High-voltage electrical redundancy architecture based on hybrid power type unmanned aerial vehicle and unmanned aerial vehicle

Abstract

The high-voltage electrical redundancy architecture comprises a first relay, a second relay, a first high-voltage power supply module and a first power module group which are electrically connected, and a second high-voltage power supply module and a second power module group which are electrically connected, the anode of the first high-voltage power supply module is electrically connected with the anode of the second high-voltage power supply module through the first relay, and the cathode of the first high-voltage power supply module is electrically connected with the cathode of the second high-voltage power supply module through the second relay; when the first high-voltage power supply module, the second high-voltage power supply module and the plurality of power modules work normally, the first relay and the second relay are closed; when one of the first high-voltage power supply module and the second high-voltage power supply module fails, the first relay and the second relay are disconnected; when one of the plurality of power modules is short-circuited, the first relay and the second relay are disconnected. The reliability of the unmanned aerial vehicle can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a high-voltage electrical redundancy architecture and an unmanned aerial vehicle based on a hybrid-powered unmanned aerial vehicle. Background Art

[0002] Industrial unmanned aerial vehicles have developed rapidly in recent years. Currently, there are usually two types of power systems for unmanned aerial vehicles. One is a pure-electric power supply system, and the other is a hybrid power system. Among them, pure-electric unmanned aerial vehicles account for most of the industrial-grade unmanned aerial vehicles, accounting for more than 90% of the market.

[0003] For industrial-grade pure-electric unmanned aerial vehicles, their power sources usually rely on a single power battery. Their system architecture is as shown in Figure 1 and Figure 2 The high-voltage electricity of the MCU of all drive units of the unmanned aerial vehicle comes from the same high-voltage battery. This power system has the following deficiencies: (1) If the high-voltage battery is damaged, the high-voltage power supply of the MCU of each drive unit will be interrupted, resulting in power interruption at the terminal; (2) If the DCDC fails, the low-voltage power supply of each controller will be affected, resulting in the control failure of the flight controller and making the entire unmanned aerial vehicle enter an uncontrollable state; furthermore, the unmanned aerial vehicle cannot land safely, which will cause losses to the carried goods and may cause losses to ground items or injuries to ground personnel; (3) In the communication network, each controller communicates through a single communication network. When this communication fails, it is easy for the aircraft to lose signals and become out of control.

[0004] To solve this technical problem, for example, the Chinese patent application with the application number 2024114188382 proposes a multi-battery pack parallel redundancy system, which controls the opening and closing of the relays corresponding to each battery through the flight controller to avoid the scenario of power loss during flight due to single-point failure of the aircraft. However, this power system requires a corresponding distribution box and connection circuit for each battery pack, and the power system is complex and costly. For another example, the Chinese patent application with the application number 2022223102616 also proposes a high-voltage electrical redundancy architecture for the power system of an aircraft based on multiple battery packs. By setting a corresponding number of switch boxes between multiple dual-channel motors and high-voltage battery packs, it realizes the high-voltage redundant power supply of multiple motors of the aircraft and improves the safety of the power system.

[0005] For industrial-grade unmanned aerial vehicles with a hybrid power system, their power sources come from the engine driving the generator to generate electricity to provide the power source for the entire system. Their system architecture is as shown in Figure 3 and Figure 4 It can be seen that in the existing hybrid power system, the energy of the drive motor comes from the power generation of the generator and is used to drive the propeller. This system has at least the following problems:

[0006] 1) When the generator / engine fails, it will cause the interruption of the power energy output, resulting in the driving motor losing the driving energy source;

[0007] 2) When the DCDC unit fails, it will cause the loss of control signals of each controller, resulting in the loss of control of one or more controllers or the whole machine, and then leading to the loss of control of the whole machine and the failure of the UAV;

[0008] 3) In the communication network, each controller communicates through a single communication network. When this communication network fails, it is easy for the aircraft to lose signals and cause the aircraft to lose control;

[0009] 4) The power of the UAV comes from the power generation of the engine-driven generator. Since the power generation system (composed of the engine and the generator) has instability in speed or torque control during actual operation, and the high-voltage architecture lacks a voltage stabilizing unit, the voltage of the high-voltage system of the UAV fluctuates greatly, resulting in fluctuations in the operation of the driving motor of the UAV, and the UAV has poor flight stability and is prone to losing control.

[0010] The disclosure of the above background technical content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of this application, nor will it necessarily give technical guidance; in the case where there is no clear evidence that the above content has been made public before the filing date of this application, the above background technology should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0011] The object of the present invention is to provide a high-voltage electrical redundancy architecture and a UAV based on a hybrid-powered UAV, which can improve the reliability of the UAV and reduce its failure probability.

[0012] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0013] A high-voltage electrical redundancy architecture based on a hybrid-powered UAV, comprising a first high-voltage power supply module, a second high-voltage power supply module, a first relay, a second relay and a plurality of power modules, and the plurality of power modules are divided into a first power module group and a second power module group;

[0014] The first high-voltage power supply module is electrically connected to the first power module group, the second high-voltage power supply module is electrically connected to the second power module group, the positive pole of the first high-voltage power supply module is electrically connected to the positive pole of the second high-voltage power supply module through the first relay, and the negative pole of the first high-voltage power supply module is electrically connected to the negative pole of the second high-voltage power supply module through the second relay;

[0015] When the first high-voltage power supply module, the second high-voltage power supply module, and multiple said power modules are all operating normally, the first relay and the second relay close;

[0016] When one of the first high-voltage power supply module and the second high-voltage power supply module fails, the first relay and the second relay open;

[0017] When one of multiple said power modules has a short circuit, the first relay and the second relay open.

[0018] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, the two power supply modules, namely the first high-voltage power supply module and the second high-voltage power supply module, one of the power supply modules includes a high-voltage battery, and the other power supply module includes a power generation module.

[0019] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, when the first relay and the second relay close, if the remaining power of the high-voltage battery is lower than a preset power threshold, the power generation module charges the high-voltage battery.

[0020] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, when the power generation power of the power generation module is greater than the power required by its corresponding load, the power generation module charges the high-voltage battery;

[0021] When the power generation power of the power generation module is less than the power required by its corresponding load, the high-voltage battery correspondingly increases the discharge power to the load.

[0022] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, when the first relay and the second relay close, the first high-voltage power supply module and the second high-voltage power supply module jointly supply power to multiple power modules.

[0023] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, it further includes an energy management controller and an aircraft controller. The energy management controller is electrically connected to the aircraft controller, the first high-voltage power supply module, the second high-voltage power supply module, and multiple power modules respectively. The aircraft controller is also electrically connected to the energy management controller, the first high-voltage power supply module, the second high-voltage power supply module, and multiple power modules respectively;

[0024] The energy management controller receives the operation status information of the first high-voltage power supply module, the second high-voltage power supply module, and multiple power modules in real time, and determines whether there is a fault;

[0025] The aircraft controller receives the operation status information of the first high-voltage power supply module, the second high-voltage power supply module and multiple power modules in real time, and determines whether there is a fault.

[0026] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, when the aircraft controller fails, the energy management controller will take over the aircraft attitude control and control the UAV to land;

[0027] When the energy management controller fails, the aircraft controller controls the UAV to land.

[0028] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, it further includes a first high-voltage to low-voltage module and a second high-voltage to low-voltage module for converting high voltage to low voltage;

[0029] The input end of the first high-voltage to low-voltage module is electrically connected to the output end of the first high-voltage power supply module, and its output end is electrically connected to the first low-voltage load;

[0030] The input end of the second high-voltage to low-voltage module is electrically connected to the output end of the second high-voltage power supply module, and its output end is electrically connected to the second low-voltage load.

[0031] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, both the first power module group and the second power module group can independently maintain the flight of the UAV; or, 9]

[0032] The number of power modules included in the first power module group is the same as the number of power modules included in the second power module group.

[0033] Further, based on any one of the foregoing technical solutions or a combination of multiple technical solutions, the first power module group includes four of the power modules, and the angle between two adjacent power modules among the four power modules is 90°;

[0034] The second power module group includes four of the power modules, and the angle between two adjacent power modules among the four power modules is 90°.

[0035] According to another aspect of the present invention, the present invention provides a UAV, which includes the high-voltage electrical redundancy architecture based on a hybrid-powered UAV as described in any one of the foregoing technical solutions or a combination of multiple technical solutions.

[0036] The beneficial effects brought by the technical solutions provided by the present invention are as follows:

[0037] a. In the present invention, multiple power modules are divided into a first power module group and a second power module group. The first high-voltage power supply module is electrically connected to the first power module group to form a first high-voltage power supply system, and the second high-voltage power supply module is electrically connected to the second power module group to form a second high-voltage power supply system. Moreover, the two high-voltage power supply systems are electrically connected through two relays, realizing mutual backup of the dual high-voltage power supply systems, and being able to completely and reliably isolate the two high-voltage power supply systems when any one of the power supply module and the power module fails, improving the reliability of the UAV flight.

[0038] b. In the present invention, one of the first high-voltage power supply module and the second high-voltage power supply module adopts a high-voltage battery, and the other adopts a power generation module, constituting a more reliable hybrid power supply system. Not only can the power generation module charge the high-voltage battery in time, but the high-voltage battery can also adjust the discharge power in time to ensure stable power supply of the overall system. During normal operation, the high-voltage battery has a voltage stabilization effect, reducing the voltage fluctuation caused by the control stability problem of the power generation module, making the output voltage of the high-voltage power supply system of the UAV system stable and with small ripple, being able to improve the stable rotation speed output of the drive motor and enhancing the flight stability of the whole machine.

[0039] c. The high-voltage electrical redundancy architecture provided by the present invention further includes a dual-backup redundant communication architecture, using the two modules of the energy management controller and the flight vehicle controller to back up the UAV attitude control functionally. When the flight vehicle controller fails, the energy management controller will take over the aircraft attitude control to achieve a safe landing; when the energy management controller fails, the flight vehicle controller directly controls the landing, further improving the reliability of the UAV and reducing its failure probability. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0041] Figure 1 It is a schematic diagram of the electrical architecture of a pure-electric UAV in the prior art;

[0042] Figure 2 It is a schematic diagram of the communication architecture of a pure-electric UAV in the prior art;

[0043] Figure 3 It is a schematic diagram of the electrical architecture of a gasoline-powered UAV in the prior art;

[0044] Figure 4Schematic diagram of the communication architecture of an oil-powered UAV in the prior art;

[0045] Figure 5 Schematic diagram of a high-voltage electrical redundancy architecture based on a hybrid-powered UAV provided by an exemplary embodiment of the present invention;

[0046] Figure 6 Schematic diagram of a dual-backup communication architecture based on a hybrid-powered UAV provided by an exemplary embodiment of the present invention;

[0047] Figure 7 Schematic diagram of the working process of the high-voltage electrical redundancy architecture when a fault occurs provided by an exemplary embodiment of the present invention;

[0048] Figure 8 Schematic diagram of the working process of the dual-backup communication architecture when a fault occurs provided by an exemplary embodiment of the present invention. Detailed implementation manners

[0049] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0050] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or equipment that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0051] In an embodiment of the present invention, a high-voltage electrical redundancy architecture based on a hybrid-powered UAV is provided, as Figure 5 and Figure 6 shown. The high-voltage electrical redundancy architecture includes a first high-voltage power supply module, a second high-voltage power supply module, a first relay, a second relay, and a plurality of power modules. The plurality of power modules are divided into a first power module group and a second power module group;

[0052] The first high-voltage power supply module is electrically connected to the first power module group, and the second high-voltage power supply module is electrically connected to the second power module group. The positive pole of the first high-voltage power supply module is electrically connected to the positive pole of the second high-voltage power supply module through the first relay, and the negative pole of the first high-voltage power supply module is electrically connected to the negative pole of the second high-voltage power supply module through the second relay;

[0053] When the first high-voltage power supply module, the second high-voltage power supply module, and multiple power modules all work normally, the first relay and the second relay are closed;

[0054] When one of the first high-voltage power supply module and the second high-voltage power supply module fails, the first relay and the second relay are disconnected;

[0055] When one of multiple power modules has a short circuit, the first relay and the second relay are disconnected.

[0056] Among them, the first high-voltage power supply module includes a power generation module (G-MCU), and the power generation module (G-MCU) outputs high voltage through power generation to supply power to high-voltage loads of the unmanned aerial vehicle, such as power modules. The high-voltage electrical redundancy architecture further includes a first high-voltage to low-voltage module (DCDC). The input end of the DCDC is electrically connected to the output end of the G-MCU, and the output end of the DCDC is electrically connected to the low-voltage load of the unmanned aerial vehicle. The first high-voltage to low-voltage module (DCDC) processes the high voltage output by the G-MCU, including converting the high voltage into low voltage through voltage regulation processing to supply power to low-voltage loads of the unmanned aerial vehicle, such as controllers corresponding to power modules.

[0057] The second high-voltage power supply module includes a high-voltage battery (HVBat). The high-voltage battery (HVBat) is a rechargeable battery pack, and the high voltage output by it is used to supply power to high-voltage loads of the unmanned aerial vehicle, such as power modules. The high-voltage electrical redundancy architecture further includes a second high-voltage to low-voltage module (SDCDC). The input end of the SDCDC is electrically connected to the output end of the HVBat, and the output end of the SDCDC is electrically connected to the low-voltage load of the unmanned aerial vehicle. The second high-voltage to low-voltage module (SDCDC) processes the high voltage output by the HVBat, including converting the high voltage into low voltage through voltage regulation processing to supply power to low-voltage loads of the unmanned aerial vehicle, such as controllers corresponding to power modules.

[0058] As Figure 5 shown in the high-voltage electrical redundancy architecture, where K1 and K2 are relays, and the number of power modules included in the first power module group is the same as the number of power modules included in the second power module group. Specifically, multiple power modules of the unmanned aerial vehicle include 8 motors (in this application, MCUn is used to represent the controller of the nth motor,Figure 5 The MCUs 1 - 8 therein correspond one-to-one with motors 1 to 8). The first power module group and the second power module group each include 4 motors, and both power module groups can independently maintain the flight of the drone and provide the power for the drone to land safely. Among them, the first power module group includes the first motor to the fourth motor, and the first power module group includes the fifth motor to the eighth motor, with the eight motors arranged in a cross-over layout once. Correspondingly, MCUs 1, 5, 2, 6, 3, 7, 4, 8 are arranged in a cross-over layout once. Specifically, MCUs 1, 2, 3, 4 are arranged at intervals of 90°, and MCUs 5, 6, 7, 8 are also arranged at intervals of 90°. A single system can also maintain the stable attitude of the aircraft.

[0059] As Figure 5 shown, the first motor to the fourth motor (MCUs 1 to 4) are arranged on the first high-voltage bus directly connected to the power supply module (G-MCU). The fifth motor to the fourth motor (MCUs 5 to 8) are arranged on the second high-voltage bus directly connected to the high-voltage battery (HVBat). In this application, MCUs 1 - 8 belong to two independent high-voltage buses, and the positive pole of the first high-voltage bus and the positive pole of the second high-voltage bus are electrically connected through K1, and the negative pole of the first high-voltage bus and the negative pole of the second high-voltage bus are electrically connected through K2, which can achieve complete and reliable isolation of the two high-voltage power supply systems.

[0060] Specifically, when the first high-voltage power supply module, the second high-voltage power supply module, the first power module group, and the second power module group are all working normally, the first relay and the second relay are closed, and the first high-voltage power supply module and the second high-voltage power supply module jointly supply power to the entire high-voltage system of the drone to drive the terminal propeller to do work.

[0061] Preferably, the power supply ratios of the first high-voltage power supply module and the second high-voltage power supply module to the first power module group are the same, and the power supply ratios of the first high-voltage power supply module and the second high-voltage power supply module to the second power module group are the same.

[0062] In addition, when the power generation power of the power generation module is greater than the power required by its corresponding load, the power generation module charges the high-voltage battery, and / or, if the remaining power of the high-voltage battery is lower than a preset power threshold, the power generation module charges the high-voltage battery. Thus, the power of the high-voltage battery can be replenished in time, thereby delaying its power supply duration.

[0063] When the power generation power of the power generation module is less than the power required by its corresponding load, the high-voltage battery correspondingly increases the discharge power to the load. For example, as pre-designed, G-MCU supplies power to MCU1 to MCU4 at 50%, and also supplies power to MCU5 to MCU8 at 50%; the other 50% of the power supply requirements of MCU1 to MCU4 are provided by HVBat, and the other 50% of the power supply requirements of MCU5 to MCU8 are also provided by HVBat. However, the actual detection shows that G-MCU only supplies power to MCU1 to MCU4 at 40%, and also only supplies power to MCU5 to MCU8 at 40%; then the power supply power of the high-voltage battery is increased, so that the other 60% of the power supply requirements of MCU1 to MCU4 are provided by HVBat, and the other 60% of the power supply requirements of MCU5 to MCU8 are also provided by HVBat. That is, in the application, the power supply powers of the first high-voltage power supply module and the second high-voltage power supply module are adjustable to ensure that when the power supply power of one power supply module fluctuates, the power supply power of the other power supply module can be adjusted correspondingly to ensure stable power supply to the UAV.

[0064] In this high-voltage electrical redundancy architecture, during normal operation, in addition to the above functions, HVBat also has a voltage stabilization effect. The presence of the high-voltage battery reduces the voltage fluctuation caused by the control stability problem of the power generation module. In the architecture, the high-voltage battery has an effect similar to that of a capacitor to stabilize the high voltage, making the output voltage of the high-voltage power supply system of the UAV system stable and with small ripple, which can improve the stable rotation speed output of the drive motor and improve the flight stability of the whole machine.

[0065] When the first high-voltage power supply module and / or the first power module group fails, for example, when the first high-voltage power supply module cannot supply power, the first power module group is short-circuited, etc., both K1 and K2 are disconnected. At this time, when the second high-voltage power supply module and the second power module group are both working normally, and the second high-voltage to low-voltage module (SDCDC) electrically connected to the second high-voltage power supply module is also working normally, it provides low-voltage power supply for the low-voltage loads corresponding to the second power module, such as the controllers corresponding to each power module. When G-MCU fails, at this time the whole machine is powered by HVBat, and the aircraft operates at a reduced power to ensure a smooth landing of the aircraft. At this time, the low-voltage power supply of the UAV is provided by SDCDC. When there is a short circuit in a power module of the first power module group, by disconnecting K1 and K2, the short-circuit system can be isolated from the second high-voltage power supply module + second power module system, avoiding the overall failure of the UAV due to partial short circuit and improving the reliability of the UAV system. For example, the Chinese patent applications with the application numbers 2024114188382 and 2022223102616 cannot achieve the two-way isolation effect as achieved by this application.

[0066] Similarly, when the second high-voltage power supply module and / or the second power module group fails, for example, when the second high-voltage power supply module cannot supply power, the second power module group is short-circuited, etc., both K1 and K2 are disconnected. At this time, when the first high-voltage power supply module and the first power module group are both working properly, and the first high-voltage to low-voltage module (SDCDC) electrically connected to the first high-voltage power supply module is also working properly, it provides low-voltage power supply for the low-voltage loads corresponding to the first power module, such as the controllers corresponding to each power module. That is, when the HVBat fails, at this time, the entire UAV is powered by the G-MCU power generation unit, and the UAV operates at a reduced power to ensure its smooth landing. At this time, the low-voltage power supply of the UAV is provided by the DCDC.

[0067] The high-voltage electrical redundancy architecture proposed by the present invention further includes a dual-backup communication architecture, such as Figure 6 As shown, the dual-backup communication architecture includes an energy management controller and an aircraft controller. The energy management controller is electrically connected to the aircraft controller, the first high-voltage power supply module, the second high-voltage power supply module, and multiple power modules respectively. The aircraft controller is also electrically connected to the energy management controller, the first high-voltage power supply module, the second high-voltage power supply module, and multiple power modules respectively, thereby forming two communication loops. The energy management controller receives the operating status information of the G-MCU, HVBat, DCDC, engine, and MCU5-8 in real time, and determines whether there is a fault. The aircraft controller receives the operating status information of MCU1-4, HVBat, SDCDC, and the energy management controller in real time to determine whether there is a fault.

[0068] As Figure 7 shown, when any one of the G-MCU, HVBat, DCDC, and SDCDC in the high-voltage power supply system has a fault serious enough to affect the system (such as a short circuit), the energy management controller (HCU) receives the fault information and determines whether the high-voltage power supply system corresponding to the G-MCU has a fault. If so, K1 and K2 are disconnected. At this time, the G-MCU and DCDC do not work, the HVBat and SDCDC work, so MCU1-MCU4 do not work, and MCU5-MCU8 work. Furthermore, the aircraft, that is, the UAV, operates at a reduced power to protect the operation of the UAV. If not, it is determined that the high-voltage power supply system corresponding to the HVBat has a fault, and K1 and K2 are also disconnected. At this time, the high-voltage power supply system corresponding to the HVBat does not work, that is, the HVBat and SDCDC do not work, the G-MCU and DCDC work, so MCU1-MCU4 work, and MCU5-MCU8 do not work. Furthermore, the aircraft operates at a reduced power to protect the operation of the UAV.

[0069] In this embodiment, MCU1-MCU4 are in one communication loop, and MCU5-MCU8 are in one communication loop. AsFigure 8 As shown, the aircraft controller receives the operating status information sent by MCU1 - MCU8 in real time. If a communication loop fault is detected, it determines whether it is a communication signal 1 fault, that is, a fault exists in the communication loop where MCU1 - MCU4 are located. If so, SDCDC works and DCDC does not work. Consequently, MCU1 - MCU4 do not work and MCU5 - MCU8 work, thereby achieving the derating operation of the aircraft and protecting the operation of the drone. If not, SDCDC does not work and DCDC works. Consequently, MCU1 - MCU4 work and MCU5 - MCU8 do not work, and then the aircraft performs derating operation and protects the operation of the drone.

[0070] In addition, the energy management controller and the aircraft controller backup the attitude control of the drone in terms of function. When the aircraft controller fails, the energy management controller will take over the aircraft attitude control to achieve a safe landing. When the energy management controller fails, the aircraft controller directly controls the landing.

[0071] In another embodiment of the present invention, different from the above - mentioned embodiment, the number of power modules included in the first power module group and the second power module group is the same and the power supply ratios of the first high - voltage power supply module and the second high - voltage power supply module are the same. In this embodiment, the number of power modules included in the first power module group and the second power module group is determined according to the failure probability of the first high - voltage power supply module and the failure probability of the second high - voltage power supply module.

[0072] Specifically, if the failure probability of the first high - voltage power supply module is lower than that of the second high - voltage power supply module, then the number of power modules included in the first power module group is greater than the number of power modules included in the second power module group. Correspondingly, the power supply ratio of the first high - voltage power supply module to the first power module group is greater than the power supply ratio of the second high - voltage power supply module to the first power module group, and the power supply ratio of the first high - voltage power supply module to the second power module group is less than the power supply ratio of the second high - voltage power supply module to the second power module group.

[0073] If the failure probability of the first high - voltage power supply module is higher than that of the second high - voltage power supply module, then the number of power modules included in the first power module group is less than the number of power modules included in the second power module group. Correspondingly, the power supply ratio of the first high - voltage power supply module to the second power module group is less than the power supply ratio of the second high - voltage power supply module to the second power module group, and the power supply ratio of the first high - voltage power supply module to the first power module group is greater than the power supply ratio of the second high - voltage power supply module to the first power module group.

[0074] In this way, on the one hand, the reliability of the UAV can be improved and its failure probability can be reduced. On the other hand, when the power supply module with a relatively high failure probability fails, the other power supply module can provide a power supply capacity of more than 50%, thereby ensuring that the UAV lands on the ground more reliably and smoothly.

[0075] In an embodiment of the present invention, a UAV is provided, and the UAV includes the high-voltage electrical redundancy architecture based on a hybrid UAV as described in any one of the above embodiments.

[0076] It should be noted that the UAV embodiment and the high-voltage electrical redundancy architecture embodiment based on the hybrid UAV are based on the same inventive concept. By reference, all the content of the high-voltage electrical redundancy architecture embodiment based on the hybrid UAV is incorporated into the UAV embodiment.

[0077] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0078] The above are only specific embodiments of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A high-voltage electrical redundancy architecture based on a hybrid unmanned aerial vehicle, characterized in that, It includes a first high-voltage power supply module, a second high-voltage power supply module, a first relay, a second relay and a plurality of power modules, and the plurality of power modules are divided into a first power module group and a second power module group; The first high-voltage power supply module is electrically connected to the first power module group, the second high-voltage power supply module is electrically connected to the second power module group, the positive pole of the first high-voltage power supply module is electrically connected to the positive pole of the second high-voltage power supply module through the first relay, and the negative pole of the first high-voltage power supply module is electrically connected to the negative pole of the second high-voltage power supply module through the second relay; When the first high-voltage power supply module, the second high-voltage power supply module and the plurality of power modules all work normally, the first relay and the second relay are closed; When one of the first high-voltage power supply module and the second high-voltage power supply module fails, the first relay and the second relay are disconnected; When one of the plurality of power modules has a short circuit, the first relay and the second relay are disconnected.

2. The high-voltage electrical redundancy architecture based on a hybrid unmanned aerial vehicle according to claim 1, wherein One of the two power supply modules, the first high-voltage power supply module and the second high-voltage power supply module, includes a high-voltage battery, and the other power supply module includes a power generation module.

3. The high-voltage electrical redundancy architecture based on the hybrid unmanned aerial vehicle according to claim 2, wherein When the first relay and the second relay are closed, if the remaining power of the high-voltage battery is lower than a preset power threshold, the power generation module charges the high-voltage battery.

4. The high-voltage electrical redundancy architecture based on a hybrid unmanned aerial vehicle according to claim 2, wherein When the power generation power of the power generation module is greater than the power required by its corresponding load, the power generation module charges the high-voltage battery; When the power generation power of the power generation module is less than the power required by its corresponding load, the high-voltage battery correspondingly increases the discharge power to the load.

5. The high-voltage electrical redundancy architecture based on a hybrid unmanned aerial vehicle according to claim 1, characterized in that When the first relay and the second relay are closed, the first high-voltage power supply module and the second high-voltage power supply module jointly supply power to the first power module and the second power module.

6. The high-voltage electrical redundancy architecture based on a hybrid UAV according to claim 1, characterized in that: It further includes an energy management controller and an aircraft controller, the energy management controller is electrically connected to the aircraft controller, the first high-voltage power supply module, the second high-voltage power supply module and the plurality of power modules respectively, and the aircraft controller is also electrically connected to the energy management controller, the first high-voltage power supply module, the second high-voltage power supply module and the plurality of power modules respectively; The energy management controller receives the operation status information of the first high-voltage power supply module, the second high-voltage power supply module and the plurality of power modules in real time, and judges whether there is a fault; The aircraft controller receives the operation status information of the first high-voltage power supply module, the second high-voltage power supply module and the plurality of power modules in real time, and judges whether there is a fault.

7. The high-voltage electrical redundancy architecture based on a hybrid unmanned aerial vehicle according to claim 6, wherein When the aircraft controller fails, the energy management controller will take over the aircraft attitude control and control the UAV to land; When the energy management controller fails, the aircraft controller controls the UAV to land.

8. The high-voltage electrical redundancy architecture based on a hybrid unmanned aerial vehicle according to claim 1, wherein It further includes a first high-voltage to low-voltage module and a second high-voltage to low-voltage module for converting high voltage to low voltage; The input end of the first high-voltage to low-voltage module is electrically connected to the output end of the first high-voltage power supply module, and its output end is electrically connected to a first low-voltage load; The input end of the second high-voltage to low-voltage module is electrically connected to the output end of the second high-voltage power supply module, and its output end is electrically connected to the second low-voltage load.

9. The high-voltage electrical redundancy architecture based on a hybrid unmanned aerial vehicle according to claim 1, wherein Both the first power module group and the second power module group can independently maintain the flight of the unmanned aerial vehicle.

10. The high-voltage electrical redundancy architecture based on a hybrid unmanned aerial vehicle according to claim 1, wherein, The first power module group includes four of the power modules, and the angle between two adjacent power modules among the four power modules is 90°; The second power module group includes four of the power modules, and the angle between two adjacent power modules among the four power modules is 90°.

11. A drone, characterized in that: The unmanned aerial vehicle includes the high-voltage electrical redundancy architecture for a hybrid unmanned aerial vehicle according to any one of claims 1 to 10.

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