Method and apparatus for power supply management of tethered unmanned aerial vehicle, storage medium, device, and product

Abstract

A method and apparatus for power supply management of a tethered unmanned aerial vehicle, a storage medium, a device, and a product. The method may comprise: when it is determined that a power supply system (140) of a tethered unmanned aerial vehicle works in a normal state, acquiring power supply data provided by the power supply system and power consumption data of an electrical device; on the basis of the power supply data and the power consumption data, determining a working state of an unmanned aerial vehicle battery pack (150), wherein the working state comprises a charging state, a discharging state and an idle state, and the electrical energy generated when the unmanned aerial vehicle battery pack is in the discharging state acts on the electrical device. The method can improve the stability of power supply of tethered unmanned aerial vehicles and ensure the working safety of tethered unmanned aerial vehicles.

Description

A method, apparatus, storage medium, device, and product for power supply management of tethered unmanned aerial vehicles (UAVs).

[0001] Cross-references to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 2025102007304, filed on February 24, 2025, entitled "A method, apparatus, storage medium, device and product for power supply management of a tethered unmanned aerial vehicle," the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of power supply management technology for unmanned aerial vehicles (UAVs), and more specifically, to a method, apparatus, storage medium, device, and product for power supply management of tethered UAVs. Background Technology

[0004] Tethered drones, also known as tethered unmanned aerial vehicles (UAVs), use a ground-based power source (or ground power supply) transmitted via a tether cable as their power source, replacing traditional lithium batteries. Their most significant characteristic is their ability to hover for extended periods. Existing tethered drones, limited by their power system, typically employ a tethered high-voltage DC power supply. The onboard DC-DC converter uses a step-down configuration, usually including a small-capacity, high-rate onboard battery, used only for instantaneous power compensation or absorbing propeller-generated current, connected in parallel to the DC output voltage of the DC-DC converter. Because the onboard battery and the ground power supply lack communication and control, and the ground power supply generally exhibits a lag characteristic, this approach results in prolonged fluctuations in the supply voltage and current, causing instability and impacting the ground power supply system and the onboard DC-DC system.

[0005] Therefore, how to provide a technical solution for power supply management of tethered drones with high stability has become an urgent technical problem to be solved. Summary of the Invention

[0006] The purpose of some embodiments of this disclosure is to provide a method, apparatus, storage medium, device and product for power supply management of tethered drones. The technical solutions of the embodiments of this disclosure can improve the stability of power supply to tethered drones and improve the utilization rate of power supply energy.

[0007] In a first aspect, some embodiments of this disclosure provide a method for power supply management of a tethered drone, comprising: when the normal operating state of the power supply system of the tethered drone is determined, acquiring power supply data provided by the power supply system and power consumption data of the electrical equipment; determining the operating state of the drone battery pack based on the power supply data and the power consumption data, wherein the operating state includes a charging state, a discharging state, and an idle state; and applying electrical energy generated by the drone battery pack in the discharging state to the electrical equipment.

[0008] Some embodiments of this disclosure can determine the working state of the drone battery pack by using the power supply data and power consumption data of the power supply system and electrical equipment in the tethered drone. When in the discharge state, it can provide power to the user equipment so that the tethered drone can work normally and improve the stability of the power supply. At the same time, the drone battery pack can also be in the charging state, thereby improving the utilization rate of the power provided by the power supply system.

[0009] In some embodiments, when the power supply data is the power supply system power and the power consumption data is the power consumption, determining the operating state of the drone battery pack based on the power supply data and the power consumption data includes: confirming that the drone battery pack is in the charging state when the power supply system power is greater than the power consumption.

[0010] Some embodiments of this disclosure use power to characterize power supply data and user data. By comparing the power of the power supply system and the power of the user, the operating status of the drone battery pack is determined, thereby realizing the charging and discharging control of the drone battery pack and improving the energy utilization rate.

[0011] In some embodiments, when the power supply data is the power supply system power and the power consumption data is the power consumption, determining the operating state of the drone battery pack based on the power supply data and the power consumption data includes: confirming that when the power supply system power is less than the power consumption, the drone battery pack is in the discharge state.

[0012] Some embodiments of this disclosure use power to characterize power supply data and user data. By comparing the power of the power supply system and the power of the user, the operating status of the drone battery pack is determined, thereby realizing the charging and discharging control of the drone battery pack and improving the energy utilization rate.

[0013] In some embodiments, the method further includes: confirming that the drone battery pack is in the discharge state when it is determined that the power supply system of the tethered drone is in a fault state, wherein the electrical energy generated by the drone battery pack is configured to control the tethered drone to perform a forced landing operation.

[0014] Some embodiments of this disclosure provide sufficient power for the tethered drone to make an emergency landing in the event of a power supply system failure, while the drone battery pack is in a discharging state, thereby ensuring the safe landing of the tethered drone and reducing the risk of the tethered drone crashing.

[0015] In some embodiments, determining that the power supply system of the tethered drone is in a fault state includes: determining that the power supply system does not output power supply parameters according to the flight control commands of the tethered drone and that the power supply parameters are in a preset state within a preset time period, in which case the power supply system is in the fault state; wherein, the power supply parameters include: power supply current, power supply voltage or power supply, and the preset state includes: a continuously decreasing state or a continuously increasing state.

[0016] Some embodiments of this disclosure determine whether the power supply system is in a faulty state by detecting the power supply parameters output by the power supply system, which can realize timely and accurate detection of the power supply system and ensure the safety of tethered UAV flight.

[0017] In some embodiments, the method further includes: reducing the power supply system power when the drone battery pack is in the charging state; and increasing the power supply system power when the drone battery pack is in the discharging state.

[0018] Some embodiments of this disclosure can balance power supply resources and rationally use and adjust power supply data by adjusting the power supply system power when the drone battery pack is in the charging and discharging state.

[0019] Secondly, some embodiments of this disclosure provide an apparatus for power supply management of a tethered drone, comprising: a data acquisition module configured to acquire power supply data provided by the power supply system and power consumption data of the electrical equipment when the normal operating state of the power supply system of the tethered drone is determined; and a state determination module configured to determine the operating state of the drone battery pack based on the power supply data and the power consumption data, wherein the operating state includes a charging state, a discharging state, and an idle state; and the electrical energy generated by the drone battery pack in the discharging state acts on the electrical equipment.

[0020] Thirdly, some embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the method described in any embodiment of the first aspect.

[0021] Fourthly, some embodiments of this disclosure provide an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, can implement the method as described in any embodiment of the first aspect.

[0022] Fifthly, some embodiments of this disclosure provide a computer program product, the computer program product including a computer program, wherein the computer program, when executed by a processor, can implement the method described in any embodiment of the first aspect. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of some embodiments of this disclosure, the accompanying drawings used in some embodiments of this disclosure will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this disclosure and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 is a system diagram of tethered unmanned aerial vehicle power supply management provided in some embodiments of this disclosure;

[0025] Figure 2 is one of the flowcharts of a method for power supply management of tethered unmanned aerial vehicles provided in some embodiments of this disclosure;

[0026] Figure 3 is a second flowchart of a method for power supply management of tethered unmanned aerial vehicles provided in some embodiments of this disclosure;

[0027] Figure 4 is a third flowchart of a method for power supply management of tethered unmanned aerial vehicles provided in some embodiments of this disclosure;

[0028] Figure 5 is a block diagram of the device for power management of tethered unmanned aerial vehicles provided in some embodiments of this disclosure;

[0029] Figure 6 is a schematic diagram of an electronic device provided by some embodiments of this disclosure. Detailed Implementation

[0030] The technical solutions of some embodiments of this disclosure will now be described with reference to the accompanying drawings.

[0031] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this disclosure, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] In related technologies, the onboard battery in tethered drones is only used for instantaneous power compensation or to absorb propeller-generated current. It is connected in parallel to the DC output voltage of a DC-DC converter, and its uncontrolled automatic charging and discharging occurs based on voltage changes at the DC-DC output caused by power consumption. This uncontrolled automatic charging and discharging cannot guarantee the stability and safety of tethered drone flight. Furthermore, because the onboard battery cannot interact with the ground power supply, it cannot switch power sources in time if the ground power supply or the tethering cable fails, posing a risk of drone crash.

[0033] In view of this, some embodiments of this disclosure provide a method for power supply management of a tethered unmanned aerial vehicle (UAV). This method controls the operating state of the UAV battery pack by detecting the power supply data provided by the power supply system and the power consumption data of the electrical equipment during the operation of the tethered UAV. The operating state of the UAV battery pack can include charging, discharging, and idle states. When the power supplied by the power supply system exceeds the power demand, the UAV battery pack can be charged; when the power supplied by the power supply system is less than the power demand, the UAV battery pack and the power supply system can simultaneously supply power to the electrical equipment. This ensures stable flight of the tethered UAV, achieves reasonable planning and control of power supply data, and avoids waste of power resources. It should be noted that the tethered UAV in this disclosure can be a multi-rotor UAV or a ducted rotor UAV; the embodiments of this disclosure do not specifically limit it.

[0034] The overall structure of a tethered unmanned aerial vehicle (UAV) power supply management system provided by some embodiments of this disclosure is illustrated below with reference to Figure 1.

[0035] As shown in Figure 1, some embodiments of this disclosure provide a system diagram for power supply management of a tethered unmanned aerial vehicle (UAV). This power supply management system may include: multiple motors 100 within the tethered UAV (i.e., motor 1, motor 2, motor 3... in Figure 1), an electronic control terminal 110 connected to each motor (i.e., electronic control 1, electronic control 2, electronic control 3... in Figure 1), a DC-DC converter, a high-voltage power distribution system 120, a flight control system 130, a ground power supply system 140 (as an optional example of the power supply system), and an onboard battery 150 (as an optional example of the UAV battery pack). The high-voltage power distribution system 120 is communicatively connected to all electronic control terminals 110 via high-voltage electrical signals, and the flight control system 130 is communicatively connected to all electronic control terminals 110 via low-voltage electrical signals. The ground power supply system 140 and the onboard battery 150 are respectively connected to the high-voltage power distribution system via high-voltage electrical signals. The flight control system 130 is communicatively connected to both the high-voltage power distribution system 120 and the ground power supply system 140 via low-voltage electrical signals.

[0036] Optionally, in some embodiments of this disclosure, the flight control system 130 can obtain real-time power supply data and power consumption data of the ground power supply system 140 and the power-consuming equipment fed back via the CAN bus, and determine the working state of the airborne battery 150 by comparing and analyzing the power supply data and power consumption data.

[0037] In practical applications, taking ducted drones as an example, due to the stable attitude control of the drone, the ducted fans are in a state of frequent acceleration and deceleration, resulting in frequent increases and decreases in power demand. Therefore, the total power demanded by the eight ducts at the same time is also in a state of frequent increases and decreases, with fluctuations typically on the order of milliseconds. The power generation capacity of the ground-based extended-range power supply system (i.e., ground power supply system 140) (as an optional example of power supply data) cannot meet the high-frequency response requirements. Therefore, when the total instantaneous power consumption (as an optional example of power consumption data) increases, the drone battery pack participates in discharging to replenish power (i.e., the drone battery pack is in a discharging state). When the total power consumption decreases, the battery pack absorbs the power generated by the drive motor and the ground power supply system (i.e., the drone battery pack is in a charging state). The upper and lower limits of the power absorbed and released by the drone battery pack are set according to a preset multiple (e.g., 8 to 10 times) of the maximum instantaneous power consumption and power generation during a single duct bench test, thereby ensuring the stable power supply needs of the tethered drone.

[0038] The implementation process of tethered unmanned aerial vehicle power supply management performed by flight control system 130, provided by some embodiments of this disclosure, is illustrated below with reference to Figure 2.

[0039] Please refer to Figure 2, which is a flowchart of a method for power management of a tethered drone according to some embodiments of this disclosure. The method for power management of a tethered drone may include:

[0040] S210, after confirming that the power supply system of the tethered drone is in normal working condition, acquire the power supply data provided by the power supply system and the power consumption data of the electrical equipment.

[0041] For example, in some embodiments of this disclosure, when the ground power supply system 140 is operating normally, all high-voltage electrical components on the tethered UAV can be fed back to the flight control system 130 in real time via the CAN bus. The flight control system 130 can then acquire the power consumption data of the current electrical components (as an optional example of electrical equipment) in real time. Simultaneously, the flight control system 130 can also acquire the power supply data from the ground power supply system 140 via the high-voltage power distribution system 120. The high-voltage power distribution system 120 collects the current input to the tethered power supply through a current sensor, using this as the power supply data, and the corresponding power consumption data is the power consumption current. In other embodiments, the power supply data and power consumption data can also be characterized using one or more of voltage or power parameters; however, the embodiments of this disclosure are not limited to these.

[0042] S220, based on the power supply data and the power consumption data, determine the working state of the drone battery pack, wherein the working state includes charging state, discharging state and idle state; the electrical energy generated by the drone battery pack when it is in the discharging state is applied to the electrical equipment.

[0043] For example, in some embodiments of this disclosure, the flight control system 130 can determine whether the drone battery pack is in a charging state or a discharging state based on the comparison of power supply data and power consumption data.

[0044] In some embodiments of this disclosure, when the power supply data is the power supply system power and the power consumption data is the power consumption, S220 may include: when it is confirmed that the power supply system power is greater than the power consumption, the drone battery pack is in the charging state.

[0045] For example, in some embodiments of this disclosure, when the power supply system power is greater than the power consumption, it indicates that the power supply of the tethered drone exceeds the demand. At this time, the excess power of the power supply system can be controlled to charge the drone battery pack.

[0046] In some embodiments of this disclosure, when the drone battery pack is in the charging state, the power supply system power is reduced; when the drone battery pack is in the discharging state, the power supply system power is increased.

[0047] For example, in some embodiments of this disclosure, when the drone battery pack is charging, the power supply (i.e., the power supply system power) can be reduced according to set parameters, thereby reducing the power generation pressure on the ground power supply system 140. Simultaneously, it allows for reasonable planning of power generation schedules and efficient use of power resources. When the drone battery pack is discharging, the power supply can be increased according to set parameters to meet the power needs of the tethered drone.

[0048] In some other embodiments of this disclosure, when the power supply data is the power supply system power and the power consumption data is the power consumption, S220 may include: when it is confirmed that the power supply system power is less than the power consumption, the drone battery pack is in the discharge state.

[0049] For example, in some other embodiments of this disclosure, when the power supply system power is less than the power consumption, it indicates that the power supply of the tethered drone is less than the demand. At this time, the drone battery pack can be controlled to participate in the power supply system to supply power to the electrical equipment in the tethered drone. At this time, the drone battery pack releases electrical energy and is in a discharging state. By providing power to the electrical equipment through the drone battery pack, the stable operation of the electrical equipment of the tethered drone can be ensured, thus guaranteeing the stable and safe flight of the tethered drone.

[0050] It should be understood that when power supply data is equal to user data, supply and demand are balanced, and the drone battery pack can be idle.

[0051] In some embodiments of this disclosure, the method for managing the power supply of a tethered drone includes: confirming that the drone battery pack is in the discharge state when it is determined that the power supply system of the tethered drone is in a fault state, wherein the electrical energy generated by the drone battery pack is configured to control the tethered drone to perform a forced landing operation.

[0052] For example, in some embodiments of this disclosure, the drone battery pack, in addition to compensating for the insufficient follow-up response performance of the ground power supply system 140 through high-frequency charging and discharging, can also serve as a backup battery during emergency landings. When the ground power supply system 140 fails, the drone battery pack can provide independent power to the tethered drone, enabling it to enter the emergency landing phase. To ensure the drone battery pack can meet the requirements for emergency landing, its charge level must always meet a set battery threshold regardless of its operating state, ensuring that an emergency landing operation can be performed in the event of a failure, guaranteeing the drone's landing safety, and preventing a crash.

[0053] In some embodiments of this disclosure, determining that the power supply system of the tethered drone is in a fault state includes: determining that the power supply system does not output power supply parameters according to the flight control commands of the tethered drone and that the power supply parameters are in a preset state within a preset time period, in which case the power supply system is in the fault state; wherein, the power supply parameters include: power supply current, power supply voltage or power supply, and the preset state includes: a continuously decreasing state or a continuously increasing state.

[0054] For example, in some embodiments of this disclosure, if the high-voltage power distribution system 120 detects that the input current of the ground power supply system 140 (as an optional example of power supply parameters) is not output according to the flight control command of the flight control system 130 and the input current continuously decreases or increases within a preset time period (e.g., 5ms, 10ms, etc.), it determines that the ground power supply system 140 has failed. The flight control system 130 can control the high-voltage power distribution system 120 to disconnect from the ground power supply system 140, or the high-voltage power distribution system 120 can disconnect the input of the ground power supply system 140 and notify the flight control system 130, and control the UAV battery pack to provide power separately, causing the tethered UAV to enter the forced landing phase. It should be noted that the type of power supply parameters can be flexibly adjusted, and the conditions for determining whether the ground power supply system 140 has failed through power supply parameters can also be adjusted as the power supply parameters change. This disclosure does not specifically limit the embodiments.

[0055] Understandably, the drone's battery pack will only be charged or discharged if the ground power supply system 140 is functioning normally.

[0056] The specific process of tethered drone power supply management provided by some embodiments of this disclosure is illustrated below with reference to Figure 3.

[0057] Please refer to Figure 3, which is a flowchart of a method for power supply management of a tethered unmanned aerial vehicle provided by some embodiments of this disclosure.

[0058] The following example illustrates the implementation process of power supply management, taking the normal operation of the power supply system and the operating state of the drone battery pack controlling the tethered drone.

[0059] S310, the flight control system obtains the total power consumption of the electrical equipment.

[0060] Total power consumption is one optional example of electricity consumption data.

[0061] The S320 flight control system obtains the total power supply from the ground power supply system.

[0062] The total power supply is presented as an optional example of power supply data.

[0063] It should be understood that S310 and S320 can be acquired simultaneously at the same time point, or they can be the average of the power data acquired within a set time period. The set time period can be a relatively short period of time that will not adversely affect the flight of the tethered drone, and it can be set according to actual needs.

[0064] S330: Determine if the total power consumption is greater than the total power supply. If yes, execute S340; otherwise, execute S350.

[0065] The S340 controls the drone's battery pack to be in a discharging state and increases the total power supply of the ground power system.

[0066] The S350 controls the drone's battery pack to be in a charging state and reduces the total power supply of the ground power system.

[0067] It is understood that the specific implementation process of S310 to S350 can be referred to the method embodiment provided above. To avoid repetition, detailed descriptions are omitted here.

[0068] The specific process of tethered drone power supply management provided by some embodiments of this disclosure is illustrated below with reference to Figure 4.

[0069] Please refer to Figure 4, which is a flowchart of a method for power supply management of a tethered unmanned aerial vehicle provided by some embodiments of this disclosure.

[0070] The following example illustrates the implementation process of power management by showing when a tethered drone is powered solely by its battery pack.

[0071] S410, the flight control system obtains the total power consumption of the electrical equipment.

[0072] The S420's flight control system obtains the total power supply from the ground power supply system.

[0073] S430 checks if the total power supply is normal. If so, proceed to S440; otherwise, proceed to S450.

[0074] S440 controls the drone's battery pack to operate normally and enters the charge / discharge control cycle.

[0075] The charge / discharge control cycle is the method embodiment shown in Figure 3.

[0076] S450 disconnects the ground power supply system input relay, controlling the drone's battery pack to supply power independently.

[0077] S460 controls a tethered drone to perform an emergency landing operation.

[0078] It is understood that the specific implementation process of S410 to S460 can be referred to the method embodiments provided above. To avoid repetition, detailed descriptions are omitted here.

[0079] As can be seen from the embodiments described above, this disclosure improves power supply stability and reduces safety hazards of the drone by controlling the operating state of the drone battery pack. Furthermore, this disclosure reduces the response performance requirements of the ground power supply system, lowering the development difficulty and cost of the overall system. Additionally, due to the addition of the drone battery pack, the DC bus voltage of the power-consuming parts of the drone is generally more stable, less prone to voltage fluctuations, and the design requirements for filtering and other aspects of high-voltage electrical equipment can be reduced. Finally, the drone battery pack of this disclosure can independently power the drone, reducing safety hazards. It can also be used as a forced landing battery pack, allowing for forced landing in the event of a ground power supply system failure, preventing the entire drone from crashing.

[0080] Please refer to Figure 5, which shows a block diagram of a tethered drone power supply management device provided in some embodiments of this disclosure. It should be understood that this tethered drone power supply management device corresponds to the above-described method embodiments and is capable of performing the various steps involved in the above-described method embodiments. The specific functions of this tethered drone power supply management device can be found in the description above; to avoid repetition, detailed descriptions are appropriately omitted here.

[0081] The tethered drone power supply management device shown in Figure 5 includes at least one software function module that can be stored in a memory or embedded in the tethered drone power supply management device in the form of software or firmware. The tethered drone power supply management device includes: a data acquisition module 510, configured to acquire power supply data provided by the power supply system and power consumption data of the electrical equipment when the normal working state of the tethered drone power supply system is determined; and a state determination module 520, configured to determine the working state of the drone battery pack based on the power supply data and the power consumption data, wherein the working state includes a charging state, a discharging state, and an idle state; the electrical energy generated by the drone battery pack in the discharging state acts on the electrical equipment.

[0082] In some embodiments of this disclosure, when the power supply data is the power supply system power and the power consumption data is the power consumption, the state determination module 520 is configured to confirm that when the power supply system power is less than the power consumption, the drone battery pack is in the discharge state.

[0083] In some embodiments of this disclosure, when the power supply data is the power supply system power and the power consumption data is the power consumption, the state determination module 520 is configured to confirm that the drone battery pack is in the charging state when the power supply system power is greater than the power consumption.

[0084] In some embodiments of this disclosure, the state determination module 520 is configured to reduce the power supply system power when the drone battery pack is in the charging state, and increase the power supply system power when the drone battery pack is in the discharging state.

[0085] In some embodiments of this disclosure, the device for managing the power supply of a tethered drone further includes a fault handling module (not shown in the figure), configured to confirm that the drone battery pack is in the discharge state when it is determined that the power supply system of the tethered drone is in a fault state, wherein the electrical energy generated by the drone battery pack is configured to control the tethered drone to perform a forced landing operation.

[0086] In some embodiments of this disclosure, the device for power supply management of tethered drones further includes: a fault handling module (not shown in the figure), configured to determine that the power supply system fails to output power supply parameters according to the flight control commands of the tethered drone and the power supply parameters are in a preset state within a preset time period, then the power supply system is in the fault state; wherein, the power supply parameters include: power supply current, power supply voltage or power supply, and the preset state includes: a continuously decreasing state or a continuously increasing state.

[0087] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the aforementioned method, and will not be elaborated further here.

[0088] Some embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can perform the operation of any of the methods corresponding to the methods provided in the above embodiments.

[0089] Some embodiments of this disclosure also provide a computer program product, which includes a computer program, wherein when the computer program is executed by a processor, it can perform the operation of any of the methods corresponding to the above embodiments provided in the above embodiments.

[0090] As shown in FIG6, some embodiments of the present disclosure provide an electronic device 600, which includes a memory 610, a processor 620, and a computer program stored in the memory 610 and executable on the processor 620. When the processor 620 reads the program from the memory 610 via a bus 630 and executes the program, it can implement the method as described in any of the above embodiments.

[0091] Processor 620 can process digital signals and can include various computing architectures. For example, it can be a complex instruction set computer architecture, a reduced instruction set computer architecture, or an architecture that implements multiple instruction set combinations. In some examples, processor 620 can be a microprocessor.

[0092] Memory 610 may be configured to store instructions executed by processor 620 or data related to instruction execution. These instructions and / or data may include code configured to implement some or all of the functions of one or more modules described in embodiments of this disclosure. Processor 620 of embodiments of this disclosure may be configured to execute instructions in memory 610 to implement the methods described above. Memory 610 includes dynamic random access memory, static random access memory, flash memory, optical memory, or other memories well known to those skilled in the art.

[0093] The above description is merely an embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0094] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

[0095] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Industrial applicability

[0096] The above scheme controls the operating status of the drone's battery pack by detecting the power supply data provided by the power supply system and the power consumption data of the electrical equipment during the tethered drone's operation. The drone battery pack can exist in charging, discharging, and idle states. When the power supply system provides more power than the power demand, it can charge the drone battery pack; when the power supply system provides less power than the power demand, the drone battery pack and the power supply system can simultaneously supply power to the electrical equipment. This ensures stable flight of the tethered drone, achieves rational planning and control of power supply data, and avoids waste of power resources.

Claims

1. A method for power supply management of a tethered unmanned aerial vehicle (UAV), characterized in that, The method comprises: In the case of determining that the power supply system of the tethered unmanned aerial vehicle is in a normal working state, obtaining power supply data provided by the power supply system and power consumption data of a power consumption device; According to the power supply data and the power consumption data, determining the working state of the unmanned aerial vehicle battery pack, wherein the working state comprises a charging state, a discharging state and an idle state; the electric energy generated by the unmanned aerial vehicle battery pack in the discharging state is used for the power consumption device.

2. The method of claim 1, wherein, When the power supply data is power supply system power and the power consumption data is power consumption, the method further comprises: When it is determined that the power supply system power is greater than the power consumption, the unmanned aerial vehicle battery pack is in the charging state.

3. The method of claim 1, wherein, When the power supply data is power supply system power and the power consumption data is power consumption, the method further comprises: When it is determined that the power supply system power is less than the power consumption, the unmanned aerial vehicle battery pack is in the discharging state.

4. The method of any one of claims 1-3, wherein, The method further comprises: In the case of determining that the power supply system of the tethered unmanned aerial vehicle is in a fault state, it is determined that the unmanned aerial vehicle battery pack is in the discharging state, wherein the electric energy generated by the unmanned aerial vehicle battery pack is configured to control the tethered unmanned aerial vehicle to perform a forced landing operation.

5. The method of claim 4, wherein, The method further comprises: When it is determined that the power supply system does not output a power supply parameter according to the flight control instruction of the tethered unmanned aerial vehicle and the power supply parameter is in a preset state within a preset time period, it is determined that the power supply system is in the fault state; wherein the power supply parameter comprises power supply current, power supply voltage or power supply power, and the preset state comprises a continuous decrease state or a continuous increase state.

6. The method of claim 2, wherein, The method further comprises: When the unmanned aerial vehicle battery pack is in the charging state, the power supply system power is reduced; When the unmanned aerial vehicle battery pack is in the discharging state, the power supply system power is increased.

7. An apparatus for power management of a tethered drone, the apparatus comprising: The method comprises: A data acquisition module configured to, in the case of determining that the power supply system of the tethered unmanned aerial vehicle is in a normal working state, acquire power supply data provided by the power supply system and power consumption data of a power consumption device; A state determination module configured to, according to the power supply data and the power consumption data, determine the working state of the unmanned aerial vehicle battery pack, wherein the working state comprises a charging state, a discharging state and an idle state; the electric energy generated by the unmanned aerial vehicle battery pack in the discharging state is used for the power consumption device.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, wherein the computer program is run by the processor to execute the method of any one of claims 1-6.

9. An electronic device, comprising: The computer readable storage medium stores a computer program, wherein the computer program is run by the processing unit to execute the method of any one of claims 1-6.

10. A computer program product, characterised in that, The computer program product comprises a computer program, wherein the computer program, when executed by a processor, performs the method according to any one of claims 1-6.

Images