Intelligent mooring unmanned aerial vehicle dynamic illumination system and method based on automatic decision

Abstract

The invention provides an intelligent mooring unmanned aerial vehicle dynamic lighting system and method based on automatic decision, and belongs to the technical field of unmanned aerial vehicle intelligent lighting. Comprising a multi-source environment sensing module used for collecting multi-source data information in real time, a three-dimensional environment building module used for building a three-dimensional environment model and a three-dimensional human body model, an intelligent decision module used for controlling the flight mode, the illumination mode and the safety protection of the unmanned aerial vehicle, and a control module used for controlling the unmanned aerial vehicle according to a decision instruction of the intelligent decision module. And the mooring unmanned aerial vehicle executes related work to realize dynamic illumination. Illumination can be intelligently controlled according to environment conditions and working requirements, that is, it is ensured that illumination covers workers all the time, and the flight path of the unmanned aerial vehicle is dynamically adjusted; and meanwhile, various safety protection functions are realized, so that safe and reliable operation in scenes such as power transmission line emergency repair at night is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent lighting for unmanned aerial vehicles (UAVs), and in particular relates to a dynamic lighting system and method for an intelligent tethered UAV based on automatic decision-making. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid development of drone technology, tethered drone systems have been widely used in search and rescue, emergency lighting, and other fields. At disaster sites or during power facility inspections, lighting systems are key to ensuring the safety and efficiency of workers.

[0004] However, existing drone systems still have some technical problems, such as:

[0005] (1) Existing lighting systems for tethered drones typically rely solely on fixed-angle lamps with limited adjustment capabilities. They require manual intervention to adjust the illumination range and are unable to adapt to complex and changing nighttime operation scenarios. For example, during power repairs or emergency rescue operations, the operation area may be subject to movement of personnel, obstructions, or sudden changes in ambient light. This makes it difficult for the lighting system to respond to these dynamic demands in real time, resulting in unstable lighting effects and even affecting operational safety.

[0006] (2) The existing tethered drone lighting system lacks the ability to actively perceive the target personnel and is unable to focus lighting on specific areas or personnel, resulting in energy waste. Summary of the Invention

[0007] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides an intelligent tethered drone dynamic lighting system and method based on automatic decision-making.

[0008] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0009] A first aspect of the present invention provides an intelligent tethered drone dynamic lighting system based on automatic decision-making.

[0010] An intelligent tethered drone dynamic lighting system based on automatic decision-making, comprising:

[0011] Multi-source environment perception module, used to collect multi-source data information in real time;

[0012] A 3D environment construction module is used to construct a 3D environment model and a 3D human body model based on the collected multi-source data information, and to judge human body movements based on the constructed 3D human body model;

[0013] The intelligent decision-making module is used to automatically switch the drone's flight mode based on the judgment results of human movements and adjust the lighting area and lighting angle. At the same time, it monitors the occurrence of abnormal situations in real time and performs safety adjustments when abnormal situations occur.

[0014] The tethered drone is used to perform related tasks according to the decision instructions of the intelligent decision-making module to achieve dynamic lighting.

[0015] Furthermore, the multi-source environmental perception module includes a light sensor, a thermal imaging sensor, a LiDAR laser radar, a GNSS sensor, an IMU sensor, a wind speed sensor and a temperature sensor.

[0016] Furthermore, the three-dimensional environment construction module integrates a multi-source fusion SLAM algorithm and an AlphaPose algorithm; a real-time updated three-dimensional environment model is generated based on the multi-source fusion SLAM algorithm in the three-dimensional environment construction module; the human body key points are identified based on the AlphaPose algorithm in the three-dimensional environment construction module, and the human body frame is determined based on the identified human body key points; a three-dimensional human body model is constructed based on the human body frame and LiDAR scanning results, and dynamic human targets and static obstacles are marked in the three-dimensional environment model.

[0017] Furthermore, the intelligent decision-making module includes a flight control unit, a light field control unit and a safety protection unit; wherein, the flight control unit is used to determine the flight mode of the UAV according to the target position, target movement posture and distribution of static obstacles of the dynamic human target; the light field control unit is used to control the lighting area and lighting angle according to the target position of the dynamic human target; the safety protection unit introduces a hierarchical response mechanism for real-time monitoring of the occurrence of abnormal situations, and performing safety control when abnormal situations occur.

[0018] Furthermore, the hierarchical response mechanism includes a first-level response and a second-level response; wherein, the first-level response is to start the backup power supply and switch to the hovering mode; at the same time, the beam angle is narrowed to a first angle to reduce wind resistance; the second-level response is to automatically reduce the light intensity to a safe threshold in addition to starting the cooling fan; at the same time, the flight altitude is automatically lowered, the energy consumption and heat dissipation of the lamp are reduced, and the heat is quickly conducted and dissipated through the aluminum alloy material of the mooring cable.

[0019] Furthermore, the tethered drone includes a multi-rotor drone body and a tethered cable device; wherein, the multi-rotor drone body includes a power supply device, a lighting device and a cooling device; the tethered cable device includes an automatic winding mechanism, a winding signal receiver and a drive motor, and the tethered cable device is connected to the power supply device and adopts a tension adaptive control strategy to dynamically adjust the tethered cable retraction and extension speed according to the tethered drone height and wind speed.

[0020] A second aspect of the present invention provides a dynamic lighting method for an intelligent tethered drone based on automatic decision-making.

[0021] A dynamic lighting method for an intelligent tethered drone based on automatic decision-making, comprising:

[0022] Real-time collection of multi-source data information;

[0023] Constructing a 3D environment model and a 3D human body model based on the collected multi-source data information, and judging human body movements based on the constructed 3D human body model;

[0024] Automatically switch the drone's flight mode based on the judgment of human movements and adjust the lighting area and lighting angle; at the same time, monitor the occurrence of abnormal situations in real time and make safety adjustments when abnormal situations occur; convert the drone's flight mode switching, lighting area and lighting angle adjustment, and safety adjustments into decision-making instructions;

[0025] According to the decision instructions, relevant work is performed to achieve dynamic lighting.

[0026] Furthermore, the drone flight mode is automatically switched based on the judgment result of the human body movement. Specifically, when the human body is in a relatively fixed position, the drone selects the hovering mode; when the human body moves, the drone switches to the tracking mode.

[0027] The third aspect of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of the dynamic lighting method of an intelligent tethered drone based on automatic decision-making as described in the second aspect of the present invention.

[0028] The fourth aspect of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and runnable on the processor. When the processor executes the program, the steps in the dynamic lighting method of an intelligent tethered drone based on automatic decision-making as described in the second aspect of the present invention are implemented.

[0029] One or more of the above technical solutions have the following beneficial effects:

[0030] (1) The present invention first uses a three-dimensional environment construction module to construct a three-dimensional environment model and a three-dimensional human body model, and realizes the judgment of human body movements based on the constructed three-dimensional human body model; then, according to the judgment result of human body movements, the drone flight mode is automatically switched, and the lighting area and lighting angle are adjusted; at the same time, the occurrence of abnormal situations is monitored in real time, and when abnormal situations occur, safety adjustments are made. Therefore, compared with the existing technology, the present invention no longer needs to rely on lamps with fixed angles, but can adjust to the appropriate position and angle according to the position of the staff; thereby ensuring a more ideal lighting range, especially suitable for complex and changeable night operation scenes. At the same time, it also takes into account a safety protection mechanism, which can provide an extra layer of protection for operation safety.

[0031] (2) The present invention integrates a multi-source fusion SLAM algorithm and an AlphaPose algorithm within a three-dimensional environment construction module; generates a real-time updated three-dimensional environment model based on the multi-source fusion SLAM algorithm within the three-dimensional environment construction module; identifies key points of the human body based on the AlphaPose algorithm within the three-dimensional environment construction module, and determines a human frame based on the identified key points; constructs a three-dimensional human body model based on the human frame and LiDAR scanning results, and annotates dynamic human targets and static obstacles in the three-dimensional environment model. Compared to existing technologies, the present invention can achieve active perception of target personnel, and can then focus lighting on specific areas or personnel, effectively avoiding energy waste.

[0032] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0034] Figure 1 This is an architectural diagram of an intelligent tethered drone dynamic lighting system based on automatic decision-making in Example 1 of the present invention.

[0035] Figure 2 This is a schematic diagram of constructing a three-dimensional environment model by multi-sensor fusion in Example 1 of the present invention.

[0036] Figure 3 This is a flowchart of constructing a three-dimensional human body model in Example 1 of the present invention.

[0037] Figure 4 Schematic diagram of the decision-making process of the intelligent decision-making module in Example 2 of the present invention. DETAILED DESCRIPTION

[0038] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0039] It should be noted that the terms used herein are for describing particular embodiments only and are not intended to limit the exemplary embodiments according to the present invention.

[0040] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0041] The overall concept proposed by this invention is as follows: This invention provides a dynamic lighting system for intelligent tethered drones based on automatic decision-making. Its core technology is to utilize a variety of environmental and human perception devices to construct a three-dimensional environmental and human dynamic model, calculate the position and posture of the target (repair personnel) relative to the drone in real time, and intelligently control the lighting direction, brightness, and beam angle of the lamps based on this information to achieve adaptive adjustment of the lighting area, ensure that the lighting always covers the personnel, and dynamically adjust the drone's flight trajectory (switching between hovering and tracking). In addition, this system also has multiple safety protection functions to ensure safe and reliable operation in scenarios such as nighttime power line repairs.

[0042] Example 1

[0043] This embodiment discloses an intelligent tethered drone dynamic lighting system based on automatic decision-making, which is particularly suitable for adaptive dynamic lighting in complex scenarios such as nighttime emergency repairs and power inspections.

[0044] like Figure 1 As shown, an intelligent tethered drone dynamic lighting system based on automatic decision-making includes:

[0045] Multi-source environment perception module, used to collect multi-source data information in real time;

[0046] A 3D environment construction module is used to construct a 3D environment model and a 3D human body model based on the collected multi-source data information, and to judge human body movements based on the constructed 3D human body model;

[0047] The intelligent decision-making module is used to automatically switch the drone's flight mode based on the judgment results of human movements and adjust the lighting area and lighting angle. At the same time, it monitors the occurrence of abnormal situations in real time and performs safety adjustments when abnormal situations occur.

[0048] The tethered drone is used to perform related tasks according to the decision instructions of the intelligent decision-making module to achieve dynamic lighting.

[0049] Based on the modular design of the aforementioned system, the present invention can intelligently control lighting based on environmental conditions and work requirements, ensuring that workers are always illuminated and dynamically adjusting the drone's flight trajectory. Furthermore, it incorporates multiple safety protection features, ensuring safe and reliable operation in scenarios such as nighttime power line repairs. To facilitate understanding of the present invention's technical solutions, the following further explains and illustrates the specific implementation methods of the present invention's technical solutions.

[0050] The present invention provides an intelligent tethered UAV dynamic lighting system based on automatic decision-making, which includes a multi-source environment perception module, a three-dimensional environment construction module, an intelligent decision-making module and a stream UAV.

[0051] like Figure 1 As shown in the figure, the multi-source environmental perception module includes a light sensor, thermal imaging sensor, LiDAR laser radar, GNSS sensor, IMU sensor, wind speed sensor, and temperature sensor. Based on the integrated multiple sensors, it can collect data such as light information, thermal imaging of the human body, 3D environmental information, meteorological data, and location information in real time.

[0052] The light sensor collects illumination data. As an optional feature, the range is 0–1000 lx. The thermal imaging sensor supports 17 key-point skeleton detection. Considering the complex and dangerous environment of nighttime circuit repairs, the use of LiDAR (LiDAR) to construct high-precision 3D point cloud maps and human body information effectively addresses the large recognition errors of conventional visual sensors in low-light environments. In this embodiment, the LiDAR is used to scan the environment within a 50m radius centered on the drone. The IMU and GNSS sensors compensate for errors during drone motion and provide high-precision, long-term global positioning. The wind speed and temperature sensors monitor the LED substrate temperature and wind speed before triggering safety protection mechanisms. For example, cooling measures are activated when the LED substrate temperature exceeds 70°C, and safety mechanisms are triggered when wind speed exceeds 10m / s.

[0053] like Figure 1 As shown in the figure, the three-dimensional environment construction module integrates multi-source fusion SLAM algorithm and AlphaPose algorithm.

[0054] The multi-source fusion SLAM algorithm within the 3D environment construction module fuses sensor data to generate a real-time updated 3D environment model. The AlphaPose algorithm within the 3D environment construction module combines thermal imaging data to identify key points of the human body, and the human body (repair personnel) frame is determined based on the identified key points. A 3D human body model is constructed based on the human body frame and LiDAR scanning results to complete the judgment of human body movements. Dynamic human targets and static obstacles are marked in the 3D environment model.

[0055] like Figure 2 、 Figure 3 As shown, as an optional implementation, a thermal imaging sensor can be used to detect human targets with a temperature within the range of 36.5±2.5℃, collect human data, and use the deep learning Faster R-CNN algorithm to output the input thermal image data as a human boundary model. Then, the mature AlphaPose posture estimation algorithm in the existing technology is used to extract 17 key points of the target and output 2D human target information. During post-processing, the 2D key points are aligned with the 3D LiDAR human point cloud information to obtain the 3D key point coordinates, fit the 3D human information, analyze and inspect the status of the human target in real time, and then dynamically illuminate and track it.

[0056] The alignment of 2D key points and 3D LiDAR point cloud uses direct projection method, which projects 2D key points to 3D point cloud through internal and external parameter transformation, namely:

[0057] P 3D =K -1 ·(P 2D D);

[0058] Among them, P 3D =(X, Y, Z) is the coordinate of the 3D human body key point, P 2D =(u,v,1) is the 2D keypoint coordinate, K is the camera intrinsic parameter matrix of the thermal imaging sensor, and D is the depth value of LiDAR.

[0059] like Figure 1 As shown, the intelligent decision-making module includes a flight control unit, a light field control unit and a safety protection unit.

[0060] The flight control unit determines the drone's flight mode based on the target position and motion of a dynamic human target, as well as the distribution of static obstacles. Based on the target's operating status and the distribution of obstacles (such as towers and power lines), the flight control unit determines whether the drone should hover or track. If the identified target is standing or stationary, the drone hovers at a distance of 20 meters and provides a minimum illumination intensity of 200 lx at the center of the illumination. If the identified target is walking, the drone automatically performs smooth tracking, ensuring the target remains within the maximum illumination area (the center of the elliptical center). If the identified target is crouching or operating in a low position, the drone automatically lowers its flight altitude and reduces power output to ensure a minimum illumination intensity of 300 lx at the center of the illumination. This allows the drone to dynamically adjust its illumination intensity based on the repair worker's working status, avoiding unnecessary energy consumption caused by prolonged high-power illumination. When the worker is relatively stationary, the drone selects hover mode; when the worker moves, the drone switches to tracking mode, ensuring the illumination always follows the target.

[0061] The light field control unit is used to control the lighting area and lighting angle according to the target position of the dynamic human target. Among them, the control of the lighting area and lighting angle includes adjusting the beam angle, light intensity and lighting direction of the lamp. As an optional embodiment, the light field control unit can dynamically adjust the beam angle of the lamp between 15° and 70°, the light intensity between 50 and 1000lx, and the lighting direction in the horizontal direction of ±180° and the vertical direction of ±90° to form an elliptical lighting area that adapts to the dynamic changes of the target. According to the work requirements and environmental changes, the light field control unit can flexibly adjust the lighting parameters to provide the best lighting effect, and the light sensor collects light intensity data in real time. The electronic control unit compares the preset threshold with the real-time data, and dynamically adjusts the driving current of the LED lamp beads through PWM dimming technology to achieve stepless brightness adjustment.

[0062] The safety protection unit triggers obstacle avoidance path planning, power redundancy switching, and heat dissipation control. It also incorporates a hierarchical response mechanism for real-time monitoring of abnormal conditions and, when they occur, safety adjustments. If the safety protection unit detects sudden wind speed or abnormal LED temperature, it can trigger backup power switching, obstacle avoidance path planning, and heat dissipation control.

[0063] When an obstacle is detected, the safety protection unit automatically plans an avoidance path. This path is dynamically generated by combining local and global path planning algorithms (VFH and RRT). The flight control system then performs attitude and heading adjustments, enabling automatic circumvention of obstacles and safe flight control. The unit also incorporates minimum safety distances, restricted flight zones, and multi-sensor redundancy mechanisms to ensure flight stability and safety. A backup power supply ensures continuous operation of the drone in the event of a main power failure or emergency. Thermal control ensures that lighting and other equipment operate within normal temperature ranges. In target tracking mode, the cooling fan's operation is triggered not only by light intensity but also by the real-time power consumption of the LEDs. When the drone needs to maintain high brightness for continuous tracking, the safety protection unit activates the cooling fan in advance. The fin-type structure optimizes thermal efficiency to ensure that the lighting temperature remains below the safety threshold of 70°C.

[0064] The hierarchical response mechanism includes a primary response and a secondary response. The primary response activates the backup power supply and switches to hover mode, simultaneously narrowing the beam angle to a first angle to reduce wind resistance. The secondary response automatically reduces light intensity to a safety threshold, in addition to activating the cooling fan. This automatically lowers the flight altitude, minimizing lamp energy consumption and heat dissipation, while also allowing for rapid heat conduction and dissipation through the aluminum alloy of the tether cable. In this embodiment, the primary response is when the wind speed exceeds 10 m / s, and the primary angle is set at 15°. The secondary response is when the LED lamp temperature exceeds 70°C, and the safety threshold is set at 500 lx.

[0065] like Figure 1 As shown, the tethered drone includes a multi-rotor drone body and a tethering cable device. The multi-rotor drone body includes a power supply, a lighting device, and a cooling device. The cooling device uses a finned radiator structure and is based on passive air cooling. By increasing the heat dissipation area in contact with the air, it accelerates heat conduction and convection heat transfer. This is an efficient, lightweight, and energy-saving thermal management method. The tethering cable device includes an automatic winding mechanism, a winding signal receiver, and a drive motor. As an optional embodiment, the power supply device can use a diesel generator, a mobile power supply, or a 220V household power supply at a ground base station.

[0066] Among them, the multi-rotor UAV body adopts an eight-rotor design, equipped with dual battery compartments and a redundant flight control system to ensure long-term hovering stability. A rubber shock-absorbing sleeve is provided at the bottom of the UAV, combined with a buffer device (spring and buffer column) to reduce the impact of flight vibration on the lighting device. The connection device between the UAV and the lamp adopts an insulating connecting rod with a universal joint to support 360° horizontal rotation and ±90° pitch adjustment of the lighting device; the drive motor adopts a combination of a stepper motor and a harmonic reducer to achieve high-precision angle control (error <0.5°). In this embodiment, the material of the mooring cable is aluminum alloy; one side of the mooring cable is connected to the battery compartment, and the other side is connected to the automatic winding mechanism to provide power; the lighting device adopts a tethered UAV LED lighting fixture model AF-L200. It should be noted that the structural design of the multi-rotor UAV body is not the key technology of the present invention, that is, other forms of multi-rotor UAV bodies can be selected as a replacement, but it needs to be able to meet the functional requirements of the present invention for the multi-rotor UAV body.

[0067] The mooring cable device is connected to the power supply device and adopts a tension adaptive control strategy. After receiving the control signal, the winding signal receiver dynamically adjusts the mooring cable retraction and release speed according to the height of the tethered drone and the wind speed. Among them, the tension adaptive control strategy of the mooring cable device adopts the "fuzzy control + PID control" method, namely:

[0068] e T =TT d ;

[0069]

[0070] Where T is the tension of the cable, T d is the target tension in the cable, v s is the winding speed, K p , K i and K d are PID control parameters, namely proportional gain, integral gain and differential gain; e T Indicates the deviation between the target tension and the cable tension. w When <=10m / s, reduce K p and K d , reduce the adjustment frequency and reduce unnecessary oscillations; when the wind speed v w >10m / s, increase K p and K d , so that the system responds quickly and prevents the cable from swinging sharply; when the height exceeds 50m, appropriately increase K i , to avoid long-term accumulation of errors.

[0071] Example 2

[0072] This embodiment discloses a dynamic lighting method for an intelligent tethered drone based on automatic decision-making, which is particularly suitable for adaptive dynamic lighting in complex scenarios such as nighttime emergency repairs and power inspections.

[0073] A dynamic lighting method for an intelligent tethered drone based on automatic decision-making, comprising:

[0074] Step S1: real-time collection of multi-source data information, i.e., using a multi-source environment perception module to collect environmental data and target data;

[0075] Step S2: construct a 3D environment model and a 3D human body model based on the collected multi-source data information, and judge the human body movement based on the constructed 3D human body model, that is, construct a real-time updated 3D environment dynamic and human dynamic model through the multi-source fusion SLAM algorithm;

[0076] Step S3: Automatically switch the UAV flight mode based on the judgment result of human body movement, and adjust the lighting area and lighting angle; at the same time, monitor the occurrence of abnormal situations in real time, and perform safety adjustment when abnormal situations occur; convert the UAV flight mode switching, lighting area and lighting angle adjustment, and safety adjustment into decision instructions; that is, based on the position and motion state of the three-dimensional target relative to the UAV, intelligently decide the UAV flight trajectory (hover or tracking mode); dynamically adjust the flight altitude and adjust the beam angle, light intensity and lighting direction of the lamp according to the target position and environmental data to form a lighting area that adapts to the target movement;

[0077] Step S4: Execute related tasks according to the decision instructions to achieve dynamic lighting; at the same time, use the obstacle point cloud data to plan the obstacle avoidance path, and trigger safety protection measures when sudden wind speed or LED temperature abnormalities are detected.

[0078] Based on the above process, the present invention realizes the real-time collection of environmental information and human targets by integrating multiple sensors such as light sensors, thermal imaging sensors, lidar, wind speed sensors, temperature sensors, etc.; then, a multi-source SLAM algorithm is used to fuse multiple sensor data to build a three-dimensional environmental model at the ground base station. Figure 4 As shown, the UAV system uses thermal imaging sensors combined with the AlphaPose algorithm to accurately identify key points of the human body, identify the human body (repair personnel) frame, and output a three-dimensional human body model to complete the judgment of human body movements (standing, walking, squatting). Then, the intelligent decision-making and control module automatically switches the UAV flight mode, and at the same time adjusts the lighting module of the lamp to form an adaptive elliptical lighting area to ensure that the working area is always in the best lighting state. Subsequently, using the safety protection unit, when high wind speed or abnormal temperature of the LED lamp is detected, the backup power supply, obstacle avoidance path planning and cooling fan are automatically started, thereby achieving safe and reliable operation. The present invention not only improves the lighting accuracy and intelligence of night repairs and high-altitude operations, solves the problem of lighting lag caused by the rapid movement of targets in existing lighting systems, significantly improves the safety and efficiency of night operations, but also enhances the system's autonomous obstacle avoidance and safety protection capabilities.

[0079] In this embodiment, the thermal imaging sensor scans the work area at a frequency of 10Hz, identifies the coordinates of key points on the human body through the AlphaPose algorithm, and transmits the two-dimensional coordinate data to the electronic control unit, which projects it into the three-dimensional coordinate system of the LiDAR to construct a three-dimensional human target. The control unit drives the universal plate of the connecting device to rotate so that the optical axis of the lighting device is aligned with the target person to achieve dynamic tracking lighting. When multiple heat sources exist at the same time, the priority is calculated based on the heat source intensity (reflecting the activity status of the person) and the location information (proximity to the core work area), and the lighting resources are automatically allocated to the key targets.

[0080] As an optional embodiment, based on the dynamic lighting method of an intelligent tethered drone based on automatic decision-making disclosed in the present invention, in the scenario of night-time emergency repair of power transmission lines, the work of the drone system can be mainly divided into four stages, namely, the environmental perception and data collection stage, the data fusion stage, the decision execution stage, and the real-time feedback stage.

[0081] A. Environmental Perception and Data Collection Phase: After the drone arrives at the target area, it uses LiDAR to scan the environment within a 50m radius and calibrate the reference distance. The IMU / GNSS sensor and thermal imaging sensor are activated simultaneously to collect multi-terminal data. Furthermore, to prevent signal transmission issues caused by high-voltage electric fields, the LiDAR and thermal imaging sensor data undergo frequency domain filtering before transmission to avoid electromagnetic radiation interference from power lines.

[0082] B. Data fusion stage: The electronic processing unit performs spatiotemporal alignment of multi-sensor data to generate a fused data packet containing human body status, ambient light intensity, and terrain features, and builds a three-dimensional environmental map of the environment through the SLAM algorithm.

[0083] C. Decision-making and execution phase: Select the lighting mode (environmental adaptation or target tracking) according to the task requirements, and complete the lighting parameter adjustment through the coordinated action of the universal plate drive motor.

[0084] D. Real-time feedback stage: The light intensity sensor continuously monitors the system status and dynamically optimizes the lighting strategy. The temperature sensor and wind speed sensor provide real-time feedback of temperature data and meteorological data to ensure long-term stable operation of the system.

[0085] Furthermore, during the actual design, the drone adopted an octorotor platform design, which has sufficient load capacity and stability. The tethering cable is made of aluminum alloy, with one side connected to the drone's battery compartment and the other to an automatic winding mechanism to ensure a continuous power supply. The power supply can be a diesel generator, a mobile power supply, or a 220V household power supply, depending on site conditions. The micro thermal imaging sensor is embedded in a reserved mounting slot at the front of the lamp housing, coplanar with the lidar assembly to ensure overlapping field of view. A circular groove with a diameter of 5mm is created on the edge of the lamp housing to embed the light intensity sensor, avoiding obstruction from external structures. The temperature sensor is installed on the inside of the lamp base, and the wind speed sensor is separately installed in the side glass panel of the drone to avoid interference from other factors.

[0086] When building the software and communication platforms, ROS was used as the system development platform. Each module transmits and synchronizes data via ROS messages, ensuring real-time sensor data updates. A user interface was developed at the upper level for real-time monitoring of system status, environmental data, and flight parameters, while also supporting manual intervention and remote control. 5G, LoRa, or MQTT protocols were used to achieve stable communication between the drone and the ground base station, with encrypted transmission of critical data to ensure system security and reliability.

[0087] During the laboratory phase, experimental verification and optimization will be conducted. A prototype system will be built in both the laboratory and field simulation environments, and multi-sensor data fusion, target positioning, light field control, flight control, and safety protection functions will be tested and tuned step by step. Based on actual test results, the SLAM algorithm, obstacle avoidance path planning, and flight control parameters will be optimized to ensure optimal system performance during nighttime power line repairs.

[0088] Example 3

[0089] The purpose of this embodiment is to provide a computer-readable storage medium.

[0090] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a method for dynamic lighting of an intelligent tethered drone based on automatic decision-making as described in the second embodiment of the present disclosure.

[0091] Example 4

[0092] The purpose of this embodiment is to provide an electronic device.

[0093] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps of the method for dynamic lighting of an intelligent tethered drone based on automatic decision-making as described in the second embodiment of the present disclosure are implemented.

[0094] The steps involved in the apparatuses of Examples 1, 3, and 4 above correspond to those of Method Example 2. For detailed implementation, please refer to the relevant description of Example 2. The term "computer-readable storage medium" should be understood to mean a single medium or multiple media containing one or more instruction sets; it should also be understood to include any medium capable of storing, encoding, or carrying an instruction set for execution by a processor and causing the processor to perform any method of the present invention.

[0095] Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using a general-purpose computer device. Alternatively, they can be implemented using program code executable by a computing device, which can then be stored in a storage device and executed by the computing device. Alternatively, they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0096] Although the above describes the specific embodiments of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without any creative work are still within the scope of protection of the present invention.

Claims

1. An intelligent tethered drone dynamic lighting system based on automatic decision-making, characterized in that: include: Multi-source environment perception module, used to collect multi-source data information in real time; A 3D environment construction module is used to construct a 3D environment model and a 3D human body model based on the collected multi-source data information, and to judge human body movements based on the constructed 3D human body model; The intelligent decision-making module is used to automatically switch the drone's flight mode based on the judgment results of human movements and adjust the lighting area and lighting angle. At the same time, it monitors the occurrence of abnormal situations in real time and performs safety adjustments when abnormal situations occur. The tethered drone is used to perform related tasks according to the decision instructions of the intelligent decision-making module to achieve dynamic lighting.

2. The intelligent tethered drone dynamic lighting system based on automatic decision-making according to claim 1, characterized in that: The multi-source environmental perception module includes a light sensor, a thermal imaging sensor, a LiDAR laser radar, a GNSS sensor, an IMU sensor, a wind speed sensor and a temperature sensor.

3. The intelligent tethered drone dynamic lighting system based on automatic decision-making according to claim 1, characterized in that: The three-dimensional environment construction module integrates a multi-source fusion SLAM algorithm and an AlphaPose algorithm; a real-time updated three-dimensional environment model is generated based on the multi-source fusion SLAM algorithm in the three-dimensional environment construction module; the human body key points are identified based on the AlphaPose algorithm in the three-dimensional environment construction module, and the human body frame is determined based on the identified human body key points; a three-dimensional human body model is constructed based on the human body frame and LiDAR scanning results, and dynamic human targets and static obstacles are marked in the three-dimensional environment model.

4. The intelligent tethered drone dynamic lighting system based on automatic decision-making according to claim 1, characterized in that: The intelligent decision-making module includes a flight control unit, a light field control unit and a safety protection unit; wherein the flight control unit is used to determine the flight mode of the drone based on the target position and target movement posture of the dynamic human target and the distribution of static obstacles; the light field control unit is used to control the lighting area and lighting angle according to the target position of the dynamic human target; the safety protection unit introduces a hierarchical response mechanism for real-time monitoring of the occurrence of abnormal situations and performing safety control when abnormal situations occur.

5. The intelligent tethered drone dynamic lighting system based on automatic decision-making according to claim 4, characterized in that: The hierarchical response mechanism includes a first-level response and a second-level response. The first-level response is to activate the backup power supply and switch to hover mode. At the same time, the beam angle is narrowed to a first angle to reduce wind resistance. The second-level response is to automatically reduce the light intensity to a safe threshold in addition to activating the cooling fan. At the same time, the flight altitude is automatically lowered to reduce the energy consumption and heat dissipation of the lamp, and the aluminum alloy material of the mooring cable is used to quickly conduct heat and dissipate heat.

6. The intelligent tethered drone dynamic lighting system based on automatic decision-making according to claim 1, characterized in that: The tethered drone includes a multi-rotor drone body and a tethered cable device; wherein, the multi-rotor drone body includes a power supply device, a lighting device and a cooling device; the tethered cable device includes an automatic winding mechanism, a winding signal receiver and a drive motor. The tethered cable device is connected to the power supply device and adopts a tension adaptive control strategy to dynamically adjust the tethered cable retraction and extension speed according to the tethered drone height and wind speed.

7. A dynamic lighting method for an intelligent tethered drone based on automatic decision-making, characterized in that: include: Real-time collection of multi-source data information; Constructing a 3D environment model and a 3D human body model based on the collected multi-source data information, and judging human body movements based on the constructed 3D human body model; Automatically switch the drone's flight mode based on the judgment of human movements and adjust the lighting area and lighting angle; at the same time, monitor the occurrence of abnormal situations in real time and make safety adjustments when abnormal situations occur; convert the drone's flight mode switching, lighting area and lighting angle adjustment, and safety adjustments into decision-making instructions; According to the decision instructions, relevant work is performed to achieve dynamic lighting.

8. The method for dynamic lighting of an intelligent tethered drone based on automatic decision-making according to claim 7, characterized in that: The drone's flight mode is automatically switched based on the judgment of human movements. Specifically, when the human body's position is relatively fixed, the drone selects hovering mode; when the human body moves, the drone switches to tracking mode.

9. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method for dynamic lighting of an intelligent tethered drone based on automatic decision-making as described in any one of claims 7 to 8 are implemented.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the dynamic lighting method of an intelligent tethered drone based on automatic decision-making as described in any one of claims 7-8 are implemented.

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