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CN-122009584-A - New energy storage type unmanned aerial vehicle storage device and control method thereof

CN122009584ACN 122009584 ACN122009584 ACN 122009584ACN-122009584-A

Abstract

The application discloses a new energy storage type unmanned aerial vehicle storage device and a control method thereof, the new energy storage type unmanned aerial vehicle storage device comprises a light energy conversion mechanism, a unfolding and folding mechanism, an energy storage and control mechanism, an angle adjusting assembly and at least one unmanned aerial vehicle. The light energy conversion mechanism comprises a solar support and a multi-layer solar panel structure, panel temperature sensors are arranged on the solar panels, the unfolding and folding mechanism drives the multi-layer solar panel structure to fold or unfold, the energy storage and control mechanism comprises a power generation box, a control system, an energy storage module and an unmanned aerial vehicle receiving and transmitting storage device, the angle adjustment assembly is used for adjusting the inclination angle of the solar support, the unmanned aerial vehicle carries an environment sensing module, the control system controls the unmanned aerial vehicle to take off and collect environment data, a three-dimensional illumination field model is constructed, and the optimal inclination angle is calculated and driven to be adjusted by combining solar track prediction data. The application increases the light receiving area through the foldable unfolding design of the multi-layer solar panel, improves the power generation efficiency and realizes the autonomous fault diagnosis.

Inventors

  • WANG XUDONG
  • DONG LINGXIAO

Assignees

  • 杭州索恩机械有限公司

Dates

Publication Date
20260512
Application Date
20260403

Claims (10)

  1. 1. New energy storage formula unmanned aerial vehicle storage device, its characterized in that includes: The light energy conversion mechanism (1) comprises a solar bracket (11) and a multi-layer solar panel structure (12), wherein the multi-layer solar panel structure (12) is arranged on the solar bracket (11) and is provided with a plurality of foldable or unfolded solar panels, and each solar panel is provided with a panel temperature sensor; A folding mechanism (2) for driving the multi-layer solar panel structure (12) to fold or unfold; The energy storage and control mechanism (3) comprises a power generation box (31), a control system (32), an energy storage module (33) and an unmanned aerial vehicle receiving and transmitting storage device (34), wherein the power generation box (31) is arranged at the bottom of the solar bracket (11), and the control system (32), the energy storage module (33) and the unmanned aerial vehicle receiving and transmitting storage device (34) are all arranged in the power generation box (31); the angle adjusting component (4) is arranged between the solar bracket (11) and the power generation box (31) and is used for adjusting the inclination angle of the solar bracket (11); at least one unmanned aerial vehicle (5), wherein the unmanned aerial vehicle (5) is stored in the unmanned aerial vehicle receiving and transmitting storage device (34), and the unmanned aerial vehicle (5) is provided with an environment sensing module (51); the control system (32) is used for controlling the unmanned aerial vehicle (5) to take off and collect environmental data above the multi-layer solar panel structure (12), constructing a three-dimensional illumination field model based on the environmental data, calculating the optimal inclination angle of the solar bracket (11) by combining the three-dimensional illumination field model and solar track prediction data, and driving the angle adjusting component (4) to adjust the solar bracket (11) to the optimal inclination angle.
  2. 2. The new energy storage type unmanned aerial vehicle storage device according to claim 1, wherein the folding and unfolding mechanism (2) comprises at least two sliding rails (21) fixed on the solar bracket (11), two sliding strips (22) arranged on the sliding rails (21) in a sliding manner, two electric push rods (23) and a plurality of limiting assemblies (24); the multi-layer solar panel structure (12) comprises an upper layer solar panel unit (121), a middle layer solar panel unit (122) and a lower layer solar panel unit (123), wherein the middle layer solar panel unit (122) is fixedly connected with the solar support (11), the upper layer solar panel unit (121) and the lower layer solar panel unit (123) are respectively fixed on the two sliding strips (22), the two electric push rods (23) are respectively connected between the solar support (11) and the corresponding sliding strips (22) and used for driving the upper layer solar panel unit (121) and the lower layer solar panel unit (123) to move away from each other so as to be unfolded or move towards each other so as to be folded, the limiting component (24) is used for limiting the deviating movement of the upper layer solar panel unit (121) and the lower layer solar panel unit (123), the upper layer solar panel unit (121), the middle layer solar panel unit (122) and the lower layer solar panel unit (123) are respectively connected between the solar support (11) and the corresponding sliding strips (22) and used for driving the upper layer solar panel unit (123) to deviate from each other, the first solar panel (124) and the second solar panel (125) are respectively arranged at the end part (125) of the solar panel (124) and the first solar panel (125), the second solar panel (126) and the third solar panel (127) are slidably connected with the connecting frame (124) along the width direction of the connecting frame (124), the sliding direction of the second solar panel (126) and the sliding direction of the third solar panel (127) are opposite, and the first solar panel (125), the second solar panel (126) and the third solar panel (127) jointly form the solar panel.
  3. 3. The new energy storage type unmanned aerial vehicle storage device according to claim 1, wherein the angle adjusting assembly (4) comprises a first rotating shaft (41) and an angle push rod (42), the tail end of the solar bracket (11) is hinged with the rear end of the top of the power generation box (31) through the first rotating shaft (41), a cylinder body of the angle push rod (42) is hinged with the front side wall of the power generation box (31) through a second rotating shaft (43), the end part of a piston rod of the angle push rod (42) is hinged with the bottom of the front end of the solar bracket (11), and the angle push rod (42) has a self-locking function.
  4. 4. The new energy storage type unmanned aerial vehicle storage device according to claim 1, wherein the unmanned aerial vehicle receiving and transmitting storage device (34) comprises an unmanned aerial vehicle storage cabin (341), an opening and closing driving piece (343), an automatic centering mechanism (344) and a wireless charging module (345), a cabin door (342) is arranged on the side wall of the unmanned aerial vehicle storage cabin (341), the opening and closing driving piece (343) is arranged above the cabin door (342) and is used for driving the cabin door (342) to open or close outwards, the automatic centering mechanism (344) comprises a guide inclined plate (3441) and a positioning clamping groove (3442) which are arranged at the bottom of the unmanned aerial vehicle storage cabin (341), and the wireless charging module (345) is arranged at the bottom of the positioning clamping groove (3442); The environment sensing module (51) comprises an illumination sensor array (511), a down-looking camera (512) and a positioning module (513), wherein the illumination sensor array (511) is arranged on the upper part and the lower part of a machine body of the unmanned aerial vehicle (5) and comprises an upper hemispherical illumination sensor group and a lower hemispherical illumination sensor group, the down-looking camera (512) is arranged at the bottom of the machine body of the unmanned aerial vehicle (5), and the positioning module (513) is used for recording three-dimensional coordinates of the unmanned aerial vehicle (5) at each sampling point.
  5. 5. The novel energy storage type unmanned aerial vehicle storage device according to claim 1, wherein the power generation box (31) is further integrated with a meteorological monitoring module (35), a communication module (36), an emergency power supply interface (37), a partition electric parameter monitoring module (38) and a string power monitoring module (39), the meteorological monitoring module (35) comprises a wind speed sensor, a temperature sensor and an external meteorological cloud image data interface, the communication module (36) comprises a 4G/5G communication unit and a Beidou short message unit, the emergency power supply interface (37) is arranged on the outer side of a box body of the power generation box (31), the unmanned aerial vehicle (5) is further provided with a communication relay module, the partition electric parameter monitoring module (38) is used for monitoring real-time voltage and current of each partition of the multi-layer solar panel structure (12), and the string power monitoring module (39) is used for monitoring output power of each solar panel string.
  6. 6. A control method based on the device of any one of claims 1-5, characterized by the steps of: S1, determining a flight window, namely determining an optimal take-off time window of the unmanned aerial vehicle (5) by the control system (32) according to the current charge state of the energy storage module (33) and a predicted generation power curve, and generating a flight mission plan; S2, collecting environment data, namely taking off the unmanned aerial vehicle (5) to a preset height above a multi-layer solar panel structure (12), hovering at a plurality of sampling points according to a preset path, and collecting illumination intensity data of each sampling point, surface image data of each solar panel, surrounding environment image data and three-dimensional coordinates through the environment sensing module (51); s3, data processing and modeling, wherein the control system (32) constructs a three-dimensional illumination field model based on illumination intensity data and three-dimensional coordinates of each sampling point, determines cleanliness coefficients of each solar panel based on surface image data of each solar panel, identifies a shelter based on surrounding environment image data and combines a solar track prediction model to generate a space-time shelter prediction map; s4, optimizing calculation, namely calculating an optimal inclination angle adjustment time sequence by taking the maximum total generated power as an optimizing target and combining the three-dimensional illumination field model, the cleanliness coefficient, the space-time shielding prediction map and the solar track prediction data; S5, performing inclination adjustment, wherein the control system (32) drives the angle adjusting component (4) to perform inclination adjustment on the solar bracket (11) according to the optimal inclination adjustment time sequence; s6, feedback correction, namely comparing the actual generated energy of the previous period with the predicted generated energy, and correcting the optimized model parameters according to the deviation value.
  7. 7. The control method according to claim 6, characterized in that in step S1, the current state of charge of the energy storage module (33) is based on Predicting a power generation profile Single-task energy consumption of unmanned aerial vehicle (5) And system base load power The available energy margin is calculated according to the following formula : , Wherein, the For the total capacity of the battery pack, In order to calculate the time-frame, Is the current moment; Calculating the change curve of the solar altitude angle along with time according to the current date and the geographic position, determining a take-off time window by combining the change condition of the solar altitude angle, and confirming Greater than the safety energy margin On the premise of (1) generating a flight mission plan comprising a departure time, a flight path and a mission type.
  8. 8. The control method according to claim 6, wherein in step S3, the determination of the cleanliness factor includes synthesizing partial images taken at a plurality of sampling points into complete top view images of the respective solar panels by image stitching, performing gray scale analysis and texture analysis on the surface areas of the respective solar panels, and determining the cleanliness factor The value range is defined as the ratio of the current reflectivity of the plate surface to the factory standard reflectivity ; The generation of the space-time shielding prediction spectrum comprises the steps of carrying out semantic segmentation on surrounding environment images, identifying the types and the spatial positions of the shielding objects, calculating shadow areas of the shielding objects projected onto each solar panel at different moments by combining a solar track prediction model, and outputting a time sequence matrix Wherein As the coordinates of the location(s), In order to be able to take time, The value is the occlusion coefficient of the position at that moment, Indicating that there is no occlusion at all, Indicating complete occlusion.
  9. 9. The control method according to claim 8, wherein in step S4, the objective function of the optimization calculation is: , Wherein, the Is the inclination angle of the solar bracket (11); The total number of the solar panels; is the first Nominal power of the block solar panel; is the first Block solar panel at temperature The coefficient of efficiency of the lower-level gas turbine is, Wherein Is a temperature coefficient of the silicon carbide material, As a reference to the temperature of the liquid, The real-time plate surface temperature is obtained through a plate surface temperature sensor; At an inclination angle of Lower solar ray and the first Incidence angle of block solar panel normal; is the first The cleanliness factor of the block solar panel; At an inclination angle of Lower (th) The solar panel blocks at the moment Is a shading coefficient of (a); The optimization calculation is also limited by the following constraints: Wind load safety constraint when real-time wind speed Exceeding a preset wind speed threshold In the time-course of which the first and second contact surfaces, Wherein , Is the maximum allowable inclination angle in windless condition, Is the limit wind speed; Temperature efficiency constraint, when the real-time plate surface temperature exceeds a preset temperature threshold value, correcting an objective function to be , Wherein, the As the heat dissipation weight coefficient, Is the inclination angle A lower heat dissipation efficiency estimation value; Energy storage state constraint, introducing state of charge adjustment weights The modified objective function is ; When the state of charge is lower than a preset lower threshold value, setting To raise the power generation priority, when the state of charge is higher than the preset upper threshold value, the power generation priority is forcedly set Wherein The wind-shielding inclination angle is preset, so that power generation is reduced to avoid overcharging; In step S6, the feedback correction includes calculating the deviation rate of the previous period , Wherein, the As the actual amount of power generation, To predict the generated energy When the deviation exceeds a preset deviation threshold, an exponential weighted moving average method is adopted to correct the illumination attenuation coefficient and the temperature influence coefficient in the optimization model.
  10. 10. The control method according to claim 6, further comprising an abnormal event triggering step of detecting a predicted charging power Greater than a preset minimum operating power The control system (32) monitors the charging power of the energy storage module (33) in real time, calculates the decreasing amplitude of the actual charging power relative to the predicted charging power , When (when) When the weather monitoring data exceeds a preset proportion threshold value and cloud cover shielding changes are not displayed, the control system (32) invokes real-time electric parameter data of a regional electric parameter monitoring module (38) and a group string power monitoring module (39) which are arranged in the device, and a suspected fault group string or a regional with abnormally reduced power generation power is positioned; triggering the unmanned aerial vehicle (5) to additionally take off and executing a local scanning task, wherein the flight path of the local scanning task covers the solar panel area corresponding to the positioned suspected fault group string or partition; the control system (32) comprehensively judges the reasons of the abnormality according to the local scanning data and the real-time electric parameter data: if the image data of the local scanning identifies the newly-appearing shielding object, updating the space-time shielding prediction map and recalculating the optimal inclination angle; if the locally scanned image data identifies the plate surface pollution, updating the cleanliness coefficient, generating a cleaner bill and sending the cleaner bill to a remote operation and maintenance center through a communication module (36); If the image data does not show obvious shielding and pollution, and the electrical parameter data of the partition electrical parameter monitoring module (38) or the group string power monitoring module (39) shows open circuit, short circuit or abnormal voltage and current amplitude reduction, judging that the hardware is in fault, generating fault alarm information and sending the fault alarm information to an operation and maintenance center through the communication module (36).

Description

New energy storage type unmanned aerial vehicle storage device and control method thereof Technical Field The application relates to the field of new energy storage and unmanned aerial vehicle application, in particular to a new energy storage type unmanned aerial vehicle storage device and a control method thereof. Background With the wide application of unmanned aerial vehicles in various fields such as electric power inspection, environmental protection monitoring, security patrol and the like, the demands of unmanned aerial vehicle full-automatic field parking apron (storage device) are growing increasingly. The outdoor storage device is provided with the solar power generation and energy storage system, can realize off-grid independent operation, provides great convenience for daily use of the unmanned aerial vehicle, promotes application of unmanned aerial vehicle technology in more scenes, and promotes development of related industries. Conventionally, for solar unmanned aerial vehicle storage devices, there are mainly the following methods generally adopted in the industry. Firstly, the solar panel adopts fixed rigid installation, and the mode is simpler and more direct, and can meet basic power generation requirements to a certain extent. Secondly, the control logic simply tracks by means of historical meteorological data, so that the working state of the solar panel can be adjusted. These conventional approaches have solved some of the problems over a period of time, providing a basic support for the application of solar unmanned aerial vehicle storage devices. However, existing solar unmanned aerial vehicle storage devices have significant drawbacks. On the one hand, the fixed rigidly mounted solar panel is limited by the volume of the storage device, the deployment area is small, and the optimal light-receiving angle cannot be dynamically adjusted according to seasons and time of day, so that the power generation efficiency is low. On the other hand, in a complex field environment, the solar panel is often shielded by trees, clouds or foreign matters, so that the actual power generation amount is far lower than the theoretical value. In addition, when the power generation system has power dip, the existing device cannot automatically locate and diagnose the fault cause, and the existing device excessively relies on manual work to go to a remote area for field investigation, so that the operation and maintenance cost is high. Disclosure of Invention In order to solve the technical problems in the prior art, the application provides a new energy storage type unmanned aerial vehicle storage device and a control method thereof. The application provides a new energy storage type unmanned aerial vehicle storage device and a control method thereof, which adopt the following technical scheme: a new energy storage unmanned aerial vehicle storage device, comprising: the light energy conversion mechanism comprises a solar bracket and a multi-layer solar panel structure, wherein the multi-layer solar panel structure is arranged on the solar bracket and provided with a plurality of foldable or unfolded solar panels, and each solar panel is provided with a panel temperature sensor; The unfolding and folding mechanism is used for driving the multi-layer solar panel structure to fold or unfold; the energy storage and control mechanism comprises a power generation box, a control system, an energy storage module and an unmanned aerial vehicle receiving and transmitting storage device, wherein the power generation box is arranged at the bottom of the solar bracket, and the control system, the energy storage module and the unmanned aerial vehicle receiving and transmitting storage device are arranged in the power generation box; the angle adjusting component is arranged between the solar bracket and the power generation box and is used for adjusting the inclination angle of the solar bracket; at least one unmanned aerial vehicle, the unmanned aerial vehicle is stored in the unmanned aerial vehicle receiving and transmitting storage device, and the unmanned aerial vehicle is loaded with an environment sensing module; The control system is used for controlling the unmanned aerial vehicle to take off and collect environmental data above a multi-layer solar panel structure, constructing a three-dimensional illumination field model based on the environmental data, calculating the optimal inclination angle of the solar bracket by combining the three-dimensional illumination field model and solar track prediction data, and driving the angle adjusting component to adjust the solar bracket to the optimal inclination angle. In some embodiments, the folding and unfolding mechanism comprises at least two sliding rails fixed on the solar bracket, two sliding strips arranged on the sliding rails in a sliding manner, two electric push rods and a plurality of limiting components; The multi-layer solar panel structure comprises an