CN116093871A - Unmanned aerial vehicle deicing system and control method - Google Patents
Unmanned aerial vehicle deicing system and control method Download PDFInfo
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- H—ELECTRICITY
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- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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Abstract
The disclosure relates to an unmanned aerial vehicle deicing system, a control method, electronic equipment and a storage medium. The system comprises a deicing unmanned aerial vehicle and a command control system, wherein: the deicing unmanned aerial vehicle comprises an unmanned aerial vehicle platform, a deicing emission module and a visual guiding module, and is used for receiving a control signal of the command control system to guide the deicing unmanned aerial vehicle to fly to a preset position and complete mechanical deicing of a deicing cable based on deicing bullets; the command control system comprises command control software and a ground control station, and is used for receiving the deicing unmanned aerial vehicle sending gesture information and the relative position of the deicing unmanned aerial vehicle sending gesture information and the icing cable to generate a control signal. The system adopts the unmanned plane as a carrier, is flexibly and flexibly close to various high-altitude power transmission lines in a complex environment, removes ice through a projectile type mechanical deicing method, and has the advantages of automatic and accurate positioning, high safety, high deicing efficiency, low use cost, repeated utilization, convenient transportation, maneuver and the like.
Description
Technical Field
The disclosure relates to the field of unmanned aerial vehicle application and electric power overhaul, in particular to an unmanned aerial vehicle deicing system, a control method, electronic equipment and a computer readable storage medium.
Background
The cable freezes, increases the weight of cable, increases windage resistance, can cause the pole tower to fall down, wire ground connection, broken string, short circuit etc. be difficult for the serious trouble of resumption. The icing of the electric power transmission line can increase the weight and humidity of the line to a certain extent, influence the air insulation effect of the line, cause various accidents, bring great inconvenience to the normal operation of a power grid and the life of people, and also have the problems of high difficulty and high risk in the deicing maintenance process of staff.
The damage of the ice coating of the power transmission line mainly comprises the following points:
1. increasing the burden of the pole tower. If the ice coating of the electric power transmission line cannot be found and treated in time, the thickness of the ice coating is increased, and the weight of the lead is increased. The high-voltage and extra-high-voltage transmission lines in China are erected and transmitted through large-scale electric power towers, and the strength of the towers can bear the weight of the electric power lines and has a certain margin. However, if the weight of the wire is increased due to ice coating, the bearing capacity of the iron tower is broken, and the iron tower or the wire is finally broken.
2. Uneven ice coating or different periods of ice detachment accidents. If the degree of icing in the line is different or the pulling force generated by the whole line is different easily in different periods of ice removing operation treatment, the line pulling force of icing thin or ice removing treatment in time is small, and the line pulling force of icing thick and ice removing treatment late is large, so that hardware fittings or insulators on the line are easily damaged, the electric gaps of wires are reduced, flashover occurs, and a pole tower is possibly damaged.
3. Causing the iced wire to wave. The action of uneven ice coating or ice and wind load can cause self-oscillation of the wire, especially the line on the high-voltage tower pole. Since the high-voltage line itself is exposed and insulated by air, the higher the voltage, the higher the height of the line construction will be. Meanwhile, the larger the wind power born, the stronger the vibration motion generated when the line is iced. The vibration is easy to cause damage to the tower pole fittings, lead breakage and even collapse of the tower pole, and serious electric accidents are caused.
The deicing technology at home and abroad is mainly as follows: manual deicing, thermal deicing, mechanical deicing, robot deicing, natural deicing and the like.
The manual deicing is realized by manually line inspection, inspection is performed by means of a telescope, a camera or an infrared thermal imager, and the like, and after a problem is found, the ice coating of the cable is removed by means of manual knocking. The defects of manual deicing include long time consumption, low efficiency, high operation risk, high labor cost and low accuracy of deicing observation results, the manual deicing is not easy to master, the power transmission line can be damaged due to overlarge strength, the power supply of a user is affected, and the areas where manual deicing can be used are fewer and fewer at present.
The thermal deicing method has the advantages that the voltage of the high-voltage transmission line is reduced, the current is increased under the condition of certain power, and the cable generates heat, so that the icing is melted and removed.
The mechanical deicing method is to deicing through mechanical equipment, and there are common pulley scraping methods and the like. Most equipment is erected on a power transmission line by means of a large crane, but is greatly affected by regions, and the method cannot be adopted in hilly, mountain areas and other areas. Although the intelligent degree is improved by the robot deicing method, the deicing efficiency is low, the speed is low, the residual icing is more, the requirements on algorithm and image data transmission precision are very high, the interference degree is high, the self weight also has a certain burden on the power transmission line, and the robot deicing method is high in cost, complex in structure and difficult to maintain. According to the unmanned aerial vehicle mechanical arm deicing method, an unmanned aerial vehicle is used as a carrier, so that the flexibility is improved, but three-dimensional modeling is required to be carried out on each deicing action, and the consumed time and the occupied calculation power are high; and the drill bit driven by the mechanical arm is in direct contact with the circuit, so that risks of damage, electrified short circuit and the like exist, and the safety is reduced compared with that of a manual mechanical deicing method.
Accordingly, there is a need for one or more approaches to address the above-described problems.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
It is an object of the present disclosure to provide an unmanned aerial vehicle deicing system, a control method, an electronic apparatus, and a computer-readable storage medium, which further overcome, at least in part, one or more of the problems due to the limitations and disadvantages of the related art.
According to one aspect of the present disclosure, there is provided an unmanned aerial vehicle deicing system comprising a deicing unmanned aerial vehicle and a command control system, wherein:
the deicing unmanned aerial vehicle comprises an unmanned aerial vehicle platform, a deicing emission module and a visual guiding module, wherein the unmanned aerial vehicle platform is used for receiving a control signal sent by the command control system, flying the deicing emission module and the visual guiding module carried by the unmanned aerial vehicle platform to preset positions based on the control signal, the deicing emission module is used for emitting deicing bullets to finish deicing treatment on a deicing cable, and the visual guiding module is used for identifying the relative positions of the unmanned aerial vehicle platform and the deicing cable and sending the relative positions to the command control system through the unmanned aerial vehicle platform;
The command control system comprises command control software and a ground control station, wherein the command control software is used for generating control signals based on the relative positions of the unmanned aerial vehicle platform and the icing cable and the attitude information of the unmanned aerial vehicle platform, the ground control station is used for communicating with the unmanned aerial vehicle platform, receiving the relative positions of the unmanned aerial vehicle platform and the icing cable and the attitude information of the unmanned aerial vehicle platform, which are sent by the unmanned aerial vehicle platform, and sending the control signals generated by the command control system to the unmanned aerial vehicle platform.
In an exemplary embodiment of the present disclosure, the unmanned aerial vehicle platform of the deicing unmanned aerial vehicle of the system further comprises a power rack, a flight control module, a power module, an onboard data transmission image transmission module, an RTK mobile station, a remote controller, wherein:
and the airborne data transmission image transmission module and the RTK mobile station are used for communicating with the ground data transmission image transmission module and the RTK reference station of the ground control station of the command control system respectively to complete the communication between the unmanned plane platform and the ground control station.
In an exemplary embodiment of the present disclosure, the deicing transmission module of the deicing unmanned aerial vehicle of the system further comprises a pneumatic transmission device, a mounting trigger device, a deicing bomb, wherein:
The pneumatic launching device is used for launching the deicing bomb based on pneumatic power;
the mounting triggering device is used for receiving a deicing instruction sent by the command control system through the unmanned aerial vehicle platform and enabling the pneumatic transmitting device based on the deicing instruction;
the deicing bomb is used for colliding with the icing cable to complete mechanical deicing of the icing cable.
In an exemplary embodiment of the present disclosure, the vision guiding module of the deicing unmanned aerial vehicle of the system further includes a visible light camera module, an infrared camera module, a millimeter wave radar, image processing software, and motion control software, where the vision guiding module is configured to detect the icing cable based on the light camera module, the infrared camera module, and the millimeter wave radar, and identify the icing cable based on the image processing software and the motion control software, and generate a relative position of the unmanned aerial vehicle platform and the icing cable.
In an exemplary embodiment of the disclosure, the ground control station of the command control system of the system further includes a ground data transmission image transmission module, an industrial personal computer, and an RTK reference station, where the ground data transmission image transmission module and the RTK reference station are used for respectively communicating with the airborne data transmission image transmission module and the RTK mobile station of the unmanned plane platform of the deicing unmanned plane, so as to complete communication between the unmanned plane platform and the ground control station.
In one aspect of the present disclosure, there is provided a method of deicing a drone, comprising:
the deicing unmanned aerial vehicle finishes instruction guidance flight based on a manual operation instruction of a command control system, and the deicing unmanned aerial vehicle is flown at a position with a flight distance smaller than a first preset distance from the icing cable;
detecting and identifying the relative position of the unmanned aerial vehicle platform and the icing cable based on the visual guiding module of the deicing unmanned aerial vehicle, generating a control signal based on the relative position, completing visual guidance flight of the deicing unmanned aerial vehicle, and enabling the flight distance of the deicing unmanned aerial vehicle to be smaller than a second preset distance and the height to be smaller than the preset height from the icing cable;
and the mounting trigger device enables the pneumatic transmitting device to transmit deicing bombs based on the control signal, and deicing treatment of the deicing cable is completed.
In an exemplary embodiment of the present disclosure, the method further comprises:
based on the visual guide module of the deicing unmanned aerial vehicle, the image tracking of the icing cable is realized, the motion control of the transverse plane, the motion control of the longitudinal plane and the gesture control of the deicing unmanned aerial vehicle are realized, and the visual guidance flight of the deicing unmanned aerial vehicle is realized.
In an exemplary embodiment of the present disclosure, the method further comprises:
after the visual guidance flight of the deicing unmanned aerial vehicle is completed, when the relative speed of the deicing unmanned aerial vehicle and the icing cable is smaller than a preset speed, the mounting trigger device enables the pneumatic transmitting device to transmit deicing bullets based on the control signal, and deicing treatment of the icing cable is completed.
In one aspect of the present disclosure, there is provided an electronic device comprising:
a processor; and
a memory having stored thereon computer readable instructions which, when executed by the processor, implement a method according to any of the above.
In one aspect of the present disclosure, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements a method according to any of the above.
An unmanned aerial vehicle deicing system in an exemplary embodiment of the present disclosure, the system comprising a deicing unmanned aerial vehicle and a command control system, wherein: the deicing unmanned aerial vehicle comprises an unmanned aerial vehicle platform, a deicing emission module and a visual guiding module, and is used for receiving a control signal of the command control system to guide the deicing unmanned aerial vehicle to fly to a preset position and complete mechanical deicing of a deicing cable based on deicing bullets; the command control system comprises command control software and a ground control station, and is used for receiving the deicing unmanned aerial vehicle sending gesture information and the relative position of the deicing unmanned aerial vehicle sending gesture information and the icing cable to generate a control signal. The system adopts the unmanned plane as a carrier, is flexibly and flexibly close to various high-altitude power transmission lines in a complex environment, removes ice through a projectile type mechanical deicing method, and has the advantages of automatic and accurate positioning, high safety, high deicing efficiency, low use cost, repeated utilization, convenient transportation, maneuver and the like.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The above and other features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 shows a schematic block diagram of a drone deicing system according to an exemplary embodiment of the present disclosure;
FIG. 2 illustrates a flowchart of a method of deicing a drone according to an exemplary embodiment of the present disclosure;
3A-3B illustrate a lateral plane, longitudinal plane control schematic of a method of deicing a drone according to an exemplary embodiment of the present disclosure;
FIG. 4 illustrates a coordinate transformation logic diagram of a method of deicing a drone according to an exemplary embodiment of the present disclosure;
5A-5B illustrate a coordinate transformation schematic of a method of deicing a drone according to an exemplary embodiment of the present disclosure;
FIG. 6 illustrates a tracking field of view schematic of a drone deicing method according to an exemplary embodiment of the present disclosure;
FIG. 7 illustrates a visual guidance flight logic diagram of a drone deicing system according to an exemplary embodiment of the present disclosure;
FIG. 8 schematically illustrates a block diagram of an electronic device according to an exemplary embodiment of the present disclosure;
Fig. 9 schematically illustrates a schematic diagram of a computer-readable storage medium according to an exemplary embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the disclosed aspects may be practiced without one or more of the specific details, or with other methods, components, materials, devices, steps, etc. In other instances, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, or in one or more software-hardened modules, or in different networks and/or processor devices and/or microcontroller devices.
In this example embodiment, there is first provided a unmanned aerial vehicle deicing system; referring to fig. 1, the deicing system for an unmanned aerial vehicle comprises a deicing unmanned aerial vehicle and a command control system, wherein:
the deicing unmanned aerial vehicle comprises an unmanned aerial vehicle platform, a deicing emission module and a visual guiding module, wherein the unmanned aerial vehicle platform is used for receiving a control signal sent by the command control system, flying the deicing emission module and the visual guiding module carried by the unmanned aerial vehicle platform to preset positions based on the control signal, the deicing emission module is used for emitting deicing bullets to finish deicing treatment on a deicing cable, and the visual guiding module is used for identifying the relative positions of the unmanned aerial vehicle platform and the deicing cable and sending the relative positions to the command control system through the unmanned aerial vehicle platform;
The command control system comprises command control software and a ground control station, wherein the command control software is used for generating control signals based on the relative positions of the unmanned aerial vehicle platform and the icing cable and the attitude information of the unmanned aerial vehicle platform, the ground control station is used for communicating with the unmanned aerial vehicle platform, receiving the relative positions of the unmanned aerial vehicle platform and the icing cable and the attitude information of the unmanned aerial vehicle platform, which are sent by the unmanned aerial vehicle platform, and sending the control signals generated by the command control system to the unmanned aerial vehicle platform.
An unmanned aerial vehicle deicing system in an exemplary embodiment of the present disclosure, the system comprising a deicing unmanned aerial vehicle and a command control system, wherein: the deicing unmanned aerial vehicle comprises an unmanned aerial vehicle platform, a deicing emission module and a visual guiding module, and is used for receiving a control signal of the command control system to guide the deicing unmanned aerial vehicle to fly to a preset position and complete mechanical deicing of a deicing cable based on deicing bullets; the command control system comprises command control software and a ground control station, and is used for receiving the deicing unmanned aerial vehicle sending gesture information and the relative position of the deicing unmanned aerial vehicle sending gesture information and the icing cable to generate a control signal. The system adopts the unmanned plane as a carrier, is flexibly and flexibly close to various high-altitude power transmission lines in a complex environment, removes ice through a projectile type mechanical deicing method, and has the advantages of automatic and accurate positioning, high safety, high deicing efficiency, low use cost, repeated utilization, convenient transportation, maneuver and the like.
Unmanned aerial vehicle deicing system includes deicing unmanned aerial vehicle and command control system, wherein:
the deicing unmanned aerial vehicle comprises an unmanned aerial vehicle platform, a deicing emission module and a visual guiding module, wherein the unmanned aerial vehicle platform is used for receiving a control signal sent by the command control system, flying the deicing emission module and the visual guiding module carried by the unmanned aerial vehicle platform to preset positions based on the control signal, the deicing emission module is used for emitting deicing bullets to finish deicing treatment on a deicing cable, and the visual guiding module is used for identifying the relative positions of the unmanned aerial vehicle platform and the deicing cable and sending the relative positions to the command control system through the unmanned aerial vehicle platform;
the command control system comprises command control software and a ground control station, wherein the command control software is used for generating control signals based on the relative positions of the unmanned aerial vehicle platform and the icing cable and the attitude information of the unmanned aerial vehicle platform, the ground control station is used for communicating with the unmanned aerial vehicle platform, receiving the relative positions of the unmanned aerial vehicle platform and the icing cable and the attitude information of the unmanned aerial vehicle platform, which are sent by the unmanned aerial vehicle platform, and sending the control signals generated by the command control system to the unmanned aerial vehicle platform.
In an embodiment of the present example, the unmanned aerial vehicle platform of the deicing unmanned aerial vehicle of the system further comprises a power rack, a flight control module, a power module, an onboard data transmission image transmission module, an RTK mobile station, and a remote controller, wherein:
and the airborne data transmission image transmission module and the RTK mobile station are used for communicating with the ground data transmission image transmission module and the RTK reference station of the ground control station of the command control system respectively to complete the communication between the unmanned plane platform and the ground control station.
In an embodiment of the present example, the deicing transmission module of the deicing unmanned aerial vehicle of the system further comprises a pneumatic transmission device, a mounting trigger device, and a deicing bomb, wherein:
the pneumatic launching device is used for launching the deicing bomb based on pneumatic power;
the mounting triggering device is used for receiving a deicing instruction sent by the command control system through the unmanned aerial vehicle platform and enabling the pneumatic transmitting device based on the deicing instruction;
the deicing bomb is used for colliding with the icing cable to complete mechanical deicing of the icing cable.
In an embodiment of the present example, the vision guiding module of the deicing unmanned aerial vehicle of the system further includes a visible light camera module, an infrared camera module, a millimeter wave radar, image processing software, and motion control software, where the vision guiding module is configured to detect the icing cable based on the light camera module, the infrared camera module, and the millimeter wave radar, and identify the icing cable based on the image processing software and the motion control software, so as to generate a relative position of the unmanned aerial vehicle platform and the icing cable.
In the embodiment of the present example, the ground control station of the command control system of the system further includes a ground data transmission image transmission module, an industrial personal computer, and an RTK reference station, where the ground data transmission image transmission module and the RTK reference station are used for respectively communicating with the airborne data transmission image transmission module and the RTK mobile station of the unmanned plane platform of the deicing unmanned plane, so as to complete the communication between the unmanned plane platform and the ground control station.
In an embodiment of the present example, the deicing unmanned aerial vehicle is comprised of an unmanned aerial vehicle platform, a deicing emission module, and a visual guidance module.
In the embodiment of the present example, the unmanned aerial vehicle platform provides power and motive power for the unmanned aerial vehicle, and performs accurate flight control on the unmanned aerial vehicle. The image transmission data transmission module and the RTK mobile station are respectively in remote wireless communication connection with the image transmission data transmission module of the command control system and the RTK reference station, so that the information transmission function is completed. The deicing unmanned aerial vehicle can be manually operated through the remote controller.
In the embodiment of the example, the deicing emission module comprises a pneumatic emission device, a mounting departure device and two deicing bullets, and provides enough kinetic energy for horizontal projectile emission. The module applies an emergency security low-altitude delivery technology, forms target space-time information through ground real-time multi-element information sensing and data fusion, combines high-precision information acquisition of sensors on a flight platform, accurately guides and controls space-time closure of the flight platform and the target, and safely releases effective load. The method covers the design and correction technology of delivery tracks and the visual guidance delivery technology, and realizes the rapid, accurate and efficient delivery of various payloads to the air and the ground.
In the embodiment of the example, the vision guiding module achieves the all-weather target observation function under the complex environment through the visible light and the infrared camera, performs laser ranging and aiming through the millimeter wave radar, and recognizes and monitors the target through the image control software. After the module transmits the target information to the command control system, a deicing instruction fed back by the command control system is acquired, and a mechanical deicing method is adopted by motion control software to physically strike the ice-covered power transmission line, so that broken ice is knocked down.
In the embodiment of the example, the command control system has the functions of GPS positioning, 5G real-time communication and image transmission, and the functions of stable flight, accurate locking and autonomous hitting of targets are realized by applying unmanned aerial vehicle flight control and path planning technology, machine vision technology, deep learning artificial intelligence technology and smooth shift control technology. Developing an unmanned aerial vehicle flight control algorithm at a ground control station, and realizing autonomous stable flight of the unmanned aerial vehicle; and planning a flight path of the unmanned aerial vehicle according to the target position, and quickly approaching the target by an optimal path.
In the embodiment of the example, the deicing unmanned aerial vehicle transmits information such as images, positions and the like to the command control system in real time through the visual guiding device in the flight process, and the command control system transmits commands such as communication, positioning, aiming and command to the deicing unmanned aerial vehicle through calculation and analysis, so that the deicing unmanned aerial vehicle carries out flight and deicing bomb delivery and emission tasks and transmits the information back to the command control system, and the deicing effect is achieved through hitting and collision on a deicing cable.
Next, as shown in fig. 2, a deicing system for an unmanned aerial vehicle in the present exemplary embodiment will be further described.
In step S210, the deicing unmanned aerial vehicle may complete instruction guidance flight based on a manual operation instruction of the command control system, and the flight distance of the deicing unmanned aerial vehicle is set at a position where the icing cable is smaller than a first preset distance.
In step S220, the relative position of the unmanned aerial vehicle platform and the icing cable may be detected and identified based on the visual guiding module of the deicing unmanned aerial vehicle, a control signal may be generated based on the relative position, the visual guiding flight of the deicing unmanned aerial vehicle may be completed, and the flight distance of the deicing unmanned aerial vehicle may be smaller than a second preset distance from the icing cable and the height distance may be smaller than a preset height from the icing cable.
In step S230, the mounting triggering device may enable the pneumatic transmitting device to transmit the deicing bomb based on the control signal, so as to complete deicing treatment of the cable.
In an embodiment of the present example, the method further comprises:
based on the visual guide module of the deicing unmanned aerial vehicle, the image tracking of the icing cable is realized, the motion control of the transverse plane, the motion control of the longitudinal plane and the gesture control of the deicing unmanned aerial vehicle are realized, and the visual guidance flight of the deicing unmanned aerial vehicle is realized.
In an embodiment of the present example, the method further comprises:
after the visual guidance flight of the deicing unmanned aerial vehicle is completed, when the relative speed of the deicing unmanned aerial vehicle and the icing cable is smaller than a preset speed, the mounting trigger device enables the pneumatic transmitting device to transmit deicing bullets based on the control signal, and deicing treatment of the icing cable is completed.
In the embodiment of the present example, the deicing unmanned aerial vehicle system uses an unmanned aerial vehicle as a carrier for deicing the power transmission line, and flexibly approaches to various high-altitude power transmission lines in a complex environment, and simulates a currently commonly used manual impact mode by a projectile-type mechanical deicing method, so that the deicing projectile is launched to physically impact the ice-covered power transmission line, and broken ice is knocked down. The automatic deicing device has the advantages of automatic accurate positioning, low characteristic treatment, high safety, high deicing efficiency, low use cost, repeated use, flexible operation, convenient transportation, maneuvering and the like, does not influence the normal work of a power transmission line, does not change the physical properties of the line, and ensures the safety of operators and the environment.
In the embodiment of the present example, the unmanned aerial vehicle has two types of state variables simultaneously in the flight process, one is the self-posture state of the unmanned aerial vehicle, and the other is the position state variable of the unmanned aerial vehicle. The unmanned aerial vehicle changes its position in space by changing its pose. The unmanned aerial vehicle can produce the displacement along X and y axle under organism coordinate system when doing roll and every single move, consequently the change of roll angle and pitch angle can indirectly produce the influence to unmanned aerial vehicle position, and the orientation of unmanned aerial vehicle aircraft nose is only decided to the yaw angle, can not influence unmanned aerial vehicle's position. In order to ensure that the target is tracked by the unmanned aerial vehicle on the premise of ensuring that the off-target amount of the target in a screen coordinate system is as small as possible, a rotor unmanned aerial vehicle vision guidance control method with vision angle control is designed for the problem. And defining a plane formed by the three points of the mass center of the unmanned aerial vehicle, the target mass center and the earth center as a longitudinal plane, and a plane parallel to the longitudinal plane through the mass center of the unmanned aerial vehicle and the target mass center as a transverse plane.
In the embodiment of the present example, as shown in fig. 3A, Δu in the movement of the transverse plane is taken as the movement input in the transverse plane, and the controller is designed so that the desired value of Δu is 0. The decrease in Deltau is achieved primarily by controlling the movement of the heading angle by means of the heading channel. The expected value of the movement of the yaw angle is the included angle between the projection of the sight line direction in the transverse plane and the connecting line of the unmanned aerial vehicle and the target. Δψ=δ, the projection of the δ line of sight direction in the transverse plane and the angle of the connection of the unmanned aerial vehicle and the target, δ can be determined from the external parameters of the camera and the imaging plane coordinates of the target.
In the present exemplary embodiment, as shown in fig. 3B, Δv and d are taken as motion inputs in the longitudinal plane, and the controller is designed such that desired values of Δv and d are 0 and 5, respectively. The delta v is reduced by mainly controlling the z-direction movement of the machine body coordinate system by the throttle channel; the reduction of d is achieved by controlling the x-direction movement of the body coordinate system by means of the pitch channel. The roll channel has no control quantity input, the theoretical value of the roll angle is zero, and the roll channel mainly fine-adjusts the roll angle to keep the self-stable posture.
△z＝d*sinη
△x＝d*cosη
η is the included angle between the projection of the sight line direction in the longitudinal plane and the connecting line of the unmanned plane and the target. η can be determined from the external parameters of the camera and the imaging plane coordinates of the object.
Δψ, R (Δx,0, Δz) T are desired attitude and positional change amounts in the body coordinate system. Δψ, R (Δx,0, Δz) T are desired attitude and positional change amounts in the inertial coordinate system. R is a rotation matrix from a machine body coordinate system to an inertial coordinate system.
In the embodiment of the present example, the coordinate transformation calculation matrix is as follows
In the embodiment of the present example, as shown in fig. 4, a coordinate transformation logic diagram is shown, in which Δψ, R (Δx,0, Δz) T are the attitude angle change desire and the displacement change desire in the inertial coordinate system addressed to the flight control.
In the embodiment of the present example, as shown in fig. 5A to 5B, the coordinate transformation flow is a pixel coordinate system-imaging plane coordinate system-camera coordinate system (body coordinate system) -inertial coordinate system.
In the embodiment of the present example, as shown in fig. 6, in the tracking process, the pixel displacement of the target from the center of the field of view is smaller than 100 pixels in both the x direction and the y direction, which is smaller than the tracking precision requirement of 150 pixels in deviation, so that the target is ensured to be always located near the center of the field of view, and the effective tracking of the target is realized.
In the embodiment of the present example, the recognition process of the unmanned aerial vehicle is divided into instruction guidance flight of the front section and vision guidance flight of the rear end. The instruction guidance flight mainly depends on ground manual operation, so that the unmanned aerial vehicle is remotely and rapidly close to the target; within 100m of the approaching target, the unmanned aerial vehicle can be switched to vision guidance flight to approach the target.
The command guidance process is that an operator operates the tracking device through the ground control station to search for a line icing target, and after the target is found and confirmed, the operator controls the unmanned aerial vehicle to approach the target, and the heading angle is guaranteed to face the target in the process of approaching the target, so that the follow-up recognition process is facilitated.
As shown in fig. 7, in the visual guidance flight logic diagram, the unmanned aerial vehicle cradle head will always aim at the target in the visual guidance flight process, so as to acquire the distance information of the target in real time, and meanwhile, ensure that the deicing bomb aims at the target in the whole flight process, and automatically launch and intercept the target when the distance is proper (within 10 meters). The control input information of the unmanned aerial vehicle comprises a target distance, an attitude angle (azimuth and pitching) of the cradle head and an attitude angle of the unmanned aerial vehicle, and the unmanned aerial vehicle control is decomposed into horizontal plane control, altitude control and course angle control according to the target distance, the attitude angle (azimuth and pitching) of the cradle head and the attitude angle.
The unmanned plane is controlled to move forward along the machine head direction, approaches the target at the maximum speed when in long distance, and calculates the relative position and speed of the target according to the ranging value and the azimuth pitch angle output by the cradle head. Meanwhile, when the deicing bullet is launched, the relative speed difference between the target and the unmanned aerial vehicle is controlled within a reasonable range so as to enable the trajectory of the deicing bullet to be relatively stable, and therefore, when the distance between the target and the unmanned aerial vehicle is within 20 meters, the unmanned aerial vehicle can be appropriately decelerated according to the target speed.
The height control affects the firing angle of the deicing bomb. In order to maintain the stability of trajectory and improve the interception probability, the unmanned aerial vehicle is prevented from crashing with the target to cause the unmanned aerial vehicle to crash, and the expected pitch angle of the cradle head is set to be zero during launching, namely the deicing bomb is beaten obliquely downwards. Suppose at some point in tracking the unmanned aerial vehicle pitch angle is beta 1 The pitch angle of the pan-tilt is beta 2 When the target distance is d, the height dsin (beta) 1 +β 2 ) Should be constant. If the unmanned plane tracks the target at the maximum speed of 18.6m/s, the pitch angle is 45 degrees, the interception point takes 5.5m, and the height of the target relative to the cradle head is determined as
5.5×sin45°＝3.89m
The pitch angle of the cradle head at the height of 20 meters is
arcsin(3.89/20)＝11.2°
Assume that the target suddenly starts at 10m/s from its maximum speed of 15m/s at 20 meters 2 The shortest time of track is expressed as deceleration
(20×cos11.2°-3.9)+(15t-5t 2 )＝18.6t
The solution gives the shortest time t=1.45 s.
The average angular velocity is
(45-11.2)/1.45＝23.31°/s
The maximum pitch angle speed of the cradle head is 30 degrees/s, and the performance meets the requirements.
In the aspect of course angle control, as the cradle head is aligned to the target, deviation exists between the course angle of the unmanned aerial vehicle and the yaw angle of the cradle head, and in order to ensure reliable tracking of the unmanned aerial vehicle on a large maneuvering target, the deviation between the course angle and the yaw angle of the cradle head is controlled to be zero. Namely, the heading angle control target of the unmanned aerial vehicle is that the yaw angle of the cradle head is zero. Since the interception range of the deicing bomb is within 10m, the target is assumed to be transversely 10m/s from the unmanned aerial vehicle 10m 2 After 1s acceleration, the lateral position change was 5 meters, and the angle change was 26.56 °. The average angular velocity is 26.56 degrees/s, which is less than 30 degrees/s of the maximum angular velocity of the cradle head, and the performance meets the requirements.
In summary, this approach can be performed on targets with a mobility of no more than 0.7 g.
In the embodiment of the example, the deicing unmanned aerial vehicle system adopts an unmanned aerial vehicle as a carrier, is flexibly and flexibly close to various high-altitude power transmission lines in a complex environment, and simulates a currently commonly applied manual impact mode to physically impact the icing power transmission lines by a projectile-type mechanical deicing method, so that crushed ice is knocked down. The automatic deicing device has the advantages of automatic accurate positioning, low characteristic treatment, high safety, high deicing efficiency, low use cost, repeated use, flexible operation, convenient transportation, maneuvering and the like, does not influence the normal work of a power transmission line, does not change the physical properties of the line, and ensures the safety of operators and the environment.
It should be noted that although the steps of the methods of the present disclosure are illustrated in the accompanying drawings in a particular order, this does not require or imply that the steps must be performed in that particular order or that all of the illustrated steps be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.
In addition, in an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.
Those skilled in the art will appreciate that the various aspects of the invention may be implemented as a system, method, or program product. Accordingly, aspects of the invention may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.
An electronic device 800 according to such an embodiment of the invention is described below with reference to fig. 8. The electronic device 800 shown in fig. 8 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 8, the electronic device 800 is embodied in the form of a general purpose computing device. Components of electronic device 800 may include, but are not limited to: the at least one processing unit 810, the at least one storage unit 820, a bus 830 connecting the different system components (including the storage unit 820 and the processing unit 810), and a display unit 840.
Wherein the storage unit stores program code that is executable by the processing unit 810 such that the processing unit 810 performs steps according to various exemplary embodiments of the present invention described in the above section of the "exemplary method" of the present specification. For example, the processing unit 810 may perform steps S110 to S130 as shown in fig. 2.
The storage unit 820 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 8201 and/or cache memory 8202, and may further include Read Only Memory (ROM) 8203.
The electronic device 800 may also communicate with one or more external devices 870 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 800, and/or any device (e.g., router, modem, etc.) that enables the electronic device 800 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 850. Also, electronic device 800 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 860. As shown, network adapter 860 communicates with other modules of electronic device 800 over bus 850. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 800, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
In an exemplary embodiment of the present disclosure, a computer-readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification is also provided. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.
Referring to fig. 9, a program product 900 for implementing the above-described method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. Unmanned aerial vehicle deicing system, its characterized in that, the system includes deicing unmanned aerial vehicle and command control system, wherein:
The deicing unmanned aerial vehicle comprises an unmanned aerial vehicle platform, a deicing emission module and a visual guiding module, wherein the unmanned aerial vehicle platform is used for receiving a control signal sent by the command control system, flying the deicing emission module and the visual guiding module carried by the unmanned aerial vehicle platform to preset positions based on the control signal, the deicing emission module is used for emitting deicing bullets to finish deicing treatment on a deicing cable, and the visual guiding module is used for identifying the relative positions of the unmanned aerial vehicle platform and the deicing cable and sending the relative positions to the command control system through the unmanned aerial vehicle platform;
the command control system comprises command control software and a ground control station, wherein the command control software is used for generating control signals based on the relative positions of the unmanned aerial vehicle platform and the icing cable and the attitude information of the unmanned aerial vehicle platform, the ground control station is used for communicating with the unmanned aerial vehicle platform, receiving the relative positions of the unmanned aerial vehicle platform and the icing cable and the attitude information of the unmanned aerial vehicle platform, which are sent by the unmanned aerial vehicle platform, and sending the control signals generated by the command control system to the unmanned aerial vehicle platform.
2. The system of claim 1, wherein the unmanned aerial vehicle platform of the deicing unmanned aerial vehicle of the system further comprises a power rack, a flight control module, a power module, an on-board data transfer mapping module, an RTK mobile station, a remote control, wherein:
and the airborne data transmission image transmission module and the RTK mobile station are used for communicating with the ground data transmission image transmission module and the RTK reference station of the ground control station of the command control system respectively to complete the communication between the unmanned plane platform and the ground control station.
3. The system of claim 1, wherein the deicing transmission module of the deicing unmanned aerial vehicle of the system further comprises a pneumatic transmission device, a mounting trigger device, a deicing bomb, wherein:
the pneumatic launching device is used for launching the deicing bomb based on pneumatic power;
the mounting triggering device is used for receiving a deicing instruction sent by the command control system through the unmanned aerial vehicle platform and enabling the pneumatic transmitting device based on the deicing instruction;
the deicing bomb is used for colliding with the icing cable to complete mechanical deicing of the icing cable.
4. The system of claim 1, wherein the vision guidance module of the deicing drone of the system further comprises a visible light camera module, an infrared camera module, a millimeter wave radar, image processing software, and motion control software, the vision guidance module to detect the icing cable based on the light camera module, the infrared camera module, and the millimeter wave radar, and to identify the icing cable based on the image processing software, the motion control software, to generate a relative position of the drone platform and the icing cable.
5. The system of claim 1, wherein the ground control station of the command control system of the system further comprises a ground data transmission image transmission module, an industrial personal computer, and an RTK reference station, wherein the ground data transmission image transmission module and the RTK reference station are used for respectively communicating with the airborne data transmission image transmission module and the RTK mobile station of the unmanned plane platform of the deicing unmanned plane, so as to complete the communication between the unmanned plane platform and the ground control station.
6. A method for controlling a deicing system of an unmanned aerial vehicle, the method comprising:
the deicing unmanned aerial vehicle finishes instruction guidance flight based on a manual operation instruction of a command control system, and the deicing unmanned aerial vehicle is flown at a position with a flight distance smaller than a first preset distance from the icing cable;
detecting and identifying the relative position of the unmanned aerial vehicle platform and the icing cable based on the visual guiding module of the deicing unmanned aerial vehicle, generating a control signal based on the relative position, completing visual guidance flight of the deicing unmanned aerial vehicle, and enabling the flight distance of the deicing unmanned aerial vehicle to be smaller than a second preset distance and the height to be smaller than the preset height from the icing cable;
and the mounting trigger device enables the pneumatic transmitting device to transmit deicing bombs based on the control signal, and deicing treatment of the deicing cable is completed.
7. The method of claim 6, wherein the method further comprises:
based on the visual guide module of the deicing unmanned aerial vehicle, the image tracking of the icing cable is realized, the motion control of the transverse plane, the motion control of the longitudinal plane and the gesture control of the deicing unmanned aerial vehicle are realized, and the visual guidance flight of the deicing unmanned aerial vehicle is realized.
8. The method of claim 7, wherein the method further comprises:
after the visual guidance flight of the deicing unmanned aerial vehicle is completed, when the relative speed of the deicing unmanned aerial vehicle and the icing cable is smaller than a preset speed, the mounting trigger device enables the pneumatic transmitting device to transmit deicing bullets based on the control signal, and deicing treatment of the icing cable is completed.
9. An electronic device, comprising
A processor; and
a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method according to any of claims 6 to 8.
10. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to any of claims 6 to 8.
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| CN117991812A (en) * | 2024-04-03 | 2024-05-07 | 国网江西省电力有限公司南昌供电分公司 | Autonomous deicing system and method for overhead lines using clustered UAVs based on Beidou positioning |
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| CN117991812A (en) * | 2024-04-03 | 2024-05-07 | 国网江西省电力有限公司南昌供电分公司 | Autonomous deicing system and method for overhead lines using clustered UAVs based on Beidou positioning |
| CN117991812B (en) * | 2024-04-03 | 2024-06-07 | 国网江西省电力有限公司南昌供电分公司 | Beidou positioning-based autonomous overhead line removing icing system and method for clustered unmanned aerial vehicle |
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