TWI698067B

TWI698067B - Adaptive power supply system and operation method thereof

Info

Publication number: TWI698067B
Application number: TW107141187A
Authority: TW
Inventors: 林建宏; 李育陞; 許芷瑋; 陳泳超; 謝憲慶
Original assignee: 財團法人工業技術研究院
Priority date: 2018-06-04
Filing date: 2018-11-20
Publication date: 2020-07-01
Also published as: TW202028103A; TW202005226A

Abstract

An adaptive power supply system for unmanned vehicle and an operation method thereof are provided. The adaptive power supply system includes an adaptive power supply, a battery, a sensing circuit, and a power dispatch controller. The output terminal of the adaptive power supply powers the load circuit of the unmanned vehicle. The battery is coupled to the output terminal of the adaptive power supply. The sensing circuit senses the output of the output terminal of the adaptive power supply and the output of the battery. The power dispatch controller controls the output of the output terminal of the adaptive power supply according to the sensing result of the sensing circuit. The power dispatch controller determines whether one or both of the adaptive power supply and the battery power the load circuit by adjusting the output of the adaptive power supply.

Description

可調變式電源供應系統及其操作方法Adjustable power supply system and operation method thereof

本發明是有關於一種可調變式電源供應系統及其操作方法。The invention relates to an adjustable power supply system and an operation method thereof.

一般無人機（Drone）的電力來源為電池。無人機的飛行時間取決於電池的容量。然而電池的容量是有限的，當無人機需要較長的飛行時間時，電池可能難以提供足夠的電量。為了延長無人機的飛行時間，繫留無人機（Tethered Drone）是另一種選擇。地面裝置可以經由電源纜線（power cable）提供電力給繫留無人機，因此繫留無人機的飛行時間可以被大幅延長。Generally, the source of electricity for drones is batteries. The flight time of the drone depends on the battery capacity. However, the capacity of the battery is limited. When the drone needs a long flight time, the battery may not provide enough power. In order to extend the flight time of the drone, a tethered drone is another option. Ground devices can provide power to the tethered UAV via a power cable, so the flight time of the tethered UAV can be greatly extended.

本發明提供一種可調變式電源供應系統及其操作方法，以有效降低纜線的電線損耗（wire-loss）。The present invention provides an adjustable power supply system and an operation method thereof, so as to effectively reduce wire-loss of a cable.

本發明的一實施例提供一種可調變式電源供應系統，適用於無人載具。所述可調變式電源供應系統包括可調變式電源供應器、電池、感測電路以及電源調度控制器。被配置於無人載具的可調變式電源供應器用以接收源電力。可調變式電源供應器的輸出端用以供電至無人載具的負載電路。被配置於無人載具的電池耦接至可調變式電源供應器的輸出端。感測電路耦接至可調變式電源供應器的輸出端，以感測可調變式電源供應器的輸出。感測電路耦接至電池，以感測電池的輸出。電源調度控制器耦接感測電路以及可調變式電源供應器。電源調度控制器根據感測電路的感測結果來控制可調變式電源供應器的輸出端的輸出。電源調度控制器藉由可調變式電源供應器的輸出的調整來決定由可調變式電源供應器供電至負載電路、或由電池供電至負載電路、或由電池與可調變式電源供應器共同供電至負載電路。An embodiment of the present invention provides an adjustable power supply system suitable for unmanned vehicles. The adjustable power supply system includes an adjustable power supply, a battery, a sensing circuit, and a power dispatch controller. The adjustable power supply configured on the unmanned vehicle is used to receive the source power. The output terminal of the adjustable power supply is used to supply power to the load circuit of the unmanned vehicle. The battery configured in the unmanned vehicle is coupled to the output terminal of the adjustable power supply. The sensing circuit is coupled to the output terminal of the adjustable power supply to sense the output of the adjustable power supply. The sensing circuit is coupled to the battery to sense the output of the battery. The power dispatch controller is coupled to the sensing circuit and the adjustable power supply. The power dispatch controller controls the output of the output terminal of the variable power supply according to the sensing result of the sensing circuit. The power dispatch controller determines the power supply from the variable power supply to the load circuit, the battery power to the load circuit, or the battery and the variable power supply by adjusting the output of the variable power supply The converters supply power to the load circuit together.

本發明的一實施例提供一種可調變式電源供應系統的操作方法，適用於無人載具。所述操作方法包括：由被配置於無人載具的可調變式電源供應器接收源電力；由可調變式電源供應器的輸出端供電至無人載具的負載電路；由感測電路感測可調變式電源供應器的輸出端的輸出；由感測電路感測被配置於無人載具的電池的輸出，其中該電池耦接至可調變式電源供應器的輸出端；以及根據感測電路的感測結果，由電源調度控制器控制可調變式電源供應器的輸出端的輸出。其中，電源調度控制器藉由可調變式電源供應器的輸出的調整來決定由可調變式電源供應器供電至負載電路、或由電池供電至負載電路、或由電池與可調變式電源供應器共同供電至負載電路。An embodiment of the present invention provides an operation method of an adjustable power supply system, which is suitable for unmanned vehicles. The operation method includes: receiving source power from an adjustable power supply configured on the unmanned vehicle; supplying power from the output terminal of the adjustable power supply to the load circuit of the unmanned vehicle; and sensing by a sensing circuit Measure the output of the output terminal of the adjustable power supply; sense the output of the battery configured on the unmanned vehicle by the sensing circuit, wherein the battery is coupled to the output terminal of the adjustable power supply; The sensing result of the sensing circuit is controlled by the power dispatch controller to control the output of the output terminal of the adjustable power supply. Among them, the power dispatch controller determines the power supply from the variable power supply to the load circuit, the battery power supply to the load circuit, or the battery and the variable power supply by adjusting the output of the variable power supply. The power supply supplies power to the load circuit together.

基於上述，本發明諸實施例所述可調變式電源供應器與電池被配置於無人載具。可調變式電源供應器可以將源電力的電壓調整/轉換為符合無人載具的負載電路的額定電壓的電壓準位。藉此，纜線的電流值可以被盡可能地降低，以有效降低纜線的電線損耗。再者，當負載電路瞬間需要大電流時，可調變式電源供應器與電池可以即時地（無切換地）共同供電至負載電路。Based on the above, the variable power supply and the battery according to the embodiments of the present invention are configured in an unmanned vehicle. The adjustable power supply can adjust/convert the voltage of the source power to a voltage level that meets the rated voltage of the load circuit of the unmanned vehicle. In this way, the current value of the cable can be reduced as much as possible to effectively reduce the wire loss of the cable. Furthermore, when the load circuit needs a large current instantaneously, the adjustable power supply and the battery can supply power to the load circuit together instantly (without switching).

為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.

在本案說明書全文(包括申請專利範圍)中所使用的「耦接（或連接）」一詞可指任何直接或間接的連接手段。舉例而言，若文中描述第一裝置耦接（或連接）於第二裝置，則應該被解釋成該第一裝置可以直接連接於該第二裝置，或者該第一裝置可以透過其他裝置或某種連接手段而間接地連接至該第二裝置。另外，凡可能之處，在圖式及實施方式中使用相同標號的元件/構件/步驟代表相同或類似部分。不同實施例中使用相同標號或使用相同用語的元件/構件/步驟可以相互參照相關說明。The term "coupling (or connection)" used in the full description of the case (including the scope of the patent application) can refer to any direct or indirect connection means. For example, if the text describes that the first device is coupled (or connected) to the second device, it should be interpreted as that the first device can be directly connected to the second device, or that the first device can be connected to other devices or some This kind of connection means is indirectly connected to the second device. In addition, wherever possible, elements/components/steps with the same reference numbers in the drawings and embodiments represent the same or similar parts. Elements/components/steps using the same reference numerals or using the same terms in different embodiments may refer to related descriptions.

在一些實施例中，繫留無人機內部沒有配置電源供應器。繫留無人機的飛控（fly control）系統、電子速度控制（electric speed control, ESD）電路、馬達（Motor）以及其他負載電路/元件所需的電力由電源纜線直接提供。因此，地面裝置會經由電源纜線提供直流（direct-current, DC）的電力給繫留無人機。較長的電源纜線具有較長的寄生電阻。舉例來說，若是100公尺的電源纜線的電阻值為15歐姆，且繫留無人機所需功率與電壓分別為600瓦特與24伏特，則電源纜線所傳送的直流電力的電流為600/24 = 25安培，致使電源纜線的壓降為15*25 = 375伏特。因此，地面裝置需要提供給電源纜線的直流電力的電壓為375+24 = 399伏特。造成電源纜線的電線損耗（wire-loss）為375*25 = 9375瓦特。此為相當大的電線損耗。In some embodiments, there is no power supply inside the tethered drone. The power required for the fly control system, electric speed control (ESD) circuit, motor and other load circuits/components of the tethered drone is provided directly by the power cable. Therefore, the ground device will provide direct-current (DC) power to the moored drone via the power cable. Longer power cables have longer parasitic resistance. For example, if the resistance value of a 100-meter power cable is 15 ohms, and the power and voltage required to tether the drone are 600 watts and 24 volts, respectively, the current of the DC power transmitted by the power cable is 600 /24 = 25 amps, resulting in a voltage drop of 15*25 = 375 volts on the power cable. Therefore, the voltage of the DC power that the ground device needs to provide to the power cable is 375 + 24 = 399 volts. The wire-loss caused by the power cable is 375*25 = 9375 watts. This is a considerable wire loss.

另一方面，若是地面裝置沒有對電源纜線進行張力控制，電源纜線可能會纏繞（打結）。On the other hand, if the ground device does not control the tension of the power cable, the power cable may become tangled (knotted).

圖1是依照本發明的一實施例所繪示的一種可調變式電源供應系統（adaptive power supply system）的電路方塊（circuit block）示意圖。圖1所示可調變式電源供應系統適用於無人載具（unmanned vehicle）100。依照設計需求，所述無人載具100例如是無人機（Drone）、無人車、機器人或是其他機電裝置。所述無人機可以是繫留無人機（Tethered Drone）或是其他類型的無人機。無人載具100配置有圖1所示可調變式電源供應系統與其他元件。以無人機為例，無人載具還可能配置有馬達（Motor）、飛控（fly control）系統、電子速度控制（electric speed control, ESD）電路及/或其他元件。依照設計需求，所述馬達可以驅動無人載具的機械能機構，例如螺旋槳、車輪、機械腳或是其他機構。FIG. 1 is a schematic diagram of a circuit block of an adaptive power supply system (adaptive power supply system) according to an embodiment of the present invention. The adjustable power supply system shown in Fig. 1 is suitable for an unmanned vehicle 100. According to design requirements, the unmanned vehicle 100 is, for example, a drone, an unmanned vehicle, a robot, or other electromechanical devices. The drone may be a tethered drone (Tethered Drone) or other types of drones. The unmanned vehicle 100 is equipped with an adjustable power supply system and other components shown in FIG. 1. Taking drones as an example, unmanned vehicles may also be equipped with motors, fly control systems, electric speed control (ESD) circuits and/or other components. According to design requirements, the motor can drive the mechanical energy mechanism of the unmanned vehicle, such as a propeller, a wheel, a mechanical foot, or other mechanisms.

圖1所示可調變式電源供應系統包括負載電路110、感測電路120、電源調度控制器（power dispatch controller）130、可調變式電源供應器（adaptive power supply）140以及電池150。在圖1所示實施例中，負載電路110、感測電路120、電源調度控制器130、可調變式電源供應器140以及電池150配置於無人載具100。依照設計需求，負載電路110可以包括馬達、飛控系統、電子速度控制電路以及/或是其他電性元件。The adjustable power supply system shown in FIG. 1 includes a load circuit 110, a sensing circuit 120, a power dispatch controller 130, an adaptive power supply 140, and a battery 150. In the embodiment shown in FIG. 1, the load circuit 110, the sensing circuit 120, the power dispatch controller 130, the variable power supply 140 and the battery 150 are arranged on the unmanned vehicle 100. According to design requirements, the load circuit 110 may include a motor, a flight control system, an electronic speed control circuit, and/or other electrical components.

纜線10的第一端耦接至可調變式電源供應器140的輸入端。纜線10的第二端耦接至電力供應裝置20的輸出端。在一實施例中，纜線10包括電源纜線，電力供應裝置20可以經由纜線10提供源電力SP給可調變式電源供應器140。舉例來說，在一些實施例中，電力供應裝置20可以經由纜線10提供交流（alternating current, AC）的高電壓電力（源電力SP）給無人載具100。在另一些實施例中，電力供應裝置20可以經由纜線10提供直流（direct-current, DC）的高電壓電力（源電力SP）給無人載具100。可調變式電源供應器140可以將源電力SP的電壓調整/轉換為某一個電壓準位，以符合無人載具100的負載電路110的額定電壓。可調變式電源供應器140的輸出端耦接至負載電路110的電力輸入端，以供電給負載電路110。本實施例並不限制可調變式電源供應器140的實施方式。舉例來說，在一些實施例中，可調變式電源供應器140可以是交流-直流轉換器（AC-to-DC converter）或是其他電力轉換電路。在另一些實施例中，可調變式電源供應器140可以是直流-直流轉換器（DC-to-DC converter）或是其他電力轉換電路。例如，依照設計需求，可調變式電源供應器140可以是切換式穩壓器（switching regulator）或是其他穩壓電路。The first end of the cable 10 is coupled to the input end of the adjustable power supply 140. The second end of the cable 10 is coupled to the output end of the power supply device 20. In an embodiment, the cable 10 includes a power cable, and the power supply device 20 can provide the source power SP to the variable power supply 140 via the cable 10. For example, in some embodiments, the power supply device 20 may provide alternating current (AC) high voltage power (source power SP) to the unmanned vehicle 100 via the cable 10. In other embodiments, the power supply device 20 may provide direct-current (DC) high-voltage power (source power SP) to the unmanned vehicle 100 via the cable 10. The variable power supply 140 can adjust/convert the voltage of the source power SP to a certain voltage level to meet the rated voltage of the load circuit 110 of the unmanned vehicle 100. The output terminal of the variable power supply 140 is coupled to the power input terminal of the load circuit 110 to supply power to the load circuit 110. This embodiment does not limit the implementation of the variable power supply 140. For example, in some embodiments, the variable power supply 140 may be an AC-to-DC converter or other power conversion circuits. In other embodiments, the variable power supply 140 may be a DC-to-DC converter or other power conversion circuits. For example, according to design requirements, the variable power supply 140 may be a switching regulator or other voltage stabilizing circuits.

電力供應裝置20可以經由纜線10提供交流（alternating current, AC）的高電壓電力（源電力SP，例如交流電壓220伏特）給無人載具100。假設無人載具100的負載電路110所需功率與電壓分別為600瓦特與直流電壓24伏特。可調變式電源供應器140可以將源電力SP的交流電壓220伏特調整/轉換為直流電壓24伏特，以便供電給負載電路110。纜線10的長度可以依照設計需求來決定。舉例來說，纜線10的長度可以是100公尺，若100公尺的纜線10的寄生電阻的電阻值為15歐姆。在未由電池150供電的條件下，纜線10所傳送的交流電力的電流為600/220 ≈ 2.73安培，致使纜線10的壓降為15*(600/220) ≈ 40伏特。纜線10的電線損耗（wire-loss）為[15*(600/220)]*(600/220) ≈ 112瓦特。於此實施例中，源電力SP的電壓大於負載電路110的額定電壓，而可調變式電源供應器140將源電力SP的電壓準位降壓至符合負載電路110的額定電壓。藉此，纜線10的電流值可以被降低，以有效降低纜線10的電線損耗。The power supply device 20 may provide alternating current (AC) high voltage power (source power SP, for example, AC voltage 220 volts) to the unmanned vehicle 100 via the cable 10. Assume that the power and voltage required by the load circuit 110 of the unmanned vehicle 100 are 600 watts and a DC voltage of 24 volts, respectively. The variable power supply 140 can adjust/convert the AC voltage of 220 volts of the source power SP into a DC voltage of 24 volts to supply power to the load circuit 110. The length of the cable 10 can be determined according to design requirements. For example, the length of the cable 10 may be 100 meters, if the parasitic resistance of the 100-meter cable 10 is 15 ohms. Under the condition of not being powered by the battery 150, the current of the AC power transmitted by the cable 10 is 600/220≈2.73 amperes, resulting in a voltage drop of the cable 10 of 15*(600/220)≈40 volts. The wire-loss of the cable 10 is [15*(600/220)]*(600/220) ≈ 112 watts. In this embodiment, the voltage of the source power SP is greater than the rated voltage of the load circuit 110, and the variable power supply 140 steps down the voltage level of the source power SP to meet the rated voltage of the load circuit 110. Thereby, the current value of the cable 10 can be reduced, so as to effectively reduce the wire loss of the cable 10.

電池150耦接至可調變式電源供應器140的輸出端。亦即，可調變式電源供應器140以及電池150並聯至負載電路110的電力輸入端。電池150可以作為無人載具100的備援電池（Buffered Battery）。在一些應用情境中，基於電源調度控制器130的控制，電池150與可調變式電源供應器140可以選擇性地共同供電至負載電路110。在可調變式電源供應器140的電源供應發生異常時，電池150可以提供電源讓無人載具100可進行緊急處理（例如緊急降落、緊急停車、發送求救信號等）。The battery 150 is coupled to the output terminal of the adjustable power supply 140. That is, the adjustable power supply 140 and the battery 150 are connected in parallel to the power input end of the load circuit 110. The battery 150 can be used as a buffered battery for the unmanned vehicle 100 (Buffered Battery). In some application scenarios, based on the control of the power dispatch controller 130, the battery 150 and the variable power supply 140 can selectively supply power to the load circuit 110 together. When the power supply of the variable power supply 140 is abnormal, the battery 150 can provide power so that the unmanned vehicle 100 can perform emergency processing (such as emergency landing, emergency stopping, sending a distress signal, etc.).

感測電路120耦接至可調變式電源供應器140的輸出端，以感測可調變式電源供應器140的輸出。在一些實施例中，感測電路120耦接至電池150，以感測電池150的輸出。基於設計需求，在一些實施例中，感測電路120耦接至負載電路110的電力輸入端，以感測負載電路110的電力輸入。舉例來說（但不限於此），感測電路120包括感測器120a、感測器120b與感測器120c。感測器120a接至可調變式電源供應器140的輸出端，以感測可調變式電源供應器140的輸出。感測器120b耦接至電池150，以感測電池150的輸出。感測器120c耦接至負載電路110的電力輸入端，以感測負載電路110的輸入。依照設計需求，感測器120a可以包括電壓感測器、電流感測器以及/或是其他電性感測器。感測器120a可以感測可調變式電源供應器140的輸出電壓、輸出電流、電流方向以及/或是其他電性特徵，然後將感測結果提供給電源調度控制器130。感測器120b可以參照感測器120a的相關說明來類推，故不再贅述。感測器120c可以包括電壓感測器、電流感測器以及/或是其他電性感測器。感測器120c可以感測負載電路110的輸入電壓、輸入電流、電流方向以及/或是其他電性特徵，然後將感測結果提供給電源調度控制器130。The sensing circuit 120 is coupled to the output terminal of the variable power supply 140 to sense the output of the variable power supply 140. In some embodiments, the sensing circuit 120 is coupled to the battery 150 to sense the output of the battery 150. Based on design requirements, in some embodiments, the sensing circuit 120 is coupled to the power input terminal of the load circuit 110 to sense the power input of the load circuit 110. For example (but not limited to this), the sensing circuit 120 includes a sensor 120a, a sensor 120b, and a sensor 120c. The sensor 120 a is connected to the output terminal of the variable power supply 140 to sense the output of the variable power supply 140. The sensor 120b is coupled to the battery 150 to sense the output of the battery 150. The sensor 120c is coupled to the power input terminal of the load circuit 110 to sense the input of the load circuit 110. According to design requirements, the sensor 120a may include a voltage sensor, a current sensor, and/or other electrical sensors. The sensor 120a can sense the output voltage, output current, current direction, and/or other electrical characteristics of the variable power supply 140, and then provide the sensing result to the power dispatch controller 130. The sensor 120b can be deduced by referring to the relevant description of the sensor 120a, so it will not be repeated. The sensor 120c may include a voltage sensor, a current sensor, and/or other electrical sensors. The sensor 120c can sense the input voltage, input current, current direction, and/or other electrical characteristics of the load circuit 110, and then provide the sensing result to the power dispatch controller 130.

圖2是依照本發明的一實施例所繪示的一種可調變式電源供應系統的操作方法的流程示意圖。請參照圖1與圖2。可調變式電源供應器140的輸入端接收源電力SP（步驟S210），而可調變式電源供應器140的輸出端供電至無人載具100的負載電路110（步驟S220）。依照設計需求，在步驟S230中，感測電路120可以感測可調變式電源供應器140的輸出端的輸出，以及/或是感測電路120可以感測被配置於無人載具100的電池150的輸出。在另一實施例中，依照設計需求，感測電路120可以感測可調變式電源供應器140的輸出、電池150的輸出以及/或是負載電路110的電力輸入。舉例來說，在一些實施例中，感測電路120在步驟S230中可以感測可調變式電源供應器140的輸出端的輸出電能（例如電壓、電流以及/或是其他電性特性），但沒有感測電池150的輸出與負載電路110的電力輸入，以獲得感測結果。在另一些實施例中，感測電路120在步驟S230中可以感測可調變式電源供應器140的輸出端的輸出與電池150的輸出，但沒有感測負載電路110的電力輸入，以獲得感測結果。在又一些實施例中，感測電路120在步驟S230中可以感測可調變式電源供應器140的輸出端的輸出、電池150的輸出與感測負載電路110的電力輸入，以獲得感測結果。FIG. 2 is a schematic flowchart of an operation method of an adjustable power supply system according to an embodiment of the present invention. Please refer to Figure 1 and Figure 2. The input terminal of the variable power supply 140 receives the source power SP (step S210), and the output terminal of the variable power supply 140 supplies power to the load circuit 110 of the unmanned vehicle 100 (step S220). According to design requirements, in step S230, the sensing circuit 120 can sense the output of the output terminal of the variable power supply 140, and/or the sensing circuit 120 can sense the battery 150 configured on the unmanned vehicle 100 Output. In another embodiment, the sensing circuit 120 can sense the output of the variable power supply 140, the output of the battery 150, and/or the power input of the load circuit 110 according to design requirements. For example, in some embodiments, the sensing circuit 120 can sense the output power (such as voltage, current, and/or other electrical characteristics) of the output terminal of the adjustable power supply 140 in step S230, but The output of the battery 150 and the power input of the load circuit 110 are not sensed to obtain the sensing result. In other embodiments, the sensing circuit 120 can sense the output of the adjustable power supply 140 and the output of the battery 150 in step S230, but does not sense the power input of the load circuit 110 to obtain the sensing Test results. In still other embodiments, the sensing circuit 120 can sense the output of the output terminal of the adjustable power supply 140, the output of the battery 150 and the power input of the load circuit 110 in step S230 to obtain the sensing result .

電源調度控制器130耦接至感測電路120，以接收感測電路120的感測結果。電源調度控制器130還耦接至可調變式電源供應器140。感測電路120可以對整體電源控制提供一個保護機制。電源調度控制器130可以透過感測電路120得知可調變式電源供應器140的輸出端的電壓、電流、電流方向及/或其他電性資訊，以及/或是電池150的電壓大小、電流大小、電流方向及/或其他電性資訊。根據感測電路120的感測結果，電源調度控制器130可以控制可調變式電源供應器140的輸出端的輸出（步驟S240）。The power dispatch controller 130 is coupled to the sensing circuit 120 to receive the sensing result of the sensing circuit 120. The power dispatch controller 130 is also coupled to the adjustable power supply 140. The sensing circuit 120 can provide a protection mechanism for overall power control. The power dispatch controller 130 can learn the voltage, current, current direction and/or other electrical information of the output terminal of the variable power supply 140 through the sensing circuit 120, and/or the voltage and current of the battery 150 , Current direction and/or other electrical information. According to the sensing result of the sensing circuit 120, the power dispatch controller 130 may control the output of the output terminal of the variable power supply 140 (step S240).

藉由可調變式電源供應器140的輸出的調整，電源調度控制器130可以決定由可調變式電源供應器140供電至負載電路110、或由電池150供電至負載電路110、或由電池150與可調變式電源供應器140共同供電至負載電路110（步驟S250）。舉例來說，電池150的輸出電壓會隨著電池150的充放電而改變。當電池150放電（例如對負載電路110提供電力）時，電池150的輸出電壓會下降，因此電源調度控制器130可以提高可調變式電源供應器140的輸出電壓。當可調變式電源供應器140的輸出電壓高於電池150的輸出電壓時，可調變式電源供應器140可以對負載電路110供電，同時對電池150充電。電源調度控制器130可以監控可調變式電源供應器140、電池150以及/或是負載電路110的電壓大小、電流大小以及/或是電流方向，進而動態調整可調變式電源供應器140的輸出電壓，以便使電池150處於充電狀態或是放電狀態。By adjusting the output of the adjustable power supply 140, the power dispatch controller 130 can determine whether the adjustable power supply 140 supplies power to the load circuit 110, the battery 150 supplies power to the load circuit 110, or the battery 150 150 and the variable power supply 140 jointly supply power to the load circuit 110 (step S250). For example, the output voltage of the battery 150 will change as the battery 150 is charged and discharged. When the battery 150 is discharged (for example, to provide power to the load circuit 110), the output voltage of the battery 150 will drop, so the power dispatch controller 130 can increase the output voltage of the variable power supply 140. When the output voltage of the variable power supply 140 is higher than the output voltage of the battery 150, the variable power supply 140 can supply power to the load circuit 110 and charge the battery 150 at the same time. The power dispatch controller 130 can monitor the voltage, current, and/or current direction of the variable power supply 140, the battery 150, and/or the load circuit 110, and then dynamically adjust the variable power supply 140 The voltage is output so that the battery 150 is in a charging state or a discharging state.

圖3是依照本發明的另一實施例所繪示的一種可調變式電源供應系統的操作方法的流程示意圖。圖3所示步驟S210至步驟S250可以參照圖2的相關說明，故不再贅述。在圖3所示實施例中，步驟S250包括步驟S251、步驟S252、步驟S253與步驟S254。請參照圖1與圖3。在此實施例中，感測電路120感測了可調變式電源供應器140的輸出電壓以及電池150的輸出電壓。根據可調變式電源供應器140的輸出電壓與電池150的輸出電壓，電源調度控制器130可以決定由可調變式電源供應器140與電池150二者其中一者供電至負載電路110，或是由電池150與可調變式電源供應器140共同供電至負載電路110。FIG. 3 is a schematic flowchart of an operation method of a variable power supply system according to another embodiment of the present invention. For steps S210 to S250 shown in FIG. 3, reference may be made to the related description of FIG. 2, so the details will not be repeated. In the embodiment shown in FIG. 3, step S250 includes step S251, step S252, step S253, and step S254. Please refer to Figure 1 and Figure 3. In this embodiment, the sensing circuit 120 senses the output voltage of the adjustable power supply 140 and the output voltage of the battery 150. According to the output voltage of the adjustable power supply 140 and the output voltage of the battery 150, the power dispatch controller 130 can determine whether one of the adjustable power supply 140 and the battery 150 supplies power to the load circuit 110, or The battery 150 and the variable power supply 140 are jointly powered to the load circuit 110.

舉例來說，電源調度控制器130可以將可調變式電源供應器140的輸出電壓調大，使得可調變式電源供應器140的輸出電壓大於電池150的輸出電壓（步驟S251為「大於電池的輸出電壓」）。因此，可調變式電源供應器140可以供電至負載電路110，並且同時對電池150充電（步驟S252）。例如，當電源調度控制器130得知電池150的輸出電壓過低（例如，電池150的輸出電壓低於某一個門檻電壓）時，電源調度控制器130可以調大可調變式電源供應器140的輸出電壓。當可調變式電源供應器140的輸出電壓大於電池150的輸出電壓時，可調變式電源供應器140可以對負載電路110供電並且對電池150進行充電。For example, the power dispatch controller 130 may increase the output voltage of the variable power supply 140, so that the output voltage of the variable power supply 140 is greater than the output voltage of the battery 150 (step S251 is "larger than the battery Output voltage”). Therefore, the variable power supply 140 can supply power to the load circuit 110 and simultaneously charge the battery 150 (step S252). For example, when the power dispatch controller 130 learns that the output voltage of the battery 150 is too low (for example, the output voltage of the battery 150 is lower than a certain threshold voltage), the power dispatch controller 130 may increase the adjustable power supply 140 The output voltage. When the output voltage of the variable power supply 140 is greater than the output voltage of the battery 150, the variable power supply 140 can supply power to the load circuit 110 and charge the battery 150.

再舉例來說，電源調度控制器130可以調整可調變式電源供應器140的輸出電壓，使得可調變式電源供應器140的輸出電壓等於電池150的輸出電壓（步驟S251為「等於電池的輸出電壓」）。因此，可調變式電源供應器140與電池150可以共同供電至負載電路110（步驟S253）。當電源調度控制器130得知負載電路110需要大電流時(例如通過感測電路120或是無人載具100的控制系統、軟體或其他電路得知)，在電源調度控制器130來不及供應（或不足以供應）所述大電流的情況下，電池150可以即時地（無切換地）提供電流給負載電路110，以滿足負載電路110的大電流需求。也就是說，當負載電路110需要大電流時，可調變式電源供應器140與電池150可以即時地（無切換地）共同供電至負載電路110。待負載電路110的電流需求降低後，電源調度控制器130可以調升可調變式電源供應器140的輸出電壓，以便對電池150進行充電。For another example, the power dispatch controller 130 may adjust the output voltage of the variable power supply 140 so that the output voltage of the variable power supply 140 is equal to the output voltage of the battery 150 (step S251 is "equal to the battery The output voltage"). Therefore, the variable power supply 140 and the battery 150 can jointly supply power to the load circuit 110 (step S253). When the power dispatch controller 130 knows that the load circuit 110 needs a large current (for example, the sensing circuit 120 or the control system of the unmanned vehicle 100, software, or other circuits), the power dispatch controller 130 is too late to supply (or In the case of insufficient supply), the battery 150 can provide current to the load circuit 110 immediately (without switching) to meet the high current demand of the load circuit 110. In other words, when the load circuit 110 requires a large current, the variable power supply 140 and the battery 150 can jointly supply power to the load circuit 110 instantly (without switching). After the current demand of the load circuit 110 is reduced, the power dispatching controller 130 may increase the output voltage of the variable power supply 140 to charge the battery 150.

更舉例來說，電源調度控制器130可以調低可調變式電源供應器140的輸出電壓，使得可調變式電源供應器140的輸出電壓低於電池150的輸出電壓（步驟S251為「小於電池的輸出電壓」）。因此，電池150可以供電至負載電路110（步驟S254）。For example, the power dispatching controller 130 can lower the output voltage of the variable power supply 140 so that the output voltage of the variable power supply 140 is lower than the output voltage of the battery 150 (step S251 is "less than The output voltage of the battery”). Therefore, the battery 150 can supply power to the load circuit 110 (step S254).

步驟S250的實施方式不受限於圖3。舉例來說，在另一些實施例中，感測電路120可以感測可調變式電源供應器140的輸出端的輸出電流以及電池150的輸出電流。根據可調變式電源供應器140的輸出電流的方向及電池150的輸出電流的方向，電源調度控制器130可以控制/決定可調變式電源供應器140的輸出電壓。此外，感測電路120更可以感測負載電路110的電力輸入的輸入電流。當負載電路110的輸入電流大於可調變式電源供應器140的輸出電流及電池150的輸出電流的額定值時（亦即可調變式電源供應器140以及電池150無法供應足夠電流給負載電路110），電源調度控制器130可以通知電力供應裝置20，使電力供應裝置20可以經由纜線10提供更高的源電力SP給可調變式電源供應器140。使得可調變式電源供應器140能輸出更大的電流而與電池150共同供電至負載電路110。The implementation of step S250 is not limited to FIG. 3. For example, in other embodiments, the sensing circuit 120 can sense the output current of the output terminal of the adjustable power supply 140 and the output current of the battery 150. According to the direction of the output current of the variable power supply 140 and the direction of the output current of the battery 150, the power dispatch controller 130 can control/determine the output voltage of the variable power supply 140. In addition, the sensing circuit 120 can further sense the input current of the power input of the load circuit 110. When the input current of the load circuit 110 is greater than the rated value of the output current of the adjustable power supply 140 and the output current of the battery 150 (that is, the adjustable power supply 140 and the battery 150 cannot supply enough current to the load Circuit 110), the power dispatch controller 130 can notify the power supply device 20 so that the power supply device 20 can provide a higher source power SP to the variable power supply 140 via the cable 10. Therefore, the variable power supply 140 can output a larger current to supply power to the load circuit 110 together with the battery 150.

依照設計需求，圖1所示可調變式電源供應系統可以更包括張力控制絞盤（Tension Control Winch）裝置。所述張力控制絞盤裝置被用來收放纜線10，並且自動控制/調整纜線10的張力。藉由纜線10的張力調整，纜線10的纏繞（打結）可以被有效避免或減少。According to design requirements, the adjustable power supply system shown in Figure 1 may further include a Tension Control Winch device. The tension control winch device is used to take up and unwind the cable 10 and automatically control/adjust the tension of the cable 10. By adjusting the tension of the cable 10, entanglement (knotting) of the cable 10 can be effectively avoided or reduced.

舉例來說，圖4是依照本發明的一實施例所繪示的一種張力控制絞盤裝置400的電路方塊示意圖。圖4所示張力控制絞盤裝置400適用於無人載具100。張力控制絞盤裝置400透過纜線10供電無人載具100。所述張力控制絞盤裝置400包括絞盤控制器410以及絞盤模組420。絞盤模組420用以收放纜線10，其中纜線10的第一端用以耦接至無人載具100，纜線10的第二端用以耦接至電力供應裝置20。電力供應裝置20經由纜線10提供源電力SP給無人載具100。絞盤控制器410耦接至絞盤模組420。絞盤控制器410根據在無人載具100與絞盤模組420之間的纜線10的張力來對應控制絞盤模組420對纜線10的收放線模式或速度，以自動調整纜線10的張力。For example, FIG. 4 is a circuit block diagram of a tension control winch device 400 according to an embodiment of the present invention. The tension control winch device 400 shown in FIG. 4 is suitable for the unmanned vehicle 100. The tension control winch device 400 supplies power to the unmanned vehicle 100 through the cable 10. The tension control winch device 400 includes a winch controller 410 and a winch module 420. The winch module 420 is used for receiving and unwinding the cable 10, wherein the first end of the cable 10 is used for coupling to the unmanned vehicle 100, and the second end of the cable 10 is used for coupling to the power supply device 20. The power supply device 20 supplies source power SP to the unmanned vehicle 100 via the cable 10. The winch controller 410 is coupled to the winch module 420. The winch controller 410 correspondingly controls the winding and unwinding mode or speed of the cable 10 by the winch module 420 according to the tension of the cable 10 between the unmanned vehicle 100 and the winch module 420 to automatically adjust the tension of the cable 10.

圖5是依照本發明的一實施例所繪示的一種張力控制絞盤裝置的操作方法的流程示意圖。請參照圖4與圖5。步驟S510由絞盤模組420收放纜線10。根據在無人載具100與絞盤模組420之間的纜線10的張力，步驟S520由絞盤控制器410對應控制絞盤模組420對纜線10的收放線模式或速度，以自動調整纜線10的張力。Fig. 5 is a schematic flowchart of a method for operating a tension control winch device according to an embodiment of the present invention. Please refer to Figure 4 and Figure 5. In step S510, the winch module 420 receives and unwinds the cable 10. According to the tension of the cable 10 between the unmanned vehicle 100 and the winch module 420, in step S520, the winch controller 410 correspondingly controls the winding and unwinding mode or speed of the cable 10 by the winch module 420 to automatically adjust the cable 10 Tension.

在圖4所示實施例中，絞盤模組420可以包括馬達421與絞盤422。馬達421可以帶動絞盤422進行轉動，使得纜線10可以繞卷於絞盤422上。依照設計需求，馬達421可以任何類型的馬達，例如直流馬達、步進馬達或是其他類型馬達。絞盤控制器410可以得知馬達421的負載狀況，進而依據所述負載狀況而推知纜線10的張力。依照設計需求，絞盤控制器410可以預先定義張力上限值與/或張力下限值。絞盤控制器410可以根據纜線10的張力及張力上限值（與/或張力下限值）來控制馬達421對纜線10的收放線模式或速度。In the embodiment shown in FIG. 4, the winch module 420 may include a motor 421 and a winch 422. The motor 421 can drive the winch 422 to rotate, so that the cable 10 can be wound on the winch 422. According to design requirements, the motor 421 can be any type of motor, such as a DC motor, a stepping motor, or other types of motors. The winch controller 410 can learn the load condition of the motor 421, and infer the tension of the cable 10 according to the load condition. According to design requirements, the winch controller 410 may predefine the upper limit of tension and/or the lower limit of tension. The winch controller 410 can control the winding and unwinding mode or speed of the motor 421 on the cable 10 according to the tension of the cable 10 and the upper limit of the tension (and/or the lower limit of the tension).

舉例來說，當纜線10的張力大於張力上限值時，絞盤控制器410可以控制馬達421與絞盤422進入放線模式，以便減少纜線10的張力。當纜線10的張力小於張力下限值時，絞盤控制器410可以控制馬達421與絞盤422進入收線模式，以便增加纜線10的張力。當纜線10的張力介於張力上限值與張力下限值之間時，絞盤控制器410可以控制馬達421進入停止模式，以停止絞盤422的轉動。所述張力上限值與所述張力下限值可以依照設計需求來決定。For example, when the tension of the cable 10 is greater than the upper limit of the tension, the winch controller 410 may control the motor 421 and the winch 422 to enter the pay-off mode, so as to reduce the tension of the cable 10. When the tension of the cable 10 is less than the lower limit of the tension, the winch controller 410 may control the motor 421 and the winch 422 to enter the wire-retracting mode, so as to increase the tension of the cable 10. When the tension of the cable 10 is between the upper limit of the tension and the lower limit of the tension, the winch controller 410 may control the motor 421 to enter a stop mode to stop the rotation of the winch 422. The upper limit of tension and the lower limit of tension may be determined according to design requirements.

再舉例來說，當纜線10的張力大於張力上限值時，絞盤控制器410可以控制馬達421的轉速，以使絞盤422的速度為負值（亦即放線），以便減少纜線10的張力。當纜線10的張力小於張力下限值時，絞盤控制器410可以控制馬達421的轉速，以使絞盤422的速度為正值（亦即收線），以便增加纜線10的張力。當纜線10的張力介於張力上限值與張力下限值之間時，絞盤控制器410可以控制馬達421的轉速，以使絞盤422的速度為零（亦即停止收放線）。For another example, when the tension of the cable 10 is greater than the upper limit of the tension, the winch controller 410 can control the rotation speed of the motor 421 to make the speed of the winch 422 a negative value (that is, pay off), so as to reduce the tension of the cable 10 tension. When the tension of the cable 10 is less than the lower limit of the tension, the winch controller 410 may control the rotation speed of the motor 421 so that the speed of the winch 422 is a positive value (ie, take-up), so as to increase the tension of the cable 10. When the tension of the cable 10 is between the upper limit of the tension and the lower limit of the tension, the winch controller 410 can control the rotation speed of the motor 421 so that the speed of the winch 422 is zero (that is, the winding and unwinding is stopped).

圖6是依照本發明的另一實施例所繪示的一種張力控制絞盤裝置600的電路方塊示意圖。圖6繪示了張力控制絞盤裝置600的側面示意圖。在圖6所示實施例中，圖6所示張力控制絞盤裝置600包括絞盤控制器610、絞盤模組620、整線（wire trimming）機構630、滾輪640以及張力感測器650。圖6所示張力控制絞盤裝置600、絞盤控制器610以及絞盤模組620可以參照圖4所示張力控制絞盤裝置400、絞盤控制器410以及絞盤模組420的相關說明來類推，故不再贅述。須注意的是，依照設計需求，整線機構630、滾輪640以及張力感測器650其中的一者或多者在其他實施例中可能會被省略。FIG. 6 is a circuit block diagram of a tension control winch device 600 according to another embodiment of the present invention. FIG. 6 shows a schematic side view of the tension control winch device 600. In the embodiment shown in FIG. 6, the tension control winch device 600 shown in FIG. 6 includes a winch controller 610, a winch module 620, a wire trimming mechanism 630, a roller 640 and a tension sensor 650. The tension control winch device 600, the winch controller 610, and the winch module 620 shown in FIG. 6 can be deduced by analogy with reference to the related descriptions of the tension control winch device 400, the winch controller 410 and the winch module 420 shown in FIG. . It should be noted that, according to design requirements, one or more of the whole thread mechanism 630, the roller 640, and the tension sensor 650 may be omitted in other embodiments.

圖7是依照本發明的另一實施例所繪示的一種張力控制絞盤裝置的操作方法的流程示意圖。請參照圖4與圖5。張力感測器650耦接至絞盤控制器610。張力感測器650用以感測在無人載具100與絞盤模組620之間的纜線10的張力，並產生相關於所述張力的一個張力值給絞盤控制器610。在步驟S710中，絞盤控制器610可以預先設定張力上限值與/或張力下限值。FIG. 7 is a schematic flowchart of a method for operating a tension control winch device according to another embodiment of the present invention. Please refer to Figure 4 and Figure 5. The tension sensor 650 is coupled to the winch controller 610. The tension sensor 650 is used to sense the tension of the cable 10 between the unmanned vehicle 100 and the winch module 620 and generate a tension value related to the tension to the winch controller 610. In step S710, the winch controller 610 may preset the upper limit of tension and/or the lower limit of tension.

圖7所示步驟S720與步驟S730可以參照圖5所示步驟S510與步驟S520的相關說明。基於絞盤控制器610的控制，絞盤模組620收放纜線10（步驟S720）。根據張力感測器650所提供的張力值以及步驟S710所設定的張力上限值（與/或張力下限值），絞盤控制器610控制絞盤模組620對纜線10的收放線模式或速度（步驟S730）。For steps S720 and S730 shown in FIG. 7, reference may be made to related descriptions of steps S510 and S520 shown in FIG. 5. Based on the control of the winch controller 610, the winch module 620 retracts and unwinds the cable 10 (step S720). According to the tension value provided by the tension sensor 650 and the upper tension limit (and/or the lower tension limit) set in step S710, the winch controller 610 controls the winding and unwinding mode or speed of the cable 10 by the winch module 620 (Step S730).

在圖7所示實施例中，步驟S730包括步驟S731、步驟S732、步驟S733、步驟S734與步驟S735。於步驟S731中，張力感測器650可以感測在無人載具100與絞盤模組620之間的纜線10的張力，並產生相關於所述張力的一個張力值給絞盤控制器610。於步驟S732至步驟S735中，絞盤控制器610根據所述張力值及張力上限值（和/或張力下限值）而控制絞盤模組620對纜線10的收放線模式或速度。所述張力上限值與所述張力下限值可以依照設計需求來決定。In the embodiment shown in FIG. 7, step S730 includes step S731, step S732, step S733, step S734, and step S735. In step S731, the tension sensor 650 can sense the tension of the cable 10 between the unmanned vehicle 100 and the winch module 620, and generate a tension value related to the tension to the winch controller 610. In step S732 to step S735, the winch controller 610 controls the winding and unwinding mode or speed of the cable 10 by the winch module 620 according to the tension value and the upper tension limit (and/or the lower tension limit). The upper limit of tension and the lower limit of tension may be determined according to design requirements.

當纜線10的張力大於張力上限值時（步驟S732為「大於張力上限值」），絞盤控制器610可以控制絞盤模組620進入放線模式（步驟S733），以便減少纜線10的張力。在另一實施例中，絞盤控制器610在步驟S733中可以控制絞盤模組620的速度（絞盤422的轉速），以使絞盤422的收線速度為負值（亦即放線），以便減少纜線10的張力。When the tension of the cable 10 is greater than the upper limit of tension (step S732 is "greater than the upper limit of tension"), the winch controller 610 may control the winch module 620 to enter the pay-off mode (step S733) to reduce the tension of the cable 10 . In another embodiment, the winch controller 610 may control the speed of the winch module 620 (rotation speed of the winch 422) in step S733, so that the take-up speed of the winch 422 is a negative value (that is, the pay-off), so as to reduce the cable Tension of thread 10.

當纜線10的張力介於張力上限值與張力下限值之間時（步驟S732為「介於張力上限值與張力下限值之間」），絞盤控制器610可以控制絞盤模組620進入停止模式（步驟S734），以停止絞盤422的轉動。在另一實施例中，絞盤控制器610在步驟S734中可以控制絞盤模組620的速度（絞盤422的轉速），以使絞盤422的收線速度為零（亦即停止收放線）。When the tension of the cable 10 is between the upper limit of tension and the lower limit of tension (step S732 is "between the upper limit of tension and the lower limit of tension"), the winch controller 610 can control the winch module 620 enters a stop mode (step S734) to stop the rotation of the winch 422. In another embodiment, the winch controller 610 may control the speed of the winch module 620 (rotation speed of the winch 422) in step S734 so that the wire take-up speed of the winch 422 is zero (that is, the wire is stopped).

當纜線10的張力小於張力下限值時（步驟S732為「小於張力下限值」），絞盤控制器610可以控制絞盤模組620進入收線模式（步驟S735），以便增加纜線10的張力。在另一實施例中，絞盤控制器610在步驟S735中可以控制絞盤模組620的速度（絞盤422的轉速），以使絞盤422的收線速度為正值（亦即收線），以便增加纜線10的張力。When the tension of the cable 10 is less than the lower limit of tension (step S732 is "less than the lower limit of tension"), the winch controller 610 may control the winch module 620 to enter the winding mode (step S735), so as to increase the tension of the cable 10 tension. In another embodiment, the winch controller 610 may control the speed of the winch module 620 (rotation speed of the winch 422) in step S735, so that the wire take-up speed of the winch 422 is a positive value (ie wire take-up) to increase The tension of the cable 10.

在一些實施例中，所述操作方法更包括：在絞盤模組620對纜線10收線的過程中，由整線機構630根據絞盤模組620的絞盤422的轉動圈數而動態調整纜線10在絞盤422中的收線位置。In some embodiments, the operation method further includes: in the process of the winch module 620 taking up the cable 10, the wire adjustment mechanism 630 dynamically adjusts the cable according to the number of turns of the winch 422 of the winch module 620 10 Take-up position in winch 422.

圖8是依照本發明的一實施例說明圖6所示絞盤422與整線機構630的俯視示意圖。整線機構630可以帶動纜線10進行移動（例如沿著圖8所示箭頭方向移動）。在絞盤模組620的絞盤422對纜線10收線的過程中，整線機構630可以根據絞盤422的轉動圈數而動態調整纜線10在絞盤422中的收線位置。如此，纜線10可以均勻分散於絞盤422上。FIG. 8 is a schematic top view illustrating the winch 422 and the whole wire mechanism 630 shown in FIG. 6 according to an embodiment of the present invention. The wire-setting mechanism 630 can drive the cable 10 to move (for example, move in the arrow direction shown in FIG. 8). When the winch 422 of the winch module 620 takes up the cable 10, the whole wire mechanism 630 can dynamically adjust the take-up position of the cable 10 in the winch 422 according to the number of turns of the winch 422. In this way, the cable 10 can be evenly dispersed on the winch 422.

綜上所述，一種張力控制絞盤裝置適用於無人載具，所述張力控制絞盤裝置包括絞盤模組以及絞盤控制器。絞盤模組用以收放纜線，其中該纜線的第一端用以耦接至該無人載具，該纜線的第二端用以耦接至電力供應裝置，該電力供應裝置經由該纜線提供源電力給該無人載具。絞盤控制器耦接至該絞盤模組，其中該絞盤控制器用以根據在該無人載具與該絞盤模組之間的該纜線的張力來對應控制該絞盤模組對該纜線的收放線模式或速度，以自動調整該纜線的該張力。In summary, a tension control winch device is suitable for unmanned vehicles. The tension control winch device includes a winch module and a winch controller. The winch module is used for receiving and unwinding a cable, wherein the first end of the cable is used for coupling to the unmanned vehicle, and the second end of the cable is used for coupling to a power supply device through which the power supply device The cable provides source power to the unmanned vehicle. The winch controller is coupled to the winch module, wherein the winch controller is used for controlling the take-up and unwinding of the cable by the winch module according to the tension of the cable between the unmanned vehicle and the winch module Mode or speed to automatically adjust the tension of the cable.

在一些實施例中，該張力控制絞盤裝置更包括張力感測器。張力感測器耦接至該絞盤控制器，用以感測在該無人載具與該絞盤模組之間的該纜線的該張力，並產生相關於該張力的張力值給該絞盤控制器。In some embodiments, the tension control winch device further includes a tension sensor. A tension sensor is coupled to the winch controller to sense the tension of the cable between the unmanned vehicle and the winch module, and generate a tension value related to the tension to the winch controller .

在一些實施例中，該絞盤控制器根據該張力值及張力上限值或張力下限值來控制該絞盤模組對該纜線的收放線模式或速度。In some embodiments, the winch controller controls the winding and unwinding mode or speed of the cable by the winch module according to the tension value and the upper or lower tension limit.

在一些實施例中，該張力控制絞盤裝置更包括整線機構。，在該絞盤模組對該纜線收線的過程中，整線機構根據該絞盤模組的絞盤的轉動圈數而動態調整該纜線在該絞盤中的收線位置。In some embodiments, the tension control winch device further includes a winding mechanism. In the process of the winch module taking up the cable, the whole wire mechanism dynamically adjusts the wire take-up position of the cable in the winch according to the number of turns of the winch of the winch module.

綜上所述，一種張力控制絞盤裝置的操作方法適用於無人載具。所述操作方法包括：由絞盤模組收放纜線，其中該纜線的第一端用以耦接至該無人載具，該纜線的第二端用以耦接至電力供應裝置，該電力供應裝置經由該纜線提供源電力給該無人載具；以及根據在該無人載具與該絞盤模組之間的該纜線的張力，由絞盤控制器對應控制該絞盤模組對該纜線的收放線模式或速度，以自動調整該纜線的該張力。In summary, an operating method of a tension control winch device is suitable for unmanned vehicles. The operation method includes: retracting and unwinding a cable by a winch module, wherein a first end of the cable is used for coupling to the unmanned vehicle, and a second end of the cable is used for coupling to a power supply device, the The power supply device provides source power to the unmanned vehicle via the cable; and according to the tension of the cable between the unmanned vehicle and the winch module, the winch controller correspondingly controls the winch module to the cable The winding and unwinding mode or speed of the wire to automatically adjust the tension of the cable.

在一些實施例中，該操作方法更包括：由張力感測器感測在該無人載具與該絞盤模組之間的該纜線的該張力；以及由該張力感測器產生相關於該張力的張力值給該絞盤控制器。In some embodiments, the operating method further includes: sensing the tension of the cable between the unmanned vehicle and the winch module by a tension sensor; and generating the tension related to the cable by the tension sensor The tension value of the tension is given to the winch controller.

在一些實施例中，所述對應控制該絞盤模組對該纜線的收放線模式或速度的步驟包括：由該絞盤控制器根據該張力值及張力上限值或張力下限值而控制該絞盤模組對該纜線的收放線模式或速度。In some embodiments, the step of correspondingly controlling the winding and unwinding mode or speed of the cable by the winch module includes: controlling the winch controller according to the tension value and the tension upper limit value or the tension lower limit value. The winding and unwinding mode or speed of the cable by the winch module.

在一些實施例中，該操作方法更包括：在該絞盤模組對該纜線收線的過程中，由整線機構根據該絞盤模組的絞盤的轉動圈數而動態調整該纜線在該絞盤中的收線位置。In some embodiments, the operation method further includes: during the process of the cable winding of the winch module, the cable adjustment mechanism dynamically adjusts the cable in the winch module according to the number of turns of the winch of the winch module. The take-up position in the winch.

依照不同的設計需求，上述電源調度控制器130及/或絞盤控制器610的方塊的實現方式可以是硬體（hardware）、韌體（firmware）、軟體（software，即程式）或是前述三者中的多者的組合形式。According to different design requirements, the implementation of the blocks of the power dispatch controller 130 and/or the winch controller 610 can be hardware, firmware, software, or the foregoing three. A combination of more of them.

以硬體形式而言，上述電源調度控制器130及/或絞盤控制器610的方塊可以實現於積體電路（integrated circuit）上的邏輯電路。上述電源調度控制器130及/或絞盤控制器610的相關功能可以利用硬體描述語言（hardware description languages，例如Verilog HDL或VHDL）或其他合適的編程語言來實現為硬體。舉例來說，上述電源調度控制器130及/或絞盤控制器610的相關功能可以被實現於一或多個控制器、微控制器、微處理器、特殊應用積體電路（Application-specific integrated circuit, ASIC）、數位訊號處理器（digital signal processor, DSP）、場可程式邏輯閘陣列（Field Programmable Gate Array, FPGA）及/或其他處理單元中的各種邏輯區塊、模組和電路。In terms of hardware, the blocks of the power dispatch controller 130 and/or the winch controller 610 described above can be implemented in a logic circuit on an integrated circuit. The above-mentioned related functions of the power dispatch controller 130 and/or the winch controller 610 may be implemented as hardware using hardware description languages (for example, Verilog HDL or VHDL) or other suitable programming languages. For example, the related functions of the aforementioned power dispatch controller 130 and/or the winch controller 610 may be implemented in one or more controllers, microcontrollers, microprocessors, and application-specific integrated circuits (Application-specific integrated circuit). , ASIC), digital signal processor (DSP), Field Programmable Gate Array (FPGA) and/or various logic blocks, modules and circuits in other processing units.

以軟體形式及/或韌體形式而言，上述電源調度控制器130及/或絞盤控制器610的相關功能可以被實現為編程碼（programming codes）。例如，利用一般的編程語言（programming languages，例如C、C++或組合語言）或其他合適的編程語言來實現上述電源調度控制器130及/或絞盤控制器610。所述編程碼可以被記錄/存放在記錄媒體中，所述記錄媒體中例如包括唯讀記憶體（Read Only Memory，ROM）、存儲裝置及/或隨機存取記憶體（Random Access Memory，RAM）。電腦、中央處理器（Central Processing Unit，CPU）、控制器、微控制器或微處理器可以從所述記錄媒體中讀取並執行所述編程碼，從而達成相關功能。作為所述記錄媒體，可使用「非臨時的電腦可讀取媒體（non-transitory computer readable medium）」，例如可使用帶（tape）、碟（disk）、卡（card）、半導體記憶體、可程式設計的邏輯電路等。而且，所述程式也可經由任意傳輸媒體（通信網路或廣播電波等）而提供給所述電腦（或CPU）。所述通信網路例如是互聯網（Internet）、有線通信（wired communication）、無線通信（wireless communication）或其它通信介質。In the form of software and/or firmware, the related functions of the aforementioned power dispatch controller 130 and/or the winch controller 610 can be implemented as programming codes. For example, general programming languages (such as C, C++, or assembly languages) or other suitable programming languages are used to implement the power dispatch controller 130 and/or the winch controller 610. The programming code may be recorded/stored in a recording medium, which includes, for example, a read-only memory (Read Only Memory, ROM), a storage device, and/or a random access memory (Random Access Memory, RAM). . A computer, a central processing unit (CPU), a controller, a microcontroller, or a microprocessor can read and execute the programming code from the recording medium, thereby achieving related functions. As the recording medium, a "non-transitory computer readable medium" can be used. For example, tape, disk, card, semiconductor memory, and non-transitory computer readable medium can be used. Programming logic circuits, etc. Furthermore, the program can also be provided to the computer (or CPU) via any transmission medium (communication network, broadcast wave, etc.). The communication network is, for example, the Internet, wired communication, wireless communication, or other communication media.

綜上所述，本發明諸實施例所述可調變式電源供應器與電池被配置於無人載具。可調變式電源供應器可以將源電力的電壓調整/轉換為符合無人載具的負載電路的額定電壓的電壓準位。藉此，纜線的電流值可以被盡可能地降低，以有效降低纜線的電線損耗。再者，當負載電路瞬間需要大電流時，可調變式電源供應器與電池可以即時地（無切換地）共同供電至負載電路。In summary, the variable power supply and the battery according to the embodiments of the present invention are configured in an unmanned vehicle. The adjustable power supply can adjust/convert the voltage of the source power to a voltage level that meets the rated voltage of the load circuit of the unmanned vehicle. In this way, the current value of the cable can be reduced as much as possible to effectively reduce the wire loss of the cable. Furthermore, when the load circuit needs a large current instantaneously, the adjustable power supply and the battery can supply power to the load circuit together instantly (without switching).

雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明的精神和範圍內，當可作些許的更動與潤飾，故本發明的保護範圍當視後附的申請專利範圍所界定者為準。Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make slight changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be subject to those defined by the attached patent scope.

10‧‧‧纜線20‧‧‧電力供應裝置100‧‧‧無人載具110‧‧‧負載電路120‧‧‧感測電路120a、120b、120c‧‧‧感測器130‧‧‧電源調度控制器140‧‧‧可調變式電源供應器150‧‧‧電池400‧‧‧張力控制絞盤裝置410‧‧‧絞盤控制器420‧‧‧絞盤模組421‧‧‧馬達422‧‧‧絞盤600‧‧‧張力控制絞盤裝置610‧‧‧絞盤控制器620‧‧‧絞盤模組630‧‧‧整線機構640‧‧‧滾輪650‧‧‧張力感測器SP‧‧‧源電力S210～S250、S251～S254、S510～S520、S710～S730、S731～S735‧‧‧步驟10‧‧‧Cable 20‧‧‧Power supply device 100‧‧‧Unmanned vehicle 110‧‧‧Load circuit 120‧‧‧Sense circuit 120a, 120b, 120c‧‧‧Sensor 130‧‧‧Power dispatch Controller 140‧‧‧Adjustable power supply 150‧‧‧Battery 400‧‧‧Tension control winch device 410‧‧‧Winch controller 420‧‧‧Winch module 421‧‧‧Motor 422‧‧‧Winch 600‧‧‧Tension control winch device 610‧‧‧Winch controller 620‧‧‧Winch module 630‧‧‧The whole wire mechanism 640‧‧‧Roll 650‧‧‧Tension sensor SP‧‧‧Power source S210～ S250, S251～S254, S510～S520, S710～S730, S731～S735‧‧‧Step

圖1是依照本發明的一實施例所繪示的一種可調變式電源供應系統（adaptive power supply system）的電路方塊（circuit block）示意圖。圖2是依照本發明的一實施例所繪示的一種可調變式電源供應系統的操作方法的流程示意圖。圖3是依照本發明的另一實施例所繪示的一種可調變式電源供應系統的操作方法的流程示意圖。圖4是依照本發明的一實施例所繪示的一種張力控制絞盤裝置的電路方塊示意圖。圖5是依照本發明的一實施例所繪示的一種張力控制絞盤裝置的操作方法的流程示意圖。圖6是依照本發明的另一實施例所繪示的一種張力控制絞盤裝置的電路方塊示意圖。圖7是依照本發明的另一實施例所繪示的一種張力控制絞盤裝置的操作方法的流程示意圖。圖8是依照本發明的一實施例說明圖6所示絞盤與整線機構的俯視示意圖。FIG. 1 is a schematic diagram of a circuit block of an adaptive power supply system (adaptive power supply system) according to an embodiment of the present invention. FIG. 2 is a schematic flowchart of an operation method of an adjustable power supply system according to an embodiment of the present invention. FIG. 3 is a schematic flowchart of an operation method of a variable power supply system according to another embodiment of the present invention. FIG. 4 is a schematic block diagram of a circuit of a tension control winch device according to an embodiment of the present invention. Fig. 5 is a schematic flowchart of a method for operating a tension control winch device according to an embodiment of the present invention. FIG. 6 is a circuit block diagram of a tension control winch device according to another embodiment of the present invention. FIG. 7 is a schematic flowchart of a method for operating a tension control winch device according to another embodiment of the present invention. Fig. 8 is a schematic top view illustrating the winch and the whole wire mechanism shown in Fig. 6 according to an embodiment of the present invention.

10‧‧‧纜線 10‧‧‧Cable

20‧‧‧電力供應裝置 20‧‧‧Power Supply Device

100‧‧‧無人載具 100‧‧‧Unmanned Vehicle

110‧‧‧負載電路 110‧‧‧Load circuit

120‧‧‧感測電路 120‧‧‧Sensing circuit

120a、120b、120c‧‧‧感測器 120a, 120b, 120c‧‧‧Sensor

130‧‧‧電源調度控制器 130‧‧‧Power Dispatch Controller

140‧‧‧可調變式電源供應器 140‧‧‧Adjustable power supply

150‧‧‧電池 150‧‧‧Battery

SP‧‧‧源電力 SP‧‧‧Source Power

Claims

一種可調變式電源供應系統，適用於一無人載具，所述可調變式電源供應系統包括：一可調變式電源供應器，配置於該無人載具，用以接收一源電力，其中該可調變式電源供應器的一輸出端用以供電至該無人載具的一負載電路，其中該源電力的電壓大於該負載電路的一額定電壓，該可調變式電源供應器將該源電力的電壓降壓至符合該負載電路的該額定電壓的一電壓準位；一電池，配置於該無人載具，耦接至該可調變式電源供應器的該輸出端；一感測電路，耦接至該可調變式電源供應器的該輸出端以感測該可調變式電源供應器的輸出，以及耦接至該電池以感測該電池的輸出；以及一電源調度控制器，耦接該感測電路以及該可調變式電源供應器，其中該電源調度控制器根據該感測電路的一感測結果來控制該可調變式電源供應器的該輸出端的輸出，以及藉由該可調變式電源供應器的該輸出的調整來決定由該可調變式電源供應器供電至該負載電路、或由該電池供電至該負載電路、或由該電池與該可調變式電源供應器共同供電至該負載電路。 An adjustable power supply system is suitable for an unmanned vehicle. The adjustable power supply system includes: an adjustable power supply configured on the unmanned vehicle to receive a source of power; Wherein an output end of the adjustable power supply is used to supply power to a load circuit of the unmanned vehicle, wherein the voltage of the source power is greater than a rated voltage of the load circuit, the adjustable power supply will The voltage of the source power is reduced to a voltage level that conforms to the rated voltage of the load circuit; a battery is disposed on the unmanned vehicle and is coupled to the output terminal of the adjustable power supply; A detection circuit, coupled to the output terminal of the adjustable power supply to sense the output of the adjustable power supply, and coupled to the battery to sense the output of the battery; and a power dispatch A controller coupled to the sensing circuit and the adjustable power supply, wherein the power dispatch controller controls the output of the output terminal of the adjustable power supply according to a sensing result of the sensing circuit , And by adjusting the output of the adjustable power supply to determine whether the adjustable power supply supplies power to the load circuit, the battery supplies power to the load circuit, or the battery and the load circuit The adjustable power supply supplies power to the load circuit together.

如申請專利範圍第1項所述的可調變式電源供應系統，其中該感測電路更耦接至該負載電路以感測該負載電路的一電力輸入。 In the adjustable power supply system described in claim 1, wherein the sensing circuit is further coupled to the load circuit to sense a power input of the load circuit.

如申請專利範圍第1項所述的可調變式電源供應系統，其中該感測電路感測該可調變式電源供應器的一輸出電壓及該電池的一輸出電壓，該電源調度控制器根據該可調變式電源供應器的該輸出電壓及該電池的該輸出電壓來決定由該可調變式電源供應器與該電池其中一者供電至該負載電路，或是由該電池與該可調變式電源供應器共同供電至該負載電路。 The variable power supply system according to the first item of the scope of patent application, wherein the sensing circuit senses an output voltage of the variable power supply and an output voltage of the battery, and the power dispatch controller According to the output voltage of the adjustable power supply and the output voltage of the battery, it is determined whether one of the adjustable power supply and the battery is supplied to the load circuit, or whether the battery and the battery The adjustable power supply supplies power to the load circuit together.

如申請專利範圍第3項所述的可調變式電源供應系統，其中該電源調度控制器藉由將該可調變式電源供應器的該輸出電壓調整為大於該電池的該輸出電壓，使得該可調變式電源供應器供電至該負載電路，以及使得該可調變式電源供應器對該電池充電。 The variable power supply system as described in item 3 of the scope of patent application, wherein the power dispatch controller adjusts the output voltage of the variable power supply to be greater than the output voltage of the battery, so that The adjustable power supply supplies power to the load circuit, and enables the adjustable power supply to charge the battery.

如申請專利範圍第3項所述的可調變式電源供應系統，其中該電源調度控制器藉由將該可調變式電源供應器的該輸出電壓調整為等於該電池的該輸出電壓，使得該可調變式電源供應器與該電池共同供電至該負載電路。 The variable power supply system according to item 3 of the scope of patent application, wherein the power dispatch controller adjusts the output voltage of the variable power supply to be equal to the output voltage of the battery, so that The adjustable power supply and the battery jointly supply power to the load circuit.

如申請專利範圍第3項所述的可調變式電源供應系統，其中該電源調度控制器藉由將該可調變式電源供應器的該輸出電壓調整為小於該電池的該輸出電壓，使得該電池供電至該負載電路。 The variable power supply system as described in item 3 of the scope of patent application, wherein the power dispatch controller adjusts the output voltage of the variable power supply to be less than the output voltage of the battery, so that The battery supplies power to the load circuit.

如申請專利範圍第1項所述的可調變式電源供應系統，其中該感測電路感測該可調變式電源供應器的一輸出電流及該電池的一輸出電流，該電源調度控制器根據該可調變式電源供應器的該輸出電流的方向及該電池的該輸出電流的方向來決定該可調變式電源供應器的一輸出電壓。 The variable power supply system described in item 1 of the scope of patent application, wherein the sensing circuit senses an output current of the variable power supply and an output current of the battery, the power dispatch controller According to the adjustable power supply The direction of the output current and the direction of the output current of the battery determine an output voltage of the adjustable power supply.

如申請專利範圍第1項所述的可調變式電源供應系統，更包括：一張力控制絞盤裝置，用以收放一纜線；其中該可調變式電源供應器的一輸入端耦接至該纜線的一第一端以接收該源電力。 The adjustable power supply system as described in item 1 of the scope of patent application further includes: a force control winch device for retracting and placing a cable; wherein an input end of the adjustable power supply is coupled To a first end of the cable to receive the source power.

如申請專利範圍第8項所述的可調變式電源供應系統，其中該張力控制絞盤裝置包括：一絞盤模組，用以收放該纜線，其中該纜線的一第二端用以耦接至一電力供應裝置以提供該源電力；以及一絞盤控制器，耦接至該絞盤模組，其中該絞盤控制器根據在該無人載具與該絞盤模組之間的該纜線的一張力來對應控制該絞盤模組對該纜線的收放線模式或速度，以自動調整該纜線的該張力。 The adjustable power supply system described in item 8 of the scope of patent application, wherein the tension control winch device includes: a winch module for retracting the cable, wherein a second end of the cable is used for Is coupled to a power supply device to provide the source power; and a winch controller is coupled to the winch module, wherein the winch controller is based on the cable connection between the unmanned vehicle and the winch module A tension is used to correspondingly control the winding and unwinding mode or speed of the cable by the winch module to automatically adjust the tension of the cable.

如申請專利範圍第9項所述的可調變式電源供應系統，其中該張力控制絞盤裝置更包括：一張力感測器，耦接至該絞盤控制器，用以感測在該無人載具與該絞盤模組之間的該纜線的該張力，並產生相關於該張力的一張力值給該絞盤控制器。 For the adjustable power supply system described in claim 9, wherein the tension control winch device further includes: a force sensor, coupled to the winch controller, for sensing the unmanned vehicle The tension of the cable between the cable and the winch module is generated, and a force value related to the tension is generated to the winch controller.

如申請專利範圍第10項所述的可調變式電源供應系統，其中該絞盤控制器根據該張力值及一張力上限值或一張力下限值來控制該絞盤模組對該纜線的收放線模式或速度。 For example, the variable power supply system described in item 10 of the scope of patent application, wherein the winch controller controls the winch module to the cable according to the tension value and a force upper limit value or a force lower limit value. Take-up and take-up mode or speed.

如申請專利範圍第9項所述的可調變式電源供應系統，其中該張力控制絞盤裝置更包括：一整線機構，在該絞盤模組對該纜線收線的過程中，根據該絞盤模組的一絞盤的轉動圈數而動態調整該纜線在該絞盤中的一收線位置。 For the adjustable power supply system described in item 9 of the scope of patent application, the tension control winch device further includes: a wire-integrating mechanism. When the winch module takes up the cable, according to the winch The number of turns of a winch of the module dynamically adjusts a wire take-up position of the cable in the winch.

一種可調變式電源供應系統的操作方法，適用於一無人載具，所述操作方法包括：由被配置於該無人載具的一可調變式電源供應器接收一源電力；由該可調變式電源供應器的一輸出端供電至該無人載具的一負載電路，其中該源電力的電壓大於該負載電路的一額定電壓，所述由該可調變式電源供應器的該輸出端供電至該負載電路的步驟包括：由該可調變式電源供應器將該源電力的電壓降壓至符合該負載電路的該額定電壓的一電壓準位；由一感測電路感測該可調變式電源供應器的該輸出端的輸出；由該感測電路感測被配置於該無人載具的一電池的輸出，其中該電池耦接至該可調變式電源供應器的該輸出端；以及根據該感測電路的一感測結果，由一電源調度控制器控制該可調變式電源供應器的該輸出端的輸出，其中該電源調度控制器藉由該可調變式電源供應器的該輸出的調整來決定由該可調變式電源供應器供電至該負載電路、或由該電池供電至該負載電路、或由該電池與該可調變式電源供應器共同供電至該負載電路。 An operation method of an adjustable power supply system is suitable for an unmanned vehicle. The operation method includes: receiving a source power from an adjustable power supply configured on the unmanned vehicle; An output terminal of the adjustable power supply supplies power to a load circuit of the unmanned vehicle, wherein the voltage of the source power is greater than a rated voltage of the load circuit, and the output of the adjustable power supply The step of supplying power from the terminal to the load circuit includes: stepping down the voltage of the source power by the adjustable power supply to a voltage level conforming to the rated voltage of the load circuit; and sensing the voltage by a sensing circuit The output of the output terminal of the adjustable power supply; the sensing circuit senses the output of a battery configured in the unmanned vehicle, wherein the battery is coupled to the output of the adjustable power supply End; and according to a sensing result of the sensing circuit, a power dispatch controller controls the The output of the output terminal of the variable power supply, wherein the power dispatch controller determines the power supply from the variable power supply to the load circuit by adjusting the output of the variable power supply , Or powered by the battery to the load circuit, or powered by the battery and the adjustable power supply to the load circuit.

如申請專利範圍第13項所述的操作方法，更包括：由該感測電路感測該負載電路的一電力輸入。 The operation method described in item 13 of the scope of patent application further includes: sensing an electric power input of the load circuit by the sensing circuit.

如申請專利範圍第13項所述的操作方法，其中該感測電路感測該可調變式電源供應器的一輸出電壓及該電池的一輸出電壓，所述操作方法更包括：根據該可調變式電源供應器的該輸出電壓及該電池的該輸出電壓，決定由該可調變式電源供應器與該電池其中一者供電至該負載電路，或是由該電池與該可調變式電源供應器共同供電至該負載電路。 For the operation method described in claim 13, wherein the sensing circuit senses an output voltage of the adjustable power supply and an output voltage of the battery, and the operation method further includes: according to the The output voltage of the adjustable power supply and the output voltage of the battery determine whether one of the adjustable power supply and the battery supplies power to the load circuit, or the battery and the adjustable The integrated power supply supplies power to the load circuit together.

如申請專利範圍第15項所述的操作方法，更包括：將該可調變式電源供應器的該輸出電壓調整為大於該電池的該輸出電壓，使得該可調變式電源供應器供電至該負載電路，以及使得該可調變式電源供應器對該電池充電。 For example, the operation method described in item 15 of the scope of patent application further includes: adjusting the output voltage of the adjustable power supply to be greater than the output voltage of the battery, so that the adjustable power supply supplies power to The load circuit and the adjustable power supply charge the battery.

如申請專利範圍第15項所述的操作方法，更包括：將該可調變式電源供應器的該輸出電壓調整為等於該電池的該輸出電壓，使得該可調變式電源供應器與該電池共同供電至該負載電路。 As described in item 15 of the scope of patent application, the operation method further includes: adjusting the output voltage of the adjustable power supply to be equal to the output voltage of the battery, so that the adjustable power supply and the The batteries jointly supply power to the load circuit.

如申請專利範圍第15項所述的操作方法，更包括：將該可調變式電源供應器的該輸出電壓調整為小於該電池的該輸出電壓，使得該電池供電至該負載電路。 The operation method described in item 15 of the scope of patent application includes: The output voltage of the adjustable power supply is adjusted to be less than the output voltage of the battery, so that the battery supplies power to the load circuit.

如申請專利範圍第13項所述的操作方法，更包括：感測該可調變式電源供應器的一輸出電流及該電池的一輸出電流；根據該可調變式電源供應器的該輸出電流的方向及該電池的該輸出電流的方向，決定該可調變式電源供應器的一輸出電壓。 As described in item 13 of the scope of patent application, the operation method further includes: sensing an output current of the adjustable power supply and an output current of the battery; according to the output of the adjustable power supply The direction of the current and the direction of the output current of the battery determine an output voltage of the adjustable power supply.

如申請專利範圍第13項所述的操作方法，更包括：由一張力控制絞盤裝置收放一纜線；其中該可調變式電源供應器的一輸入端耦接至該纜線的一第一端，以接收該源電力。 For example, the operating method described in item 13 of the scope of the patent application further includes: receiving and unloading a cable by a force-controlled winch device; wherein an input end of the adjustable power supply is coupled to a first of the cable One end to receive the source power.

如申請專利範圍第20項所述的操作方法，其中所述由該張力控制絞盤裝置收放該纜線的步驟包括：由一絞盤模組收放該纜線，其中該纜線的一第二端用以耦接至一電力供應裝置以提供該源電力；以及由一絞盤控制器根據在該無人載具與該絞盤模組之間的該纜線的一張力來對應控制該絞盤模組對該纜線的收放線模式或速度，以自動調整該纜線的該張力。 For the operation method described in item 20 of the scope of patent application, wherein the step of receiving and unwinding the cable by the tension control winch device includes: receiving and unwinding the cable by a winch module, wherein a second portion of the cable is The terminal is coupled to a power supply device to provide the source power; and a winch controller correspondingly controls the pair of winch modules according to a force of the cable between the unmanned vehicle and the winch module The retracting and unwinding mode or speed of the cable to automatically adjust the tension of the cable.

如申請專利範圍第21項所述的操作方法，其中所述由該張力控制絞盤裝置收放該纜線的步驟更包括：由一張力感測器感測在該無人載具與該絞盤模組之間的該纜線的該張力；以及由該張力感測器產生相關於該張力的一張力值給該絞盤控制器。 As for the operation method described in item 21 of the scope of patent application, the step of retracting and unwinding the cable by the tension control winch device further includes: sensing the unmanned vehicle and the winch module by a force sensor The tension of the cable between; and The tension sensor generates a force value related to the tension to the winch controller.

如申請專利範圍第22項所述的操作方法，其中所述由該張力控制絞盤裝置收放該纜線的步驟更包括：由該絞盤控制器根據該張力值及一張力上限值或一張力下限值來控制該絞盤模組對該纜線的收放線模式或速度。 For example, the operation method described in item 22 of the scope of patent application, wherein the step of receiving and unwinding the cable by the tension control winch device further includes: the winch controller according to the tension value and the upper limit value of a force or a force The lower limit is used to control the winding and unwinding mode or speed of the cable by the winch module.

如申請專利範圍第21項所述的操作方法，其中所述由該張力控制絞盤裝置收放該纜線的步驟更包括：在該絞盤模組對該纜線收線的過程中，由一整線機構根據該絞盤模組的一絞盤的轉動圈數而動態調整該纜線在該絞盤中的一收線位置。 As for the operation method described in item 21 of the scope of patent application, the step of receiving and unwinding the cable by the tension control winch device further includes: during the process of the winch module taking up the cable, a whole The wire mechanism dynamically adjusts a wire take-up position of the cable in the winch according to the number of turns of a winch of the winch module.