compensation battery pack needs to be charged until its charge decays to 0.

[0045] In one embodiment of the present invention, after obtaining K, the additional waiting time t for the nth charging is calculated. n :

[0046]

[0047] t nThe additional time required to charge the drone for the nth time, based on t n , calculate the total duration of the drone's nth charging

[0048]

[0049] The total time for charging the drone for the nth time, T C +T W To compensate for the power consumption of the battery pack, each charging time is T C +T W +t K To compensate for the time the battery pack spends just after charging; T C +T W +t >K To compensate for the time required for each charge after the battery pack is exhausted.

[0050] The present invention also provides a wind and photovoltaic intelligent tower drone nest energy replenishment system, comprising:

[0051] The solar power supply module complements the wind power supply module to provide energy for the drone nest;

[0052] The wind power supply module complements the solar power supply module to provide energy for the drone nest; the drone nest energy compensation unit controls wind energy and solar energy based on the wind power generation power and solar power generation power to provide real-time compensation energy for the drone nest.

[0053] In one embodiment of the present invention, the drone nest uses a power compensation battery pack and a communication guarantee battery pack to store energy separately.

[0054] In one embodiment of the present invention, the real-time energy replenishment strategy for controlling wind energy and solar energy to provide real-time compensation energy for the drone nest based on wind power generation power and solar power generation power is as follows:

[0055] Considering the energy conversion efficiency η1 and the standby power W of the drone nest P The power required by the drone nest to charge the drone is W. C , use the following formula to calculate the communication guarantee battery pack capacity C1 and the power compensation battery pack capacity C2;

[0056]

[0057] Among them, V w To make the drone nest work, the rated voltage of the battery pack, C1 is much smaller than C2, k1 represents the working time that the communication compensation battery pack capacity can maintain, and k2 represents the number of charging times that the power compensation battery pack capacity can maintain;

[0058] The solar power generation and wind power generation are denoted as W s , W w , then the total power generation W all With the total energy replenishment current I all :

[0059]

[0060] W all with I all It is a random value, and its value changes according to the weather;

[0061] According to I all The range determines whether to provide energy for the communication protection battery pack or the power compensation battery pack:

[0062]

[0063] m is the time compensation coefficient, which means that if the charging current per hour remains unchanged, it takes m hours to fully charge the battery pack; Case 1 means that the overall energy replenishment current is between the 1C charging current of the power compensation battery pack and the communication guarantee battery pack, or the overall energy replenishment current is less than the 1C charging current of the communication guarantee battery pack. At this time, priority is given to compensating energy for the communication guarantee battery pack to ensure communication needs; Case 2 means that the overall energy replenishment current is greater than the 1C charging current of the power compensation battery pack, and priority is given to compensating energy for the power compensation battery pack; in Case 1 or Case 2, when any battery pack reaches the cut-off voltage, the compensation energy supply is stopped, and the battery pack that has not reached the cut-off voltage is compensated for energy supply.

[0064] In one embodiment of the present invention, the setting of the m value is used to determine the priority of the compensation energy supply, and different time compensation coefficients m are selected according to different regions.

[0065] In one embodiment of the present invention, the equivalent description of the daily average energy supplement power of wind energy and solar energy is as follows:

[0066]

[0067] W ac It represents the average complementary power provided by wind energy and solar energy in one day, that is, the average power provided in hours; D N is 24, that is, there are 24 hours in a day; η is the overall efficiency of wind and solar energy complementary energy supply; T sa The duration of sunlight.

[0068] In one embodiment of the present invention, when the initial power of the power compensation battery pack is zero, the maximum inspection flow rate N of the drone is calculated as follows:

[0069] The total energy consumed by the drone each time it completes an inspection mission and charges is described by the following formula:

[0070] P1=W C +(T C +T W )W P

[0071] P1 represents the total energy consumption of the drone during a complete inspection mission and charging process; the single inspection time of the drone is T W After the inspection mission is completed, the drone returns to the nest for charging. C ;

[0072] The total amount of electricity generated by solar and wind energy during drone inspection and charging is expressed as follows:

[0073] P2=(T C +T W )W ac

[0074] P2 indicates that when the drone performs an inspection mission and charges, wind energy and solar energy complement each other to compensate for the energy supply; by comparing the difference between P1 and P2, the additional charging time required by the drone when the drone nest is insufficiently supplied with energy is defined:

[0075]

[0076] The maximum number of times a drone can perform tasks per day, that is, the maximum inspection flow, is expressed by the following formula:

[0077]

[0078] N is the maximum inspection flow of the drone per day.

[0079] In one embodiment of the present invention, when the initial power of the power compensation battery pack is not zero, the maximum inspection flow rate N' of the drone is calculated as follows:

[0080] Taking into account the situation that the initial power of the power compensation battery pack is not zero, the additional charging time required for the drone when the drone nest is insufficiently powered, and the remaining power of the power compensation battery pack after charging is completed:

[0081]

[0082]

[0083] t' represents the additional charging time required by the drone when the initial charge of the power compensation battery pack is not zero; P init The initial charge of the power compensation battery pack, P' init Indicates the remaining power of the power compensation battery pack after charging is completed, P max The maximum energy storage capacity of the power compensation battery pack;

[0084] (1) When P2-P1≥0, the power of the power compensation battery pack will not decrease, that is, P' init ≥P init ; At this time, t'=0, the maximum number of times the drone can perform tasks every day, that is, the maximum inspection flow, is expressed by the following formula:

[0085]

[0086] (2) When P2-P1<0, the power of the power compensation battery pack will continue to decay. Based on the decay R of the power of the power compensation battery pack after charging the machine nest, the number of charging times K required for the power of the power compensation battery pack to decay to 0 is calculated. Based on this, the additional waiting time t for the nth charging is calculated. n , get the total duration of the drone's nth charging Then the maximum inspection flow of the drone is calculated:

[0087]

[0088] N' is the maximum inspection flow of the UAV when the initial power of the power compensation battery pack is not 0 and P2-P1≥0, t >k The additional charging time required when the power compensation battery pack is depleted.

[0089] In one embodiment of the present invention, when P2-P1<0, the attenuation R of the power compensation battery pack after charging the engine nest is described by the following formula:

[0090]

[0091] R represents the attenuation of the power compensation battery pack after charging the machine nest when P2-P1<0, and the number of charging times K required when the power compensation battery pack decays to 0:

[0092]

[0093] K is the number of times the power compensation battery pack needs to be charged until its charge decays to 0.

[0094] In one embodiment of the present invention, after obtaining K, the additional waiting time t for the nth charging is calculated. n :

[0095]

[0096] t n The additional time required to charge the drone for the nth time, based on t n , calculate the total duration of the drone's nth charging

[0097]

[0098] The total time for charging the drone for the nth time, T C +T W To compensate for the power consumption of the battery pack, each charging time is T C +T W +t K To compensate for the time the battery pack spends just after charging; T C +T W +t >K To compensate for the time required for each charge after the battery pack is exhausted.

[0099] Compared with the prior art, the present invention has the following beneficial effects: the present invention adopts wind energy and solar energy complementarity to supply energy for the drone nest on the wind and photovoltaic intelligent tower, and controls wind energy and solar energy to provide real-time compensation energy for the drone nest based on the wind power generation power and solar power generation power, and can calculate the method of the tower drone inspection nest flow rate according to the solar energy and wind power generation equipment of the tower nest, so as to plan the nest deployment location and inspection range, so as to reduce the repetition rate of the tower nest inspection range and improve the inspection efficiency. At the same time, the energy supply method using dual battery pack energy storage can further ensure the reliability of the tower nest in different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0100] Figure 1 This is a system block diagram of the present invention. DETAILED DESCRIPTION

[0101] The technical solution of the present invention is described in detail below.

[0102] like Figure 1 As shown, the present invention applies wind power generation as the energy supply backup system of the drone nest in the original power supply system of the tower nest. Since the wind turbine and the solar cell array are two power generation equipments that generate electricity together, the defects of the independent wind power and photovoltaic systems can be compensated in terms of resources: day and night complementation is achieved, that is, solar power generation during the day and wind power generation at night; seasonal complementation, such as strong sunshine in summer and strong wind in winter; high stability - using the natural complementarity of wind and light, on this basis, power is supplied to the power compensation battery pack used for energy replenishment and communication, and the power compensation battery pack is used to complement wind power and solar energy. At the same time, by calculating the energy and real-time power required by the aircraft and the remaining power of the power compensation battery pack, the time required for scheduling and the power required to equip the solar energy and wind power generation equipment are obtained, which improves the deployment efficiency of the tower nest or the nest in areas without power supply, making it easier to promote the nest inspection.

[0103] The present invention provides a method for replenishing energy for a drone nest on a wind-photovoltaic intelligent tower, which uses wind energy and solar energy to complement each other to supply energy to a drone nest on a wind-photovoltaic intelligent tower, and controls wind energy and solar energy to compensate for energy supply to the drone nest in real time based on wind power generation and solar power generation. The drone nest uses a power compensation battery pack and a communication guarantee battery pack to store energy separately.

[0104] The following is the specific implementation process of the present invention.

[0105] The present invention provides a method for replenishing energy for a drone nest on a wind-photovoltaic intelligent tower, using a wind turbine (wind energy) and a solar panel (solar energy) to provide power for a power compensation battery pack and a communication guarantee battery pack. The capacity of the power compensation battery pack is much larger than that of the communication guarantee compensation battery pack. Considering the energy conversion efficiency η1 and the standby power W of the nest P The power required by the drone nest to charge the drone is W. C , use formula (1) to calculate the capacity of the communication compensation battery pack C1 and the power compensation battery pack capacity C2

[0106]

[0107] Among them, V w The rated voltage of the battery pack that makes the machine nest work is V if the machine nest is powered by AC power. W It is the inverter voltage that provides AC power to the machine nest. If it is DC, a DC / DC buck-boost voltage regulator module can be selected. Because of this, the units of C1 and C2 are ampere-hours (Ah). Furthermore, C1 is much smaller than C2. This is because the power required when the machine nest is in standby mode is low, and the power consumption is low when only maintaining network connection and sensor status detection. The power of C2 needs to maintain a high discharge rate and capacity because it needs to quickly charge the battery of the drone parked on the machine nest. The preferred C1 coefficient k1 is 48 and the k2 coefficient is 24, which means that the capacity of the communication compensation battery pack is enough to last for at least 48 hours, and the capacity of the power compensation battery pack is enough to last for at least 24 charges or 24 consecutive charges.

[0108] At the same time, the power generated by the solar panels and small wind turbines is recorded as: W s , W w , then the total power generation W all With the total energy replenishment current I all As shown in formula (2)

[0109]

[0110] Furthermore, the power generated by solar panels and small wind turbines varies with the change of sunshine and wind speed, that is, W all with I allis a random value, and its value changes according to weather changes. all The range of determines whether to charge the communication guarantee compensation battery pack or the power compensation battery pack, as shown in formula (3):

[0111]

[0112] In formula 3, m is the time compensation coefficient, which means that if the charging current per hour remains unchanged, it will take m hours to fully charge. Case 1 is that the overall energy replenishment current is between the 1C charging current of the power compensation battery group and the communication guarantee battery group, or the overall energy replenishment current is less than the 1C charging current of the communication guarantee battery group. In this case, because its current is too low, the communication compensation battery group needs to be fully charged first to ensure communication needs.

[0113] In case 2, when the charging current is greater than the 1C charging current of the power compensation battery pack, the power compensation battery pack is charged first. In case 1 or 2, when any battery pack reaches the cut-off voltage, the charging is stopped, and the battery pack that has not reached the cut-off voltage is charged. That is, through the above method, it can be known that according to the real-time charging current, the small battery (communication compensation battery pack) is charged first, and if the real-time current is too large, the power compensation battery pack is charged. In addition, different m values ​​can be set to reduce the priority, that is, different time compensation coefficients are selected according to different regions.

[0114] Furthermore, assuming that the solar illumination time is T sa hours, while wind power generation equipment can operate 24 hours a day. The single inspection time of the drone is T W After the inspection mission is completed, the drone needs to return to the nest to charge. The charging time is T C Hour.

[0115] Further explanation: During the charging period of the machine nest, the charging power is set to W C , standby power is W P , the charging power of the solar panel is W s , wind power generation power is W w All power units are consistent, kW·h -1 The overall efficiency of solar energy and wind energy charging the drone nest is η. To simplify the analysis, it is assumed that the initial power of the power compensation battery pack is zero, and the inspection time is the same for each inspection, that is, the drone consumes the same charging time and power each time it completes an inspection. Under this condition, the average daily power of the power supply system composed of wind energy and solar energy can be equivalently described by formula (4):

[0116]

[0117] In formula (4), W acIt represents the average energy replenishment power provided by the power supply system in one day, that is, the average power provided in hours. N =24, that is, there are 24 hours in a day. The total energy consumed by the drone each time it completes an inspection mission and charges can be described by formula (5):

[0118] P1=W C +(T C +T W )W P Formula (5)

[0119] In formula (5), P1 expresses the total energy consumption required by the drone during a complete inspection mission and charging process. At the same time, the total amount of electricity generated by solar energy and wind energy during the inspection and charging of the drone can be expressed by formula (6). Substituting formula (4) into the formula, the following results are obtained:

[0120] P2=(T C +T W )W ac Formula (6)

[0121] In formula (6), P2 describes the amount of power that the power supply system can provide when the drone performs an inspection mission and charges, that is. By comparing the difference between formula (5) and formula (6), the relationship between the amount of power replenished and the actual amount of power consumed by the drone during a mission cycle can be reflected. Based on the power difference, formula (7) defines the additional charging time required for the drone nest when the energy supply is insufficient:

[0122]

[0123] In formula (7), t represents the length of time the drone needs to wait for the next inspection task. If the power generated by the power supply system is sufficient to cover the energy required for charging and standby during the drone's inspection task and charging process, there is no need to wait additionally. Otherwise, the standby charging time needs to be determined based on the insufficient power.

[0124] Furthermore, formula (7) and the formulas that follow only discuss W ac -W P >0, and W ac -W P The case of ≤0 is as shown in formula (3), that is, the charging current I all The power compensation battery pack cannot be fully charged within the specified m hours, that is, the power generation is not large enough, and the communication compensation battery pack needs to be charged first according to the strategy. ac -W P≤0 means that the energy consumed by the engine nest is greater than the energy supplemented by wind and solar energy, that is, it remains in a power-deficient state. Considering that the battery pack is assumed to be 0 at this time, the physical meaning of t at this time is until W ac ≥W P The time till now.

[0125] Furthermore, the maximum number of missions that a drone can perform per day, i.e., the maximum mission flow, can be expressed by formula (8):

[0126]

[0127] Further considering the case where the initial charge of the power compensation battery pack is not zero, equation (9) is used to describe the time required for additional energy replenishment in this case, while equation (10) gives the remaining charge of the power compensation battery pack after charging is completed:

[0128]

[0129] In formula (9), t' represents the additional charging time required to perform the next task when the initial charge of the power compensation battery pack is not zero; in formula (10), P init The initial charge of the power compensation battery pack, P' init Indicates the remaining power of the power compensation battery pack after charging is completed, P max The maximum energy storage capacity of the power compensation battery pack.

[0130] Formula (9) shows that when the initial battery charge P init If the sum of the power P2 that the power supply system can provide when the drone is performing inspection tasks and charging can cover the power consumption of the machine nest, then the additional charging time required is 0; otherwise, according to the energy gap P1-P2-P init , calculate the additional charging time required.

[0131] Formula (10) shows that when the initial battery charge P init If the sum of the power P2 that the power supply system can provide when the drone is performing inspection tasks and charging can cover the power consumption of the machine nest, then at the end of charging, the remaining power of the battery pack will be depleted according to the difference P1-P2 between the energy provided by the power supply system and the energy consumed during the inspection; otherwise, the battery pack will be completely consumed.

[0132] When P2-P1≥0, the battery pack energy will not decrease, that is, P' init ≥P init At this time, t'=0, so the maximum mission flow of the UAV is:

[0133]

[0134] Where N' is the maximum mission flow of the UAV when the battery power is not 0 and P2-P1 ≥ 0, that is, the power battery pack of the machine nest is charged and the energy provided by the solar energy and wind turbine during each inspection and charging is greater than or equal to the consumption of one inspection.

[0135] When P2-P1<0, the battery pack energy will continue to decrease. From formula (10), we can see that the reduction is described by formula (12):

[0136]

[0137] In formula (12), R represents the attenuation of the battery pack power after charging the machine nest when P2-P1<0. Formula (13) shows the number of charging times required when the battery pack power decays to 0:

[0138]

[0139] Where K is the number of times the battery pack needs to be charged until the battery power decays to 0. The choice of rounding up here means that if the initial battery power P init It can meet the requirement of 5.5 times of recharging the drone. When the drone is charged for the 6th time, all the power of the power compensation battery pack will be consumed.

[0140] Substituting formula (9) into the equation, the additional waiting time for each charging can be calculated by formula (14):

[0141]

[0142] where t n The extra time required for the drone to charge for the nth time. From formula (15), the total charging time of the drone can be obtained as:

[0143]

[0144] In formula (15), The total time required to charge the battery of the nth inspection nest, T c +T w The charging time for each time before the battery pack is exhausted; T c +T w +t K The time taken for the battery pack to be fully charged; T c +T w +t >K The time required for each charge after the battery pack is exhausted, where t >K Calculated from the case of n>K in formula (14).

[0145] From formula (15), we can get that the maximum mission flow of the UAV must satisfy formula (16):

[0146]

[0147] Therefore, the maximum task flow is given by formula (17):

[0148]

[0149] In formula (17), N' is the maximum mission flow of the UAV when the battery pack power is not 0 and P2-P1 ≥ 0. K is the number of charging times required when the battery pack power decays to 0, calculated by formula (13); >k is the additional charging time required when the battery is exhausted, calculated by the n>K part in equation (14).

[0150] In this case, the existence of the initial power of the power compensation battery pack will directly affect the overall charging efficiency of the system and the mission execution frequency of the UAV, that is, the flow rate N' of the inspection UAV changed due to the change of initial conditions can be obtained in real time.

[0151] In actual implementation or pre-deployment planning of tower nests, the power in the existing tower nest specifications can be used, including peak power and standby power W. P and operating voltage to set the capacity and operating voltage of the power compensation battery pack.

[0152] At the same time, considering that the peak power is the maximum load power that the electrical equipment can bear at an instant, that is, the peak power always includes the power when the nest charges the drone. Then, the power required by the drone nest to charge the drone is the peak power or less than the peak power, so W C is the peak power.

[0153] Furthermore, considering that the tower machine nest needs to be light, the weight of the battery will be further limited. Therefore, for those that cannot reach or are lower than the operating voltage of the machine nest, an inverter or a buck-boost DCDC DC voltage regulator module should be set. The working efficiency of the inverter or DCDC DC voltage regulator module or the power ratio of the actual power supplied to the tower machine nest after a series of conversions to the power compensation battery pack should be recorded as η1. At this time, the rated voltage of the battery is V w .

[0154] Then, the capacity C1 of the communication compensation battery pack and the capacity C2 of the power compensation battery pack can be determined according to formula (1). At the same time, k1 and k2 can be flexibly set according to the mission planning and different meteorological conditions in different regions.

[0155] If the inspection area requires detailed inspection, it is necessary to ensure as many charging times and standby time as possible. Considering the carrying capacity of the high-voltage tower and the weight of the battery, k1 and k2 can be set far exceeding 48 and 72.

[0156] Furthermore, after selecting solar panels and small wind turbines, the overall energy replenishment current can be calculated by formula (2), and the time compensation coefficient m of formula (3) can be adjusted in combination with the regional sunshine and wind conditions. Finally, considering that the energy replenishment current provided by sunshine and wind power generation is a fluctuating value, the following steps can be used to determine the priority of charging the battery in the two batteries.

[0157] Step S1: Calculate I by formula (2) all , adjust the time compensation coefficient according to the deployment area.

[0158] Step S2: Analysis I all , and conduct classified discussions. Case 1: I all The power compensation battery pack cannot be fully charged within m hours, but the communication compensation battery pack can be fully charged within 1 hour. all Too low to fully charge the communication compensation battery within one hour. Case 2: If I all The power compensation battery pack can be fully charged within m hours. In case 1, the process turns to step S3, and in case 2, the process turns to step S4.

[0159] Step S3: At this time, the energy replenishment current is large, and the power compensation battery pack is replenished first.

[0160] Step S4: At this time, the charging current cannot meet the requirement, and the communication guarantee battery pack is given priority to be charged.

[0161] Step S5: Check the voltage of each battery at this time. If the voltage reaches the cut-off voltage, stop charging. If one of the two battery packs does not reach the cut-off voltage, continue to charge the battery that has not reached the cut-off voltage until the cut-off voltage is reached.

[0162] Furthermore, when the overall charging current is between the 1C charging currents of the power compensation battery pack and the communication guarantee battery pack, or when the overall charging current is less than the 1C charging current of the communication guarantee battery pack, the communication compensation battery pack should be fully charged first to ensure that the communication requirements are met, as described in formula (3).

[0163] After you have determined which battery in the battery pack should be charged first, you can calculate the maximum flow rate when the Nest Power battery pack is at 0%. Refer to the following steps:

[0164] Step S6: Calculate the daily average energy replenishment power W by formula (4): ac Preferably, during calculation, the efficiency η should be reasonably set to obtain better calculation results. For example, if it is rainy in the area recently, you need to consider reducing η, otherwise, increase it.

[0165] Step S7, calculating the energy consumption P1 per inspection time, the standby power and the peak power through the inspection time and the charging time.

[0166] Step S8: Using the daily average energy replenishment power W ac Calculate the energy replenishment situation P2 within the unit inspection time.

[0167] Step S9, compare P1 and P2. If the charging power is greater than the consumed power within the unit inspection time, no additional time t is required for charging after this inspection. Otherwise, W ac Calculate the energy replenishment time. That is, calculate the additional energy replenishment time t by the energy gap in the unit inspection time. As shown in formula (7), further, if the daily average energy replenishment power W ac <Standby power W P Considering that the calculation is for the case of 0% initial power, the physical meaning of t becomes: the charging time is from the start of charging to the average daily charging power W ac >Standby power W P At the same time, if the daily average energy replenishment power W ac <Standby power W P This will return to the issue of battery pack priority charging, that is, the situation described in step S4.

[0168] Step S10: After obtaining the additional energy replenishment time t, the maximum inspection flow N under the condition of 0% initial power of the tower machine nest can be calculated.

[0169] The above embodiment takes into account the case where the initial power of the machine nest is 0%. Next, the maximum inspection flow calculation method under the non-zero case will be considered.

[0170] Furthermore, if the initial power of the drone nest is not zero, when the drone enters charging after the inspection is completed, it is necessary to consider whether the initial power and the energy supply within the unit inspection time can meet the needs of the next mission. If yes, the next mission can be executed without waiting. If not, it needs to wait for a period of time t'. Then t' can refer to the calculation method of formula (9). That is, when P1>P2+P init The additional time t' needs to be calculated only in the case of

[0171] At this time, after obtaining t', we can consider calculating the remaining power of the machine nest after charging and replenishing after the inspection task is completed. The specific method is:

[0172] If the inspection consumption is greater than the sum of the inspection nest energy and the initial power, the initial power is completely exhausted. This happens because the local meteorological conditions are not enough for one inspection and the initial power is relatively small, which leads to the exhaustion of the power compensation battery pack. At this time, you can refer to the priority energy supply method in step 3 to recharge the communication guarantee battery pack and wait for the recharge current to rise.

[0173] If the consumption during the current inspection ≤ the energy replenishment of the inspection drone nest + the initial battery power, it indicates Situation 1: The replenishment current is very ideal, and at this time, the power compensation battery pack is fully charged or Situation 2. Situation 2: At this time, the power of the power compensation battery pack is: the initial battery power + the energy replenishment during the current inspection - the consumption during the current inspection. That is, as shown in Equation (10).

[0174] At this time, if considering the relationship between the consumption of a single inspection and the energy replenishment of a single inspection, if it satisfies: P2 - P1 ≥ 0, that is, the consumption of a single inspection is less than the energy replenishment of a single inspection, then during the next inspection, the initial battery power will be greater than the initial battery power during the previous inspection.

[0175] Then the current maximum inspection flow rate is Equation (11), that is, continuous inspections can be achieved without additional energy replenishment time.

[0176] The above embodiments discuss the situation where the initial battery power is not 0 and the energy replenishment of a single inspection > the consumption of a single inspection. The following embodiments discuss the situation where the initial battery power is not 0 and the battery will lose power during each inspection, that is: the energy replenishment of a single inspection < the consumption of a single inspection.

[0177] If the inspection causes the initial battery power to decrease and continues, if K inspections are performed, the initial battery power will be completely exhausted. Then the calculation method of K is: count the energy gap during each inspection and use this gap to calculate how many times it will exhaust all the battery power of the initial battery. Its calculation method is as shown in Equation (13). Rounding up is to give priority to charging the drone. Even if the power compensation battery pack is completely consumed, there is still a communication guarantee battery pack at this time. If a mission needs to be executed, it will not be unable to execute due to the power failure of the drone nest.

[0178] After obtaining K, the additional waiting time t for the nth charging can be calculated n , which is divided into three situations.

[0179] Situation 1: When n < K, this indicates that the nth time has not exhausted the battery power of the drone nest, so no waiting is required for charging at this time. That is, t n = 0.

[0180] Situation 2: Exactly at this time is the Kth inspection, that is, when n = k, then consider the difference between the power consumption and the energy replenishment during the previous inspections. At the same time, exactly at the Kth inspection, the battery power is completely exhausted, and all the initial battery power P init (known from rounding up in Equation (13) to be completely deducted) still needs to be deducted. Then the ratio of the remaining battery power to the difference between the daily power generation power and the standby power is the waiting time required for the Kth energy replenishment.

[0181] Case 3: When n>K, we return to the first embodiment, that is, the maximum inspection flow rate under zero initial conditions, that is, the maximum inspection flow rate under the current situation can be calculated by the first embodiment, but the time spent on the previous n times still needs to be subtracted. Preferably, t n It represents the time required for the nth energy replenishment. Its calculation method is the energy gap, that is, the energy replenishment of a single inspection minus the consumption of a single inspection divided by the difference between the daily average energy replenishment power and the standby power. That is, the n>K part of formula 14.

[0182] In summary, the time required for the nth recharging corresponding to these three situations can be expressed by formula (15). That is, by comparing whether the nth time is the number of times before the power is exhausted, the nth recharging time can be explained. Then, formula (16) can be derived, that is, (each inspection time + each recharging time + each additional recharging time) * (number of recharging times - 1) does not exceed 24 hours on the day. Then, correspondingly, N' has three situations, as shown below:

[0183] Case 1: The sum of the inspection time before the battery runs out and the inspection time before it exceeds D N The maximum flow rate at this time is shown in the top part of formula (17). The reason for rounding down here is that after the Kth inspection, it is necessary to wait for an indefinite time, and the power of the Kth nest is completely exhausted. The maximum inspection flow rate is determined by the charging time and the inspection time, as shown in the first part of formula (17).

[0184] Case 2: When the time spent on all inspections before K times is less than D N The time spent on the last K inspections plus the extra recharging time tK required for the Kth inspection is greater than D N When the maximum inspection flow N' is K-1, this is considering the boundary condition D N The situation at that time, that is, whether the Kth additional energy replenishment time exceeds D N If it exceeds, only K-1 inspections can be completed in one day, as shown in the second part of formula (17).

[0185] Case 3: Considering that the time spent on K inspections and the time for replenishing the energy after the Kth inspection are less than or equal to D N When , the maximum inspection flow at this time is obtained by rounding down the third part of formula (17). That is, by calculating how many times the energy replenishment time after energy exhaustion can provide unit inspection energy consumption, plus the maximum number of inspections before energy exhaustion, considering the situation of hours, it is rounded down. That is, if the energy replenishment time after energy exhaustion can meet 1.6 times, it will be counted as 1 time, then add K times before energy exhaustion, and the maximum inspection flow can be obtained as the last part of formula (17).

[0186] The present invention also provides a wind and photovoltaic intelligent tower drone nest energy replenishment system, comprising:

[0187] The solar power supply module complements the wind power supply module to provide energy for the drone nest;

[0188] The wind power supply module complements the solar power supply module to provide energy for the drone nest;

[0189] The UAV nest energy replenishment unit controls wind energy and solar energy to provide real-time compensation energy for the UAV nest based on wind power generation power and solar power generation power.

[0190] Furthermore, the drone nest uses a power compensation battery pack and a communication guarantee battery pack to store energy separately.

[0191] Furthermore, the real-time energy replenishment strategy for controlling wind energy and solar energy to provide real-time compensation energy for the drone nest based on wind power generation power and solar power generation power is as follows:

[0192] Considering the energy conversion efficiency η1 and the standby power W of the drone nest P The power required by the drone nest to charge the drone is W. C , use the following formula to calculate the communication guarantee battery pack capacity C1 and the power compensation battery pack capacity C2;

[0193]

[0194] Among them, V w To make the drone nest work, the rated voltage of the battery pack is C1, which is much smaller than C2. K1 indicates the working time of the communication compensation battery pack capacity, and K2 indicates the number of charging times of the power compensation battery pack capacity.

[0195] The solar power generation and wind power generation are denoted as W s , W w , then the total power generation W all With the total energy replenishment current I all :

[0196]

[0197] W all with I all It is a random value, and its value changes according to the weather;

[0198] According to I all The range determines whether to provide energy for the communication protection battery pack or the power compensation battery pack:

[0199]

[0200] m is the time compensation coefficient, which means that if the charging current per hour remains unchanged, it takes m hours to fully charge the battery pack; Case 1 means that the overall energy replenishment current is between the 1C charging current of the power compensation battery pack and the communication guarantee battery pack, or the overall energy replenishment current is less than the 1C charging current of the communication guarantee battery pack. At this time, priority is given to compensating energy for the communication guarantee battery pack to ensure communication needs; Case 2 means that the overall energy replenishment current is greater than the 1C charging current of the power compensation battery pack, and priority is given to compensating energy for the power compensation battery pack; in Case 1 or Case 2, when any battery pack reaches the cut-off voltage, the compensation energy supply is stopped, and the battery pack that has not reached the cut-off voltage is compensated for energy supply.

[0201] Furthermore, the setting of the m value is used to determine the priority of the compensation energy supply, and different time compensation coefficients m are selected according to different regions.

[0202] Furthermore, the equivalent description of the daily average energy replenishment power of wind energy and solar energy is as follows:

[0203]

[0204] W ac It represents the average complementary power provided by wind energy and solar energy in one day, that is, the average power provided in hours; D N is 24, that is, there are 24 hours in a day; η is the overall efficiency of wind and solar energy complementary energy supply; T sa The duration of sunlight.

[0205] Furthermore, when the initial power of the power compensation battery pack is zero, the maximum inspection flow N of the drone is calculated as follows:

[0206] The total energy consumed by the drone each time it completes an inspection mission and charges is described by the following formula:

[0207] P1=W C +(T C +T W )W P

[0208] P1 represents the total energy consumption of the drone during a complete inspection mission and charging process; the single inspection time of the drone is T W After the inspection mission is completed, the drone returns to the nest for charging. C ;

[0209] The total amount of electricity generated by solar and wind energy during drone inspection and charging is expressed as follows:

[0210] P2=(T C +T W )W ac

[0211] P2 indicates that when the drone performs an inspection mission and charges, wind energy and solar energy complement each other to compensate for the energy supply; by comparing the difference between P1 and P2, the additional charging time required by the drone when the drone nest is insufficiently supplied with energy is defined:

[0212]

[0213] The maximum number of times a drone can perform tasks per day, that is, the maximum inspection flow, is expressed by the following formula:

[0214]

[0215] N is the maximum inspection flow of the drone per day.

[0216] Furthermore, when the initial power of the power compensation battery pack is not zero, the maximum inspection flow rate N' of the drone is calculated as follows:

[0217] Taking into account the situation that the initial power of the power compensation battery pack is not zero, the additional charging time required for the drone when the drone nest is insufficiently powered, and the remaining power of the power compensation battery pack after charging is completed:

[0218]

[0219] t' represents the additional charging time required by the drone when the initial charge of the power compensation battery pack is not zero; P init The initial charge of the power compensation battery pack, P' init Indicates the remaining power of the power compensation battery pack after charging is completed, P max The maximum energy storage capacity of the power compensation battery pack;

[0220] (1) When P2-P1≥0, the power of the power compensation battery pack will not decrease, that is, P' init ≥P init ; At this time, t'=0, the maximum number of times the drone can perform tasks every day, that is, the maximum inspection flow, is expressed by the following formula:

[0221]

[0222] (2) When P2-P1<0, the power of the power compensation battery pack will continue to decay. Based on the decay R of the power of the power compensation battery pack after charging the machine nest, the number of charging times K required for the power of the power compensation battery pack to decay to 0 is calculated. Based on this, the additional waiting time t for the nth charging is calculated. n , get the total duration of the drone's nth charging Then the maximum inspection flow of the drone is calculated:

[0223]

[0224] N' is the maximum inspection flow of the UAV when the initial power of the power compensation battery pack is not 0 and P2-P1≥0, t >k The additional charging time required when the power compensation battery pack is depleted.

[0225] Furthermore, when P2-P1<0, the attenuation R of the power compensation battery pack after charging the machine nest is described by the following formula:

[0226]

[0227] R represents the attenuation of the power compensation battery pack after charging the machine nest when P2-P1<0, and the number of charging times K required when the power compensation battery pack decays to 0:

[0228]

[0229] K is the number of times the power compensation battery pack needs to be charged until its charge decays to 0.

[0230] Furthermore, after obtaining K, the additional waiting time t for the nth charging is calculated. n :

[0231]

[0232] t n The additional time required to charge the drone for the nth time, based on t n , calculate the total duration of the drone's nth charging

[0233]

[0234] The total time for charging the drone for the nth time, T C +T W To compensate for the power consumption of the battery pack, each charging time is T C +T W +t K To compensate for the time the battery pack spends just after charging; T C +T W +t >K To compensate for the time required for each charge after the battery pack is exhausted.

[0235] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0236] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0237] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0238] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0239] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0240] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for replenishing energy for a drone nest on a wind and photovoltaic intelligent tower, characterized in that: Wind energy and solar energy are complementary to each other to provide energy for the drone nest on the wind and photovoltaic intelligent tower, and wind energy and solar energy are controlled based on the wind power generation power and solar power generation power to provide real-time compensation energy for the drone nest.

2. A method for replenishing energy for a drone nest on a wind and photovoltaic intelligent tower according to claim 1, characterized in that: The drone nest uses power compensation battery pack and communication guarantee battery pack to store energy separately.

3. The energy replenishment method for a drone nest on a wind and photovoltaic intelligent tower according to claim 2 is characterized in that: The real-time energy replenishment strategy based on wind power generation and solar power generation to control wind energy and solar energy to provide real-time compensation energy for the drone nest is as follows: Considering the energy conversion efficiency η1 and the standby power W of the drone nest P The power required by the drone nest to charge the drone is W. C , use the following formula to calculate the communication guarantee battery pack capacity C1 and the power compensation battery pack capacity C2; Among them, V w To make the drone nest work, the rated voltage of the battery pack, C1 is much smaller than C2, k1 represents the working time that the communication compensation battery pack capacity can maintain, and k2 represents the number of charging times that the power compensation battery pack capacity can maintain; The solar power generation and wind power generation are denoted as W s , W w , then the total power generation W all With the total energy replenishment current I all : W all with I all It is a random value, and its value changes according to the weather; According to I all The range determines whether to provide energy for the communication protection battery pack or the power compensation battery pack: m is the time compensation coefficient, which means that if the charging current per hour remains unchanged, it takes m hours to fully charge the battery pack; Case 1 means that the overall energy replenishment current is between the 1C charging current of the power compensation battery pack and the communication guarantee battery pack, or the overall energy replenishment current is less than the 1C charging current of the communication guarantee battery pack. At this time, priority is given to compensating energy for the communication guarantee battery pack to ensure communication needs; Case 2 means that the overall energy replenishment current is greater than the 1C charging current of the power compensation battery pack, and priority is given to compensating energy for the power compensation battery pack; in Case 1 or Case 2, when any battery pack reaches the cut-off voltage, the compensation energy supply is stopped, and the battery pack that has not reached the cut-off voltage is compensated for energy supply.

4. The method for replenishing energy for a drone nest on a wind and photovoltaic power intelligent tower according to claim 3 is characterized in that: The setting of the m value is used to determine the priority of compensation energy supply, and different time compensation coefficients m are selected according to different regions.

5. The method for replenishing energy for a drone nest on a wind and photovoltaic power intelligent tower according to claim 3 is characterized in that: The equivalent description of the daily average complementary power of wind energy and solar energy is as follows: W ac It represents the average complementary power provided by wind energy and solar energy in one day, that is, the average power provided in hours; D N is 24, that is, there are 24 hours in a day; η is the overall efficiency of wind and solar energy complementary energy supply; T sa The duration of sunlight.

6. A method for replenishing energy for a drone nest on a wind and photovoltaic power intelligent tower according to claim 5, characterized in that: When the initial power of the power compensation battery pack is zero, the maximum inspection flow rate N of the drone is calculated as follows: The total energy consumed by the drone each time it completes an inspection mission and charges is described by the following formula: P1=W C +(T C +T W )W P P1 represents the total energy consumption of the drone during a complete inspection mission and charging process; the single inspection time of the drone is T W After the inspection mission is completed, the drone returns to the nest for charging. C ; The total amount of electricity generated by solar and wind energy during drone inspection and charging is expressed as follows: P2=(T C +T W )W ac P2 indicates that when the drone performs an inspection mission and charges, wind energy and solar energy complement each other to compensate for the energy supply; by comparing the difference between P1 and P2, the additional charging time required by the drone when the drone nest is insufficiently supplied with energy is defined: The maximum number of times a drone can perform tasks per day, that is, the maximum inspection flow, is expressed by the following formula: N is the maximum inspection flow of the drone per day.

7. A method for replenishing energy for a drone nest on a wind and photovoltaic power intelligent tower according to claim 6, characterized in that: When the initial power of the power compensation battery pack is not zero, the maximum inspection flow rate N' of the drone is calculated as follows: Taking into account the situation that the initial power of the power compensation battery pack is not zero, the additional charging time required for the drone when the drone nest is insufficiently powered, and the remaining power of the power compensation battery pack after charging is completed: t' represents the additional charging time required by the drone when the initial charge of the power compensation battery pack is not zero; P init The initial charge of the power compensation battery pack, P' init Indicates the remaining power of the power compensation battery pack after charging is completed, P max The maximum energy storage capacity of the power compensation battery pack; (1) When P2-P1≥0, the power of the power compensation battery pack will not decrease, that is, P' init ≥P init ; At this time, t'=0, the maximum number of times the drone can perform tasks every day, that is, the maximum inspection flow, is expressed by the following formula: (2) When P2-P1<0, the power of the power compensation battery pack will continue to decay. Based on the decay R of the power of the power compensation battery pack after charging the machine nest, the number of charging times K required for the power of the power compensation battery pack to decay to 0 is calculated. Based on this, the additional waiting time t for the nth charging is calculated. n , get the total duration of the drone's nth charging Then the maximum inspection flow of the drone is calculated: N' is the maximum inspection flow of the UAV when the initial power of the power compensation battery pack is not 0 and P2-P1≥0, t >k The additional charging time required when the power compensation battery pack is depleted.

8. The method for replenishing energy for a drone nest on a wind and photovoltaic power intelligent tower according to claim 7 is characterized in that: When P2-P1<0, the attenuation R of the power compensation battery pack after charging the machine nest is described by the following formula: R represents the attenuation of the power compensation battery pack after charging the machine nest when P2-P1<0, and the number of charging times K required when the power compensation battery pack decays to 0: K is the number of times the power compensation battery pack needs to be charged until its charge decays to 0.

9. A method for replenishing energy for a drone nest on a wind and photovoltaic power intelligent tower according to claim 8, characterized in that: After obtaining K, calculate the additional waiting time t for the nth charging n : t n The additional time required to charge the drone for the nth time, based on t n , calculate the total duration of the drone's nth charging The total time for charging the drone for the nth time, T C +T W To compensate for the power consumption of the battery pack, each charging time is T C +T W +t K To compensate for the time the battery pack spends just after charging; T C +T W +t >K To compensate for the time required for each charge after the battery pack is exhausted.

10. A wind and photovoltaic intelligent tower drone nest energy replenishment system, characterized in that: include: The solar power supply module complements the wind power supply module to provide energy for the drone nest; The wind power supply module complements the solar power supply module to provide energy for the drone nest; The UAV nest energy replenishment unit controls wind energy and solar energy to provide real-time compensation energy for the UAV nest based on wind power generation power and solar power generation power.

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