An unmanned aerial vehicle de-icing method, system, and medium

Abstract

The embodiment of the application provides a method and system for deicing unmanned aerial vehicles and a medium. The method comprises: obtaining icing information, preprocessing the icing information and inputting the icing information into a preset model to output icing thickness information; comparing the icing thickness information with preset thickness information to obtain a thickness difference; if the thickness difference is greater than a first threshold value and less than a second threshold value, generating a first deicing strategy and generating first deicing parameter information through the first deicing strategy; deicing the aerial vehicle according to the first deicing parameter information; if the thickness difference is greater than the second threshold value, generating a second deicing strategy and generating second deicing parameter information through the second deicing strategy; and assisting in deicing the aerial vehicle according to the second deicing parameter information. Different deicing methods are used for different icing thicknesses of the aerial vehicle, two deicing methods are mixed, the deicing efficiency is high, and the deicing method is flexible and various.

Description

Technical Field

[0001] This application relates to the field of aircraft de-icing, and more specifically, to a method, system, and medium for de-icing unmanned aerial vehicles. Background Technology

[0002] With the continuous development of science and technology, the application of unmanned aerial vehicles (UAVs) has seen unprecedented growth. UAVs are often more suitable for repetitive mechanical tasks or high-risk missions. Due to the low external temperature in winter, icing can easily occur on the outside of the aircraft. Icing can affect the weight of the aircraft itself. Under the original flight parameters, changes in the weight of the aircraft can cause the speed change during takeoff and descent to deviate from the predetermined value, resulting in a decrease in flight safety. Therefore, it is necessary to de-ice the aircraft before it performs flight missions. Effective technical solutions are urgently needed to address the above problems. Summary of the Invention

[0003] The purpose of this application is to provide a method, system, and medium for de-icing unmanned aircraft. It can achieve mixed de-icing by using different de-icing methods for different icing thicknesses of the aircraft, and can achieve high de-icing efficiency and flexible de-icing methods.

[0004] This application also provides a method for de-icing an unmanned aerial vehicle, including:

[0005] Acquire icing information, preprocess the icing information and input it into a preset model, and output icing thickness information;

[0006] The ice thickness information is compared with preset thickness information to obtain the thickness difference;

[0007] If the thickness difference is greater than the first threshold and less than the second threshold, a first de-icing strategy is generated, and first de-icing parameter information is generated through the first de-icing strategy.

[0008] De-icing of the aircraft is performed based on the first de-icing parameter information;

[0009] If the thickness difference is greater than the second threshold, a second de-icing strategy is generated, and second de-icing parameter information is generated through the second de-icing strategy.

[0010] The aircraft is de-iced based on the second de-icing parameter information;

[0011] The first threshold is less than the second threshold.

[0012] Optionally, in the unmanned aerial vehicle de-icing method described in the embodiments of this application, the step of acquiring icing information, preprocessing the icing information and inputting it into a preset model, and outputting icing thickness information includes:

[0013] The aircraft parameters are obtained, and the external region of the aircraft is divided into several sub-regions;

[0014] Obtain icing information for each sub-region, and extract feature values ​​from the icing information of several sub-regions;

[0015] The feature values ​​of several sub-regions are compared with preset feature values ​​to obtain the feature deviation rate;

[0016] Determine whether the feature deviation rate is greater than a preset deviation rate threshold;

[0017] If it is greater than or equal to, then correction information is generated, and the feature value is corrected using the correction information;

[0018] If the values ​​are less than 1, the feature values ​​are fused together, and the icing thickness information for each sub-region of the aircraft is calculated.

[0019] Optionally, in the unmanned aerial vehicle de-icing method described in the embodiments of this application, if the value is less than 0, the feature values ​​are fused, and the icing thickness information of each sub-region of the aircraft is calculated, including:

[0020] Obtain ice thickness information for several sub-regions, and generate corresponding de-icing strategies based on the ice thickness information;

[0021] Obtain the rate of change of ice thickness in several sub-regions;

[0022] Determine whether the rate of change of ice thickness is greater than a preset rate of change of thickness;

[0023] If it is greater than that, negative adjustment information is generated, and the de-icing strategy is negatively optimized based on the negative adjustment information;

[0024] If the value is less than the specified value, positive adjustment information is generated, and the de-icing strategy is positively optimized and adjusted based on the positive adjustment information.

[0025] Optionally, in the unmanned aerial vehicle de-icing method described in the embodiments of this application, obtaining icing information, preprocessing the icing information and inputting it into a preset model, and outputting icing thickness information includes:

[0026] Acquire ambient temperature information and generate an icing state model based on the ambient temperature information;

[0027] Ice growth information is generated based on the ice state model;

[0028] The weighted calculation is performed based on the icing growth information and the icing information to generate the change in icing thickness;

[0029] Determine whether the change in ice thickness is greater than a preset change amount;

[0030] If the value is greater than the value, then the first de-icing strategy and the second de-icing strategy will be used in combination for de-icing.

[0031] If the value is less than the specified value, then de-icing is performed separately using either the first de-icing strategy or the second de-icing strategy.

[0032] Optionally, in the unmanned aerial vehicle de-icing method described in this application embodiment, if the thickness difference is greater than a first threshold and less than a second threshold, a first de-icing strategy is generated, and first de-icing parameter information is generated through the first de-icing strategy, including:

[0033] The first de-icing strategy is to de-ic the aircraft by spraying de-icing fluid onto the external area of ​​the aircraft.

[0034] The first de-icing parameter information includes the spraying rate of the de-icing fluid, the spraying pressure of the de-icing fluid, the spraying temperature of the de-icing fluid, or the spraying angle of the de-icing fluid.

[0035] Optionally, in the unmanned aerial vehicle de-icing method described in this application embodiment, the step of generating a second de-icing strategy if the thickness difference is greater than a second threshold, and generating second de-icing parameter information through the second de-icing strategy, includes:

[0036] The second de-icing strategy is aircraft electric heating de-icing. The second de-icing parameter information includes the area of ​​electric heating, the heat transfer efficiency of electric heating, the heating temperature of electric heating, and the rate of temperature change of electric heating.

[0037] Secondly, this application provides an unmanned aerial vehicle (UAV) de-icing system, which includes a memory and a processor. The memory includes a program for an UAV de-icing method. When the program for the UAV de-icing method is executed by the processor, it performs the following steps: acquiring icing information, preprocessing the icing information and inputting it into a preset model, and outputting icing thickness information.

[0038] The ice thickness information is compared with preset thickness information to obtain the thickness difference;

[0039] If the thickness difference is greater than the first threshold and less than the second threshold, a first de-icing strategy is generated, and first de-icing parameter information is generated through the first de-icing strategy.

[0040] De-icing of the aircraft is performed based on the first de-icing parameter information;

[0041] If the thickness difference is greater than the second threshold, a second de-icing strategy is generated, and second de-icing parameter information is generated through the second de-icing strategy.

[0042] The aircraft is de-iced based on the second de-icing parameter information;

[0043] The first threshold is less than the second threshold.

[0044] Optionally, in the unmanned aerial vehicle de-icing system described in this application embodiment, the step of acquiring icing information, preprocessing the icing information and inputting it into a preset model, and outputting icing thickness information includes:

[0045] The aircraft parameters are obtained, and the external region of the aircraft is divided into several sub-regions;

[0046] Obtain icing information for each sub-region, and extract feature values ​​from the icing information of several sub-regions;

[0047] The feature values ​​of several sub-regions are compared with preset feature values ​​to obtain the feature deviation rate;

[0048] Determine whether the feature deviation rate is greater than a preset deviation rate threshold;

[0049] If it is greater than or equal to, then correction information is generated, and the feature value is corrected using the correction information;

[0050] If the value is less than 1, the feature values ​​are fused to obtain the full-area feature and the aircraft icing thickness information is calculated.

[0051] Optionally, in the unmanned aerial vehicle de-icing system described in this application embodiment, if the value is less than a certain threshold, the feature values ​​are fused, and the icing thickness information for each sub-region of the aircraft is calculated, including:

[0052] Obtain ice thickness information for several sub-regions, and generate corresponding de-icing strategies based on the ice thickness information;

[0053] Obtain the rate of change of ice thickness in several sub-regions;

[0054] Determine whether the rate of change of ice thickness is greater than a preset rate of change of thickness;

[0055] If it is greater than that, negative adjustment information is generated, and the de-icing strategy is negatively optimized based on the negative adjustment information;

[0056] If the value is less than the specified value, positive adjustment information is generated, and the de-icing strategy is positively optimized and adjusted based on the positive adjustment information.

[0057] Thirdly, embodiments of this application also provide a computer-readable storage medium including an unmanned aerial vehicle (UAV) de-icing method program, which, when executed by a processor, implements the steps of the UAV de-icing method as described in any of the preceding claims.

[0058] As can be seen from the above, the unmanned aerial vehicle de-icing method, system, and medium provided in this application embodiment acquire icing information, preprocess the icing information and input it into a preset model to output icing thickness information; compare the icing thickness information with preset thickness information to obtain a thickness difference; if the thickness difference is greater than a first threshold and less than a second threshold, a first de-icing strategy is generated, and first de-icing parameter information is generated through the first de-icing strategy; the aircraft is de-iced according to the first de-icing parameter information; if the thickness difference is greater than the second threshold, a second de-icing strategy is generated, and second de-icing parameter information is generated through the second de-icing strategy; the aircraft is assisted in de-icing according to the second de-icing parameter information; by applying different de-icing methods to different icing thicknesses of the aircraft, a hybrid de-icing method of two de-icing methods can be achieved, resulting in high de-icing efficiency and a flexible and diverse de-icing method.

[0059] Other features and advantages of this application will be set forth in the following description, and the advantages of this application will be apparent in part from the description, or may be learned by practicing the embodiments of this application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0060] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 A flowchart of an unmanned aerial vehicle de-icing method provided in an embodiment of this application;

[0062] Figure 2 A flowchart illustrating the determination of icing thickness in a sub-region of an aircraft in the unmanned aircraft de-icing method provided in this application embodiment;

[0063] Figure 3 A flowchart illustrating the optimization and adjustment of the de-icing strategy for the unmanned aerial vehicle de-icing method provided in this application embodiment;

[0064] Figure 4 A flowchart illustrating the coordination of the first and second de-icing strategies in the unmanned aerial vehicle de-icing method provided in this application embodiment;

[0065] Figure 5 This is a schematic diagram of the structure of the unmanned aerial vehicle de-icing system provided in the embodiments of this application. Detailed Implementation

[0066] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0067] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0068] Please refer to Figure 1 , Figure 1 This is a flowchart of a de-icing method for an unmanned aerial vehicle (UAV) according to some embodiments of this application. The UAV de-icing method is used in a terminal device and includes the following steps:

[0069] S101, Obtain icing information, preprocess the icing information and input it into a preset model, and output icing thickness information;

[0070] S102, compare the icing thickness information with the preset thickness information to obtain the thickness difference;

[0071] S103, if the thickness difference is greater than the first threshold and less than the second threshold, then a first de-icing strategy is generated, and first de-icing parameter information is generated through the first de-icing strategy;

[0072] S104, De-icing the aircraft based on the first de-icing parameter information;

[0073] S105, if the thickness difference is greater than the second threshold, a second de-icing strategy is generated, and second de-icing parameter information is generated through the second de-icing strategy;

[0074] S106, Assist in de-icing the aircraft based on the second de-icing parameter information;

[0075] The first threshold is less than the second threshold.

[0076] It should be noted that by judging the thickness of the ice, different de-icing methods are used to de-ic the ice according to different ice thicknesses. The two de-icing methods can be used alone. When the ice thickness is thick (i.e., the thickness is greater than the set second threshold), the two de-icing methods are used simultaneously to de-ic the ice, resulting in higher de-icing efficiency.

[0077] Furthermore, the range of the first threshold is 1-3 mm, preferably 2 mm, and the range of the second threshold is 4-6 mm, preferably 5 mm.

[0078] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating the determination of icing thickness in a sub-region of an unmanned aerial vehicle (UAV) de-icing method according to some embodiments of this application. According to embodiments of the present invention, icing information is acquired, preprocessed, and input into a preset model to output icing thickness information, including:

[0079] S201, Obtain aircraft parameters and divide the external region of the aircraft into several sub-regions;

[0080] S202, Obtain the icing information of each sub-region, and extract feature values ​​from the icing information of several sub-regions;

[0081] S203, compare the feature values ​​of several sub-regions with preset feature values ​​to obtain the feature deviation rate;

[0082] S204, Determine whether the feature deviation rate is greater than the preset deviation rate threshold;

[0083] S205, if it is greater than or equal to, then generate correction information and use the correction information to correct the feature value;

[0084] S206, if it is less than, then the feature values ​​are fused and the icing thickness information of each sub-region of the aircraft is calculated.

[0085] It should be noted that dividing the aircraft's external area into several sub-regions allows for the assessment of icing thickness in each sub-region. This enables the generation of different de-icing parameters for different sub-regions, preventing the aircraft from continuing to operate according to predetermined de-icing parameters after some sub-regions have been de-iced, thus avoiding energy waste.

[0086] Please refer to Figure 3 , Figure 3 This is a flowchart illustrating the de-icing strategy optimization and adjustment process of an unmanned aerial vehicle de-icing method according to some embodiments of this application. According to embodiments of the present invention, if the value is less than a certain threshold, the feature values ​​are fused, and the icing thickness information for each sub-region of the aircraft is calculated, including:

[0087] S301, Obtain ice thickness information for several sub-regions, and generate corresponding de-icing strategies based on the ice thickness information;

[0088] S302, obtain the rate of change of ice thickness in several sub-regions;

[0089] S303, determine whether the rate of change of ice thickness is greater than the preset rate of change of thickness;

[0090] S304, if it is greater than, then negative adjustment information is generated, and the de-icing strategy is negatively optimized based on the negative adjustment information;

[0091] S305, if it is less than, then positive adjustment information is generated, and the de-icing strategy is positively optimized and adjusted according to the positive adjustment information.

[0092] It should be noted that the de-icing efficiency is judged based on the rate of change of icing thickness, thereby determining the optimization and adjustment mode. The optimization and adjustment modes include positive optimization and negative optimization. Negative optimization means that the de-icing efficiency is higher than expected, so the de-icing efficiency is reduced to prevent excessively rapid de-icing and damage to the aircraft's external parts. Positive optimization is the opposite of negative optimization, meaning that when the icing thickness changes slowly during the de-icing process, the de-icing efficiency needs to be increased to meet the de-icing requirements.

[0093] Please refer to Figure 4 , Figure 4 This is a flowchart illustrating the coordination of a first de-icing strategy and a second de-icing strategy in some embodiments of this application for a de-icing method for an unmanned aerial vehicle. According to embodiments of the present invention, the process includes acquiring icing information, preprocessing the icing information and inputting it into a preset model, and outputting icing thickness information, including:

[0094] S401, Obtain ambient temperature information and generate an icing state model based on the ambient temperature information;

[0095] S402, Generate icing growth information based on the icing state model;

[0096] S403, calculates the weighted data based on the icing growth information and the icing information, and generates the change in icing thickness;

[0097] S404, determine whether the change in ice thickness is greater than the preset change;

[0098] S405, if it is greater than, then the first de-icing strategy and the second de-icing strategy are used in combination for de-icing;

[0099] S406, if it is less than, then de-icing is performed separately using either the first de-icing strategy or the second de-icing strategy.

[0100] It should be noted that changes in the external ambient temperature will cause different icing rates. When the ambient temperature is low, the icing rate is high. If the original de-icing parameters are used for de-icing in this case, icing will still occur during the de-icing process, resulting in a decrease in de-icing efficiency. Therefore, it is necessary to flexibly adjust the de-icing parameters according to different ambient temperatures.

[0101] According to an embodiment of the present invention, if the thickness difference is greater than a first threshold and less than a second threshold, a first de-icing strategy is generated, and first de-icing parameter information is generated through the first de-icing strategy, including:

[0102] The first de-icing strategy is to de-ic the aircraft by spraying de-icing fluid onto the external areas of the aircraft.

[0103] The first de-icing parameter information includes the rate of application of the de-icing fluid, the pressure of the de-icing fluid, the temperature of the de-icing fluid, or the angle at which the de-icing fluid is applied.

[0104] It should be noted that during the process of spraying de-icing fluid, the high-temperature de-icing fluid is sprayed from the nozzle of the de-icing truck to form a turbulent free jet. The pressure difference between the outer boundary of the free jet and the external environment continuously draws in the surrounding air, and the radius of the jet expansion along the axial direction gradually increases, thereby improving the de-icing efficiency.

[0105] According to an embodiment of the present invention, if the thickness difference is greater than a second threshold, a second de-icing strategy is generated, and second de-icing parameter information is generated through the second de-icing strategy, including:

[0106] The second de-icing strategy is aircraft electric heating de-icing. The second de-icing parameter information includes the area of ​​electric heating, the heat transfer efficiency of electric heating, the heating temperature of electric heating, and the rate of temperature change of electric heating.

[0107] It should be noted that heating external aircraft parts, such as wings, is achieved through electric heating for heat conduction, thereby de-icing from the inside out and allowing ice to be removed from the aircraft more efficiently and quickly.

[0108] According to an embodiment of the present invention, it further includes:

[0109] Obtain the de-icing heating temperature and generate a melting curve based on the de-icing heating temperature;

[0110] Calculate the latent heat energy of ice melting based on the ice melting curve;

[0111] Determine whether the latent heat energy of the ice melting is greater than or equal to a preset energy threshold;

[0112] If it is greater than or equal to, a correction parameter is generated based on the latent heat energy of the melting ice, and the de-icing heating temperature is dynamically adjusted in real time using the correction parameter.

[0113] If it is less than, then the latent heat energy of melting ice is ignored.

[0114] It should be noted that during the de-icing process, the melting of accumulated ice generates a certain amount of heat, which will affect the de-icing heating temperature. The change in heat after the ice melts is judged based on the melting curve. When the latent heat energy of the melting ice is greater than the predetermined energy, it indicates that the melting speed is fast and the latent heat energy generated is high, which will rapidly increase the de-icing heating temperature. At this time, it is necessary to determine whether the de-icing heating temperature exceeds the predetermined heating temperature. If it does, it is necessary to adjust the parameters to reduce the de-icing heating temperature so that the de-icing heating temperature is kept within the predetermined range in real time to prevent the aircraft components from being thermally damaged due to the high de-icing heating temperature.

[0115] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the structure of an unmanned aerial vehicle (UAV) de-icing system according to some embodiments of this application. Secondly, embodiments of this application provide an UAV de-icing system 5, which includes: a memory 51 and a processor 52. The memory 51 includes a program for an UAV de-icing method. When the program for the UAV de-icing method is executed by the processor, it performs the following steps: acquiring icing information, preprocessing the icing information and inputting it into a preset model, and outputting icing thickness information.

[0116] The icing thickness information is compared with the preset thickness information to obtain the thickness difference;

[0117] If the thickness difference is greater than the first threshold and less than the second threshold, a first de-icing strategy is generated, and the first de-icing parameter information is generated through the first de-icing strategy.

[0118] De-icing of the aircraft is performed based on the first de-icing parameter information;

[0119] If the thickness difference is greater than the second threshold, a second de-icing strategy is generated, and second de-icing parameter information is generated through the second de-icing strategy.

[0120] The aircraft is de-iced based on the second de-icing parameter information;

[0121] The first threshold is less than the second threshold.

[0122] It should be noted that by judging the thickness of the ice, different de-icing methods are used to de-ic the ice according to different ice thicknesses. The two de-icing methods can be used alone. When the ice thickness is thick (i.e., the thickness is greater than the set second threshold), the two de-icing methods are used simultaneously to de-ic the ice, resulting in higher de-icing efficiency.

[0123] Furthermore, the range of the first threshold is 1-3 mm, preferably 2 mm, and the range of the second threshold is 4-6 mm, preferably 5 mm.

[0124] According to an embodiment of the present invention, icing information is acquired, preprocessed, and input into a preset model to output icing thickness information, including:

[0125] The aircraft parameters are obtained, and the external region of the aircraft is divided into several sub-regions;

[0126] Obtain icing information for each sub-region, and extract feature values ​​from the icing information of several sub-regions;

[0127] The feature values ​​of several sub-regions are compared with preset feature values ​​to obtain the feature deviation rate;

[0128] Determine whether the feature deviation rate is greater than a preset deviation rate threshold;

[0129] If it is greater than or equal to, then correction information is generated, and the feature value is corrected using the correction information;

[0130] If the value is less than 1, the feature values ​​are fused to obtain the full-area feature and the aircraft icing thickness information is calculated.

[0131] It should be noted that dividing the aircraft's external area into several sub-regions allows for the assessment of icing thickness in each sub-region. This enables the generation of different de-icing parameters for different sub-regions, preventing the aircraft from continuing to operate according to predetermined de-icing parameters after some sub-regions have been de-iced, thus avoiding energy waste.

[0132] According to an embodiment of the present invention, if the value is less than a certain threshold, the feature values ​​are fused, and the icing thickness information for each sub-region of the aircraft is calculated, including:

[0133] Obtain ice thickness information for several sub-regions, and generate corresponding de-icing strategies based on the ice thickness information;

[0134] Obtain the rate of change of ice thickness in several sub-regions;

[0135] Determine whether the rate of change of ice thickness is greater than the preset rate of change of thickness;

[0136] If it is greater than that, negative adjustment information is generated, and the de-icing strategy is negatively optimized based on the negative adjustment information;

[0137] If the value is less than the specified value, positive adjustment information is generated, and the de-icing strategy is positively optimized and adjusted based on the positive adjustment information.

[0138] It should be noted that the de-icing efficiency is judged based on the rate of change of icing thickness, thereby determining the optimization and adjustment mode. The optimization and adjustment modes include positive optimization and negative optimization. Negative optimization means that the de-icing efficiency is higher than expected, so the de-icing efficiency is reduced to prevent excessively rapid de-icing and damage to the aircraft's external parts. Positive optimization is the opposite of negative optimization, meaning that when the icing thickness changes slowly during the de-icing process, the de-icing efficiency needs to be increased to meet the de-icing requirements.

[0139] According to an embodiment of the present invention, icing information is acquired, preprocessed, and input into a preset model to output icing thickness information, including:

[0140] Acquire ambient temperature information and generate an icing state model based on the ambient temperature information;

[0141] Ice growth information is generated based on the ice state model;

[0142] The weighted calculation is performed based on the icing growth information and the icing information to generate the change in icing thickness;

[0143] Determine whether the change in ice thickness is greater than the preset change amount;

[0144] If the value is greater than the value, then the first de-icing strategy and the second de-icing strategy will be used in combination for de-icing.

[0145] If the value is less than the specified value, then de-icing is performed separately using either the first de-icing strategy or the second de-icing strategy.

[0146] It should be noted that changes in the external ambient temperature will cause different icing rates. When the ambient temperature is low, the icing rate is high. If the original de-icing parameters are used for de-icing in this case, icing will still occur during the de-icing process, resulting in a decrease in de-icing efficiency. Therefore, it is necessary to flexibly adjust the de-icing parameters according to different ambient temperatures.

[0147] According to an embodiment of the present invention, if the thickness difference is greater than a first threshold and less than a second threshold, a first de-icing strategy is generated, and first de-icing parameter information is generated through the first de-icing strategy, including:

[0148] The first de-icing strategy is to de-ic the aircraft by spraying de-icing fluid onto the external areas of the aircraft.

[0149] The first de-icing parameter information includes the rate of application of the de-icing fluid, the pressure of the de-icing fluid, the temperature of the de-icing fluid, or the angle at which the de-icing fluid is applied.

[0150] It should be noted that during the process of spraying de-icing fluid, the high-temperature de-icing fluid is sprayed from the nozzle of the de-icing truck to form a turbulent free jet. The pressure difference between the outer boundary of the free jet and the external environment continuously draws in the surrounding air, and the radius of the jet expansion along the axial direction gradually increases, thereby improving the de-icing efficiency.

[0151] According to an embodiment of the present invention, if the thickness difference is greater than a second threshold, a second de-icing strategy is generated, and second de-icing parameter information is generated through the second de-icing strategy, including:

[0152] The second de-icing strategy is aircraft electric heating de-icing. The second de-icing parameter information includes the area of ​​electric heating, the heat transfer efficiency of electric heating, the heating temperature of electric heating, and the rate of temperature change of electric heating.

[0153] It should be noted that heating external aircraft parts, such as wings, is achieved through electric heating for heat conduction, thereby de-icing from the inside out and allowing ice to be removed from the aircraft more efficiently and quickly.

[0154] According to an embodiment of the present invention, it further includes:

[0155] Obtain the de-icing heating temperature and generate a melting curve based on the de-icing heating temperature;

[0156] Calculate the latent heat energy of ice melting based on the ice melting curve;

[0157] Determine whether the latent heat energy of the ice melting is greater than or equal to a preset energy threshold;

[0158] If it is greater than or equal to, a correction parameter is generated based on the latent heat energy of the melting ice, and the de-icing heating temperature is dynamically adjusted in real time using the correction parameter.

[0159] If it is less than, then the latent heat energy of melting ice is ignored.

[0160] It should be noted that during the de-icing process, the melting of accumulated ice generates a certain amount of heat, which will affect the de-icing heating temperature. The change in heat after the ice melts is judged based on the melting curve. When the latent heat energy of the melting ice is greater than the predetermined energy, it indicates that the melting speed is fast and the latent heat energy generated is high, which will rapidly increase the de-icing heating temperature. At this time, it is necessary to determine whether the de-icing heating temperature exceeds the predetermined heating temperature. If it does, it is necessary to adjust the parameters to reduce the de-icing heating temperature so that the de-icing heating temperature is kept within the predetermined range in real time to prevent the aircraft components from being thermally damaged due to the high de-icing heating temperature.

[0161] A third aspect of the present invention provides a computer-readable storage medium including an unmanned aerial vehicle (UAV) de-icing method program, which, when executed by a processor, implements the steps of the UAV de-icing method as described above.

[0162] This invention discloses a method, system, and medium for de-icing unmanned aerial vehicles (UAVs). The method involves acquiring icing information, preprocessing the icing information and inputting it into a preset model to output icing thickness information. The icing thickness information is then compared with preset thickness information to obtain a thickness difference. If the thickness difference is greater than a first threshold and less than a second threshold, a first de-icing strategy is generated, and first de-icing parameter information is generated based on the first de-icing strategy. The UAV is then de-iced according to the first de-icing parameter information. If the thickness difference is greater than the second threshold, a second de-icing strategy is generated, and second de-icing parameter information is generated based on the second de-icing strategy. The UAV is then further de-iced using the second de-icing parameter information. By applying different de-icing methods to different icing thicknesses, a hybrid de-icing method can be achieved, resulting in high de-icing efficiency and a flexible and diverse de-icing approach.

[0163] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0164] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0165] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0166] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0167] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A method for de-icing an unmanned aerial vehicle, characterized in that, include: Acquire icing information, preprocess the icing information and input it into a preset model, and output icing thickness information; The ice thickness information is compared with preset thickness information to obtain the thickness difference; If the thickness difference is greater than the first threshold and less than the second threshold, a first de-icing strategy is generated, and first de-icing parameter information is generated through the first de-icing strategy. De-icing of the aircraft is performed based on the first de-icing parameter information; If the thickness difference is greater than the second threshold, a second de-icing strategy is generated, and second de-icing parameter information is generated through the second de-icing strategy. The aircraft is de-iced based on the second de-icing parameter information; The first threshold is less than the second threshold; Based on the icing thickness information, perform the following operations: acquire ambient temperature information and generate an icing state model based on the ambient temperature information; generate icing growth information based on the icing state model; perform weighted calculations based on the icing growth information and the icing information, and generate the icing thickness change; determine whether the icing thickness change is greater than a preset change; if it is greater, then perform de-icing using a combination of a first de-icing strategy and a second de-icing strategy; if it is less than the preset change, then perform de-icing using either the first de-icing strategy or the second de-icing strategy alone.

2. The de-icing method for unmanned aerial vehicles according to claim 1, characterized in that, The process of acquiring icing information, preprocessing the icing information, inputting it into a preset model, and outputting icing thickness information includes: The aircraft parameters are obtained, and the external region of the aircraft is divided into several sub-regions; Obtain icing information for each sub-region, and extract feature values ​​from the icing information of several sub-regions; The feature values ​​of several sub-regions are compared with preset feature values ​​to obtain the feature deviation rate; Determine whether the feature deviation rate is greater than a preset deviation rate threshold; If it is greater than or equal to, then correction information is generated, and the feature value is corrected using the correction information; If the values ​​are less than 1, the feature values ​​are fused together, and the icing thickness information for each sub-region of the aircraft is calculated.

3. The de-icing method for unmanned aerial vehicles according to claim 2, characterized in that, If the value is less than the specified value, the feature values ​​are fused, and the icing thickness information for each sub-region of the aircraft is calculated, including: Obtain ice thickness information for several sub-regions, and generate corresponding de-icing strategies based on the ice thickness information; Obtain the rate of change of ice thickness in several sub-regions; Determine whether the rate of change of ice thickness is greater than a preset rate of change of thickness; If it is greater than that, negative adjustment information is generated, and the de-icing strategy is negatively optimized based on the negative adjustment information; If the value is less than the specified value, positive adjustment information is generated, and the de-icing strategy is positively optimized and adjusted based on the positive adjustment information.

4. The method for de-icing an unmanned aerial vehicle according to any one of claims 1-3, characterized in that, If the thickness difference is greater than a first threshold and less than a second threshold, a first de-icing strategy is generated, and first de-icing parameter information is generated through the first de-icing strategy, including: The first de-icing strategy is to de-ic the aircraft by spraying de-icing fluid onto the external area of ​​the aircraft. The first de-icing parameter information includes the spraying rate of the de-icing fluid, the spraying pressure of the de-icing fluid, the spraying temperature of the de-icing fluid, or the spraying angle of the de-icing fluid.

5. The method for de-icing an unmanned aerial vehicle according to any one of claims 1-3, characterized in that, If the thickness difference is greater than the second threshold, a second de-icing strategy is generated, and second de-icing parameter information is generated through the second de-icing strategy, including: The second de-icing strategy is aircraft electric heating de-icing. The second de-icing parameter information includes the area of ​​electric heating, the heat transfer efficiency of electric heating, the heating temperature of electric heating, and the rate of temperature change of electric heating.

6. A de-icing system for unmanned aerial vehicles, characterized in that, For implementing the unmanned aerial vehicle de-icing method as described in claim 1, the system includes: a memory and a processor, wherein the memory includes a program for the unmanned aerial vehicle de-icing method, and when the program for the unmanned aerial vehicle de-icing method is executed by the processor, it performs the following steps: Acquire icing information, preprocess the icing information and input it into a preset model, and output icing thickness information; The ice thickness information is compared with preset thickness information to obtain the thickness difference; If the thickness difference is greater than the first threshold and less than the second threshold, a first de-icing strategy is generated, and first de-icing parameter information is generated through the first de-icing strategy. De-icing of the aircraft is performed based on the first de-icing parameter information; If the thickness difference is greater than the second threshold, a second de-icing strategy is generated, and second de-icing parameter information is generated through the second de-icing strategy. The aircraft is de-iced based on the second de-icing parameter information; The first threshold is less than the second threshold; Based on the icing thickness information, perform the following operations: acquire ambient temperature information and generate an icing state model based on the ambient temperature information; generate icing growth information based on the icing state model; perform weighted calculations based on the icing growth information and the icing information, and generate the icing thickness change; determine whether the icing thickness change is greater than a preset change; if it is greater, then perform de-icing using a combination of a first de-icing strategy and a second de-icing strategy; if it is less than the preset change, then perform de-icing using either the first de-icing strategy or the second de-icing strategy alone.

7. The unmanned aerial vehicle de-icing system according to claim 6, characterized in that, The process of acquiring icing information, preprocessing the icing information, inputting it into a preset model, and outputting icing thickness information includes: The aircraft parameters are obtained, and the external region of the aircraft is divided into several sub-regions; Obtain icing information for each sub-region, and extract feature values ​​from the icing information of several sub-regions; The feature values ​​of several sub-regions are compared with preset feature values ​​to obtain the feature deviation rate; Determine whether the feature deviation rate is greater than a preset deviation rate threshold; If it is greater than or equal to, then correction information is generated, and the feature value is corrected using the correction information; If the value is less than 1, the feature values ​​are fused to obtain the full-area feature and the aircraft icing thickness information is calculated.

8. The unmanned aerial vehicle de-icing system according to claim 7, characterized in that, If the value is less than the specified value, the feature values ​​are fused, and the icing thickness information for each sub-region of the aircraft is calculated, including: Obtain ice thickness information for several sub-regions, and generate corresponding de-icing strategies based on the ice thickness information; Obtain the rate of change of ice thickness in several sub-regions; Determine whether the rate of change of ice thickness is greater than a preset rate of change of thickness; If it is greater than that, negative adjustment information is generated, and the de-icing strategy is negatively optimized based on the negative adjustment information; If the value is less than the specified value, positive adjustment information is generated, and the de-icing strategy is positively optimized and adjusted based on the positive adjustment information.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes an unmanned aerial vehicle (UAV) de-icing method program, which, when executed by a processor, implements the steps of the UAV de-icing method as described in any one of claims 1 to 5.

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