Unmanned aerial vehicle, unmanned aerial vehicle power supply method, storage medium and program product

Abstract

The invention is suitable for the field of unmanned aerial vehicles, and provides an unmanned aerial vehicle, an unmanned aerial vehicle power supply method, a storage medium and a program product. The unmanned aerial vehicle comprises a power supply system used for supplying power to the unmanned aerial vehicle, and the power supply system comprises a fuel cell system and an energy storage battery system; the rotor system is powered by the energy storage battery system; the fixed wing system preferentially uses the fuel cell system to supply power, and uses the energy storage cell system and the fuel cell system to supply power under the condition that a first condition is met; the avionics system preferentially uses the fuel cell system to supply power, and uses the energy storage battery system to supply power under the condition that the fuel cell system does not supply power or is in a non-power state; wherein the first condition comprises one or more of the following conditions: the load power of the fixed wing system is greater than the rated power of the fuel cell system; the load power fluctuation degree of the fixed wing system is greater than or equal to a first preset threshold value.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle, an unmanned aerial vehicle power supply method, a storage medium and a program product. BACKGROUND

[0002] With the development of the unmanned aerial vehicle industry, unmanned aerial vehicles are increasingly used as tools in many fields.

[0003] Current unmanned aerial vehicles are mostly powered by electricity or fuel engines. In order to effectively extend the endurance of unmanned aerial vehicles without pollution, fuel cell unmanned aerial vehicles represented by hydrogen fuel have emerged. However, due to the soft output characteristics and slow response speed of fuel cells, the use of fuel cells may not meet the power requirements of unmanned aerial vehicles in all flight states. In addition, the power density disadvantage of fuel cells also makes the effective payload of unmanned aerial vehicles small, resulting in poor practical performance of unmanned aerial vehicles.

[0004] Based on the above reasons, the related technology proposes a hybrid unmanned aerial vehicle using fuel cells and energy storage batteries as power sources, but how to manage the power supply system of the hybrid unmanned aerial vehicle is a problem to be solved. SUMMARY

[0005] The embodiments of the present application provide an unmanned aerial vehicle, an unmanned aerial vehicle power supply method, a storage medium and a program product, which can ensure continuous and stable operation of the unmanned aerial vehicle and help improve the cruising range of the unmanned aerial vehicle.

[0006] In a first aspect, the embodiments of the present application provide an unmanned aerial vehicle, which comprises: a power supply system for power supply of the unmanned aerial vehicle, the power supply system comprising a fuel cell system and an energy storage battery system; a rotor system, the rotor system being powered by the energy storage battery system; a fixed-wing system, the fixed-wing system preferentially using the fuel cell system for power supply, and using the energy storage battery system and the fuel cell system for power supply in the case of meeting a first condition; an avionics system, the avionics system preferentially using the fuel cell system for power supply, and using the energy storage battery system for power supply in the case of the fuel cell system not supplying power or being in a power-off state; wherein the first condition comprises one or more of: a load power of the fixed-wing system being greater than a rated power of the fuel cell system; a load power fluctuation degree of the fixed-wing system being greater than or equal to a first preset threshold.

[0007] The rotor system, the fixed-wing system and the avionics system are loads of the UAV, and have different power requirements due to different working stages and / or functions. The rotor system works in the take-off and landing stages of the UAV, and has the maximum instantaneous power when starting, so the response speed of the battery is required to be high. The fixed-wing system works in the climbing, descending and cruising stages of the UAV, and has high requirements for the energy density and power density of the battery. The avionics system is responsible for flight control, navigation, communication and data processing of the UAV, and has a small requirement for power density. Similarly, different batteries have different power output characteristics and dynamic response characteristics. The fuel cell has high energy density but low power density and slow response speed, while the energy storage battery has fast response speed. According to the type of the load of the UAV and the characteristics of the battery, the battery system for power supply is distributed, that is, the energy storage battery system is used for power supply of the rotor system, and the fuel cell system is mainly used for power supply of the fixed-wing system and the avionics system, and the energy storage battery system is used as an auxiliary power supply system. The power supply strategy of the UAV can meet the power requirements of different loads, ensure the continuous and stable operation of the UAV, and help to improve the cruising range of the UAV. In addition, the power supply strategy reasonably allocates the energy of the fuel cell system and the energy storage battery system, which helps to reduce the damage of fluctuating output to the fuel cell system, so as to improve the economy of the power supply system of the UAV.

[0008] In an optional implementation of the first aspect, the energy storage battery system is charged by the fuel cell system when a second condition is met, and the second condition includes one or more of the following: the output power of the fuel cell system is greater than or equal to the load power; the output power of the fuel cell system is less than or equal to the rated power; and the state of charge of the energy storage battery system is less than or equal to a second preset threshold.

[0009] Charging the energy storage battery system by the fuel cell system not only effectively utilizes the remaining energy of the fuel cell system, but also improves the endurance of the energy storage battery system to meet the power requirements of the load powered by the energy storage battery system, which helps to improve the utilization rate of energy and the cruising range.

[0010] In an optional implementation of the first aspect, when the load power of the fixed-wing system is greater than the rated power of the fuel cell system, the energy storage battery system is configured to provide a remaining power to the fixed-wing system, and the remaining power is a difference between the load power of the fixed-wing system and the rated power of the fuel cell system.

[0011] When the rated power of the fuel cell system is insufficient to meet the power demand of the fixed-wing system, the fuel cell system provides power to the fixed-wing system according to the rated power, and the remaining power is provided by the energy storage battery system to the fixed-wing system. Since the fuel cell system has high power energy density, maximizing the use of the fuel cell system for power supply helps to improve the cruising range of the unmanned aerial vehicle.

[0012] In an optional implementation of the first aspect, the fuel cell system includes a fuel storage device, and the power supply system is configured to: control the fuel cell system to supply power or not to supply power according to the pressure of the fuel storage device and / or the system demand of the unmanned aerial vehicle.

[0013] Controlling the power supply state of the fuel cell system according to the pressure of the fuel storage device helps to avoid the fuel cell system from operating in the case of insufficient hydrogen supply; and controlling the power supply state of the fuel cell system according to the system demand of the unmanned aerial vehicle helps to rationally utilize the energy of the fuel cell system.

[0014] In a second aspect, the embodiments of the present application provide a power supply method for an unmanned aerial vehicle, the unmanned aerial vehicle including a power supply system, a rotor system, a fixed-wing system, and an avionics system, the power supply system including a fuel cell system and an energy storage battery system, the method including: using the energy storage battery system to supply power to the rotor system; preferentially using the fuel cell system to supply power to the fixed-wing system, and using the energy storage battery system and the fuel cell system to supply power in the case of meeting a first condition; preferentially using the fuel cell system to supply power, and using the energy storage battery system to supply power to the avionics system in the case of the fuel cell system not supplying power or being in a power-off state; and wherein the first condition includes one or more of: the load power of the fixed-wing system being greater than the rated power of the fuel cell system; and the load power fluctuation degree of the fixed-wing system being greater than or equal to a first preset threshold.

[0015] In an optional implementation of the second aspect, the energy storage battery system is charged by the fuel cell system in the case of meeting a second condition, and the second condition includes one or more of: the output power of the fuel cell system being greater than or equal to the load power; the output power of the fuel cell system being less than or equal to the rated power; and the state of charge of the energy storage battery system being less than or equal to a second preset threshold.

[0016] In an optional implementation of the second aspect, when the first condition is met, the fuel cell system and the energy storage battery system are used to supply power to the fixed-wing system, including: when the load power of the fixed-wing system is greater than the rated power of the fuel cell system, the energy storage battery system is used to provide the fixed-wing system with the remaining power, the remaining power being the difference between the load power of the fixed-wing system and the rated power of the fuel cell system.

[0017] In an optional implementation of the second aspect, the fuel cell system includes a fuel storage device, and the method further includes: controlling the fuel cell system to supply power or not according to the pressure of the fuel storage device and / or the system requirement of the UAV.

[0018] In a third aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the computer program causes an apparatus including the processor to execute the method in any one of the second aspect.

[0019] In a fourth aspect, the embodiments of the present application provide a computer program product, which, when running on a UAV, causes the UAV to execute the method in any one of the second aspect.

[0020] It can be understood that the beneficial effects of the second aspect to the fourth aspect described above can refer to the related description in the first aspect described above, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0022] Figure 1 is a structural schematic diagram of a UAV provided by the embodiments of the present application.

[0023] Figure 2 is a structural schematic diagram of a UAV provided by another embodiment of the present application.

[0024] Figure 3 is an example diagram of a UAV provided by the embodiments of the present application.

[0025] Figure 4 is a flowchart of a power supply method of a UAV provided by the embodiments of the present application.

[0026] Figure 5This is a schematic diagram of the device for applying the unmanned aerial vehicle power supply method provided in the embodiments of this application.

[0027] Figure 6 This is a schematic diagram of the structure of an apparatus for a method of powering an unmanned aerial vehicle provided in another embodiment of this application. Detailed Implementation

[0028] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0029] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0030] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0031] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0032] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0034] The embodiments provided in this application will now be described in conjunction with the accompanying drawings.

[0035] First, combined Figures 1 to 3 This application provides detailed embodiments of the drones provided.

[0036] See Figure 1 , Figure 1 A schematic diagram of the structure of the UAV provided in this application. Figure 1 The unmanned aerial vehicle 100 includes a power supply system 110, a rotor system 120, a fixed-wing system 130, and an avionics system 140.

[0037] The rotor system 120 may include one or more rotors, and the fixed wing system 130 may include a fixed wing tail thruster or a fixed wing forward pull.

[0038] The rotor system 120, fixed-wing system 130, and avionics system 140 may be the rotor system, fixed-wing system, and avionics system included in a vertical take-off and landing fixed-wing UAV, or the rotor system, fixed-wing system, and avionics system included in other types of UAVs. This application does not limit them.

[0039] The rotor system 120, fixed-wing system 130, and avionics system 140, as payloads of the UAV, have different power requirements due to their different operating phases and / or functions. The rotor system 120 operates during the takeoff and landing phases of the UAV, and its instantaneous power can reach its maximum during startup; the fixed-wing system 130 operates during the climb, descent, and cruise phases of the UAV, and has higher requirements for both energy density and power density; while the avionics system 140 is responsible for the UAV's flight control, navigation, communication, and data processing, and its power density requirement is relatively low.

[0040] The power supply system 110 is used to power the drone 100, or in other words, the power supply system 110 is used to power the load of the drone 100. The power supply system 110 includes an energy storage battery system 111 and a fuel cell system 112, that is, the energy storage battery system 111 and the fuel cell system 112 can provide power to the aforementioned load of the drone 100.

[0041] In this embodiment, the fuel cell included in the fuel cell system 112 is not limited. For example, the fuel cell system 112 may include a hydrogen fuel cell and / or a liquid sodium-air fuel cell. The implementation of the fuel cell system 112 is also not limited. For example, the fuel cell system 112 includes a hydrogen fuel cell stack, a hydrogen cylinder, and a hydrogen fuel cell power supply. The output voltage of the hydrogen fuel cell stack is 50V to 90V, the rated voltage of the hydrogen fuel cell stack is 52.8V, and the hydrogen fuel cell power supply is a 12V power supply.

[0042] Similarly, in this embodiment, the energy storage battery system 111 is not limited in its specific components. For example, the energy storage battery system 111 may include lithium batteries, lead-acid batteries, sodium-sulfur batteries, flow batteries, etc. The implementation of the energy storage battery system 111 is also not limited in this embodiment. For example, the energy storage battery system 111 may include a 14S lithium battery with a charging voltage of 58.8V and a nominal voltage of 51.8V.

[0043] The power output characteristics and dynamic response characteristics of the fuel cell system 112 and the energy storage battery system 111 are different. The fuel cell system 112 has a high energy density but a low power density and a slow response speed, while the energy storage battery system 111 has a fast response speed.

[0044] The power supply system 110 may also include an energy management and control system (described below) for managing the power supply system 110. A detailed description of the energy management and control system is provided below and will not be repeated here.

[0045] In order to make reasonable use of the energy of the power supply system 110, the UAV 100 provided in this application allocates power to the load using the battery system according to the load type and the characteristics of the battery system included in the power supply system 110. The battery system allocation strategy of the UAV 100 provided in this application is described in detail below.

[0046] In some embodiments, the rotor system 120 is powered by the energy storage battery system 111. All the energy required for the rotor system 120's power is provided by the energy storage battery system 111, ensuring the independence of the rotor system 120's power supply and providing significant redundancy and safety. This effectively prevents interference from the operating states of other systems (such as power fluctuations in the fixed-wing system 130, energy management and control system failures, etc.) on the operational stability of the rotor system 120, thereby ensuring that the rotor system 120 can reliably respond to control commands throughout the entire operational cycle of the aircraft. Furthermore, even if the fuel cell system 112 malfunctions due to unforeseen factors such as fuel supply interruption or abnormal electrochemical reaction during flight, it will not interfere with the startup and operation of the rotor system 120. More importantly, even if the UAV encounters a sudden malfunction or emergency (such as other load anomalies), the rotor system 120, independently powered by the energy storage battery system 111, can still operate normally and stably output power, providing core power support for the UAV to perform emergency landing operations, fundamentally avoiding the safety risks caused by power failure and significantly improving flight safety.

[0047] In some embodiments, the fixed-wing system 130 preferentially uses the fuel cell system 112 for power supply, and under a first condition, uses both the energy storage battery system 111 and the fuel cell system 112 for power supply. The fixed-wing system 130 preferentially uses the fuel cell system for power supply, and only when the first condition is met does the fuel cell system 112 and the energy storage battery system 111 form a hybrid power supply mode to jointly meet its power needs, which helps to improve the cruise range of the UAV.

[0048] The first condition includes one or more of the following: the load power of the fixed-wing system 130 is greater than the rated power of the fuel cell system 112; the load power fluctuation of the fixed-wing system 130 is greater than or equal to a first preset threshold.

[0049] Load power fluctuation is an indicator that measures the degree of drastic change in load power over a specific period of time. The smaller the load power fluctuation, the more stable the load power of the fixed-wing system 130 is, and the more stable its output is. Conversely, the larger the load power fluctuation, the more drastic the load power of the fixed-wing system 130 is, and the more unstable its output is.

[0050] In some embodiments, when the load power of the fixed-wing system 130 is greater than the rated power of the fuel cell system 112, the energy storage battery system 111 and the fuel cell system 112 are used for power supply. This can be understood as the fuel cell system 112 not being able to meet the power requirements of the fixed-wing system 130, and therefore the fixed-wing system 130 uses the fuel cell system 112 and the energy storage battery system 111 for power supply.

[0051] In some embodiments, when the load power of the fixed-wing system 130 exceeds the rated power of the fuel cell system 112, the energy storage battery system 111 provides surplus power to the fixed-wing system 130, where the surplus power is the difference between the load power of the fixed-wing system 130 and the rated power of the fuel cell system 112. When the rated power of the fuel cell system 112 is insufficient to meet the power demand of the fixed-wing system 130, the fuel cell system 112 provides power to the fixed-wing system 130 at its rated power, and the surplus power is provided to the fixed-wing system 130 by the energy storage battery system 111. Because the fuel cell system 112 has a high power energy density, maximizing the use of the fuel cell system 112 for power supply helps to improve the cruising range of the UAV.

[0052] In some embodiments, when the load power fluctuation of the fixed-wing system 130 is greater than or equal to a first preset threshold, the energy storage battery system 111 and the fuel cell system 112 are used for power supply. This can be understood as the fixed-wing system 130 having a large load power fluctuation, the fuel cell system 112 having a slow response speed, and the real-time output power of the fuel cell system 112 being less than the real-time load power of the fixed-wing system 130. Therefore, the fixed-wing system 130 uses the fuel cell system 112 and the energy storage battery system 111 for power supply.

[0053] In some embodiments, the avionics system 140 preferentially uses the fuel cell system 112 for power supply. When the fuel cell system 112 is not supplying power or is in a state of no power, the energy storage battery system 111 is used for power supply. The avionics system 140 uses the fuel cell system 112 as the main power supply system and the energy storage battery system 111 as the auxiliary power supply system, which can ensure that the avionics system 140 operates without interruption, thereby improving the cruising range of the UAV.

[0054] The avionics system 140 prioritizes the use of the fuel cell system 112 for power. This can be understood as follows: when both the fuel cell system 112 and the energy storage battery system 111 are supplying power, and the fuel cell system 112 is energized, the avionics system 140 prioritizes the use of the fuel cell system 112 for power. For example, during the takeoff, climb, cruise, and descent phases of the UAV, the power demand is high. The fuel cell system 112 and the energy storage battery system 111 jointly supply power to the UAV, and the fuel cell system 112 is energized. In this case, the avionics system 140 prioritizes the use of the fuel cell system 112 for power.

[0055] As one implementation of the above embodiments, the avionics system 140 is powered by the energy storage battery system 111 when the fuel cell system 112 is not supplying power. For example, during the ground inspection phase of the UAV, i.e., the pre-flight preparation state, the UAV does not output power from its electric motor, so the power demand is not high. Since the fuel cell system 112 is not supplying power, the energy storage battery system 111 maintains the operation of the avionics system 140. As another example, during the landing phase of the UAV's rotor descent, when the UAV is about to enter a stall state, the UAV switches from fixed-wing flight mode to rotor flight mode. The horizontal propulsion motor stops, the rotor system 120 starts, and at this time, the fuel cell system 112 gradually stops working, while the energy storage battery system 111 starts working, providing energy to the avionics system 140.

[0056] The UAV energy storage battery system 111 and fuel cell system 112 provided in this application adopt a collaborative working mechanism of "functional partitioning and each performing its own task." Each system undertakes its corresponding power supply task according to load requirements (such as the differentiated power requirements of the rotor system 120, fixed-wing system 130, and avionics system 140), avoiding the situation where a single power source is depleted due to over-discharge. This division of labor effectively balances the energy consumption of the two types of power sources, ensuring that the hybrid power system always maintains a dynamic balance of energy reserves, thereby maintaining the long-term stability and reliability of the UAV power supply system. Furthermore, using the fuel cell system 112 as the primary energy source and the energy storage battery system 111 as an auxiliary power source in the fuel cell hybrid power supply system helps improve the power density of the power supply system 110, and also helps improve the response speed of the fuel cell system 112.

[0057] In some embodiments, the power supply system 110 includes an external charging interface, through which the energy storage battery system 111 can be charged.

[0058] In other embodiments, the energy storage battery system 111 can be charged by the fuel cell system 112. Charging the energy storage battery system 111 by the fuel cell system 112 not only effectively utilizes the remaining energy of the fuel cell system 112, but also improves the range of the energy storage battery system 111 to meet the power requirements of the loads powered by the energy storage battery system 111, thus helping to improve energy utilization and cruising range.

[0059] As one implementation of the above embodiment, the energy storage battery system 111 is charged by the fuel cell system 112 when the second condition is met.

[0060] The second condition may include one or more of the following: the output power of the fuel cell system 112 is greater than or equal to the load power; the output power of the fuel cell system 112 is less than or equal to the rated power; and the state of charge of the energy storage battery system 111 is less than or equal to the second preset threshold.

[0061] State of charge (SOC) is a physical quantity that reflects the current amount of charge in a battery, and it can be defined by the following formula.

[0062] SOC = Q c / C I ;

[0063] Among them, Q c C represents the battery's remaining capacity (i.e., current charge). I State of Charge (SOC) represents the capacity (i.e., total capacity or nominal capacity) of a battery when discharged at a constant current I. The value of SOC is [0, 1]. When SOC = 0, the battery is completely discharged; when SOC = 1, the battery is fully charged.

[0064] The second preset threshold value is [0, 1], or it can be expressed as a percentage [0%, 100%]. For example, the second preset threshold can be 100%. Another example is that the second preset threshold can be 60%.

[0065] The energy storage battery system 111 may include a battery management system (BMS), and the state of charge of the energy storage battery system 111 can be monitored by the BMS.

[0066] In one implementation of the above embodiment, the output power of the fuel cell system 112 is greater than the load power. The energy storage battery system 111 can be charged through the fuel cell system 112. This can be understood as follows: after the output power of the fuel cell system 112 supplies power to the load, the excess chemical energy is converted into electrical energy to charge the energy storage battery system 111. For example, during the unloading process of a drone, if the output power of the fuel cell system 112 is 90 power units and the load power requirement is 70 power units, and the output power of the fuel cell system 112 is greater than the load power, then the remaining 20 power units of the fuel cell system 112's output power can be output to the energy storage battery system 111 to charge it.

[0067] In one implementation of the above embodiment, the output power of the fuel cell system 112 is equal to the load power, and the output power of the fuel cell system 112 is less than the rated power. The energy storage battery system 111 can be charged through the fuel cell system 112. This can be understood as follows: although the output power of the fuel cell system 112 is entirely used to power the load, its output power has not yet reached the rated power. The fuel cell system 112 can increase its output power to charge the energy storage battery system 111. For example, if the rated power of the fuel cell system 112 is 100 power units, the load power requirement is 80 power units, and the output power of the fuel cell system 112 is also 80 power units, then the fuel cell system 112 can increase its output power to 90 power units. Of these, 80 power units are output to the load, and 10 power units are output to the energy storage battery system 111 to charge the energy storage battery system 111.

[0068] In one implementation of the above embodiment, if the output power of the fuel cell system 112 is less than the rated power, and the state of charge of the energy storage battery system 111 is less than or equal to a second preset threshold, the energy storage battery system 111 can be charged by the fuel cell system 112. This can be understood as follows: if the fuel cell system 112 is not operating at full power, and the state of charge of the energy storage battery system 111 is less than or equal to the second preset threshold, then the fuel cell system 112 can increase its output power to charge the energy storage battery system 111. For example, if the second preset threshold is 100%, and the output power and rated power of the fuel cell system 112 are P... fc , When the drone is in the cruise phase, which is its primary operational phase, it reaches the predetermined altitude using fixed-wing flight mode and performs level cruise flight. During this phase, the drone's output power is mainly affected by its cruise speed, ambient wind speed, and wind direction. The average output power of the drone is relatively low during this phase, and the load power fluctuation is relatively high. When the fuel cell system 112 outputs the power required by the drone, and the SOC of the energy storage battery system 111 output by the BMS is less than 100%, the charging module for charging the energy storage battery system 111 is activated, and the fuel cell system 112 charges the energy storage battery system 111. If the fuel cell system 112 is always operating in a low power output state, the energy storage battery system 111 will continue to be charged until it is fully charged.

[0069] In one implementation of the above embodiments, the output power of the fuel cell system 112 is equal to its rated power. The energy storage battery system 111 can be charged through the fuel cell system 112. This can be understood as the power supply system 110 using the fuel cell system 112 and the energy storage battery system 111 to supply power to the load. When the fuel cell system 112 is at full power output, it can reduce its output power and charge the energy storage battery system 111. The power shortfall of the load can be provided by the energy storage battery system 111. For example, if the rated power of the fuel cell system 112 is 100 power units, and the power demand of the load is also 100 power units, when the output power of the fuel cell system 112 reaches 100 power units, the BMS can control the output power of the fuel cell system 112 to decrease to 90 power units. Of this, 80 power units are output to the load, and 10 power units are output to the energy storage battery system 111. The power shortfall of the load (20 power units) is provided by the energy storage battery system 111. When the output power of the fuel cell system 112 is equal to the rated power, its output power is reduced and the energy storage battery system 111 is charged. This not only meets the load power requirements of the UAV, but also helps to prevent the fuel cell system 112 from operating at full power for a long time, thereby improving the lifespan of the fuel cell.

[0070] In some embodiments, the power supply system 110 can control the power supply status of the fuel cell system 112, that is, the power supply system 110 can control the fuel cell system 112 to supply power or not supply power.

[0071] In one implementation of the above embodiments, the fuel cell system 112 includes a fuel cell switch, and the power supply system 110 can control the fuel cell system 112 to supply power or not supply power by controlling the opening and closing of the fuel cell switch.

[0072] As one implementation of the above embodiments, the host computer software can control the power supply status of the fuel cell system 112 through the power supply system. For example, when the UAV receives a takeoff command, it transitions from a ready-to-fly state to a takeoff state, and the UAV's rotor system 120 starts. The rotor system 120 reaches its maximum instantaneous power upon startup, at which point the energy storage battery system 111 outputs the power required by the UAV. After reaching the designated altitude, the UAV remains hovering, and the energy storage battery system 111 continues to supply power to the rotor system 120. When the fixed-wing system 130 needs to be started, the host computer software remotely controls the fuel cell switch to open, and the fuel cell system 112 begins operation, providing power to the fixed-wing system 130.

[0073] In some embodiments, the fuel cell system 112 includes a fuel storage device, and the power supply system 110 can control the fuel cell system 112 to supply power or not supply power according to the pressure of the fuel storage device and / or the system requirements of the drone.

[0074] The system requirements of the drone refer to the drone system's demand on the fuel cell system 112. These requirements can be determined based on the drone's operational phase or remotely and manually specified by the host computer software. For example, if the drone's system requirements are determined based on its operational phase, the fuel cell system 112 may not be required to provide power during the landing phase, but it is required during the cruise phase.

[0075] As one implementation of the above embodiment, if the pressure of the fuel storage device is less than or equal to a third preset threshold, the fuel cell system 112 is controlled not to supply power. For example, the third preset threshold is 2 MPa, and the fuel storage device is a hydrogen storage cylinder. When the pressure of the hydrogen storage cylinder is lower than 2 MPa, the power supply system 110 controls the fuel cell system 112 not to supply power, which helps to prevent the fuel cell system 112 from operating when the hydrogen supply is insufficient.

[0076] As one implementation of the above embodiment, the host computer software controls the fuel cell system 112 to supply power or not supply power through the power supply system 110 according to the system requirements of the UAV. For example, from the perspective of system operating condition matching, when the fuel cell system 112 does not need to operate (such as during the landing phase), the host computer software manually operates the fuel cell switch to turn off, controlling the fuel cell system 112 not to supply power; when the system clearly requires the fuel cell system 112 to participate in power supply (such as during the cruise phase), the host computer software manually operates the fuel cell switch to turn on, so that the fuel cell system 112 can smoothly connect to the power supply circuit and realize energy output.

[0077] The above text combined Figure 1 This document presents a schematic diagram of the structure of a drone according to an embodiment of this application. See also... Figure 2 Another embodiment of this application also provides a structural schematic diagram of an unmanned aerial vehicle. Figure 2 The unmanned aerial vehicle (UAV) 100 includes a power supply system 110, a rotor system 120, a fixed-wing system 130, and an avionics system 140. The power supply system 110 includes an energy storage battery system 111, a fuel cell system 112, and an energy management and control system 113.

[0078] In some embodiments, the energy management control system 113 performs one or more of the following functions: determining the load power of the rotor system 120; determining the load power of the fixed-wing system 130; controlling the energy storage battery system 111 to supply power or not; controlling the energy storage battery system 111 to charge or not; controlling the fuel cell system 112 to supply power or not; and outputting monitoring data. The energy management control system determines the power requirements of the load, which facilitates real-time adjustment of the power supply strategy of the power supply system, helping to improve the drone's cruising range. Furthermore, by controlling the power supply status of the two battery systems and / or the charging status of the energy storage battery system, the energy management control system ensures that the power supply system meets the power requirements of each load, guaranteeing the continuous and stable operation of the drone and further improving its cruising range. The energy management control system outputs monitoring data, which facilitates remote control of the power supply system by the host computer software.

[0079] The energy management and control system 113 can also be used to monitor the pressure of the fuel storage device mentioned above. For example, if the fuel storage device is a hydrogen storage tank, the energy management and control system 113 continuously monitors the pressure of the hydrogen storage tank when the fuel cell system 112 is in a power supply state.

[0080] The monitoring data may include the load power of the rotor system 120 and / or the load power of the fixed-wing system 130, and may also include the pressure of the fuel storage device.

[0081] In some embodiments, the energy management control system 113 is used to determine the load power of the rotor system 120, or in other words, the energy management control system 113 is used to monitor the load power of the rotor system 120.

[0082] In some embodiments, the energy management control system 113 is used to determine the load power of the fixed-wing system 130, or in other words, the energy management control system 113 is used to monitor the load power of the rotor system 120.

[0083] As one implementation of the above embodiment, the energy management control system 113, when a first condition is met, controls the fuel cell system 112 and the energy storage battery system 111 to supply power to the fixed-wing system 130. For example, during the drone's climb phase, the drone completes the transition from rotor flight to fixed-wing horizontal flight through the fixed-wing system 130, and enters fixed-wing flight mode. At this time, the drone's flight altitude is low, so it needs to climb. Initially, the fuel cell system 112 provides power. During this phase, the fixed-wing system 130 generally operates at full speed. When the energy management control system 113 detects that the load power of the fixed-wing system 130 is higher than the rated power of the fuel cell system 112, it controls the fuel cell system 112 and the energy storage battery system 111 to jointly supply power to the fixed-wing system 130.

[0084] In some embodiments, the energy management control system 113 is used to control whether the energy storage battery system 111 is powered on or not powered on, or in other words, the energy management control system 113 is used to control the power supply status of the energy storage battery system 111.

[0085] In some embodiments, the energy management control system 113 is used to control whether the energy storage battery system 111 is charged or not, or in other words, the energy management control system 113 is used to control the charging state of the energy storage battery system 111. For example, when a second condition is met, the energy management control system 113 can be used to control the energy storage battery system 111 to be charged through the fuel cell system 112; when the second condition is not met, the energy storage battery system 111 is controlled not to be charged.

[0086] In some embodiments, the energy management control system 113 is used to control whether the fuel cell system 112 is powered on or not powered on, or in other words, the energy management control system 113 is used to control the power supply status of the fuel cell system 112.

[0087] As one implementation of the above embodiment, the energy management control system 113 controls the fuel cell system 112 to supply power or not supply power based on the pressure of the fuel storage device. For example, the third preset threshold is 2 MPa, the fuel storage device is a hydrogen storage cylinder, and the energy management control system 113 monitors the pressure of the hydrogen storage cylinder. When the energy management control system 113 detects that the pressure of the hydrogen storage cylinder is lower than 2 MPa, the energy management control system 113 automatically and precisely controls the fuel cell system 112 to not supply power, which helps to avoid the fuel cell system 112 from operating when the hydrogen supply is insufficient.

[0088] As one implementation of the above embodiments, the energy management control system 113 controls the fuel cell system 112 to supply power or not supply power according to the system requirements of the UAV. For example, when the UAV is in the landing phase, the fuel cell system 112 does not need to work. The energy management control system 113 recognizes that the UAV is in the landing phase and automatically controls the fuel cell switch to turn off, controlling the fuel cell system 112 to not supply power. When the UAV is in the cruise phase, the power demand of the UAV is high, and the fuel cell system 112 needs to supply power. The energy management control system 113 recognizes that the UAV is in the cruise phase and automatically controls the fuel cell switch to turn on, controlling the fuel cell system 112 to supply power.

[0089] In some implementations, the energy management control system 113 is used to output monitoring data, or in other words, the energy management control system 113 is used to output the collected data to the outside world.

[0090] In some embodiments, the energy management control system 113 may include an electronic control board, which is used to implement the functions of the energy management control system 113 described above.

[0091] The above text combined Figure 2 The following section presents a structural diagram of a UAV, including an energy management and control system. Figure 3 introduce Figure 2 An example of a drone in the image.

[0092] See Figure 3 , Figure 3 An example diagram of a drone provided for an embodiment of this application. Figure 3 The main payloads of UAV 100 are presented, and the energy supply sources for each payload are clearly marked, intuitively reflecting the correspondence between energy distribution within the UAV and its payloads. UAV 100 includes a power supply system, a rotor system, a fixed-wing system, and an avionics system. The power supply system includes a fuel cell system, an energy storage battery system, and an energy management and control system.

[0093] The fuel cell system includes a hydrogen cylinder, a hydrogen fuel cell stack, a hydrogen fuel cell power supply, a direct-to-direct-current (DC / DC) converter, an ideal diode 1, and data output. The DC / DC converter controls the output voltage of the hydrogen fuel cell to meet the load's voltage requirements. The ideal diode 1 prevents backflow of current, and the fuel cell switch flexibly controls the power supply to the hydrogen fuel cell. The fuel cell system is connected to the fixed-wing system via the ideal diode 1.

[0094] The energy storage battery system includes an ideal diode 2, a battery management system (BMS), a lithium battery, an external charging interface, and a charging module. The BMS calculates the state of charge (SOC) of the lithium battery and determines whether it needs charging, while the ideal diode 2 prevents reverse current flow. The energy storage battery system is connected in series with the output of the fuel cell system via the ideal diode 2, together powering the fixed-wing system. The energy storage battery system is also connected to the rotor system, providing power to it. Furthermore, the energy storage battery system is connected to the fuel cell system via a charging module, allowing it to be charged by the fuel cell system under certain conditions.

[0095] The energy management and control system includes an energy management control unit, a data acquisition interface, power monitor 1, and power monitor 2. Power monitor 1 monitors the load power of the rotor system, while power monitor 2 monitors the load power of the fixed-wing system. The data acquisition interface is used to output monitoring data. Furthermore, the energy management and control system is connected to the BMS and charging module to control the charging status of the energy storage battery system.

[0096] The avionics system connects to a DC / DC converter and a fuel cell priority determination device, and is then connected to the energy storage battery system and the fuel cell system via ideal diodes 3 and 4, respectively. The determination criterion of the fuel cell priority determination device is: when both the fuel cell system and the energy storage battery system are supplying power, the fuel cell system is used for power supply; when the fuel cell system is not supplying power or is in a state of no power, the energy storage battery system is used for power supply.

[0097] To facilitate understanding, the following explanation will use a vertical take-off and landing fixed-wing drone as an example, and will further illustrate the drone described above in conjunction with the complete flight process of the drone.

[0098] A typical UAV flight mission profile includes six main phases: ground inspection phase (where the UAV performs pre-flight safety checks); takeoff phase (where the UAV accelerates and takes off from the launch site); climb phase (where the UAV uses high power to reach the designated flight altitude); cruise phase (the main mission phase, typically involving constant speed and altitude flight); descent phase (where the UAV descends to a certain altitude); and landing phase (where the UAV lands and comes to a complete stop). The power requirements are higher during takeoff and climb phases, and lower during ground inspection, cruise, and descent phases.

[0099] The power supply system includes a fuel cell system, an energy storage battery system, and an energy management and control system. The fuel cell system includes a hydrogen fuel cell stack, and the energy storage battery system includes lithium batteries. The rated power of the hydrogen fuel cell stack is... The output power of the lithium battery is P bat The output power of the hydrogen fuel cell stack is P fc .

[0100] UAV ground inspection phase: The preparation state before the UAV takes flight. During this phase, the UAV does not output electric motor power, and the energy storage battery system supplies power to maintain the operation of the avionics system, etc.

[0101] UAV Takeoff Phase: Upon receiving the takeoff command, the UAV transitions from standby to takeoff mode. The rotor system activates, reaching maximum instantaneous power upon activation. At this time, the energy storage battery system delivers the power required by the UAV. After reaching the designated altitude, the UAV hovers, and the lithium battery continues to power the rotor system. When the fixed-wing system, including the fixed-wing tail thruster, needs to be activated, the fuel cell system is remotely controlled via host computer software to power the tail thruster. When the energy management and control system detects that the load power of the UAV's fixed-wing system exceeds [a certain threshold], [the system will automatically activate]. At this time, the energy management and control system controls the fuel cell system and the energy storage battery system to jointly output power to power the fixed-wing system. After a period of acceleration, the UAV's horizontal flight speed increases, the rotor system gradually stops working, and the UAV completes the takeoff phase. When the fuel cell system starts working, the energy source of the avionics system also switches from the energy storage battery system to the fuel cell system.

[0102] Drone Climb Phase: The drone transitions from rotorcraft flight to fixed-wing horizontal flight via its fixed-wing tail thruster, entering fixed-wing flight mode. At this point, the drone's altitude is low, necessitating a climb. Initially, power is provided by the fuel cell system, and the fixed-wing tail thruster typically operates at full speed during this phase. However, once the energy management and control system detects that the fixed-wing system's load power exceeds [a certain threshold], [further action is taken]. At that time, the fuel cell system and the energy storage battery system jointly output power.

[0103] Cruise Phase: This is the main operational phase of the drone. The drone reaches its predetermined altitude using fixed-wing flight mode and begins horizontal cruise flight. The drone's power output is primarily affected by cruise speed, ambient wind speed, and wind direction. During this phase, the drone's power output is relatively low, and power output fluctuations are relatively high. When the fuel cell system's output power P... fc Less than its rated power At this time, the fuel cell system outputs the power required by the drone. If the SOC of the lithium battery output by the BMS is less than 100%, the charging module is activated to charge the energy storage battery system through the fuel cell system. If the fuel cell system continues to operate in a low-power output state, the energy storage battery system will continue charging until it is fully charged.

[0104] The fixed-wing drone's descent phase: Upon receiving descent control commands from the ground station, the drone begins its descent path. The drone's horizontal propulsion motors gradually stop, and the drone taxis to lower its altitude, entering the descent trajectory. During this phase, power is still supplied by the fuel cell system, and the energy storage battery system remains in a charging state.

[0105] The landing phase of a drone's rotor descent: As the drone approaches stall, it transitions from fixed-wing to rotorcraft flight. First, the horizontal propulsion motors stop, and the rotor motors start. At this point, the fuel cell system gradually shuts down, while the energy storage battery system begins to operate, providing energy to the avionics system. Then, driven by the rotor motors, the drone's horizontal speed drops to zero, entering a hovering state. The drone's altitude gradually decreases until it finally lands, at which point all motors stop. Throughout the entire process, the energy storage battery system operates at full power.

[0106] The embodiments of the UAV power supply method provided in this application will be described in detail below. For example... Figure 4 As shown, the method includes steps S410 to S430.

[0107] In step S410, the energy storage battery system is used to power the rotor system.

[0108] In step S420, the fuel cell system is preferentially used to power the fixed-wing system.

[0109] In some embodiments, the fixed-wing system is powered by the energy storage battery system and the fuel cell system when a first condition is met;

[0110] The first condition includes one or more of the following: the load power of the fixed-wing system is greater than the rated power of the fuel cell system; the load power fluctuation of the fixed-wing system is greater than or equal to a first preset threshold.

[0111] In step S430, the fuel cell system is used preferentially to power the avionics system.

[0112] In some embodiments, when the fuel cell system is not powered or is in a state of no power, the energy storage battery system is used to power the avionics system.

[0113] In some embodiments, the energy storage battery system is charged by the fuel cell system when a second condition is met, the second condition including one or more of the following: the output power of the fuel cell system is greater than or equal to the load power; the output power of the fuel cell system is less than or equal to the rated power; the state of charge of the energy storage battery system is less than or equal to a second preset threshold.

[0114] In some embodiments, the step of using the fuel cell system and the energy storage battery system to power the fixed-wing system when the first condition is met includes: when the load power of the fixed-wing system is greater than the rated power of the fuel cell system, using the energy storage battery system to provide surplus power to the fixed-wing system, wherein the surplus power is the difference between the load power of the fixed-wing system and the rated power of the fuel cell system.

[0115] In some embodiments, the power supply system includes an energy management and control system, which performs one or more of the following steps: determining the load power of the rotor system; determining the load power of the fixed-wing system; controlling the energy storage battery system to supply power or not supply power; controlling the energy storage battery system to charge or not charge; controlling the fuel cell system to supply power or not supply power; and outputting monitoring data.

[0116] In some embodiments, the fuel cell system includes a fuel storage device, and the method further includes: controlling the fuel cell system to supply power or not supply power based on the pressure of the fuel storage device and / or the system requirements of the UAV.

[0117] It should be noted that although the operation of the method of the present invention is described in a specific order in the accompanying drawings, this does not require or imply that the operations must be performed in that specific order, or that all the operations shown must be performed in order to achieve the desired result.

[0118] It should be understood that the power supply system described in the drone is different from the reference system. Figure 4 The steps in the described method correspond to each other. Therefore, the operations and features described above for the power supply system of a drone are also applicable to the drone power supply method, and will not be repeated here. The drone can be pre-implemented in a browser or other secure application on a computer device, or it can be loaded into the browser or other secure application on a computer device through download or other means. The corresponding units in the drone can cooperate with the units in the computer device to implement the solutions of the embodiments of this application.

[0119] The division of modules or units mentioned in the detailed description above is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0120] It should be noted that for details not disclosed in the drone power supply method of the embodiments of this application, please refer to the details disclosed in the above-mentioned drone embodiments of this application, which will not be repeated here.

[0121] Figure 5 This is a schematic diagram of a device for applying a power supply method for unmanned aerial vehicles (UAVs) provided in this application. The device 500 includes a processing unit 510.

[0122] The processing unit 510 is configured to: use the energy storage battery system to power the rotor system; prioritize using the fuel cell system to power the fixed-wing system, and, under a first condition, use both the energy storage battery system and the fuel cell system to power the fixed-wing system; prioritize using the fuel cell system to power the avionics system, and, when the fuel cell system is not supplying power or is in a power-off state, use the energy storage battery system to power the avionics system; wherein the first condition includes one or more of the following: the load power of the fixed-wing system is greater than the rated power of the fuel cell system; the load power fluctuation of the fixed-wing system is greater than or equal to a first preset threshold.

[0123] In some embodiments, the processing unit 510 is further configured to: charge the energy storage battery system through the fuel cell system when a second condition is met, the second condition including one or more of the following: the output power of the fuel cell system is greater than or equal to the load power; the output power of the fuel cell system is less than or equal to the rated power; the state of charge of the energy storage battery system is less than or equal to a second preset threshold.

[0124] In some embodiments, the processing unit 510 is further configured to: when the load power of the fixed-wing system is greater than the rated power of the fuel cell system, use the energy storage battery system to provide residual power to the fixed-wing system, wherein the residual power is the difference between the load power of the fixed-wing system and the rated power of the fuel cell system.

[0125] In some embodiments, the processing unit 510 includes an energy management control system, which is configured to perform one or more of the following steps: determining the load power of the rotor system; determining the load power of the fixed-wing system; controlling the energy storage battery system to supply power or not supply power; controlling the energy storage battery system to charge or not charge; controlling the fuel cell system to supply power or not supply power; and outputting monitoring data.

[0126] In some embodiments, the fuel cell system includes a fuel storage device, and the processing unit 510 is further configured to: control the fuel cell system to supply power or not supply power according to the pressure of the fuel storage device and / or the system requirements of the UAV.

[0127] Figure 6 A schematic diagram of the structure of an apparatus for another application of a drone power supply method provided in this application is shown. Figure 6 The dashed lines indicate that the unit or module is optional. Device 600 can be used to implement the methods described in the above method embodiments. Device 600 can be a terminal device, a server, or a chip.

[0128] The device 600 includes one or more processors 601, which can support the device 600 in implementing Figure 4 The method described in the corresponding method embodiment. Processor 601 can be a general-purpose processor or a dedicated processor. For example, processor 601 can be a central processing unit (CPU). The CPU can be used to control device 600, execute software programs, and process data from the software programs. Device 600 may also include a communication unit 605 for implementing signal input (reception) and output (transmission).

[0129] For example, device 600 may be a chip, communication unit 605 may be the input and / or output circuit of the chip, or communication unit 605 may be the communication interface of the chip, which may be a component of terminal equipment, server or other electronic equipment.

[0130] For example, device 600 may be a terminal device or a server, and communication unit 605 may be a transceiver of the terminal device or the server, or communication unit 605 may be a transceiver circuit of the terminal device or the server.

[0131] The device 600 may include one or more memories 602, on which a program 604 is stored. The program 604 can be executed by a processor 601 to generate instructions 603, causing the processor 601 to execute the method described in the above method embodiments according to the instructions 603. Optionally, the memory 602 may also store data. Optionally, the processor 601 may also read data stored in the memory 602, which may be stored at the same memory address as the program 604, or it may be stored at a different memory address than the program 604.

[0132] The processor 601 and memory 602 can be configured separately or integrated together, for example, integrated on the system-on-chip (SOC) of the terminal device.

[0133] The specific manner in which the processor 601 executes the UAV power supply method can be found in the relevant description in the method embodiment.

[0134] It should be understood that the steps of the above method embodiments can be implemented by hardware logic circuits or software instructions in the processor 601. The processor 601 may be a CPU, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, such as discrete gate, transistor logic devices, or discrete hardware components.

[0135] This application also provides a computer program product that, when executed by processor 601, implements the methods described in any of the method embodiments of this application.

[0136] The computer program product can be stored in memory 602, for example, program 604. Program 604 is finally converted into an executable object file that can be executed by processor 601 after processing such as preprocessing, compilation, assembly and linking.

[0137] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer, implements the methods described in any of the method embodiments of this application. The computer program may be a high-level language program or an executable object program.

[0138] The computer-readable storage medium is, for example, memory 602. Memory 602 can be volatile memory or non-volatile memory, or memory 602 can include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0139] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0140] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0141] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0142] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0143] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A drone, characterized in that, The drone includes: A power supply system for powering the UAV, the power supply system including a fuel cell system and an energy storage battery system; A rotor system that is powered by the energy storage battery system; A fixed-wing system, wherein the fixed-wing system preferentially uses the fuel cell system for power supply, and, under a first condition, uses both the energy storage battery system and the fuel cell system for power supply; The avionics system preferentially uses the fuel cell system for power supply, and uses the energy storage battery system for power supply when the fuel cell system is not supplying power or is in a state of no power. The first condition includes one or more of the following: the load power of the fixed-wing system is greater than the rated power of the fuel cell system; the load power fluctuation of the fixed-wing system is greater than or equal to a first preset threshold.

2. The drone as described in claim 1, characterized in that, The energy storage battery system is charged through the fuel cell system under a second condition, which includes one or more of the following: The output power of the fuel cell system is greater than or equal to the load power; The output power of the fuel cell system is less than or equal to the rated power; The state of charge of the energy storage battery system is less than or equal to a second preset threshold.

3. The UAV as described in claim 1 or 2, characterized in that, When the load power of the fixed-wing system is greater than the rated power of the fuel cell system, the energy storage battery system is used to provide surplus power to the fixed-wing system, wherein the surplus power is the difference between the load power of the fixed-wing system and the rated power of the fuel cell system.

4. The UAV as described in claim 1 or 2, characterized in that, The fuel cell system includes a fuel storage device, and the power supply system is used to control the fuel cell system to supply power or not supply power according to the pressure of the fuel storage device and / or the system requirements of the UAV.

5. A method for powering a drone, the drone comprising a power supply system, a rotor system, a fixed-wing system, and an avionics system, the method being used in the power supply system of the drone, the power supply system comprising a fuel cell system and an energy storage battery system, characterized in that, The method includes: The energy storage battery system is used to power the rotor system; The fuel cell system is used preferentially to power the fixed-wing system. Under the condition that the first condition is met, the energy storage battery system and the fuel cell system are used to power the fixed-wing system. The fuel cell system is used preferentially to power the avionics system. In the event that the fuel cell system is not supplying power or is in a state of no power, the energy storage battery system is used to power the avionics system. The first condition includes one or more of the following: the load power of the fixed-wing system is greater than the rated power of the fuel cell system; the load power fluctuation of the fixed-wing system is greater than or equal to a first preset threshold.

6. The method as described in claim 5, characterized in that, The energy storage battery system is charged through the fuel cell system under a second condition, which includes one or more of the following: The output power of the fuel cell system is greater than or equal to the load power; The output power of the fuel cell system is less than or equal to the rated power; The state of charge of the energy storage battery system is less than or equal to a second preset threshold.

7. The method as described in claim 5 or 6, characterized in that, The step of using the fuel cell system and the energy storage battery system to power the fixed-wing system when the first condition is met includes: When the load power of the fixed-wing system is greater than the rated power of the fuel cell system, the energy storage battery system is used to provide the fixed-wing system with the remaining power, which is the difference between the load power of the fixed-wing system and the rated power of the fuel cell system.

8. The method as described in claim 5 or 6, characterized in that, The fuel cell system includes a fuel storage device, and the method further includes: The fuel cell system is controlled to be powered or not powered based on the pressure of the fuel storage device and / or the system requirements of the UAV.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 5 to 8.

10. A computer program product, characterized in that, The computer program product includes instructions that, when executed, cause the method as described in any one of claims 5 to 8 to be performed.

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