Energy control method, system and equipment for heavy oil hybrid power unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an energy control method, system and equipment for a heavy oil hybrid power unmanned aerial vehicle, and the method comprises the steps: recognizing a current working condition based on the flight state parameters of the unmanned aerial vehicle collected by a sensor, and if the flight height change rate is greater than or equal to a preset change rate and lasts for a first preset time period, starting a controller; if yes, identifying the current working condition as a take-off working condition; if the flight height change rate is smaller than the preset change rate and lasts for a second preset time period, identifying the current working condition as a cruise working condition; the flight state parameter comprises a flight height change rate; when the unmanned aerial vehicle is in a take-off working condition, the power generation all-in-one machine is started to cooperatively supply energy with the energy storage device, and power is provided for the brushless direct-current motor; and when the unmanned aerial vehicle is in a cruise working condition, the power generation all-in-one machine is started to output in two paths, one path drives the brushless direct-current motor, the other path charges the energy storage equipment, power requirements of different stages are matched through a differential energy supply strategy, and the energy utilization rate and the endurance time of the unmanned aerial vehicle are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an energy control method, system and device for a heavy oil hybrid power unmanned aerial vehicle. BACKGROUND

[0002] With the expansion of the application of unmanned aerial vehicles in military shipborne, traffic inspection, power and forest line inspection, etc., higher requirements are put forward for the safety, endurance and adaptability of the power system. The traditional gasoline-powered unmanned aerial vehicle has the problems of low flash point and easy evaporation, high risk of fire after crash, and low heat value leading to limited endurance, which is difficult to meet the needs of long endurance and high safety scenarios.

[0003] Heavy oil, also known as aviation kerosene, has a high flash point and can reduce the risk of fire after the unmanned aerial vehicle crashes. Compared with gasoline, heavy oil (aviation kerosene) has a higher flash point and is less likely to evaporate, so it is safer and easier to store and manage oil uniformly, making it the optimal power choice for military shipborne unmanned aerial vehicles. In the civil field, it is particularly suitable for scenarios with high safety requirements such as traffic inspection, power line inspection, and forest line inspection; at the same time, heavy oil has a high heat value and low power consumption of the power system, so the same weight of fuel can fly for a longer time, making it suitable for long endurance needs.

[0004] However, the existing energy control method of unmanned aerial vehicles often leads to mismatched energy supply due to misjudgment of working conditions, such as insufficient power during takeoff or excessive energy consumption during cruising, which makes it difficult to realize the synergistic potential of the high heat value and high safety characteristics of heavy oil and the instantaneous power advantage of energy storage devices, restricting the performance of unmanned aerial vehicles in long-distance flight and high safety demand scenarios. SUMMARY

[0005] The purpose of the present application is to accurately identify the takeoff working condition and the cruising working condition, and to match the power demand at different stages through differentiated energy supply strategies, thereby improving the energy utilization rate of the unmanned aerial vehicle and solving the problem of energy waste and short endurance of the unmanned aerial vehicle due to the lack of effective energy supply strategies in the prior art.

[0006] To solve the above technical problems, the technical solution adopted by the present application is as follows: an energy control method for a heavy oil hybrid power unmanned aerial vehicle, the unmanned aerial vehicle driven by heavy oil hybrid power includes a heavy oil piston engine, a start-generating integrated machine driven by the heavy oil piston engine, a brushless direct current motor and an energy storage device connected with the start-generating integrated machine; the control method comprises: The flight state parameter of the unmanned aerial vehicle collected by the sensor is used to identify the current working condition of the unmanned aerial vehicle, if the flight height change rate is greater than or equal to a preset change rate and lasts for a first preset time period, the current working condition of the unmanned aerial vehicle is identified as a take-off working condition; if the flight height change rate is less than the preset change rate and lasts for a second preset time period, the current working condition of the unmanned aerial vehicle is identified as a cruising working condition; the flight state parameter comprises the flight height change rate, and the working condition comprises the take-off working condition and the cruising working condition. In the case that the unmanned aerial vehicle is in the take-off working condition, the power generation integrated machine is started to cooperatively supply power with the energy storage device to provide power for the brushless direct current motor; in the case that the unmanned aerial vehicle is in the cruising working condition, the power generation integrated machine is started to output in two ways, one way drives the brushless direct current motor, and the other way charges the energy storage device.

[0007] Optionally, the environmental parameter comprises a wind speed; after the flight state parameter of the unmanned aerial vehicle collected by the sensor is used to identify the current working condition of the unmanned aerial vehicle, the energy supply ratio of the unmanned aerial vehicle is adjusted in combination with the environmental parameter, in the case that the unmanned aerial vehicle is in the take-off working condition, if it is identified that the current wind speed is less than a preset wind speed, the power generation integrated machine is started to cooperatively supply power with the energy storage device based on a first oil-electricity ratio; if it is identified that the current wind speed is greater than or equal to the preset wind speed, the power generation integrated machine is started to cooperatively supply power with the energy storage device based on a second oil-electricity ratio; the first oil-electricity ratio is less than the second oil-electricity ratio, and the oil-electricity ratio is used to represent the output energy ratio of the started power generation integrated machine and the energy storage device.

[0008] Optionally, the energy storage device comprises a backup battery; in the case that the unmanned aerial vehicle is in the cruising working condition, the power generation integrated machine is started to dynamically adjust the charging power of the backup battery based on the electric quantity of the backup battery; if the electric quantity of the backup battery is less than a first electric quantity, the power generation integrated machine is started to charge at a first power; if the electric quantity of the backup battery is greater than or equal to the first electric quantity and less than a second electric quantity, the power generation integrated machine is started to charge at a second power; if the electric quantity of the backup battery is greater than or equal to the second electric quantity, the power generation integrated machine is started to charge at a third power; the first electric quantity is less than the second electric quantity; the first power is greater than the second power, and the second power is greater than the third power.

[0009] Optionally, the sensor comprises an attitude sensor, a GPS sensor, a wind speed sensor and a liquid level sensor; the roll angle and the pitch angle of the unmanned aerial vehicle are collected by the attitude sensor, the flight height change rate is collected by the GPS sensor, the wind speed is collected by the wind speed sensor, and the heavy oil remaining amount is collected by the liquid level sensor; the collected roll angle, pitch angle, flight height change rate and wind speed are subjected to Kalman filter denoising processing to obtain effective parameters after Kalman filter denoising processing to identify the current working condition of the unmanned aerial vehicle.

[0010] Optionally, when the UAV is in the cruising mode, if the heavy oil remaining amount detected by the liquid level sensor is less than the preset value, the power generation integrated machine is started to stop charging the energy storage device, and the brushless DC motor is driven to trigger and complete the return task.

[0011] Optionally, when any of the following conditions is met, it is determined that the UAV has failed and enters the emergency mode: The output power of the heavy oil piston engine is reduced to a preset percentage of its rated power and lasts for a third preset period of time; The voltage fluctuation of the power generation integrated machine is greater than a preset fluctuation threshold and lasts for a fourth preset period of time.

[0012] Optionally, when the UAV is in the take-off mode, if it enters the emergency mode, the UAV climbing speed is reduced, the power generation integrated machine and the energy storage device are started to supply energy based on the second oil-electricity ratio to complete the take-off task; when the UAV is in the cruising mode, if it enters the emergency mode, the non-core load is turned off, the charging of the energy storage device is stopped, and the brushless DC motor is driven to trigger and complete the return task.

[0013] The application also provides an energy control system for a heavy oil hybrid UAV, the UAV driven by a heavy oil hybrid power source comprising a heavy oil piston engine, a power generation integrated machine driven by the heavy oil piston engine, a brushless DC motor and an energy storage device connected to the power generation integrated machine; the control system comprises a working condition recognition module and an energy control module; The working condition recognition module is configured to recognize the current working condition of the UAV based on the flight state parameters of the UAV collected by the sensor, and if the flight height change rate is greater than or equal to a preset change rate and lasts for a first preset period of time, the current working condition of the UAV is recognized as the take-off working condition; if the flight height change rate is less than the preset change rate and lasts for a second preset period of time, the current working condition of the UAV is recognized as the cruising working condition; the flight state parameters include the flight height change rate, and the working conditions include the take-off working condition and the cruising working condition; The energy control module is configured to, when the UAV is in the take-off working condition, start the power generation integrated machine and the energy storage device to supply energy and provide power for the brushless DC motor; when the UAV is in the cruising working condition, start the power generation integrated machine to output in two ways, one way to drive the brushless DC motor and the other way to charge the energy storage device.

[0014] The application also provides a terminal device comprising a memory and a processor, which are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the above method.

[0015] The application further provides a storage medium, wherein a computer program is stored on the storage medium, the computer program is invoked and executed by a computer, and the computer program implements the method.

[0016] The application has the following beneficial effects: 1. The take-off working condition and the cruising working condition are accurately identified, the power demand in different stages is matched through a differentiated power supply strategy, the instantaneous high-power output is ensured by oil-electricity collaborative power supply during take-off, and the delay problem of power climbing of a heavy oil engine is solved; energy recovery is achieved by power splitting charging during cruising, and the energy utilization rate and the cruising time of the unmanned aerial vehicle are improved.

[0017] 2. The power supply ratio in the take-off stage is dynamically adjusted in combination with environmental parameters, the energy storage device has a high output ratio at low wind speed, that is, during quiet flight, the power response is strong, the power supply ratio of the power generation all-in-one machine is high at high wind speed, that is, during wind resistance, the attitude stability of the unmanned aerial vehicle is ensured, and the adaptability to complex environments is improved. The charging power is adjusted in stages based on the power of the backup battery during the cruising stage, the charging power is high when the power is low, and the power is reduced when the power is sufficient, so that overcharging loss is avoided, the service life and the cruising capability of the energy storage device are balanced, and the utilization rate of heavy oil fuel and the reliability of the energy control method of the unmanned aerial vehicle are improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings. The drawings are merely intended to illustrate the preferred embodiments and are not considered to be limiting on the application. Moreover, the same reference numerals are used throughout the drawings to denote the same components.

[0019] Figure 1 A flowchart of an energy control method of a heavy oil hybrid unmanned aerial vehicle in the application. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions and advantages of the application clearer, further detailed description will be made to the application with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only the best mode of the application, which are used to explain the application and do not limit the protection scope of the application. All other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0021] As an embodiment, with reference to Figure 1 The embodiment provides an energy control method of a heavy oil hybrid unmanned aerial vehicle. The unmanned aerial vehicle driven by a heavy oil hybrid power source comprises a heavy oil piston engine, a start-up power generation all-in-one machine driven by the heavy oil piston engine, a brushless direct current motor and an energy storage device connected with the start-up power generation all-in-one machine, and the energy storage device comprises a backup battery.

[0022] Among them, the heavy oil piston engine is the original power source, which generates mechanical power by burning heavy oil to provide the basis for subsequent energy conversion. The starting power generation all-in-one machine is driven by the heavy oil piston engine, which converts the mechanical power of the heavy oil piston engine into electrical energy, and can also start the engine in reverse, taking into account the starting and power generation functions. The brushless DC motor is the power execution end, which receives the electrical energy output by the starting power generation all-in-one machine and converts it into mechanical energy to drive the propeller of the unmanned aerial vehicle to operate, so as to realize flight. The energy storage device, including the standby battery, is the energy regulation and standby guarantee, which assists power supply in high-power demand scenarios such as take-off to make up for the climbing delay of engine power, and stores surplus electrical energy in low-load scenarios such as cruising as a standby power supply to deal with sudden failures.

[0023] The control method comprises: S1, identifying the current working condition of the unmanned aerial vehicle based on the flight state parameters of the unmanned aerial vehicle collected by the sensor, if the flight height change rate is greater than or equal to the preset change rate and lasts for a first preset time period, then the current working condition of the unmanned aerial vehicle is identified as the take-off working condition; if the flight height change rate is less than the preset change rate and lasts for a second preset time period, then the current working condition of the unmanned aerial vehicle is identified as the cruising working condition; the flight state parameters include the flight height change rate, and the working conditions include the take-off working condition and the cruising working condition.

[0024] The flight height change rate is m / s 2 , that is, the change speed of height with time, representing the motion trend of the unmanned aerial vehicle, which needs to climb quickly to get off the ground in the take-off stage, so the height change rate must be large, and the height change rate will be significantly reduced in the cruising stage. In order to ensure the accuracy of the working condition identification of the unmanned aerial vehicle, the dual determination criteria of the quantitative threshold and the duration are set: take-off working condition: when the flight height change rate is greater than or equal to the preset change rate, which can be 3 m / s 2 , and lasts for a first preset time period, which can be 5 seconds, it is determined that the working condition is the take-off working condition, to avoid misjudgment as take-off due to temporary height fluctuation, such as instantaneous climbing caused by wind. Cruising working condition: when the flight height change rate is less than the preset change rate, and lasts for a second preset time period, which can be 10 seconds, it is determined that the working condition is the cruising working condition, to filter out interference through the determination of the duration of the preset time, and to ensure the reliability of the working condition identification.

[0025] S11, the sensor includes an attitude sensor, a GPS sensor, a wind speed sensor and a liquid level sensor; the roll angle and the pitch angle of the unmanned aerial vehicle are collected by the attitude sensor, the flight height change rate is collected by the GPS sensor, the wind speed is collected by the wind speed sensor, and the heavy oil remaining amount is collected by the liquid level sensor; the collected roll angle, pitch angle, flight height change rate and wind speed are subjected to Kalman filter denoising processing to obtain effective parameters after Kalman filter denoising processing to identify the current working condition of the unmanned aerial vehicle.

[0026] Kalman filter denoising is a signal processing algorithm that can filter out random interference noise and retain the true trend of the data. It can correct the high rate of fluctuation to a smooth real climb or level flight curve, and ultimately obtain "effective parameters" to make the judgment basis of working condition recognition more accurate.

[0027] S2, in the case that the unmanned aerial vehicle is in a take-off working condition, the power generation integrated machine and the energy storage device are started to cooperate to provide power for the brushless direct current motor; in the case that the unmanned aerial vehicle is in a cruising working condition, the power generation integrated machine is started to output in two ways, one way drives the brushless direct current motor, and the other way charges the energy storage device.

[0028] Specifically, in the take-off stage, the unmanned aerial vehicle needs to quickly overcome gravity and air resistance to realize take-off climbing, and the joint power supply of the starting power generation integrated machine and the energy storage device is adopted. The advantage of the starting power generation integrated machine driven by the heavy oil engine is to rely on heavy oil combustion and strong endurance, but the energy conversion needs response time and it is difficult to output peak power instantaneously. The advantage of the energy storage device is instant power explosion, which can release the stored electric energy in milliseconds, but the capacity is limited and it is difficult to output high power continuously. When the two cooperate to supply power, the energy storage device can quickly make up for the power gap to ensure that the brushless direct current motor has enough power and avoid take-off failure due to insufficient power.

[0029] The power demand in the cruising stage is relatively constant and lower than that in the take-off stage, and at this time the output capacity of the starting power generation integrated machine will be surplus, so the energy is recovered and reserved by outputting in two ways. The first way: preferentially guaranteeing the flight demand, outputting appropriate electric energy to drive the brushless direct current motor to maintain the cruising attitude. The second way: charging the energy storage device with surplus electric energy to store the energy that is not used temporarily, which can be quickly called in subsequent scenes requiring instant power, such as emergency failure, which not only improves energy utilization rate, but also reserves emergency power for subsequent flight.

[0030] S21, the environmental parameter includes wind speed; after identifying the current working condition of the unmanned aerial vehicle based on the flight state parameter of the unmanned aerial vehicle collected by the sensor, the energy supply ratio of the unmanned aerial vehicle is adjusted in combination with the environmental parameter, in the case that the unmanned aerial vehicle is in a take-off working condition, if it is identified that the current wind speed is less than the preset wind speed, the power generation integrated machine and the energy storage device are started to cooperate to supply power based on the first oil-electricity ratio; if it is identified that the current wind speed is greater than or equal to the preset wind speed, the power generation integrated machine and the energy storage device are started to cooperate to supply power based on the second oil-electricity ratio; the first oil-electricity ratio is less than the second oil-electricity ratio, and the oil-electricity ratio is used to represent the output energy ratio of the starting power generation integrated machine and the energy storage device.

[0031] Specifically, when the current wind speed is less than the preset wind speed, i.e. low wind speed, the environmental disturbance is small, and the unmanned aerial vehicle needs to quickly reach the take-off lift, and relies on the instantaneous high-power output of the energy storage device to provide power, at this time the proportion of the energy storage device should be higher, and the output proportion of the smaller starting power generation integrated machine is adopted. When the current wind speed is greater than or equal to the preset wind speed, i.e. high wind speed, the environmental disturbance is large, and the unmanned aerial vehicle needs more stable power output to avoid instability of the fuselage, and the linear power regulation of the starting power generation integrated machine is more suitable for complex wind speed, at this time the output proportion of the starting power generation integrated machine should be higher, and the output proportion of the smaller energy storage device is adopted.

[0032] S22, in the case that the unmanned aerial vehicle is in the cruising working condition, the starting power generation integrated machine dynamically adjusts the charging power of the backup battery based on the electric quantity of the backup battery; if the electric quantity of the backup battery is less than the first electric quantity, the starting power generation integrated machine charges at the first power; if the electric quantity of the backup battery is greater than or equal to the first electric quantity and less than the second electric quantity, the starting power generation integrated machine charges at the second power; if the electric quantity of the backup battery is greater than or equal to the second electric quantity, the starting power generation integrated machine charges at the third power; the first electric quantity is less than the second electric quantity; the first power is greater than the second power, and the second power is greater than the third power.

[0033] Specifically, the charging power is dynamically adjusted according to the battery electric quantity, when the electric quantity of the backup battery is less than 50%, the first electric quantity is used for charging, the first electric quantity can be 30%-40% of the rated power of the starting power generation integrated machine; when the electric quantity of the backup battery is 50%-80%, the second power is used for charging, the second power can be 20% of the rated power of the starting power generation integrated machine; when the electric quantity of the backup battery is greater than or equal to 80%, the third power is used for charging, the third power can be 10% of the rated power of the starting power generation integrated machine. If high power is always used for charging, although the charging is fast, but the battery is in a high load state for a long time, and the cycle life will be greatly shortened. If low power is always used for charging, although the battery is protected, but it cannot be quickly charged, and the electric quantity may be insufficient when the backup battery needs to assist power supply in an emergency, which affects the endurance of the unmanned aerial vehicle. Through the dynamic matching of the battery electric quantity and the charging power, the energy utilization rate of the power system of the unmanned aerial vehicle is improved, the overall service cycle of the unmanned aerial vehicle equipment is prolonged by protecting the battery, and the use cost is indirectly reduced.

[0034] S23, in the case that the unmanned aerial vehicle is in the cruising working condition, if the remaining amount of heavy oil detected by the liquid level sensor is less than the preset value, the starting power generation integrated machine stops charging the energy storage device, and drives the brushless DC motor to trigger and complete the return task. The preset value is set as a safety threshold that the remaining oil amount is only enough to complete the return.

[0035] As an implementation mode, when any one of the following conditions is met, it is determined that the unmanned aerial vehicle has failed and enters the emergency mode: detecting that the output power of the heavy oil piston engine is reduced to a preset percentage of the rated power and lasts for a third preset period, wherein the preset percentage can be 30%, and the state lasting for the third preset period can be 8 seconds, indicating that the engine may have problems such as insufficient fuel supply or mechanical wear, and the power output capability is greatly reduced. The voltage fluctuation of the power generation integrated machine is greater than a preset fluctuation threshold and lasts for a fourth preset period, wherein the preset fluctuation threshold can be ±5V, and the fourth preset period can be 5 seconds, indicating that the power conversion may have problems such as short circuit or poor contact, and the power supply stability is destroyed.

[0036] In the case that the unmanned aerial vehicle is in the take-off working condition, if the emergency mode is entered, the unmanned aerial vehicle climbing speed is reduced, the power generation integrated machine and the energy storage device are started to supply energy based on the second oil-electricity ratio to complete the take-off task; in the case that the unmanned aerial vehicle is in the cruising working condition, if the emergency mode is entered, the non-core load is closed, the energy storage device is stopped to charge, and the brushless DC motor is driven to trigger and complete the return task.

[0037] As an implementation mode, the application further provides an energy control system of a heavy oil hybrid unmanned aerial vehicle, the unmanned aerial vehicle driven by the heavy oil hybrid power includes a heavy oil piston engine, a power generation integrated machine driven by the heavy oil piston engine, a brushless DC motor and an energy storage device connected with the power generation integrated machine; the control system includes a working condition recognition module and an energy control module.

[0038] The working condition recognition module is configured to recognize the current working condition of the unmanned aerial vehicle based on the flight state parameters of the unmanned aerial vehicle collected by the sensor, if the flight height change rate is greater than or equal to a preset change rate and lasts for a first preset period, the current working condition of the unmanned aerial vehicle is recognized as a take-off working condition; if the flight height change rate is less than the preset change rate and lasts for a second preset period, the current working condition of the unmanned aerial vehicle is recognized as a cruising working condition; the flight state parameters include the flight height change rate, and the working conditions include the take-off working condition and the cruising working condition.

[0039] The energy control module is configured to, in the case that the unmanned aerial vehicle is in the take-off working condition, start the power generation integrated machine and the energy storage device to supply energy cooperatively and provide power for the brushless DC motor; in the case that the unmanned aerial vehicle is in the cruising working condition, the power generation integrated machine is started to output in two ways, one way drives the brushless DC motor, and the other way charges the energy storage device.

[0040] The application further provides a terminal device, including a memory and a processor, which are in communication connection with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the above method.

[0041] The application further provides a storage medium, wherein the storage medium stores a computer program, and the computer program is invoked and executed by a computer to realize the method.

[0042] Compared with the prior art, the application has the following beneficial effects based on the above embodiment: The application has the following beneficial effects: 1. Precise identification of take-off and cruising conditions, matching power requirements in different stages through differentiated energy supply strategies, oil-electricity collaborative energy supply to ensure instantaneous high-power output during take-off, solving the delay problem of heavy oil engine power climbing; energy recovery through shunt charging during cruising, improving the energy utilization rate and endurance time of the unmanned aerial vehicle.

[0043] 2. Dynamic adjustment of the energy supply ratio during the take-off stage combined with environmental parameters, more energy storage device output ratio at low wind speed, i.e. quiet flight, strong power response, more power generation integrated machine output ratio at high wind speed, i.e. wind resistance, to ensure the attitude stability of the unmanned aerial vehicle and improve the adaptability to complex environments. Based on the power grading regulation of the standby battery during the cruising stage, the charging power is higher when the power is low, and the power is reduced when the power is sufficient, avoiding excessive charging loss, balancing the service life and endurance capability of the energy storage device, and improving the utilization rate of heavy oil fuel and the reliability of the unmanned aerial vehicle energy control method.

[0044] 3. The data collected by the sensor is processed by the Kalman filter noise reduction method to reduce the influence of environmental interference on the working condition identification. When the unmanned aerial vehicle fails, the emergency mode is triggered, the take-off condition is given priority to ensure the take-off task, and the cruising condition is given priority to ensure the return task, thereby improving the reliability of the unmanned aerial vehicle energy control method.

[0045] The above-described specific implementation mode is a preferred implementation mode of the energy control method, system and device of the heavy oil hybrid unmanned aerial vehicle of the application, and is not intended to limit the specific implementation range of the application, and the range of the application includes but is not limited to the specific implementation mode, and equivalent changes made according to the shape and structure of the application are within the protection scope of the application.

Claims

1. An energy control method for a heavy oil hybrid unmanned aerial vehicle, characterized in that, The UAV powered by heavy oil hybrid power includes a heavy oil piston engine, a starter-generator driven by the heavy oil piston engine, a brushless DC motor connected to the starter-generator, and an energy storage device; the control method includes: The current operating condition of the UAV is identified based on the flight status parameters collected by the sensors. If the flight altitude change rate is greater than or equal to the preset change rate and continues for a first preset period of time, the current operating condition of the UAV is identified as take-off condition; if the flight altitude change rate is less than the preset change rate and continues for a second preset period of time, the current operating condition of the UAV is identified as cruise condition. The flight status parameters include the flight altitude change rate, and the operating conditions include take-off condition and cruise condition. When the drone is in takeoff mode, the generator and energy storage device work together to provide power to the brushless DC motor; when the drone is in cruise mode, the generator outputs power in two ways: one to drive the brushless DC motor and the other to charge the energy storage device.

2. The energy control method for a heavy oil hybrid unmanned aerial vehicle according to claim 1, characterized in that, Environmental parameters include wind speed; based on the flight status parameters of the drone collected by the sensors, the current operating condition of the drone is identified, and the power supply ratio of the drone is adjusted in combination with the environmental parameters. When the drone is in the take-off condition, if the current wind speed is identified to be less than the preset wind speed, the generator and energy storage device are started to supply energy in coordination based on the first oil-to-electricity ratio. If the current wind speed is detected to be greater than or equal to the preset wind speed, the generator and energy storage device will be activated to supply energy in coordination based on the second oil-to-electricity ratio. The first oil-to-electricity ratio is less than the second oil-to-electricity ratio. The oil-to-electricity ratio is used to characterize the output energy ratio of the generator and energy storage device.

3. The energy control method for a heavy oil hybrid unmanned aerial vehicle according to claim 1, characterized in that, The energy storage device includes a backup battery. When the drone is in cruise mode, the generator dynamically adjusts the charging power of the backup battery based on its charge level. If the backup battery charge is less than a first charge level, the generator is activated to charge at a first power level. If the backup battery charge is greater than or equal to the first charge level but less than a second charge level, the generator is activated to charge at a second power level. If the backup battery charge is greater than or equal to the second charge level, the generator is activated to charge at a third power level. The first charge level is less than the second charge level; the first power level is greater than the second power level; and the second power level is greater than the third power level.

4. The energy control method for a heavy oil hybrid unmanned aerial vehicle according to claim 2, characterized in that, The sensors include an attitude sensor, a GPS sensor, a wind speed sensor, and a liquid level sensor. The attitude sensor collects the roll and pitch angles of the UAV, the GPS sensor collects the rate of change of flight altitude, the wind speed sensor collects the wind speed, and the liquid level sensor collects the remaining heavy fuel oil. The collected roll, pitch, rate of change of flight altitude, and wind speed are processed by Kalman filtering to obtain effective parameters after Kalman filtering to identify the current operating condition of the UAV.

5. The energy control method for a heavy oil hybrid unmanned aerial vehicle according to claim 4, characterized in that, When the drone is in cruise mode, if the liquid level sensor detects that the remaining heavy oil is less than the preset value, the generator will be activated to stop charging the energy storage device, and the brushless DC motor will be driven to trigger and complete the return mission.

6. The energy control method for a heavy oil hybrid unmanned aerial vehicle according to claim 2, characterized in that, The drone will be deemed to have malfunctioned and will enter emergency mode if any of the following conditions are met: The output power of the heavy oil piston engine was detected to have decreased to a preset percentage of its rated power for a third preset period of time. The voltage fluctuation of the generator exceeds the preset fluctuation threshold and continues for the fourth preset period.

7. The energy control method for a heavy oil hybrid unmanned aerial vehicle according to claim 6, characterized in that, When the drone is in takeoff mode, if it enters emergency mode, it will reduce its climb speed and start the generator and energy storage device to provide power in coordination based on the second oil-to-electricity ratio to complete the takeoff mission. When the drone is in cruise mode, if it enters emergency mode, it will shut down non-core payloads, stop charging the energy storage device, and drive the brushless DC motor to trigger and complete the return mission.

8. An energy control system for a heavy oil hybrid unmanned aerial vehicle, characterized in that, The drone powered by heavy oil hybrid power includes a heavy oil piston engine, a starter generator driven by the heavy oil piston engine, a brushless DC motor connected to the starter generator, and an energy storage device; the control system includes a working condition identification module and an energy control module. The operating condition identification module is configured to identify the current operating condition of the UAV based on the flight status parameters collected by the sensors. If the flight altitude change rate is greater than or equal to a preset change rate and continues for a first preset period of time, the current operating condition of the UAV is identified as takeoff operating condition; if the flight altitude change rate is less than a preset change rate and continues for a second preset period of time, the current operating condition of the UAV is identified as cruise operating condition. The flight status parameters include the flight altitude change rate, and the operating conditions include takeoff operating condition and cruise operating condition. The energy control module is configured to activate the generator and energy storage device to provide power to the brushless DC motor when the drone is in takeoff mode; when the drone is in cruise mode, the generator is activated to output power in two ways: one way drives the brushless DC motor and the other way charges the energy storage device.

9. A terminal device, characterized in that, The method includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores a computer program, which is invoked and executed by a computer to implement the method as described in any one of claims 1 to 7.

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