CN-122009566-A - Energy protection method and device for oil-electricity hybrid unmanned aerial vehicle

CN122009566ACN 122009566 ACN122009566 ACN 122009566ACN-122009566-A

Abstract

The invention relates to the field of unmanned aerial vehicles and discloses an energy protection method and device of an oil-electricity hybrid unmanned aerial vehicle, wherein the method comprises the steps of acquiring energy state parameters of the oil-electricity hybrid unmanned aerial vehicle in real time and calculating the current total equivalent residual energy; the method comprises the steps of acquiring current position coordinates of the hybrid unmanned aerial vehicle in real time, dynamically calculating total energy required by safety protection by combining meteorological data, judging whether the current total equivalent residual energy is larger than the total energy required by the safety protection in real time, if so, controlling the hybrid unmanned aerial vehicle to continue to execute tasks according to an energy scheduling strategy, and if not, controlling the hybrid unmanned aerial vehicle to execute safety protection instructions. The method has the advantages that the safe return of the hybrid unmanned aerial vehicle under the complex meteorological conditions can be ensured, and the safety accidents caused by inaccurate energy consumption estimation are effectively reduced.

Inventors

KE ZHENGHUANG
WU SIYU
FANG DONGXU
Xie Yanghong
LIN WEIPENG
XU XIAOTING
CHEN RONG

Assignees

福建新诺机器人自动化有限公司

Dates

Publication Date: 20260512
Application Date: 20260312

Claims (10)

1. An energy protection method of an oil-electricity hybrid unmanned aerial vehicle is characterized by comprising the following steps: step S1, acquiring energy state parameters of the hybrid unmanned aerial vehicle in real time, and calculating the current total equivalent residual energy; s2, acquiring the current position coordinates of the hybrid unmanned aerial vehicle in real time, and dynamically calculating the total energy required by safety protection by combining meteorological data; And S3, judging whether the current total equivalent residual energy is larger than the total energy required by safety protection in real time, if so, controlling the hybrid unmanned aerial vehicle to continue to execute tasks according to an energy scheduling strategy, and if not, controlling the hybrid unmanned aerial vehicle to execute safety protection instructions.
2. The energy protection method of the hybrid unmanned aerial vehicle according to claim 1, wherein the step S2 specifically includes: acquiring meteorological data, and acquiring preset return parameters, wherein the meteorological data at least comprises a current wind speed and a wind direction angle, and the preset return parameters at least comprise a current position coordinate, a preset return airspeed and a preset return point coordinate; Discretizing a return flight path between the current position coordinate and a preset return point coordinate into a plurality of return sections, wherein each return section corresponds to a course angle and a distance of the return section; according to the vector synthesis principle of the airspeed vector and the wind speed vector, calculating the actual ground speed of the hybrid unmanned aerial vehicle when each return flight section flies; calculating the navigation time required by each return leg according to the leg distance and the corresponding actual ground speed of each return leg; The method comprises the steps of reading an airspeed-power mapping table, obtaining comprehensive power consumption of an oil-electricity hybrid system corresponding to preset return airspeed from the airspeed-power mapping table, and calculating energy required to be consumed by each return flight section according to the navigation time required by each return flight section and the comprehensive power consumption of the oil-electricity hybrid system; and calculating the total energy required by safety protection according to the energy required by each return voyage section and a preset safety margin coefficient.
3. The method for protecting energy of an oil-electricity hybrid unmanned aerial vehicle according to claim 2, wherein the acquiring meteorological data specifically comprises: the current wind speed and the wind direction angle are directly measured through a wind speed and wind direction sensor; Or calculating the current wind speed and the wind direction angle through the vector difference between the current airspeed measured by the airspeed tube and the ground speed measured by the position sensor; or the current wind speed and wind direction angle are obtained from the ground weather station through a data link.
4. The energy protection method of the hybrid unmanned aerial vehicle according to claim 2, wherein the calculation formula of the actual ground speed is as follows: ; Wherein, the Represent the first The actual ground speed of the individual return leg, Indicating a preset return airspeed, Indicating the current wind speed, Represent the first Heading angles corresponding to the return navigation sections, Representing the wind direction angle; At the same time when it occurs In the case of (3), the security protection instruction in step S3 is directly executed.
5. The energy protection method of the hybrid unmanned aerial vehicle according to claim 2, wherein the preset safety margin coefficient is 1.05-1.2.
6. The energy protection method of the hybrid unmanned aerial vehicle according to claim 2, wherein the airspeed-power mapping table is obtained through a calibration test, and the airspeed-power mapping table records comprehensive power consumption of the hybrid system corresponding to the airspeed ranging from 0 to the maximum speed.
7. The energy protection method of the hybrid unmanned aerial vehicle according to claim 1, wherein the step S1 specifically includes: acquiring the current residual oil quantity of a fuel power generation system in the hybrid unmanned aerial vehicle in real time through an oil quantity sensor, and acquiring the current residual electric quantity of a battery system in the hybrid unmanned aerial vehicle through the BMS battery management system implementation; obtaining average energy conversion efficiency of the fuel oil power generation system through a calibration test, and taking the obtained average energy conversion efficiency as a fuel oil-electric energy conversion coefficient; and according to the fuel oil-electric energy conversion coefficient, the current residual oil quantity is equivalent to the residual electric quantity, and the current total equivalent residual energy is calculated according to the current residual electric quantity and the equivalent residual electric quantity.
8. The method of claim 1, wherein the safety protection instructions include an instruction to return to a preset return point position immediately, an instruction to drop directly from a current position immediately, or an instruction to open a safety device immediately; The total energy required by the safety protection correspondingly comprises the total energy required by the hybrid unmanned aerial vehicle to return to a preset return point position from the current position, the total energy required by the hybrid unmanned aerial vehicle to directly land from the current position or the total energy required by the hybrid unmanned aerial vehicle to open the safety device.
9. The energy protection method of the hybrid unmanned aerial vehicle according to claim 1, wherein the controlling the hybrid unmanned aerial vehicle to continue to execute the task according to the energy scheduling policy comprises: And dynamically adjusting output power distribution of the fuel power generation system and the battery system in the hybrid unmanned aerial vehicle according to the current flight mode of the hybrid unmanned aerial vehicle, the current residual electric quantity of the battery system and the current residual oil quantity of the fuel power generation system, and preferentially using the fuel power generation system to provide flight power so as to maintain the current residual electric quantity of the battery system to be higher than a safety threshold.
10. The energy protection device of the oil-electricity hybrid unmanned aerial vehicle is characterized by comprising an equivalent energy calculation module, a protection energy calculation module and a judgment execution module; The equivalent energy calculation module is used for acquiring energy state parameters of the hybrid unmanned aerial vehicle in real time and calculating the current total equivalent residual energy; The protection energy calculation module is used for acquiring the current position coordinates of the hybrid unmanned aerial vehicle in real time and dynamically calculating the total energy required by safety protection by combining with meteorological data; The judging and executing module is used for judging whether the total equivalent residual energy is larger than the total energy required by safety protection in real time, if so, controlling the hybrid unmanned aerial vehicle to continue to execute tasks according to an energy scheduling strategy, and if not, controlling the hybrid unmanned aerial vehicle to execute safety protection instructions.

Description

Energy protection method and device for oil-electricity hybrid unmanned aerial vehicle Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to an energy protection method and device of an oil-electricity hybrid unmanned aerial vehicle. Background The electric unmanned aerial vehicle is limited by the energy density of the battery, and has short endurance time. The hybrid unmanned aerial vehicle (especially the series-type range-extending unmanned aerial vehicle) can effectively prolong the endurance time by generating electricity through fuel oil, and is an important development direction of the current industrial unmanned aerial vehicle. For the hybrid unmanned aerial vehicle, the energy state is determined by the residual electric quantity of the battery and the residual oil quantity of the oil tank, if the electric quantity is simply monitored or the oil quantity is simply monitored, the real total residual energy cannot be reflected to realize reliable energy protection, for example, when the electric quantity is insufficient but the fuel oil is sufficient, the engine can generate electricity to supplement, at the moment, if forced return is caused, the flight mission is interrupted, so that energy waste is caused, and for example, when the fuel oil is exhausted and the electric quantity is insufficient for return, accidents are easily caused. Related schemes for energy management of the hybrid unmanned aerial vehicle exist in the prior art, such as a serial hybrid unmanned aerial vehicle energy management system and method disclosed in China patent application No. CN 202110570247.7. However, in the prior art, when estimating the energy required for the return voyage, the influence of meteorological factors is not considered, which results in inaccurate estimated energy required for the return voyage, and the safe return voyage of the hybrid unmanned aerial vehicle under complex meteorological conditions cannot be ensured. Disclosure of Invention Aiming at the defects of the prior art, the invention provides an energy protection method and device for an oil-electricity hybrid unmanned aerial vehicle, which solve the problems that the estimated energy required for the return is inaccurate and the safe return of the oil-electricity hybrid unmanned aerial vehicle under complex meteorological conditions cannot be ensured because the influence of meteorological factors is not considered in the prior art when the energy required for the return is estimated. In order to achieve the above purpose, the invention is realized by the following technical scheme: in a first aspect, an energy protection method for a hybrid unmanned aerial vehicle, the method comprising the steps of: step S1, acquiring energy state parameters of the hybrid unmanned aerial vehicle in real time, and calculating the current total equivalent residual energy; s2, acquiring the current position coordinates of the hybrid unmanned aerial vehicle in real time, and dynamically calculating the total energy required by safety protection by combining meteorological data; And S3, judging whether the current total equivalent residual energy is larger than the total energy required by safety protection in real time, if so, controlling the hybrid unmanned aerial vehicle to continue to execute tasks according to an energy scheduling strategy, and if not, controlling the hybrid unmanned aerial vehicle to execute safety protection instructions. Further, the step S2 specifically includes: acquiring meteorological data, and acquiring preset return parameters, wherein the meteorological data at least comprises a current wind speed and a wind direction angle, and the preset return parameters at least comprise a current position coordinate, a preset return airspeed and a preset return point coordinate; Discretizing a return flight path between the current position coordinate and a preset return point coordinate into a plurality of return sections, wherein each return section corresponds to a course angle and a distance of the return section; according to the vector synthesis principle of the airspeed vector and the wind speed vector, calculating the actual ground speed of the hybrid unmanned aerial vehicle when each return flight section flies; calculating the navigation time required by each return leg according to the leg distance and the corresponding actual ground speed of each return leg; The method comprises the steps of reading an airspeed-power mapping table, obtaining comprehensive power consumption of an oil-electricity hybrid system corresponding to preset return airspeed from the airspeed-power mapping table, and calculating energy required to be consumed by each return flight section according to the navigation time required by each return flight section and the comprehensive power consumption of the oil-electricity hybrid system; and calculating the total energy required by safety protection acco