A high-pressure charged water flushing device and method based on a dual-rotor drone

Abstract

The present invention discloses a high-pressure charged water flushing device and method based on a dual-rotor UAV, belonging to the technical field of UAVs, including a UAV, a flushing device and a controller, the flushing device including a water tank and a flushing spray rod, the UAV adopts a dual-rotor UAV, the water tank is symmetrically installed below the UAV body, the flushing spray rod is installed along the rolling direction of the UAV, the controller is installed on the UAV platform and connected to the UAV motor to adjust the motor speed to achieve interference suppression of the water flow backwash force. The present invention uses a dual-rotor UAV for charged water flushing, which is much better than traditional multi-rotor UAVs in terms of endurance time, has higher energy utilization, can greatly extend the operation time by water flushing, and can suppress the disturbance of the water flow backwash force.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a high-pressure charged water flushing device and method based on a dual-rotor unmanned aerial vehicle. Background Art

[0002] The power industry is the basic industry of the national economy, and transmission lines are an indispensable part of the power system. With the development of social economy and the acceleration of industrialization, people have higher and higher requirements for the safe operation of power substations. Frequent pollution flashover and large-scale power outages of transmission equipment have caused huge losses to power companies and brought serious harm to the economy.

[0003] Insulators are special insulating components that increase creepage distances. They are often used to fix live conductors in transmission lines to ensure that there is sufficient distance and insulation between the conductors and the ground. As one of the most important components of the power supply system, insulators are exposed for a long time. During operation, dust particles in the atmosphere are easily attached to the insulators, forming a dirt layer. When encountering special weather conditions such as fog and rain, the electrolytes contained in the dirt dissolve in the water, which increases the conductivity of the insulator surface, causing partial discharge, and dirt flashover is very likely to occur. The dirt flashover of the insulator is one of the core factors that cause tripping faults in the contact network power supply system. Therefore, ensuring the cleanliness of the insulator surface is a key link in ensuring the stable operation of the power system.

[0004] At present, the most commonly used method for insulation maintenance of power facilities is to remove dirt by cleaning, including power-off cleaning and live cleaning. Live cleaning mainly includes live water flushing, live electric blowing cleaning, live mechanical dry cleaning, and live chemical cleaning developed in recent years. Among them, cleaning the outer surface of the insulation by manual wiping is simple and easy to operate, but it requires power outage, which is a huge workload and has a high risk factor.

[0005] Drones have simple structures and are easy to operate. They are widely used in firefighting and security, and are the vanguard of special tasks such as reconnaissance and detection. Using drones equipped with water tanks for live water washing has many advantages, such as strong ability to handle emergencies, no need for power outages, little impact on production operations, and low costs. At present, most methods in the field of live water washing of insulators use drones with four or more rotors. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies in the above-mentioned background technology and to significantly extend the operation time.

[0007] To achieve the above objectives, on the one hand, a high-pressure charged water flushing device based on a twin-rotor UAV is adopted, including a UAV, a flushing device and a controller. The flushing device includes a water tank and a flushing spray rod. The UAV adopts a twin-rotor UAV, the water tank is symmetrically installed under the UAV body, the flushing spray rod is installed along the rolling direction of the UAV, and the controller is installed on the UAV platform and connected to the UAV's motor to adjust the motor speed to achieve interference suppression of the water flow backflow force.

[0008] Furthermore, the twin-rotor UAV is a horizontal twin-rotor UAV.

[0009] Furthermore, a telescopic device is installed below the drone body, and the flushing spray rod is installed in the telescopic device.

[0010] Furthermore, a camera is installed on the drone body along the direction of the flushing spray rod.

[0011] Furthermore, the expression for the controller to suppress the disturbance of the water flow backflow force is as follows:

[0012]

[0013]

[0014] in, is the control torque, J1, J2 and J2 are the moments of inertia of the UAV on the three coordinate axes of the inertial coordinate system, diag is the diagonal block matrix, k is a parameter greater than 0, G T is the transpose of the matrix G(x), (φ, θ, γ) is the attitude angle of the UAV in the inertial coordinate system, (φ0, θ0, γ0) is the desired attitude angle, ω1, ω2 and ω3 are the components of the angular velocity vector of the center of mass of the UAV on the three coordinate axes of the body coordinate system, l is the distance from the water tank to the center of mass of the UAV, and F is the water flow backflow force.

[0015] On the other hand, a high-voltage live water flushing method based on a dual-rotor drone is adopted, which is characterized in that it is used to clean the insulator using the high-voltage live water flushing device based on the dual-rotor drone, including:

[0016] Controlling the UAV to fly to a target operation point, and controlling the UAV fuselage to align sideways with the insulator to be cleaned;

[0017] The flushing device is started to clean the insulator to be cleaned, and during the cleaning process, the speed of the motor of the drone is adjusted by the controller to suppress the interference of the backwash force of the water flow;

[0018] After the cleaning operation is completed, the drone is controlled to return.

[0019] Furthermore, it also includes:

[0020] During the flight of the UAV, the flushing spray boom is controlled to be in a retracted state;

[0021] When the UAV performs a cleaning operation, the flushing spray rod is controlled to be in an extended state.

[0022] Compared with the prior art, the present invention has the following technical effects: the present invention uses a twin-rotor UAV for live water washing. Compared with the traditional UAV solution using four rotors or more rotors, under the same conditions, the twin-rotor UAV is much better than the traditional multi-rotor UAV in terms of flight time, has higher energy utilization rate, and can greatly extend the operation time of water washing. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings:

[0024] Figure 1 This is a structural diagram of a high-pressure charged water flushing device based on a dual-rotor UAV;

[0025] Figure 2 This is a top view of the drone performing water flushing operations;

[0026] Figure 3 This is a top view of the drone in transport mode;

[0027] Figure 4 The present invention is a flow chart of a high-pressure charged water flushing method based on a dual-rotor UAV.

[0028] in:

[0029] 1-rotor; 2-water tank; 3-flushing spray boom. DETAILED DESCRIPTION

[0030] In order to further illustrate the features of the present invention, please refer to the following detailed description and drawings of the present invention. The drawings are for reference and illustration only and are not intended to limit the scope of protection of the present invention.

[0031] like Figure 1 As shown, this embodiment discloses a high-pressure charged water flushing device based on a twin-rotor UAV, including: a UAV, a flushing device and a controller, the flushing device includes a water tank and a flushing spray rod, the UAV adopts a twin-rotor UAV, the water tank is symmetrically installed under the UAV body, the flushing spray rod is installed along the rolling direction of the UAV, and the controller is installed on the UAV platform and connected to the motor and steering gear of the UAV to adjust the motor speed to achieve interference suppression of the water flow backflow force.

[0032] Among them, the controller is used to control the motor and servo of the dual-rotor drone. The controller can use Pixhawk flight controller hardware, and the software level is divided into outer loop position control and inner loop attitude control.

[0033] It should be noted that when the UAV is performing water flushing operations, the backlash of the water flow will interfere with the UAV's posture. In this embodiment, the flushing device includes a water tank and a flushing spray rod. The flushing spray rod is installed along the rolling direction of the dual-rotor UAV, which can fully utilize the high maneuverability of the dual-rotor rolling direction to suppress disturbances. The two motors of the dual-rotor UAV have a fast response speed, and interference suppression can be performed by adjusting the motor speed to ensure that the UAV can perform water flushing operations smoothly.

[0034] Moreover, compared with the traditional UAV solutions using four rotors or more rotors, the traditional UAV power unit is redundant and has low energy efficiency. Under the same conditions, the dual-rotor UAV used in this embodiment is much better than the traditional multi-rotor UAV in terms of flight time, has higher energy utilization rate, and can greatly extend the operation time.

[0035] It should also be noted that the water tank is symmetrically installed below the drone body to ensure that its center of gravity is consistent with the center of gravity of the drone and to balance the load on the left and right rotors.

[0036] As a further preferred technical solution, the twin-rotor drone adopts a transverse twin-rotor drone. The transverse twin-rotor drone has two sets of rotors symmetrically distributed on the left and right, turning in opposite directions, and the torsional torques generated offset each other, so that the tail rotor does not need to be balanced, and vertical take-off and landing and zero-radius turning can be completed, which is flexible and maneuverable.

[0037] In this embodiment, the horizontal twin-rotor drone takes the direction of the vertical rotor line as the nose direction.

[0038] As a further preferred technical solution, a telescopic device is installed below the drone body, and the flushing spray rod is installed in the telescopic device. Specifically, the telescopic device is installed on the bottom plate of the drone and fixed through the screw holes reserved in the bottom plate.

[0039] It should be noted that the telescopic device can be assembled using existing accessories, including carbon fiber ring buckles, fixing screws and rubber washers. By loosening the screws, the position of the spray boom can be manually adjusted (extended or retracted); by tightening the screws, the position of the spray boom can be fixed.

[0040] It should be noted that during the installation process, a certain length of water pipe needs to be reserved to facilitate the adjustment of the spray boom position.

[0041] like Figures 2 to 3As shown, the flushing spray boom sprays water in the direction along the side of the fuselage, and the flushing spray boom can be retracted along the direction of the fuselage to fully utilize the length of the fuselage and facilitate the transportation of the UAV.

[0042] As a further preferred technical solution, a camera is installed on the drone body along the direction of the flushing spray rod. The ground operator controls the drone body to align sideways with the insulator to be cleaned according to the real-time high-definition video captured by the camera.

[0043] As a further preferred technical solution, the transverse twin-rotor UAV uses the differential speed of the left and right rotors to control the UAV's rolling direction movement, and uses the servo to control the rotor tilt to control the UAV's pitch direction movement. When the UAV performs water flushing operations, it will be disturbed by the backwash force of the water flow. In order to ensure that the UAV can perform water flushing operations smoothly, corresponding anti-backwash force technology is required.

[0044] Due to the different physical characteristics and control methods of the servo and the rotor, under the same conditions, the response time of the servo is greater than the response time of the differential rotor, so the UAV has stronger maneuverability in the rolling direction. The existing water-washing multi-rotor UAV generally installs the washing spray bar along the front of the UAV. In this embodiment, the washing spray bar is installed along the rolling direction of the UAV, thereby effectively utilizing the high maneuverability of the UAV in the rolling direction to suppress the backlash disturbance.

[0045] In order to solve the problem of the backlash force of water flow disturbing the UAV, this embodiment uses a controller designed based on the backstepping method to suppress the disturbance. Assuming that the diameter and pressure of the nozzle of the water flushing device are known, the steady-state value of the backlash force generated by the water flow can be obtained by using the relevant knowledge of fluid mechanics:

[0046] F0=1.56d 2 p

[0047] Among them, F0 is the steady-state value of the recoil force, d is the nozzle diameter, and p is the pressure. Since the spray rod in the present invention is installed in the rolling direction of the twin-rotor UAV, the direction of the recoil force can be approximated to the y-axis direction of the UAV system, and the direction of the torque generated by the recoil force is the x-axis direction of the system. The period from just turning on the water spray switch to the time when the recoil force remains stable can be regarded as the dynamic process of the recoil force exerted on the UAV. In the present invention, this dynamic process can be approximately regarded as a first-order inertia link, that is, after a transition time T, it finally reaches the above-mentioned stable state. Therefore, the instantaneous value of the recoil force is:

[0048]

[0049] Based on the backstepping method, the following controller can be designed to suppress the recoil force. The expression is as follows:

[0050]

[0051]

[0052] in, is the control torque, J1, J2 and J2 are the moments of inertia of the UAV on the three coordinate axes of the inertial coordinate system, diag is the diagonal block matrix, k is a parameter greater than 0, G T is the transpose of the matrix G(x), (φ, θ, γ) is the attitude angle of the UAV in the inertial coordinate system, (φ0, θ0, γ0) is the desired attitude angle, ω1, ω2 and ω3 are the components of the angular velocity vector of the center of mass of the UAV on the three coordinate axes of the body coordinate system, l is the distance from the water tank to the center of mass of the UAV, and F is the water flow backflow force.

[0053] It should be noted that the flushing spray bar is installed along the roll direction, and the backlash force acts on the roll direction of the machine system. Because the transverse twin-rotor UAV has stronger maneuverability in the roll direction, the control torque M1 can be applied faster through the differential speed of the two rotors to achieve the purpose of suppressing the backlash force. The controller designed based on the backstepping method has good robustness, can suppress the disturbance in the roll direction of the UAV, and can keep the UAV working stably when disturbed by the backlash force.

[0054] like Figure 4 As shown, this embodiment discloses a high-voltage live water flushing method based on a dual-rotor drone, which is used to clean insulators using the high-voltage live water flushing device based on a dual-rotor drone disclosed in the above embodiment, including the following steps S1 to S3:

[0055] S1, controlling the drone to fly to a target operation point, and controlling the drone body to align sideways with the insulator to be cleaned;

[0056] S2, starting the flushing device to clean the insulator to be cleaned, and using the controller to adjust the speed of the motor of the drone during the cleaning process to suppress the interference of the backwash force of the water flow;

[0057] S3. After the cleaning operation is completed, the drone is controlled to return.

[0058] As a further preferred technical solution, it also includes:

[0059] During the flight of the UAV, the flushing spray boom is controlled to be in a retracted state;

[0060] When the UAV performs a cleaning operation, the flushing spray rod is controlled to be in an extended state.

[0061] That is, the high-voltage charged water washing operation process of the dual-rotor UAV is:

[0062] (1) During transportation, the drone’s water flushing boom is in a retracted state.

[0063] (2) After arriving at the work site, add cleaning fluid to the water tank.

[0064] (3) The UAV takes off with the cleaning fluid and arrives at the target operation site. After stabilizing, the spray boom is extended.

[0065] (4) Based on the camera installed along the spray boom, the ground operator controls the UAV fuselage to align sideways with the insulator to be cleaned according to the real-time high-definition video.

[0066] (5) Fine-tune the direction of the drone's spray rod to the insulator, and the operator starts the water flushing device to start cleaning the insulator.

[0067] (6) After the cleaning operation is completed, the operator first retracts the spray boom and then sends a return command to the drone.

[0068] Compared with the prior art, the present invention has the following beneficial effects:

[0069] (1) Traditionally, manual cleaning is used, which is inefficient and unsafe. Manual cleaning of insulators requires power outages, which is costly, labor-intensive and dangerous. Using a dual-rotor drone equipped with a water tank for live water washing has many advantages, such as strong emergency handling capability, no power outages, little impact on production operations, and low costs.

[0070] (2) In the existing solutions, most of the multi-rotor drones with four or more rotors are used for live water washing, while the present invention uses a dual-rotor drone for live water washing. In the solution using a drone with four or more rotors, the drone power device is redundant and the energy efficiency is low. Under the same conditions, the dual-rotor drone is much better than the traditional multi-rotor drone in terms of endurance time, with higher energy utilization, which can greatly extend the operation time of water washing.

[0071] (3) The flushing device is installed along the roll direction of the UAV, which can fully utilize the high maneuverability of the twin-rotor in the roll direction to suppress disturbances. The flushing spray bar is installed in the horizontal direction. When the UAV is performing water flushing operations, the backwash force of the water flow will interfere with the UAV's posture. The two motors of the twin-rotor UAV have a fast response speed, and interference suppression can be performed by adjusting the motor speed to ensure that the UAV can perform water flushing operations smoothly.

[0072] (4) The flushing spray bar is installed along the rolling direction of the twin-rotor UAV. Based on the retractable device, the lateral fuselage length of the twin-rotor UAV can be fully utilized to realize the storage of the spray bar. In this way, the UAV can be equipped with a longer flushing spray bar, which is convenient for storage and transportation, and increases the operating distance of the twin-rotor UAV water flushing.

[0073] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-pressure charged water flushing device based on a dual-rotor drone, characterized in that: It includes a drone, a flushing device and a controller. The flushing device includes a water tank and a flushing spray rod. The drone adopts a double-rotor drone. The water tank is symmetrically installed below the drone body. The flushing spray rod is installed along the rolling direction of the drone. The controller is installed on the drone platform and connected to the motor of the drone to adjust the motor speed to achieve interference suppression of the water flow backflow force. The dual-rotor UAV is a horizontal dual-rotor UAV; A telescopic device is installed below the drone body, and the flushing spray rod is installed in the telescopic device; The expression of the controller for suppressing the disturbance of water flow backflow force is as follows: in, is the control torque, J1, J2 and J3 are the moments of inertia of the UAV on the three coordinate axes of the inertial coordinate system, diag is the diagonal block matrix, k is a parameter greater than 0, G T is the transpose of the matrix G(x), (φ, θ, γ) is the attitude angle of the UAV in the inertial coordinate system, (φ0, θ0, γ0) is the desired attitude angle, ω1, ω2 and ω3 are the components of the angular velocity vector of the center of mass of the UAV on the three coordinate axes of the body coordinate system, l is the distance from the water tank to the center of mass of the UAV, and F is the water flow backflow force.

2. The high-pressure charged water flushing device based on a dual-rotor UAV as claimed in claim 1 is characterized in that: A camera is installed on the drone body along the direction of the flushing spray rod.

3. A high-pressure charged water flushing method based on a dual-rotor drone, characterized in that: The device is used to clean an insulator using a high-voltage live water flushing device based on a dual-rotor drone as described in any one of claims 1 to 2, comprising: Controlling the UAV to fly to a target operation point, and controlling the UAV fuselage to align sideways with the insulator to be cleaned; The flushing device is started to clean the insulator to be cleaned, and during the cleaning process, the speed of the motor of the drone is adjusted by the controller to suppress the interference of the backwash force of the water flow; After the cleaning operation is completed, the drone is controlled to return.

4. The high-pressure charged water flushing method based on a dual-rotor UAV as claimed in claim 3 is characterized in that: Also includes: During the flight of the UAV, the flushing spray boom is controlled to be in a retracted state; When the UAV performs a cleaning operation, the flushing spray rod is controlled to be in an extended state.

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