Cable installation process based on adaptive control of tension, method and apparatus

Abstract

The application discloses a kind of cable installation process based on the self-adaptive control device, method and equipment of tension, and the application belongs to the technical field of Internet of Things.The device comprises: power drive module, drives unmanned aerial vehicle to pull one end of cable to target position movement;State determination module, identify unmanned aerial vehicle is in fixed disc cut-in state or longitudinal traction state;Tension detection module, detect the reverse tension generated by cable when unmanned aerial vehicle is in fixed disc cut-in state or longitudinal traction state;Central control module, when reverse tension reaches first set threshold in fixed disc cut-in state, and when reverse tension reaches second set threshold in longitudinal traction state, generate first control signal;Power drive module receives first control signal, stops or slows down unmanned aerial vehicle movement.This scheme can detect the reverse tension generated by cable in real time and adjust the flight speed of unmanned aerial vehicle based on this in real time, improve the safety of cable installation process, avoid the efficiency influence and economic loss caused by cable pull off.

Description

Technical Field

[0001] This application belongs to the field of power equipment technology, specifically relating to an adaptive control device, method and equipment based on tension in the cable installation process. Background Technology

[0002] Since the advent of the electrical age, our daily lives have become increasingly intertwined with electricity. In today's world of widespread electricity access, the transmission of power to every household via the national grid relies on high-voltage cables. The installation of these cables has evolved from manual labor to drone deployment, ensuring greater safety, saving time, and eliminating the need to fell large numbers of trees for cable laying.

[0003] Nowadays, when using drones to erect high-voltage cables, the drone starts by pulling a relatively thin cable, and then the drone slowly transports increasingly thicker cables over. At this point, workers on another tower will have several cables of different sizes, and then these cables are nested together from largest to smallest. In this way, high-voltage power lines weighing several tons can be erected using drones.

[0004] However, current methods of using drones to lay cables still require human support, as drones cannot autonomously complete the cable laying process. Furthermore, cable installation often requires applying tension to pull the cable to the designated location; blindly applying tension could easily break the cable. Therefore, how to enable drones to autonomously complete cable installation, and how to monitor and adjust cable tension in real time to improve the safety of the installation process and prevent cable breakage that reduces installation efficiency and causes economic losses, are pressing issues that need to be addressed in this field. Summary of the Invention

[0005] This application provides an adaptive control device, method, and apparatus based on tension for cable installation. The aim is to address the problems in existing technologies where drones cannot autonomously complete cable laying operations, and where the inability to detect tension and adjust drone flight speed in real time leads to cable breakage, reduced installation efficiency, and economic losses. By providing an adaptive control device based on tension for cable installation, the reverse tension generated by the cable can be detected in real time, and the drone's flight speed can be adjusted accordingly. This improves the safety of the cable installation process and avoids the efficiency impact and economic losses caused by cable breakage.

[0006] In a first aspect, embodiments of this application provide an adaptive control device based on tension for a cable installation process, the device comprising:

[0007] The power drive module is used to drive one end of the drone's tow cable to move to the target location for cable installation;

[0008] The status determination module is used to identify whether the UAV traction cable is in the fixed reel cutting state or in the longitudinal traction state;

[0009] The tension detection module is used to detect the reverse tension generated by the resistance when the cable is cut into the fixed plate in the fixed plate cutting state, and to detect the reverse tension generated by the combined action of cable release resistance and gravity in the longitudinal traction state.

[0010] The central control module is used to generate a first control signal when the reverse pull force reaches a first set threshold in the fixed plate cutting state, or when the reverse pull force reaches a second set threshold in the longitudinal traction state.

[0011] The power drive module is also used to receive the first control signal and stop or slow down the movement of the drone according to the first control signal.

[0012] Furthermore, the central control module is also used for:

[0013] After the reverse pulling force reaches the first set threshold in the fixed plate cutting state, until the fixed plate cutting state is completed, the longitudinal traction state is entered, and a second control signal is generated.

[0014] The power drive module is also used for:

[0015] Receive the second control signal and accelerate the movement of the drone according to the second control signal;

[0016] or,

[0017] The central control module is also used for:

[0018] After the reverse tension reaches the second preset threshold in the longitudinal traction state, if it is detected that the reverse tension is less than the third preset threshold, a second control signal is generated.

[0019] The power drive module is also used for:

[0020] The drone receives the second control signal and accelerates its movement accordingly.

[0021] Furthermore, the device also includes:

[0022] The status recognition module is used to identify whether the drone's traction cable is in a fixed disc cutting state or in a longitudinal traction state based on the drone's motion data.

[0023] Furthermore, the state recognition module is specifically used for:

[0024] Acquire the motion data of the drone;

[0025] Based on the motion data, determine whether the lateral displacement of the drone has reached a set threshold;

[0026] If so, then the UAV traction cable is determined to be in the fixed reel cut-in state;

[0027] If not, then the UAV traction cable is determined to be in a longitudinal traction state.

[0028] Furthermore, the central control module is also used for:

[0029] In the longitudinal traction state, identify whether there is a regular change in the magnitude of the reverse tension;

[0030] If so, a first detection signal is generated based on the variation pattern of the reverse pull force and the flight speed of the UAV;

[0031] The ground-end controller is used to receive the first detection signal and generate cable reel roll inspection information based on the first detection signal, so as to display it to the staff for cable reel roll clamping inspection.

[0032] Secondly, embodiments of this application provide an adaptive control method based on tension during cable installation, the method comprising:

[0033] The power drive module drives one end of the drone's tow cable to move to the target location for cable installation;

[0034] The state determination module identifies whether the UAV traction cable is in a fixed reel cutting state or in a longitudinal traction state.

[0035] The tensile testing module detects the reverse tensile force generated by the resistance when the cable is cut into the fixed plate during the fixed plate cutting-in state, and detects the reverse tensile force generated by the combined action of cable release resistance and gravity during the longitudinal traction state.

[0036] When the reverse pulling force reaches a first set threshold in the fixed plate cutting state, or when the reverse pulling force reaches a second set threshold in the longitudinal traction state, the central control module generates a first control signal.

[0037] The power drive module receives the first control signal and stops or slows down the movement of the drone according to the first control signal.

[0038] Furthermore, the method also includes:

[0039] After the reverse pulling force reaches the first set threshold in the fixed plate cutting state, the central control module generates a second control signal until the fixed plate cutting state is completed and enters the longitudinal traction state.

[0040] The power drive module receives the second control signal and accelerates the movement of the drone according to the second control signal;

[0041] or,

[0042] After the reverse pulling force reaches the second preset threshold in the longitudinal traction state, if the reverse pulling force is detected to be less than the third preset threshold, a second control signal is generated by the central control module.

[0043] The power drive module receives the second control signal and accelerates the movement of the drone according to the second control signal.

[0044] Furthermore, the method also includes:

[0045] The state recognition module identifies whether the drone's traction cable is in a fixed disc cutting state or in a longitudinal traction state based on the drone's motion data.

[0046] Furthermore, the status recognition module identifies whether the UAV traction cable is in a fixed reel-cut-in state or in a longitudinal traction state, including:

[0047] Acquire the motion data of the drone;

[0048] Based on the motion data, determine whether the lateral displacement of the drone has reached a set threshold;

[0049] If so, then the UAV traction cable is determined to be in the fixed reel cut-in state;

[0050] If not, then the UAV traction cable is determined to be in a longitudinal traction state.

[0051] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0052] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0053] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0054] In this embodiment, a power drive module is used to drive one end of the UAV traction cable to move towards a target position for cable installation; a state determination module is used to identify whether the UAV traction cable is in a fixed reel insertion state or a longitudinal traction state; a tension detection module is used to detect the reverse tension generated by the resistance when the cable is inserted into the fixed reel in the fixed reel insertion state, and to detect the reverse tension generated by the combined action of cable release resistance and gravity in the longitudinal traction state; a central control module is used to generate a first control signal when the reverse tension reaches a first set threshold in the fixed reel insertion state, or when the reverse tension reaches a second set threshold in the longitudinal traction state; the power drive module is also used to receive the first control signal and stop or slow down the UAV movement according to the first control signal. Through the above-described tension-based adaptive control device for the cable installation process, the reverse tension generated by the cable can be detected in real time, and the flight speed of the UAV can be adjusted in real time according to the reverse tension to improve the safety of the cable installation process and avoid the efficiency impact and economic losses caused by cable breakage. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the cable installation process based on tension adaptive control device provided in Embodiment 1 of this application;

[0056] Figure 2 This is a schematic diagram of the cable installation process based on tension adaptive control device provided in Embodiment 2 of this application;

[0057] Figure 3 This is a flowchart illustrating the cable installation process based on the adaptive control method of tension provided in Embodiment 3 of this application;

[0058] Figure 4 This is a schematic diagram of the structure of the electronic device provided in Embodiment 4 of this application. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0060] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0061] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0062] The following description, in conjunction with the accompanying drawings, details the cable installation process based on tension adaptive control device, method, and equipment provided in this application through specific embodiments and application scenarios.

[0063] Example 1

[0064] Figure 1 This is a schematic diagram of the cable installation process based on tension adaptive control device provided in Embodiment 1 of this application. Figure 1 As shown, it specifically includes the following:

[0065] The power drive module 101 is used to drive one end of the UAV towing cable to move to the target position for cable installation;

[0066] The status determination module 102 is used to identify whether the UAV traction cable is in the fixed reel cutting state or in the longitudinal traction state;

[0067] The tension detection module 103 is used to detect the reverse tension generated by the resistance generated when the cable is cut into the fixed plate in the fixed plate cutting state, and to detect the reverse tension generated by the combined action of cable release resistance and gravity in the longitudinal traction state.

[0068] The central control module 104 is used to generate a first control signal when the reverse pulling force reaches a first set threshold in the fixed plate cutting state, or when the reverse pulling force reaches a second set threshold in the longitudinal traction state.

[0069] The power drive module 101 is also used to receive the first control signal and stop or slow down the movement of the drone according to the first control signal.

[0070] First, this solution can be used in scenarios where chips are used in drones to automatically identify the pull force and flight status and adjust the flight speed accordingly.

[0071] Based on the above usage scenarios, it is understandable that the execution subject of this application can be the chip, and no further restrictions are imposed here.

[0072] In this scheme, the drone can be an unmanned aircraft controlled by radio remote control equipment and its own program control device, or it can be operated autonomously, either completely or intermittently, by an onboard computer. The drone consists of an airframe, flight control system, data link system, recovery system, and power system. The flight control system is equivalent to the "heart" of the drone system, having a significant impact on the drone's stability, data reliability, accuracy, and real-time performance, and playing a decisive role in its flight performance.

[0073] A cable can be a device for transmitting electrical energy or signals, and is usually composed of several or several groups of conductors, including power cables, control cables, compensating cables, shielded cables, high-temperature cables, computer cables, signal cables, coaxial cables, fire-resistant cables, marine cables, mining cables, and aluminum alloy cables.

[0074] The target position to be reached by the drone can be preset in the chip of the drone's flight control system. After the setting is completed, the chip performs corresponding calculations based on the target position and generates control commands to drive one end of the drone's traction cable to move towards the target position according to the control commands.

[0075] A cable anchor is a fixing device used when laying cables at high altitudes. It can include a clamping mechanism, a safety mechanism, and a locking mechanism. One cable anchor is required at intervals of length, and the cable needs to pass through a certain number of cable anchors to be successfully laid. Each cable anchor can hold a certain number of cables, specifically 5 to 6 cables. The cable anchor engagement state refers to the state where the drone places the cable on the cable anchor.

[0076] The longitudinal traction state can be the state in which the UAV traction cable is flying longitudinally, that is, the state in which the UAV traction cable is flying straight forward.

[0077] Because the parameters used to control a drone differ depending on whether it is in a fixed-disc engagement state or a longitudinally traction state, it is essential to identify the drone's current state before taking control of it, in order to select the appropriate parameters for subsequent control. Specifically, the drone's state can be identified using sensors.

[0078] Because the mounting plate contains a latching mechanism, a safety mechanism, and a locking mechanism, the cable must first be bypassed by the latching mechanism when placed on the mounting plate. However, when bypassing the latching mechanism, the latching mechanism will exert resistance on the cable. At this time, due to the presence of resistance, the drone may need to apply more force to the cable to make the cable pass through the latching mechanism. Therefore, when the drone applies force to the cable, the cable will also generate a reverse pulling force opposite to the force applied by the drone.

[0079] When the drone is in a longitudinally tractor-like state, the cable is pulled to a certain distance from the ground, and thus, the cable experiences its own gravity due to Earth's attraction. Simultaneously, because the cable is wrapped around a roller on the ground, and the drone pulls the cable from the roller to a high altitude, friction is generated between the cable and the ground; this friction is the release resistance. Due to the influence of gravity and release resistance, the cable exerts a reverse pulling force on the drone. This reverse pulling force can be detected using a tension sensor.

[0080] The first threshold can be the maximum value of the reverse tension of the cable when the drone is in the fixed-disc engaged state. When the reverse tension exceeds this threshold, the cable may break. When the drone is in the fixed-disc engaged state, its flight direction is lateral. Therefore, the direction of the reverse tension is also lateral. However, the buckle position may be 5 meters diagonally away from the drone. In this case, the force required for the drone to release the cable needs to be decomposed into lateral and longitudinal forces to determine the value of the reverse tension. The decomposition method of the force required for the drone to release the cable can be determined according to the distance ratio between the buckle and the drone. For example, if the buckle position is 5 meters diagonally away from the drone, and the flight control system chip calculates that the drone only needs to fly 3 meters laterally to reach this position, then the ratio of lateral distance to diagonal distance is 3:5. Furthermore, if the total force threshold that the drone needs to apply at this time is 800N, then after decomposing the diagonal tension into lateral and longitudinal forces according to the ratio, the lateral force threshold is 600N. The calculation process is as follows:

[0081] 800 ÷ 5 × 3 = 600

[0082] Furthermore, the threshold for the reverse pulling force in the fixed disc cutting state is 600N.

[0083] The second set threshold can be the maximum value of the reverse tension generated by the cable when the drone is in a longitudinal traction state. When the reverse tension exceeds the second set threshold, the cable may break.

[0084] The first control signal could be to slow down the drone. If the reverse tension generated by the cable is too great, the cable may break if the drone continues to fly at its current speed. Therefore, when the reverse tension is too great, it is necessary to slow down the drone's flight speed or stop flying altogether.

[0085] When the tension sensor detects the reverse tension generated by the cable, it transmits the detected reverse tension to the chip in the flight control system. The chip can pre-store a first set threshold and a second set threshold. When the chip receives the reverse tension, it compares it with the first set threshold and the second set threshold. If the force exceeds the threshold, it will automatically generate a first control signal and control the drone to slow down its movement speed or stop flying based on this signal.

[0086] Based on the above technical solutions, optionally, the device further includes:

[0087] The status recognition module is used to identify whether the drone's traction cable is in a fixed disc cutting state or in a longitudinal traction state based on the drone's motion data.

[0088] In this solution, the drone's motion data can include its flight speed, flight distance, and flight direction. This data is used to identify the drone's current state. For example, if the flight control system chip detects that the drone is flying longitudinally at a constant speed of 5 m / s for 50 m, it can be further determined that the drone is in a longitudinal traction state. If the flight control system chip detects that the drone is gradually decelerating from 5 m / s to 1 s / m and flying laterally for 3 m, it can be further determined that the drone is in a fixed-disk engagement state.

[0089] In this solution, the parameters used to control the drone can be determined by identifying its status. Without identifying the drone's status, it is impossible to determine parameters such as the type of control signal, and consequently, it is impossible to control the drone's flight.

[0090] Based on the above technical solutions, optionally, the state recognition module is specifically used for:

[0091] Acquire the motion data of the drone;

[0092] Based on the motion data, determine whether the lateral displacement of the drone has reached a set threshold;

[0093] If so, then the UAV traction cable is determined to be in the fixed reel cut-in state;

[0094] If not, then the UAV traction cable is determined to be in a longitudinal traction state.

[0095] In this scheme, the lateral displacement can be the distance the drone moves laterally. If the lateral displacement reaches a set threshold, the drone is considered to be in the fixed plate insertion state, and the cable is being pulled through the clips and installed in the fixed plate. If the lateral displacement does not reach the set threshold, the drone is considered to be in the longitudinal traction state, and the lateral displacement is generated by overcoming wind force.

[0096] Once the flight control system chip acquires the drone's motion data, if the flight direction data includes lateral flight data, it checks whether the lateral displacement data in the flight distance data reaches a set threshold. If the threshold is reached, it determines that the drone's traction cable is in the fixed-plate engagement state. If the threshold is not reached, it determines that the drone's traction cable is in the longitudinal traction state. For example, if the threshold is 2m, and the drone's lateral displacement reaches 2m per unit time, it can be determined that the drone is pulling the cable through the clip and installing it in the fixed-plate, thus being in the fixed-plate engagement state. If the lateral displacement is less than 2m per unit time, it can be determined that the drone's traction cable is flying longitudinally, and the lateral displacement is due to overcoming wind force, thus being in the longitudinal traction state.

[0097] In this solution, by setting a threshold for lateral motion displacement, the state of the drone can be determined, which can improve the speed of drone state determination, quickly determine the parameters used to control the drone, and improve the drone's working efficiency.

[0098] Based on the above technical solutions, optionally, the central control module is also used for:

[0099] In the longitudinal traction state, identify whether there is a regular change in the magnitude of the reverse tension;

[0100] If so, a first detection signal is generated based on the variation pattern of the reverse pull force and the flight speed of the UAV;

[0101] The ground-end controller is used to receive the first detection signal and generate cable reel roll inspection information based on the first detection signal, so as to display it to the staff for cable reel roll clamping inspection.

[0102] In this scheme, if the UAV is in a longitudinal traction state, and the reverse pull suddenly increases to a certain value after flying a fixed distance, this is considered a regular change in the magnitude of the reverse pull. For example, if the flight control system chip detects that the reverse pull suddenly increases from 400N to 430N every 3m of longitudinal flight when the UAV is in a longitudinal traction state, this is considered a regular change in the magnitude of the reverse pull.

[0103] A cable reel can be a cable reel that uses a spiral spring as power to wind up the cable. When the cable is pulled out, the spiral spring tightens and stores energy. When the external force is removed, the spring releases energy, and the reel will automatically wind up the cable.

[0104] The first detection signal can be a signal to notify staff to check for cable jamming issues on the cable reel and to perform corresponding repairs based on the jamming problem. The first detection signal can include the pattern of change in reverse tension and the drone's flight speed; the representation can be the pattern of change in reverse tension minus the drone's flight speed.

[0105] When the magnitude of the reverse pull exhibits a regular change, the flight control system chip automatically generates a first detection signal and transmits it to the ground controller via wireless communication technology. This signal allows personnel to check the cable reel for jamming. The ground controller can be a smart device, such as a laptop, mobile phone, or desktop computer. Wireless communication utilizes the property of electromagnetic waves to propagate in free space for information exchange. For example, if the reverse pull changes according to a pattern of sudden increase from 400N to 430N every 3 meters of longitudinal flight, at a flight speed of 5 m / s, then the first detection signal can be expressed as: sudden increase in pull from 400N to 430N - 5 m / s every 3 meters of longitudinal flight.

[0106] Cable reel inspection information can include the location of the problem on the cable reel and the possible problems, which can be expressed as the location of the problem on the cable reel and the possible problems.

[0107] When the ground controller receives the first detection signal from the flight control system chip, it can generate cable reel roll inspection information based on the change pattern of the reverse tension in the first detection signal and the UAV's flight speed. This information is then displayed to the operator on the ground controller screen, allowing them to check for cable jamming on the cable reel roll. For example, if the received first detection signal shows a sudden increase in tension from 400N to 430N - 5m / s every 3m of longitudinal flight, and the problem is identified as insufficient bearing lubrication, the automatically generated cable reel roll inspection information would be: Bearing - Insufficient bearing lubrication. This information is then displayed to the operator. Upon receiving this information, the operator can check for cable jamming, specifically whether insufficient bearing lubrication is causing the cable jamming. If so, the operator can apply lubricant to the bearing to resolve the issue.

[0108] In this solution, by setting a first detection signal and cable reel roll inspection information, it is possible to detect in real time whether there is a problem with cable reel roll jamming, and promptly notify staff to carry out repairs, so as to avoid the impact on efficiency and economic losses caused by cable breakage.

[0109] In this embodiment, a power drive module is used to drive one end of the UAV traction cable to move towards a target position for cable installation; a state determination module is used to identify whether the UAV traction cable is in a fixed reel insertion state or a longitudinal traction state; a tension detection module is used to detect the reverse tension generated by the resistance when the cable is inserted into the fixed reel in the fixed reel insertion state, and to detect the reverse tension generated by the combined action of cable release resistance and gravity in the longitudinal traction state; a central control module is used to generate a first control signal when the reverse tension reaches a first set threshold in the fixed reel insertion state, or when the reverse tension reaches a second set threshold in the longitudinal traction state; the power drive module is also used to receive the first control signal and stop or slow down the UAV movement according to the first control signal. Through the above-described tension-based adaptive control device for the cable installation process, the reverse tension generated by the cable can be detected in real time, and the flight speed of the UAV can be adjusted in real time according to the reverse tension to improve the safety of the cable installation process and avoid the efficiency impact and economic losses caused by cable breakage.

[0110] Example 2

[0111] Figure 2 This is a schematic diagram of the cable installation process based on tension adaptive control device provided in Embodiment 2 of this application. Figure 2 As shown, it specifically includes the following:

[0112] The central control module 104 is also used for:

[0113] After the reverse pulling force reaches the first set threshold in the fixed plate cutting state, until the fixed plate cutting state is completed, the longitudinal traction state is entered, and a second control signal is generated.

[0114] The power drive module 101 is also used for:

[0115] Receive the second control signal and accelerate the movement of the drone according to the second control signal;

[0116] or,

[0117] The central control module 104 is also used for:

[0118] After the reverse tension reaches the second preset threshold in the longitudinal traction state, if it is detected that the reverse tension is less than the third preset threshold, a second control signal is generated.

[0119] The power drive module 101 is also used for:

[0120] The drone receives the second control signal and accelerates its movement accordingly.

[0121] In this scheme, the second control signal can be a signal to control the drone to increase its flight speed. When the reverse pull reaches the first set threshold, the flight control system chip will automatically generate the first control signal to slow down the drone's flight speed or command the drone to stop flying. However, once the cable is successfully installed in the mounting plate, i.e., the mounting plate is engaged, the drone's flight speed needs to be increased to control it to fly towards the next target mounting plate.

[0122] When the drone is in the fixed-disc insertion state, during the cable installation process, a first control signal is generated each time the reverse tension of the cable reaches a first set threshold, slowing down the drone's flight speed or commanding it to stop. After completing the fixed-disc insertion state, the drone must return to the original cable routing direction to enter the longitudinal traction state. For example, if the drone is 5m diagonally away from the latch position, decomposing this direction into lateral and longitudinal directions, the drone needs to fly 3m laterally to reach the latch position. Therefore, after completing the fixed-disc insertion state, the drone needs to fly 3m laterally back to the original cable routing direction before entering the longitudinal traction state. When the sensor detects that the drone has transitioned from the fixed-disc insertion state to the longitudinal traction state, it transmits the detected state change information to the chip in the flight control system. Upon receiving the information from the sensor, this chip automatically generates a second control signal and accelerates the drone's movement accordingly.

[0123] When the drone is in a longitudinal traction state, if the reverse tension of the cable is lower than a third preset threshold, the drone's flight speed can be increased. Furthermore, the third preset threshold can be a critical value for the reverse tension that increases the drone's flight speed.

[0124] When the drone is in a longitudinal traction state and the reverse pull reaches a second preset threshold, the flight control system chip generates a first control signal to stop or slow down the drone's movement. However, when the reverse pull is less than a third preset threshold, it is considered that the drone can accelerate without causing the cable to break, and the chip can then generate a second control signal to accelerate the drone's movement. For example, if the second preset threshold is 800N and the third preset threshold is 500N, then when the drone is in a longitudinal traction state, if the pull sensor detects a reverse pull exceeding 800N, this information is transmitted to the flight control system chip, which then generates a first control signal to slow down or stop the drone's movement. However, if the pull sensor detects a reverse pull below 500N, this information is transmitted to the flight control system chip, which generates a second control signal to end the slowing down or stopping of the drone's movement, allowing the drone to accelerate.

[0125] In this embodiment, by real-time detection of the cable's reverse tension and generating different control signals to control the drone's flight speed based on different threshold values ​​of reverse tension, the safety of the cable installation process can be improved, avoiding the efficiency impact and economic losses caused by cable breakage. Simultaneously, the drone's movement can be accelerated when the reverse tension is less than a specified value, thereby improving cable installation efficiency.

[0126] The cable installation process based on the adaptive control device for tension in this application embodiment can be a device, or a component, integrated circuit, or chip in a terminal. This device can be a mobile electronic device or a non-mobile electronic device. For example, mobile electronic devices can be mobile phones, tablets, laptops, PDAs, in-vehicle electronic devices, wearable devices, ultra-mobile personal computers (UMPCs), netbooks, or personal digital assistants (PDAs), etc., while non-mobile electronic devices can be servers, network-attached storage (NAS), personal computers (PCs), televisions (TVs), ATMs, or self-service machines, etc. This application embodiment does not impose specific limitations.

[0127] The cable installation process based on the adaptive control device for tension in this embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this embodiment does not specifically limit its use.

[0128] Example 3

[0129] Figure 3 This is a flowchart illustrating the cable installation process based on the adaptive control method of tension provided in Embodiment 3 of this application. Figure 3 As shown, the specific steps include the following:

[0130] S301 uses a power drive module to move one end of the UAV's tow cable to the target location for cable installation;

[0131] S302, the state determination module identifies whether the UAV traction cable is in the fixed reel cutting state or in the longitudinal traction state;

[0132] S303, in the fixed plate cutting state, detects the reverse tension generated by the resistance when the cable is cut into the fixed plate through the tension detection module, and in the longitudinal traction state, detects the reverse tension generated by the combined action of cable release resistance and gravity.

[0133] S304, when the reverse pulling force reaches a first set threshold in the fixed plate cutting state, or when the reverse pulling force reaches a second set threshold in the longitudinal traction state, the central control module generates a first control signal;

[0134] S305, the first control signal is received through the power drive module, and the drone movement is stopped or slowed down according to the first control signal.

[0135] Furthermore, the method also includes:

[0136] After the reverse pulling force reaches the first set threshold in the fixed plate cutting state, the central control module generates a second control signal until the fixed plate cutting state is completed and enters the longitudinal traction state.

[0137] The power drive module receives the second control signal and accelerates the movement of the drone according to the second control signal;

[0138] or,

[0139] After the reverse pulling force reaches the second preset threshold in the longitudinal traction state, if the reverse pulling force is detected to be less than the third preset threshold, a second control signal is generated by the central control module.

[0140] The power drive module receives the second control signal and accelerates the movement of the drone according to the second control signal.

[0141] Furthermore, the method also includes:

[0142] The state recognition module identifies whether the drone's traction cable is in a fixed disc cutting state or in a longitudinal traction state based on the drone's motion data.

[0143] Furthermore, the status recognition module identifies whether the UAV traction cable is in a fixed reel-cut-in state or in a longitudinal traction state, including:

[0144] Acquire the motion data of the drone;

[0145] Based on the motion data, determine whether the lateral displacement of the drone has reached a set threshold;

[0146] If so, then the UAV traction cable is determined to be in the fixed reel cut-in state;

[0147] If not, then the UAV traction cable is determined to be in a longitudinal traction state.

[0148] In this embodiment, a power drive module drives one end of the UAV's traction cable to move towards a target location for cable installation. A state determination module identifies whether the UAV's traction cable is in a fixed reel insertion state or a longitudinal traction state. A tension detection module detects the reverse tension generated by the resistance when the cable is inserted into the fixed reel in the fixed reel insertion state, and detects the reverse tension generated by the combined effect of cable release resistance and gravity in the longitudinal traction state. A central control module generates a first control signal when the reverse tension reaches a first set threshold in the fixed reel insertion state, or when the reverse tension reaches a second set threshold in the longitudinal traction state. The power drive module receives the first control signal and stops or slows down the UAV's movement based on the first control signal. This tension-based adaptive control method for the cable installation process allows for real-time detection of the reverse tension generated by the cable, and real-time adjustment of the UAV's flight speed based on the reverse tension, thereby improving the safety of the cable installation process and avoiding the efficiency impact and economic losses caused by cable breakage.

[0149] The cable installation process based on tension adaptive control method provided in this embodiment corresponds to the device provided in the above embodiments and has a corresponding execution process and beneficial effects, which will not be described in detail here.

[0150] Example 4

[0151] like Figure 4 As shown, this application embodiment also provides an electronic device 400, including a processor 401, a memory 402, and a program or instructions stored in the memory 402 and executable on the processor 401. When the program or instructions are executed by the processor 401, they implement the various processes of the above-described cable installation process based on the tension adaptive control device embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0152] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0153] Example 5

[0154] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described cable installation process based on the tension-adaptive control device embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0155] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0156] Example 6

[0157] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described cable installation process based on the tension adaptive control device embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0158] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0159] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0160] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0161] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0162] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the claims.

Claims

1. An adaptive control device based on tension for cable installation process, characterized in that, The device includes: The power drive module is used to drive one end of the drone's tow cable to move to the target location for cable installation; The state determination module is used to identify whether the UAV's traction cable is in the fixed plate cutting state or in the longitudinal traction state. The fixed plate cutting state refers to the state in which the UAV places the cable on the fixed plate. The fixed plate is a fixing device used when laying cables at high altitudes on a high-altitude cable rack. It includes a buckling mechanism, a safety mechanism, and a locking mechanism. The fixed plate holds a certain number of cables. The longitudinal traction state refers to the state in which the UAV's traction cable flies straight forward. The tension detection module is used to detect the reverse tension generated by the resistance when the cable is cut into the fixed plate in the fixed plate cutting state, and to detect the reverse tension generated by the combined action of cable release resistance and gravity in the longitudinal traction state. The central control module is used to generate a first control signal when the reverse pull force reaches a first set threshold in the fixed plate cutting state, or when the reverse pull force reaches a second set threshold in the longitudinal traction state. The power drive module is also used to receive the first control signal and stop or slow down the movement of the drone according to the first control signal.

2. The cable installation process based on tension adaptive control device according to claim 1, characterized in that: The central control module is also used for: After the reverse pulling force reaches the first set threshold in the fixed plate cutting state, until the fixed plate cutting state is completed, the longitudinal traction state is entered, and a second control signal is generated. The power drive module is also used for: Receive the second control signal and accelerate the movement of the drone according to the second control signal; or, The central control module is also used for: After the reverse tension reaches the second preset threshold in the longitudinal traction state, if it is detected that the reverse tension is less than the third preset threshold, a second control signal is generated. The power drive module is also used for: The drone receives the second control signal and accelerates its movement accordingly.

3. The cable installation process based on tension adaptive control device according to claim 1, characterized in that, The device further includes: The status recognition module is used to identify whether the drone's traction cable is in a fixed disc cutting state or in a longitudinal traction state based on the drone's motion data.

4. The cable installation process based on tension adaptive control device according to claim 3, characterized in that, The state recognition module is specifically used for: Acquire the motion data of the drone; Based on the motion data, determine whether the lateral displacement of the drone has reached a set threshold; If so, then the UAV traction cable is determined to be in the fixed reel cut-in state; If not, then the UAV traction cable is determined to be in a longitudinal traction state.

5. The cable installation process based on tension adaptive control device according to claim 1, characterized in that, The central control module is also used for: In the longitudinal traction state, identify whether there is a regular change in the magnitude of the reverse tension; If so, a first detection signal is generated based on the variation pattern of the reverse pull force and the flight speed of the UAV; The ground-end controller is used to receive the first detection signal and generate cable reel roll inspection information based on the first detection signal, so as to display it to the staff for cable reel roll clamping inspection.

6. An adaptive control method based on tension for cable installation, characterized in that, The method includes: The power drive module drives one end of the drone's tow cable to move to the target location for cable installation. The state determination module identifies whether the UAV's traction cable is in the fixed disc cutting state or in the longitudinal traction state. The fixed disc cutting state refers to the state in which the UAV places the cable on the fixed disc. The fixed disc is a fixing device used when laying cables at high altitudes on a high-altitude cable rack. It includes a buckling mechanism, a safety mechanism, and a locking mechanism. The fixed disc holds a certain number of cables. The longitudinal traction state refers to the state in which the UAV's traction cable flies straight forward. The tensile testing module detects the reverse tensile force generated by the resistance when the cable is cut into the fixed plate during the fixed plate cutting-in state, and detects the reverse tensile force generated by the combined action of cable release resistance and gravity during the longitudinal traction state. When the reverse pulling force reaches a first set threshold in the fixed plate cutting state, or when the reverse pulling force reaches a second set threshold in the longitudinal traction state, the central control module generates a first control signal. The power drive module receives the first control signal and stops or slows down the movement of the drone according to the first control signal.

7. The cable installation process based on tension adaptive control method according to claim 6, characterized in that, The method further includes: After the reverse pulling force reaches the first set threshold in the fixed plate cutting state, the central control module generates a second control signal until the fixed plate cutting state is completed and enters the longitudinal traction state. The power drive module receives the second control signal and accelerates the movement of the drone according to the second control signal; or, After the reverse pulling force reaches the second preset threshold in the longitudinal traction state, if the reverse pulling force is detected to be less than the third preset threshold, a second control signal is generated by the central control module. The power drive module receives the second control signal and accelerates the movement of the drone according to the second control signal.

8. The cable installation process based on tension adaptive control method according to claim 6, characterized in that, The method further includes: The state recognition module identifies whether the drone's traction cable is in a fixed disc cutting state or in a longitudinal traction state based on the drone's motion data.

9. The cable installation process based on tension adaptive control method according to claim 8, characterized in that, The status recognition module identifies whether the UAV traction cable is in a fixed reel-cut-in state or in a longitudinal traction state, including: Acquire the motion data of the drone; Based on the motion data, determine whether the lateral displacement of the drone has reached a set threshold; If so, then the UAV traction cable is determined to be in the fixed reel cut-in state; If not, then the UAV traction cable is determined to be in a longitudinal traction state.

10. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the tension-based adaptive control method for cable installation process as described in any one of claims 6-9.

Images