CN112572797A - Automatic bird-involved foreign matter removing method and system for high-voltage power tower of unmanned aerial vehicle - Google Patents
Automatic bird-involved foreign matter removing method and system for high-voltage power tower of unmanned aerial vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Abstract
The invention discloses an automatic bird-involved foreign matter removing method and system for a high-voltage power tower of an unmanned aerial vehicle, wherein the method comprises the following steps: in the flying process of the unmanned aerial vehicle, the bird-involved foreign matter distance sensor scans foreign matters, and the distance between the bird-involved foreign matters and the bird-involved foreign matter distance sensor and the offset angle between the bird-involved foreign matters and the horizontal direction of the wings are obtained in real time; the direction and the distance of the telescopic rod and the manipulator are adjusted according to the acquired distance and the offset angle, the flight balance of the unmanned aerial vehicle is kept according to a flight balance algorithm, and bird-involved foreign bodies are cleaned through the manipulator. According to the invention, the positions of bird-involved foreign matters such as bird nests and the like are judged through the laser distance sensor and the camera, and the manipulator is used for removing the foreign matters, so that the requirement of field operation angle is met, thus the bird-involved foreign matters on the power transmission line can be automatically captured and removed, and meanwhile, a worker can also carry out remote wireless control through a remote control handle or a mobile phone APP.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an automatic bird-involved foreign matter removing method and system for a high-voltage power tower of an unmanned aerial vehicle.
Background
In order to provide the development requirements of cities and towns, high-voltage electricity is transmitted from a power station to each power consumer, birds and the like are usually inhabited on a high-voltage line to cause death in the transmission process, bird-related foreign matters such as bird corpses and bird nests are lost on the high-voltage line, and the foreign matters need to be cleaned.
At present, foreign matters on a power transmission line and a high-voltage power tower are removed mainly by a manual mode, but the defect of manual cleaning is obvious:
1. the danger coefficient of high altitude construction is high, works on high-voltage line or high-voltage tower, and misoperation can lead to unexpected emergence, consequently has higher technical requirement and physical quality requirement to electric power staff.
2. And the operation can not be easily affected by high temperature, frost and other weather.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an automatic bird-involved foreign matter removing method and system for a high-voltage power tower of an unmanned aerial vehicle.
In order to solve the technical problem, an embodiment of the present invention provides an automatic removing method for bird-involved foreign matter in a high voltage power tower of an unmanned aerial vehicle, where the method includes:
in the flying process of the unmanned aerial vehicle, the bird-involved foreign matter distance sensor scans foreign matters, and the distance between the bird-involved foreign matters and the bird-involved foreign matter distance sensor and the offset angle between the bird-involved foreign matters and the horizontal direction of the wings are obtained in real time;
the direction and the distance of the telescopic rod and the manipulator are adjusted according to the acquired distance and the offset angle, the flight balance of the unmanned aerial vehicle is kept according to a flight balance algorithm, and bird-involved foreign bodies are cleaned through the manipulator.
Optionally, during the flight of unmanned aerial vehicle, still include:
based on telescopic link horizontal angle adjustment motor and the adjustment of the horizontal angle adjustment motor of counter weight pole, make telescopic link and counter weight pole and unmanned aerial vehicle wing vertical position after adjusting, two counter weight poles pass through counter weight pole contained angle adjustment motor adjustment contained angle to 0 degree, make the balanced flight of unmanned aerial vehicle, do not receive telescopic link and counter weight pole moment to influence.
Optionally, before the telescopic rod is extended to the acquired distance, the method further comprises:
judging whether the distance between the bird-caused foreign matter and the bird-caused foreign matter distance sensor is acquired in real time and is smaller than the maximum extension length of the telescopic rod or not;
when the distance between the bird-caused foreign matter and the bird-caused foreign matter distance sensor is acquired in real time and is smaller than the maximum extension length of the telescopic rod, and the three-axis gyroscope sensor detects that the unmanned aerial vehicle stops moving, the telescopic rod extends to the distance between the bird-caused foreign matter and the bird-caused foreign matter distance sensor is acquired in real time, and the manipulator is opened.
Optionally, the flight balancing algorithm includes:
in order to keep the front and back unmanned aerial vehicle balanced, keep unanimous with the moment of flexible rod end and counter weight rod end:
the horizontal angle of the counterweight rod adjusts the angle theta of the ascending counterweight rod of the motor2：
In the formula, the weight of the manipulator is a, the weight of each counterweight head of the counterweight rod is b, and the distance l between the bird-caused foreign matter and the bird-caused foreign matter distance sensor1Length of the balance weight rod is l2The offset angle between bird-involved foreign bodies and the horizontal direction of the wing is theta1And the included angle between the two counterweight rods is phi.
Optionally, the adjusting to the corresponding angle according to the flight balance algorithm includes:
the obtained offset angle between the bird-involved foreign matter and the horizontal direction of the wing is adjusted to a corresponding angle by controlling a balance weight lever horizontal angle adjusting motor through a flight balance algorithm;
the inclination angle of the unmanned aerial vehicle is obtained through the three-axis gyroscope sensor, and the angle between the two configuration rods is adjusted by controlling the included angle adjusting motor of the weight rod according to a flight balance algorithm, so that the unmanned aerial vehicle keeps flight balance.
Optionally, the cleaning of bird-involved foreign bodies includes:
when the manipulator contact foreign matter sensor detects that the manipulator contacts the bird-related foreign matter, the manipulator clamps the bird-related foreign matter, retracts the telescopic rod and pulls the bird-related foreign matter out of the high-voltage power tower;
in the retraction process, the balance weight rod horizontal angle adjusting motor is controlled to adjust to a corresponding angle according to a flight balance algorithm so as to keep the unmanned aerial vehicle flying in balance and pull bird-related foreign matters out of the high-voltage power tower.
Optionally, after bird-involved foreign bodies are cleaned, the telescopic rod and the counterweight rod are adjusted to be perpendicular to wings of the unmanned aerial vehicle, and the unmanned aerial vehicle is descended and recovered;
when unmanned aerial vehicle descends to being close to the ground, based on telescopic link horizontal angle adjustment motor and the horizontal angle adjustment motor of counter weight pole to telescopic link and counter weight pole adjust, telescopic link and counter weight pole after the adjustment rise to with unmanned aerial vehicle wing horizontal position for the manipulator risees to the position that is the highest apart from the ground, with the manipulator grabbing device of ensureing not contact with the ground when the aircraft descends.
An automatic bird-related foreign matter removing system of a high-voltage power tower of an unmanned aerial vehicle comprises a control module, a communication module and a manipulator grabbing device;
the manipulator grabbing device is used for realizing grabbing of bird-related foreign matters;
the control module is used for controlling the manipulator grabbing device;
the communication module is used for realizing data communication between the control module and the remote control handle or the mobile phone APP, so that the remote operation function and information transmission are realized.
Optionally, the manipulator grabbing device comprises a rotating bracket base, a telescopic rod control motor, a manipulator control motor, a manipulator contact foreign matter sensor, a weight rod, a telescopic rod horizontal angle adjusting motor, a weight rod included angle adjusting motor, a camera, a bird-involved foreign matter distance sensor and a three-axis gyroscope sensor.
Optionally, the control module realizes the control of the rotating bracket base, the telescopic rod control motor, the manipulator control motor, the telescopic rod horizontal angle adjusting motor, the counterweight rod horizontal angle adjusting motor and the counterweight rod included angle adjusting motor, acquires the manipulator contact foreign matter sensor, the bird-involved foreign matter distance sensor, the sensor data collected by the three-axis gyroscope sensor and the image data collected by the camera.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the bird-involved foreign matter grabbing and cleaning device is safe and reliable, bird-involved foreign matter is grabbed and cleaned through the unmanned aerial vehicle, and the risk potential of high-altitude operation is reduced;
2. the invention has strong environmental adaptability, can operate in high-temperature and frost environments and increases the working efficiency;
3. the invention is convenient to operate, and the working personnel can also carry out remote wireless control through the remote control handle or the mobile phone APP, thereby reducing the working difficulty.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for automatically removing bird-involved foreign matters from a high-voltage power tower of an unmanned aerial vehicle.
Fig. 2 is a schematic structural diagram of an automatic bird-involved foreign matter removing system of a high-voltage power tower of an unmanned aerial vehicle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Fig. 1 is a schematic flow diagram of a method for automatically removing bird-caused foreign matter in a high-voltage power tower of an unmanned aerial vehicle, and fig. 2 is a schematic structural diagram of a system for automatically removing bird-caused foreign matter in a high-voltage power tower of an unmanned aerial vehicle.
Referring to fig. 1, a method for automatically removing bird-related foreign matters from a high-voltage power tower of an unmanned aerial vehicle includes:
s101, in the flying process of the unmanned aerial vehicle, the bird-involved foreign matter distance sensor scans foreign matters, and the distance between the bird-involved foreign matters and the bird-involved foreign matter distance sensor and the offset angle between the bird-involved foreign matters and the horizontal direction of the wings are obtained in real time.
It should be noted that, during the flight of the unmanned aerial vehicle, the unmanned aerial vehicle further includes: based on telescopic link horizontal angle adjustment motor and the adjustment of the horizontal angle adjustment motor of counter weight pole, make telescopic link and counter weight pole and unmanned aerial vehicle wing vertical position after adjusting, two counter weight poles pass through counter weight pole contained angle adjustment motor adjustment contained angle to 0 degree, make the balanced flight of unmanned aerial vehicle, do not receive telescopic link and counter weight pole moment to influence.
S102, the direction and the distance of the telescopic rod and the manipulator are adjusted according to the obtained distance and the offset angle, the unmanned aerial vehicle is kept in flight balance according to a flight balance algorithm, and bird-involved foreign bodies are cleaned through the manipulator.
It should be noted that, before the telescopic rod is extended to the acquired distance, the telescopic rod further comprises:
judging whether the distance between the bird-caused foreign matter and the bird-caused foreign matter distance sensor is acquired in real time and is smaller than the maximum extension length of the telescopic rod or not;
when the distance between the bird-caused foreign matter and the bird-caused foreign matter distance sensor is acquired in real time and is smaller than the maximum extension length of the telescopic rod, and the three-axis gyroscope sensor detects that the unmanned aerial vehicle stops moving, the telescopic rod extends to the distance between the bird-caused foreign matter and the bird-caused foreign matter distance sensor is acquired in real time, and the manipulator is opened.
It should be noted that, the flight balancing algorithm includes:
in order to keep the front and back unmanned aerial vehicle balanced, keep unanimous with the moment of flexible rod end and counter weight rod end:
the horizontal angle of the counterweight rod adjusts the angle theta of the ascending counterweight rod of the motor2：
In the formula, machineThe weight of the manipulator is a, the weight of each counterweight head of the counterweight rod is b, and the distance l between the bird-caused foreign matter and the bird-caused foreign matter distance sensor1Length of the balance weight rod is l2The offset angle between bird-involved foreign bodies and the horizontal direction of the wing is theta1And the included angle between the two counterweight rods is phi.
It should be noted that, the adjusting to the corresponding angle according to the flight balance algorithm includes:
the obtained offset angle between the bird-involved foreign matter and the horizontal direction of the wing is adjusted to a corresponding angle by controlling a balance weight lever horizontal angle adjusting motor through a flight balance algorithm;
the inclination angle of the unmanned aerial vehicle is obtained through the three-axis gyroscope sensor, and the angle between the two configuration rods is adjusted by controlling the included angle adjusting motor of the weight rod according to a flight balance algorithm, so that the unmanned aerial vehicle keeps flight balance.
The cleaning of bird-related foreign matter includes:
when the manipulator contact foreign matter sensor detects that the manipulator contacts the bird-related foreign matter, the manipulator clamps the bird-related foreign matter, retracts the telescopic rod and pulls the bird-related foreign matter out of the high-voltage power tower;
in the retraction process, the balance weight rod horizontal angle adjusting motor is controlled to adjust to a corresponding angle according to a flight balance algorithm so as to keep the unmanned aerial vehicle flying in balance and pull bird-related foreign matters out of the high-voltage power tower.
After bird-involved foreign matters are cleaned, the telescopic rod and the counterweight rod are adjusted to be perpendicular to wings of the unmanned aerial vehicle, and the unmanned aerial vehicle is descended and recovered;
when unmanned aerial vehicle descends to being close to the ground, based on telescopic link horizontal angle adjustment motor and the horizontal angle adjustment motor of counter weight pole to telescopic link and counter weight pole adjust, telescopic link and counter weight pole after the adjustment rise to with unmanned aerial vehicle wing horizontal position for the manipulator risees to the position that is the highest apart from the ground, with the manipulator grabbing device of ensureing not contact with the ground when the aircraft descends.
According to the automatic removing method for bird-involved foreign matters in the high-voltage power tower of the unmanned aerial vehicle, the positions of bird-involved foreign matters such as bird nests are judged through the laser distance sensor and the camera, and the manipulator is used for removing the foreign matters.
As shown in fig. 2, an automatic bird-involved foreign matter removing system for a high-voltage power tower of an unmanned aerial vehicle comprises a control module 202, a communication module 203 and a manipulator grabbing device 201;
the manipulator grabbing device 201 is used for grabbing bird-related foreign matters;
the control module 202 is used for controlling the manipulator gripping device 201;
the communication module 203 is used for realizing data communication between the control module 202 and a remote control handle or a mobile phone APP, so that a remote operation function and information transmission are realized.
Telescopic link, telescopic link control motor, manipulator control motor, manipulator contact foreign matter sensor, the horizontal angle adjustment motor of telescopic link are used for realizing wading grabbing of bird foreign matter, the length that the adjustable manipulator of telescopic link extends, in order to avoid unmanned aerial vehicle wing touching high voltage electricity tower, the maximum length that requires the telescopic link is not less than unmanned aerial vehicle wing extension length.
The specific implementation process of the invention is as follows:
install manipulator grabbing device 201 in unmanned aerial vehicle's bottom, under standby state, telescopic link and counter weight pole rise to with unmanned aerial vehicle wing horizontal position for the manipulator risees to the position that is the highest apart from ground, with the manipulator grabbing device 201 of assurance under standby state not with ground contact.
After the unmanned aerial vehicle takes off, the telescopic link and the balance weight rod are adjusted to the wing vertical position of the unmanned aerial vehicle through the telescopic link horizontal angle adjusting motor and the balance weight rod horizontal angle adjusting motor, and the included angle of the two balance weight rods is adjusted to 0 degree through the balance weight rod included angle adjusting motor, so that the unmanned aerial vehicle flies in a balanced manner and is not influenced by the telescopic link and the balance weight rod torque.
In the flying process of the unmanned aerial vehicle, the bird-involved foreign matter distance sensor performs foreign matter scanning, when the unmanned aerial vehicle approaches the bird-involved foreign matter, the control module 202 obtains the distance between the bird-involved foreign matter and the bird-involved foreign matter distance sensor and the offset angle in the horizontal direction of the wing through the bird-involved foreign matter distance sensor on the rotating support base, when the distance is smaller than the maximum extension length of the telescopic rod and the three-axis gyroscope sensor detects that the unmanned aerial vehicle stops moving, the control module 202 controls the rotating support base to enable the telescopic rod and the manipulator to face the bird-involved foreign matter, and controls the telescopic rod control motor to enable the telescopic rod to extend to the distance between the obtained bird-involved foreign matter and the bird-involved foreign. And controlling the manipulator to control the motor to open the manipulator.
The control module 202 controls the telescopic rod horizontal angle adjusting motor to enable the telescopic rod to ascend to the offset angle between the obtained bird-caused foreign matter and the wing in the horizontal direction, and controls the counterweight rod horizontal angle adjusting motor to adjust to a corresponding angle according to a front-back flying balance algorithm to enable the unmanned aerial vehicle to keep flying balance.
The control module 202 obtains the inclination angle of the unmanned aerial vehicle through the three-axis gyroscope sensor, and controls the included angle adjusting motor of the counterweight rod to adjust the angle between the two configuration rods according to a left-right flight balance algorithm, so that the unmanned aerial vehicle keeps flight balance.
When the robot contact foreign object sensor detects that the robot has completely contacted the bird-related foreign object, the control module 202 controls the robot control motor to cause the robot to clamp the bird-related foreign object.
When the bird-involved foreign matter is removed, the control module 202 controls the telescopic rod horizontal angle adjusting motor and the counterweight rod horizontal angle adjusting motor to adjust the telescopic rod and the counterweight rod to the position perpendicular to the wings of the unmanned aerial vehicle, and the included angles of the two counterweight rods are adjusted to 0 degree through the counterweight rod included angle adjusting motor, so that the unmanned aerial vehicle flies in a balanced manner and is not influenced by the telescopic rod and the counterweight rod.
When the unmanned aerial vehicle descends to the ground, the control module 202 controls the telescopic rod horizontal angle adjusting motor and the counterweight rod horizontal angle adjusting motor to adjust the telescopic rod and the counterweight rod to ascend to the horizontal position of the wings of the unmanned aerial vehicle, so that the manipulator ascends to the position with the highest distance from the ground, and the manipulator grabbing device 201 is not in contact with the ground when the unmanned aerial vehicle descends. When the unmanned aerial vehicle descends to the ground, the bird-involved foreign matter removing process is finished.
The front-rear flight balance algorithm is specifically calculated as follows:
let the weight of the manipulator be a, the weight of each counterweight head of the counterweight rod be b, and the distance l between the bird-involved foreign matter and the bird-involved foreign matter distance sensor1Length of the balance weight rod is l2The offset angle between bird-involved foreign bodies and the horizontal direction of the wing is theta1And the included angle between the two counterweight rods is phi. In order to keep the front and rear unmanned aerial vehicles balanced, the moments of the end of the telescopic rod and the end of the counterweight rod are kept consistent when needed, as shown in formula 1. The angle theta of the balance weight rod for adjusting the horizontal angle of the balance weight rod and the ascending balance weight rod of the motor can be obtained according to the formula 12As shown in equation 2.
According to the left-right flight balance algorithm, when the unmanned aerial vehicle inclines to the left, the inclination angle of the unmanned aerial vehicle is set to be phi1The control module 202 controls the included angle adjusting motor of the weight lever to raise the left end weight lever angle phi1(ii) a When the unmanned aerial vehicle inclines to the right, the inclination angle of the unmanned aerial vehicle is set as phi2The control module 202 controls the motor for adjusting the included angle of the weight lever and the right weight lever is lifted by an angle phi2。
According to the automatic bird-involved foreign matter removing method and system for the high-voltage power tower of the unmanned aerial vehicle, the positions of bird-involved foreign matters such as bird nests are judged through the laser distance sensor and the camera, the foreign matter removing operation is carried out through the manipulator, the requirement of the field operation angle is met, therefore, the bird-involved foreign matters on the power transmission line are automatically grabbed and removed, and meanwhile, a worker can also carry out remote wireless control through the remote control handle or the mobile phone APP.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by instructions associated with hardware via a program, which may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
In addition, the method and the system for automatically removing bird-related foreign matters from the high-voltage power tower of the unmanned aerial vehicle provided by the embodiment of the invention are described in detail, a specific embodiment is adopted to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. An automatic bird-involved foreign matter removing method for a high-voltage power tower of an unmanned aerial vehicle is characterized by comprising the following steps:
in the flying process of the unmanned aerial vehicle, the bird-involved foreign matter distance sensor scans foreign matters, and the distance between the bird-involved foreign matters and the bird-involved foreign matter distance sensor and the offset angle between the bird-involved foreign matters and the horizontal direction of the wings are obtained in real time;
the direction and the distance of the telescopic rod and the manipulator are adjusted according to the acquired distance and the offset angle, the flight balance of the unmanned aerial vehicle is kept according to a flight balance algorithm, and bird-involved foreign bodies are cleaned through the manipulator.
2. The method for automatically removing bird-involved foreign matter in the high-voltage power tower of the unmanned aerial vehicle as claimed in claim 1, wherein the method further comprises the following steps:
based on telescopic link horizontal angle adjustment motor and the adjustment of the horizontal angle adjustment motor of counter weight pole, make telescopic link and counter weight pole and unmanned aerial vehicle wing vertical position after adjusting, two counter weight poles pass through counter weight pole contained angle adjustment motor adjustment contained angle to 0 degree, make the balanced flight of unmanned aerial vehicle, do not receive telescopic link and counter weight pole moment to influence.
3. The method for automatically removing bird-related foreign matters from the high-voltage power tower of the unmanned aerial vehicle as claimed in claim 1, further comprising, before the extension of the telescopic rod to the acquired distance:
judging whether the distance between the bird-caused foreign matter and the bird-caused foreign matter distance sensor is acquired in real time and is smaller than the maximum extension length of the telescopic rod or not;
when the distance between the bird-caused foreign matter and the bird-caused foreign matter distance sensor is acquired in real time and is smaller than the maximum extension length of the telescopic rod, and the three-axis gyroscope sensor detects that the unmanned aerial vehicle stops moving, the telescopic rod extends to the distance between the bird-caused foreign matter and the bird-caused foreign matter distance sensor is acquired in real time, and the manipulator is opened.
4. The method for automatically removing bird-involved foreign matter in the high-voltage power tower of the unmanned aerial vehicle according to claim 1, wherein the flight balance algorithm comprises:
in order to keep the front and back unmanned aerial vehicle balanced, keep unanimous with the moment of flexible rod end and counter weight rod end:
the horizontal angle of the counterweight rod adjusts the angle theta of the ascending counterweight rod of the motor2：
In the formula, the weight of the manipulator is a, the weight of each counterweight head of the counterweight rod is b, and the distance l between the bird-caused foreign matter and the bird-caused foreign matter distance sensor1Length of the balance weight rod is l2The offset angle between bird-involved foreign bodies and the horizontal direction of the wing is theta1And the included angle between the two counterweight rods is phi.
5. The method for automatically removing bird-involved foreign matter in the high-voltage power tower of the unmanned aerial vehicle according to claim 1, wherein the adjusting to the corresponding angle according to the flight balance algorithm comprises:
the obtained offset angle between the bird-involved foreign matter and the horizontal direction of the wing is adjusted to a corresponding angle by controlling a balance weight lever horizontal angle adjusting motor through a flight balance algorithm;
the inclination angle of the unmanned aerial vehicle is obtained through the three-axis gyroscope sensor, and the angle between the two configuration rods is adjusted by controlling the included angle adjusting motor of the weight rod according to a flight balance algorithm, so that the unmanned aerial vehicle keeps flight balance.
6. The method for automatically removing bird-involved foreign matters in the high-voltage power tower of the unmanned aerial vehicle according to claim 1, wherein the step of cleaning the bird-involved foreign matters comprises the following steps:
when the manipulator contact foreign matter sensor detects that the manipulator contacts the bird-related foreign matter, the manipulator clamps the bird-related foreign matter, retracts the telescopic rod and pulls the bird-related foreign matter out of the high-voltage power tower;
in the retraction process, the balance weight rod horizontal angle adjusting motor is controlled to adjust to a corresponding angle according to a flight balance algorithm so as to keep the unmanned aerial vehicle flying in balance and pull bird-related foreign matters out of the high-voltage power tower.
7. The automatic bird-involved foreign matter removing method for the high-voltage power tower of the unmanned aerial vehicle as claimed in claim 1, wherein after the bird-involved foreign matter is removed, the telescopic rod and the counterweight rod are adjusted to be perpendicular to wings of the unmanned aerial vehicle, and the unmanned aerial vehicle is descended and recovered;
when unmanned aerial vehicle descends to being close to the ground, based on telescopic link horizontal angle adjustment motor and the horizontal angle adjustment motor of counter weight pole to telescopic link and counter weight pole adjust, telescopic link and counter weight pole after the adjustment rise to with unmanned aerial vehicle wing horizontal position for the manipulator risees to the position that is the highest apart from the ground, with the manipulator grabbing device of ensureing not contact with the ground when the aircraft descends.
8. The automatic bird-involved foreign matter removing system for the high-voltage power tower of the unmanned aerial vehicle is characterized by comprising a control module, a communication module and a manipulator grabbing device;
the manipulator grabbing device is used for realizing grabbing of bird-related foreign matters;
the control module is used for controlling the manipulator grabbing device;
the communication module is used for realizing data communication between the control module and the remote control handle or the mobile phone APP, so that the remote operation function and information transmission are realized.
9. The automatic bird-wading foreign matter removing system for the high-voltage power tower of the unmanned aerial vehicle as claimed in claim 8, wherein the manipulator grabbing device comprises a rotating support base, a telescopic rod control motor, a manipulator control motor, a manipulator contact foreign matter sensor, a counterweight rod, a telescopic rod horizontal angle adjusting motor, a counterweight rod included angle adjusting motor, a camera, a bird-wading foreign matter distance sensor and a three-axis gyroscope sensor.
10. The automatic bird-interfering foreign matter removing system for the high-voltage power tower of the unmanned aerial vehicle as claimed in claim 8, wherein the control module controls the rotating bracket base, the telescopic rod control motor, the manipulator control motor, the telescopic rod horizontal angle adjusting motor, the counterweight rod horizontal angle adjusting motor and the counterweight rod included angle adjusting motor to obtain sensor data collected by the manipulator contact foreign matter sensor, the bird-interfering foreign matter distance sensor, the three-axis gyroscope sensor and image data collected by the camera.
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