Intelligent monitoring system for cable winch of mooring unmanned aerial vehicle

Abstract

The invention discloses an intelligent monitoring system for a cable winch of a mooring unmanned aerial vehicle. The intelligent monitoring system comprises an environment information acquisition module, a winch information acquisition module, a cable information acquisition module, an image information acquisition module, a data processing module and an information sending module, the environment information acquisition module is used for acquiring information of an environment where a cable winch is located, and the winch information acquisition module is used for acquiring information of the cable winch; the power supply information acquisition module is used for acquiring power supply information of a cable winch; the image information acquisition module is used for acquiring image information of a cable winch; the data processing module is used for processing the information of the environment where the cable winch is located to generate environment monitoring warning information, processing the information of the cable winch to obtain winch monitoring information, and processing the information of the cable to obtain cable monitoring warning information. According to the invention, the cable winch of the mooring unmanned aerial vehicle can be intelligently monitored more comprehensively.

Description

Technical Field

[0001] The present invention relates to the field of monitoring systems, and in particular to an intelligent monitoring system for a cable winch of a tethered unmanned aerial vehicle. Background Art

[0002] A tethered drone is a special drone system that uses a tethered cable to transmit ground power as a power source, so that it can hover in the air for a long time. This type of drone has a wide range of applications in rescue, communication support and other fields. As an important part of the tethered drone system, the cable winch plays a vital role in the stable operation and performance of the drone. The main functions of the cable winch include controlling the retraction and release of the tethered cable, maintaining the stability of the cable tension, and providing traction for the cable.

[0003] During actual use, the cable winch for tethering the drone needs to be monitored to ensure that the cable winch provides stable services for the drone.

[0004] The existing monitoring system has a single monitoring type and cannot detect abnormal problems of the cable winch in time, which has a certain impact on the use of the monitoring system. Therefore, an intelligent monitoring system for the cable winch of a tethered drone is proposed. Summary of the invention

[0005] The technical problem to be solved by the present invention is: how to solve the problem that the existing monitoring system has a single monitoring type and cannot detect abnormal problems of the cable winch in time, which has a certain impact on the use of the monitoring system. An intelligent monitoring system for the cable winch of a tethered drone is provided.

[0006] The present invention solves the above technical problems through the following technical solutions, which include an environment information acquisition module, a winch information acquisition module, a cable information acquisition module, an image information acquisition module, a data processing module and an information sending module;

[0007] The environmental information acquisition module is used to acquire the environmental information of the cable winch, and the winch information acquisition module is used to acquire the cable winch information;

[0008] The power supply information acquisition module is used to collect power supply information of the cable winch, the cable information acquisition module;

[0009] The image information acquisition module is used to acquire image information of the cable winch;

[0010] The data processing module is used to process the environment information of the cable winch to generate environment monitoring warning information, process the cable winch information to obtain winch monitoring information, process the cable information to obtain cable monitoring warning information, and process the image information to obtain image monitoring warning information;

[0011] The information sending module is used to send the environmental monitoring warning information, winch monitoring warning information, cable monitoring warning information and image monitoring warning information to a preset receiving terminal after the above information is generated.

[0012] Furthermore, the winch monitoring warning information is specifically processed as follows: the collected cable winch information is extracted, the cable winch information including the cable winch fixing force information, lubricating oil application information, winch force information and winch weight information;

[0013] The fixed force information of the cable winch is processed to obtain the force evaluation coefficient. When the force evaluation coefficient is abnormal, the winch monitoring warning information is generated;

[0014] The lubricating oil smearing information is processed to obtain smearing evaluation parameters, and when the smearing evaluation parameters are abnormal, winch monitoring warning information is generated;

[0015] The winch force information and the winch weight information are processed to obtain the winch evaluation parameters. When the winch evaluation information is abnormal, the winch monitoring warning information is generated.

[0016] Furthermore, the collection process of the fixed force information of the cable winch is as follows: the fixed force information of the cable winch is collected by a pressure sensing device arranged between the cable winch and the fixed surface, and at least four pressure sensing devices are arranged at the front end, rear end, left end and right end between the cable winch and the fixed surface, respectively. The pressure information collected by the pressure sensing devices at the front end, rear end, left end and right end is the fixed force information of the cable winch;

[0017] The process of collecting lubricant application information is as follows: each time the lubricant is applied, the weight of the lubricant is collected to obtain a first weight, and after the application is completed, the weight of the lubricant is collected again to obtain a second weight, and the difference between the first weight and the second weight is calculated to obtain the lubricant application information.

[0018] Furthermore, the process of obtaining the force evaluation coefficient and the process of abnormality determination are as follows: extract the fixed force information of the cable winch, extract the pressure information collected by the pressure sensing devices at the front end, the rear end, the left end and the right end from the fixed force information of the cable winch, mark the front end pressure information as Q, mark the rear end pressure information as H, mark the left end pressure information as Z, and mark the right end pressure information as Y;

[0019] Then calculate the difference Qh between Q and H, calculate the difference Q and Z to get Qz, calculate the difference Q and Y Qy, calculate the difference H and Z Hz, calculate the difference H and Y Hy, and calculate the difference Z and Y Zy;

[0020] Continuously collect Qh, Qz, Qy, Hz, Hy and Zy for x times, extract the number of Qh, Qz, Qy, Hz, Hy and Zy that exceeds the preset range, that is, obtain the force evaluation coefficient. When the force evaluation coefficient is greater than the preset value, it indicates that there is an abnormality;

[0021] The past process of obtaining the smear assessment parameter and the abnormality judgment process are as follows: extract the collected lubricant smear information, continuously collect m times of lubricant smear information, extract the number of m times of lubricant smear information that is greater than the preset value, that is, obtain the smear assessment parameter, and when the smear assessment parameter is greater than m / 2, it indicates that there is an abnormality.

[0022] Furthermore, the acquisition process and abnormality determination process of the winch evaluation parameters are as follows: extract the collected winch force information, continuously collect the winch force information q times, extract the number of q times of winch force information whose average value is greater than the preset value a1, that is, obtain the first winch parameter, then extract the winch weight information, collect the winch weight information before the cable winch is used, mark it as G1, collect the winch weight information after the cable winch is used, mark it as G2, calculate the difference between G2 and G1, and obtain the second winch parameter;

[0023] The first capstan parameter and the second capstan parameter constitute a capstan evaluation parameter. When the first capstan parameter is greater than a preset value, it indicates that the capstan evaluation parameter is abnormal. When the second capstan parameter exceeds a preset range, it indicates that the capstan evaluation parameter is abnormal.

[0024] Furthermore, the specific processing process of the environmental monitoring warning information is as follows: extracting the collected environmental information of the cable winch, the environmental information of the cable winch includes the flatness information of the installation site, the hardness information of the installation site, the electromagnetic interference source information, the wind force level of the use site, the temperature of the use site and the humidity of the use site;

[0025] Evaluate the installation site flatness information, which refers to the horizontality of the cable winch installation location. When the installation site flatness information exceeds the preset range, an environmental monitoring warning message is generated.

[0026] Evaluate the hardness information of the installation site. The hardness information of the installation site refers to the softness of the ground when the cable winch is used on the ground. When the hardness information of the installation site is less than the preset value, an environmental monitoring warning message is generated;

[0027] Evaluate the electromagnetic interference source information and obtain the interference source assessment parameters. When the interference source assessment parameters are abnormal, generate environmental monitoring warning information;

[0028] The wind speed level, temperature and humidity at the place of use are evaluated. When the wind speed level at the place of use is greater than the preset value, the temperature at the place of use exceeds the preset range or the humidity at the place of use is greater than the preset value, an environmental monitoring warning message is generated.

[0029] Furthermore, the specific processing process of the interference source assessment parameters is as follows: the collected electromagnetic interference source information is extracted, the electromagnetic interference source information is the number of interference devices within a preset range whose interference intensity is greater than a preset value, and then the number of interference devices fixed with the cable winch to be less than a preset value is extracted, that is, the interference source assessment parameters are obtained. When the interference source assessment parameters are greater than the preset number, it indicates that there is an abnormality.

[0030] Furthermore, the specific processing process of the cable monitoring warning information is as follows: extracting the collected cable information, the cable information including the real-time cable length and the real-time cable weight information, marking the real-time cable length as P1, marking the real-time cable weight as V1, and collecting the standard length P2 and standard weight V2 of the cable when it is first installed;

[0031] The length evaluation parameter Pp is obtained by the formula (|P1-P2|)*α=Pp, and the weight evaluation parameter is obtained by the formula (|V1-V2|)*β=Vv;

[0032] When the length assessment parameter Pp exceeds the preset range or the weight assessment parameter exceeds the preset range, a cable monitoring warning message is generated;

[0033] Among them, 0.91≤α≤0.99, α is proportional to P2, 0.95≤β≤0.99, β is proportional to V2.

[0034] Furthermore, the specific processing process of the image monitoring warning information is as follows: extracting the collected image information, the image information being an image of a preset mark set on a cable winch of the tethered drone;

[0035] Process the image information, collect the location information of the marker every preset time, and measure the distance information between the marker and the preset position to obtain the evaluation distance, and repeat x times;

[0036] The x-time evaluation distance is extracted, and when the x-time evaluation distance is greater than the preset value evaluation distance, an image monitoring warning message is generated.

[0037] Compared with the prior art, the present invention has the following advantages: the intelligent monitoring system for the cable winch of the tethered drone realizes the integrated monitoring of the cable winch of the tethered drone through environmental monitoring warning information, winch monitoring warning information, cable monitoring warning information and image monitoring warning information, performs real-time monitoring and early warning, and obtains the operating status and various parameters of the cable winch in real time. Once a fault or abnormal situation occurs, the system can immediately issue an early warning to help the operator find the problem in time and take corresponding measures, thereby avoiding or reducing potential risks and losses and improving operation and maintenance efficiency: intelligent monitoring technology can realize automated and remote monitoring, reduce the frequency and difficulty of manual inspections, and at the same time, through the analysis and processing of a large amount of data, it can more accurately predict the operating status and life of the cable winch, provide scientific decision-making basis for operation and maintenance personnel, improve operation and maintenance efficiency, and reduce maintenance costs. Through intelligent monitoring, potential problems of the cable winch can be discovered in time, small problems can be avoided from gradually expanding, and downtime and maintenance costs caused by faults can be reduced. In addition, through accurate prediction and preventive maintenance, the service life of the cable winch can be extended and the overall maintenance cost can be reduced. Therefore, intelligent monitoring of the cable winch of the tethered drone can not only improve operation and maintenance efficiency and reduce maintenance costs, but also enhance the safety and stability of the system, making the system more worthy of promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a system block diagram of the present invention;

[0039] Figure 2 It is a schematic diagram of the preset identification setting of the present invention. DETAILED DESCRIPTION

[0040] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0041] like Figure 1-2 As shown, this embodiment provides a technical solution: a cable winch intelligent monitoring system for a tethered drone, including an environment information acquisition module, a winch information acquisition module, a cable information acquisition module, an image information acquisition module, a data processing module and an information sending module;

[0042] The environmental information acquisition module is used to acquire the environmental information of the cable winch, and the winch information acquisition module is used to acquire the cable winch information;

[0043] The power supply information acquisition module is used to collect power supply information of the cable winch, the cable information acquisition module;

[0044] The image information acquisition module is used to acquire image information of the cable winch;

[0045] The data processing module is used to process the environment information of the cable winch to generate environment monitoring warning information, process the cable winch information to obtain winch monitoring information, process the cable information to obtain cable monitoring warning information, and process the image information to obtain image monitoring warning information;

[0046] The information sending module is used to send the environmental monitoring warning information, winch monitoring warning information, cable monitoring warning information and image monitoring warning information to a preset receiving terminal after the above information is generated;

[0047] The present invention realizes the integrated monitoring of the cable winch of the tethered drone through environmental monitoring warning information, winch monitoring warning information, cable monitoring warning information and image monitoring warning information, performs real-time monitoring and early warning, and obtains the operating status and various parameters of the cable winch in real time. Once a fault or abnormal situation occurs, the system can immediately issue an early warning to help the operator find the problem in time and take corresponding measures, thereby avoiding or reducing potential risks and losses and improving operation and maintenance efficiency: intelligent monitoring technology can realize automated and remote monitoring, reduce the frequency and difficulty of manual inspections, and at the same time, through the analysis and processing of a large amount of data, it can more accurately predict the operating status and life of the cable winch, provide scientific decision-making basis for operation and maintenance personnel, improve operation and maintenance efficiency, and reduce maintenance costs. Through intelligent monitoring, potential problems of the cable winch can be discovered in time, small problems can be avoided from gradually expanding, and downtime and maintenance costs caused by faults can be reduced. In addition, through accurate prediction and preventive maintenance, the service life of the cable winch can be extended and the overall maintenance cost can be reduced. Therefore, intelligent monitoring of the cable winch of the tethered drone can not only improve operation and maintenance efficiency and reduce maintenance costs, but also enhance the safety and stability of the system, making the system more worthy of promotion and use.

[0048] The specific processing of the winch monitoring warning information is as follows: extracting the collected cable winch information, the cable winch information including the cable winch fixing force information, lubricating oil application information, winch force information and winch weight information;

[0049] The force evaluation coefficient is obtained by processing the cable winch fixing force information. When the force evaluation coefficient is abnormal, the winch monitoring warning information is generated. At this time, the content of the winch monitoring warning information is that the cable winch fixing force is too small, and there may be a possibility of winch capsizing;

[0050] The lubricating oil smearing information is processed to obtain the smearing evaluation parameters. When the smearing evaluation parameters are abnormal, the winch monitoring warning information is generated. At this time, the specific content of the winch monitoring warning information is that the amount of lubricating oil smeared on the cable winch is insufficient;

[0051] The winch force information and the winch weight information are processed to obtain the winch evaluation parameters. When the winch evaluation information is abnormal, the winch monitoring warning information is generated. At this time, the specific content of the winch monitoring warning information is that the winch is abnormal and needs to be checked.

[0052] The collection process of the fixed force information of the cable winch is as follows: the fixed force information of the cable winch is collected by a pressure sensing device arranged between the cable winch and the fixed surface, and at least four pressure sensing devices are arranged at the front end, rear end, left end and right end between the cable winch and the fixed surface, respectively. The pressure information collected by the pressure sensing devices at the front end, rear end, left end and right end is the fixed force information of the cable winch;

[0053] The process of collecting lubricant application information is as follows: each time the lubricant is applied, the weight of the lubricant is collected to obtain a first weight, and after the application is completed, the weight of the lubricant is collected again to obtain a second weight, and the difference between the first weight and the second weight is calculated to obtain the lubricant application information.

[0054] The acquisition process of the stress evaluation coefficient and the abnormality determination process are as follows: extract the fixed stress information of the cable winch, extract the pressure information collected by the pressure sensing devices at the front end, the rear end, the left end and the right end from the fixed stress information of the cable winch, mark the front end pressure information as Q, mark the rear end pressure information as H, mark the left end pressure information as Z, and mark the right end pressure information as Y;

[0055] Then calculate the difference Qh between Q and H, calculate the difference Q and Z to get Qz, calculate the difference Q and Y Qy, calculate the difference H and Z Hz, calculate the difference H and Y Hy, and calculate the difference Z and Y Zy;

[0056] Continuously collect Qh, Qz, Qy, Hz, Hy and Zy for x times, extract the number of Qh, Qz, Qy, Hz, Hy and Zy that exceeds the preset range, that is, obtain the force evaluation coefficient. When the force evaluation coefficient is greater than the preset value, it indicates that there is an abnormality;

[0057] The past process of obtaining the smear assessment parameter and the abnormality judgment process are as follows: extract the collected lubricant smear information, continuously collect m times of lubricant smear information, extract the number of m times of lubricant smear information that is greater than the preset value, that is, obtain the smear assessment parameter, and when the smear assessment parameter is greater than m / 2, it indicates that there is an abnormality.

[0058] The acquisition process and abnormality determination process of the winch evaluation parameters are as follows: extract the collected winch force information, continuously collect the winch force information q times, extract the number of winch force information q times whose average is greater than the preset value a1, that is, obtain the first winch parameter, then extract the winch weight information, collect the winch weight information before the cable winch is used, mark it as G1, collect the winch weight information after the cable winch is used, mark it as G2, calculate the difference between G2 and G1, and obtain the second winch parameter;

[0059] The first capstan parameter and the second capstan parameter constitute a capstan evaluation parameter. When the first capstan parameter is greater than a preset value, it indicates that the capstan evaluation parameter is abnormal. When the second capstan parameter exceeds a preset range, it indicates that the capstan evaluation parameter is abnormal.

[0060] In the above process, the cable winch body of the tethered drone is monitored. By monitoring the winch body, its operating status can be obtained in real time, which helps the operator to accurately understand the working condition of the winch, discover abnormal conditions in time, and take corresponding measures. When the data is found to be abnormal or exceeds the set range, the system will automatically issue an early warning. This helps to discover potential faults in advance, avoid the occurrence of faults or minimize their impact. At the same time, through the accumulation and analysis of long-term data, the life of the winch and possible faults can be predicted, so as to carry out preventive maintenance in advance. By monitoring the winch body, its operating status and performance under different working conditions can be understood. This helps operators adjust the working parameters of the winch according to actual needs and optimize its operating efficiency. At the same time, it can also provide data support for the design and improvement of the winch and promote the continuous improvement and upgrading of the product. As an important part of the tethered drone, the winch's operating status directly affects the safety of the entire system. By monitoring its body, potential safety hazards can be discovered and dealt with in time, and the safety of the entire system can be improved. Therefore, monitoring the cable winch body of the tethered drone helps to grasp its operating status in real time, prevent faults, optimize operating efficiency, reduce maintenance costs and enhance safety.

[0061] The specific processing process of the environmental monitoring warning information is as follows: extracting the collected environmental information of the cable winch, the environmental information of the cable winch includes the flatness information of the installation site, the hardness information of the installation site, the electromagnetic interference source information, the wind force level of the use site, the temperature of the use site and the humidity of the use site;

[0062] Evaluate the installation site flatness information, which is the horizontality of the cable winch installation location. When the installation site flatness information exceeds the preset range, an environmental monitoring warning message is generated. At this time, the content of the environmental monitoring warning message is that the cable winch is prone to capsizing due to poor installation site flatness.

[0063] Evaluate the hardness information of the installation site. The hardness information of the installation site refers to the softness of the ground when the cable winch is used on the ground. When the hardness information of the installation site is less than the preset value, an environmental monitoring warning message is generated. At this time, the content of the environmental monitoring warning message is that the ground is soft and not suitable for installation.

[0064] Evaluate the electromagnetic interference source information and obtain the interference source assessment parameters. When the interference source assessment parameters are abnormal, an environmental monitoring warning message is generated. At this time, the content of the environmental monitoring warning message is that there are too many interference sources and the location needs to be adjusted.

[0065] The wind force level, temperature and humidity of the place of use are evaluated. When the wind force level of the place of use is greater than the preset value, the temperature of the place of use exceeds the preset range or the humidity of the place of use is greater than the preset value, an environmental monitoring warning message is generated. At this time, the specific content of the environmental monitoring warning message is that the wind force is too strong / the temperature is abnormal / the humidity is abnormal at the installation site of the cable winch;

[0066] The cable winch for tethered drones has certain requirements for the environment when in use. These requirements are mainly to ensure the normal operation of the winch and the safety of operation.

[0067] When using a cable winch to tether a drone, you need to consider:

[0068] Terrain and stability: The winch should be installed on flat, solid ground to ensure its stability. Uneven or soft ground may cause the winch to shift or become unstable, thus affecting the tension of the cable and the stability of the drone.

[0069] Climate conditions: Wind: Strong winds may interfere with the drone and cables, increase the difficulty of operation, and may even cause the drone to lose control. Therefore, when choosing a location to use, try to avoid areas with strong winds.

[0070] Temperature and humidity: Extreme temperature or high humidity environment may have adverse effects on the electrical components and cables of the winch, reducing their performance and life. Therefore, special attention should be paid to the protection and maintenance of the winch when used in hot, cold or humid environments.

[0071] Electromagnetic environment: The winch and its control system may be interfered by nearby electromagnetic sources, such as high-voltage lines, radio transmission towers, etc. Therefore, when choosing a location for use, try to stay away from these potential sources of interference.

[0072] Safety: The winch operation site should be away from potential danger sources, such as flammable and explosive items, obstacles, etc., to ensure the safety of the operator and the stable operation of the drone.

[0073] When choosing the location for the cable winch to tether the drone, it is necessary to comprehensively consider factors such as terrain, climate conditions, electromagnetic environment and safety to ensure the normal operation of the winch and the safety of operation. At the same time, in actual use, it should also be flexibly adjusted according to specific circumstances to ensure that the flight needs of the drone are met.

[0074] Ensure the stability of equipment operation. Environmental monitoring can grasp the key parameters of the cable winch's environment such as temperature, humidity, wind speed, etc. in real time, which is essential to ensure the normal operation of the winch. For example, in a high temperature or high humidity environment, the heat dissipation and insulation performance of the winch may be affected. Environmental monitoring can timely detect and adjust the working environment to avoid equipment failure.

[0075] Secondly, it improves the pertinence of equipment maintenance. Through long-term monitoring of the environment, we can understand the operating status and performance of the cable winch under different environmental conditions, and provide data support for the preventive maintenance of the equipment. This helps to reduce maintenance costs and improve the reliability and service life of the equipment.

[0076] Secondly, ensure the safety of operators. In some harsh environments, such as strong winds, lightning, etc., the operation of the cable winch may pose safety hazards. Through environmental monitoring, these potential risks can be discovered and warned in time, providing safety protection for operators.

[0077] Finally, optimize the operating efficiency of the drone. Environmental monitoring can help operators understand the impact of the environment on the flight of the drone and the operation of the cable winch, so as to formulate more reasonable operation plans and strategies. For example, in the case of strong winds, the flight altitude and speed of the drone can be appropriately adjusted to ensure the stable operation of the cable winch.

[0078] The specific processing process of the interference source assessment parameters is as follows: extract the collected electromagnetic interference source information, the electromagnetic interference source information is the number of interference devices within a preset range whose interference intensity is greater than a preset value, and then extract the number of interference devices fixed with the cable winch to be less than a preset value, that is, obtain the interference source assessment parameters. When the interference source assessment parameters are greater than the preset number, it indicates that there is an abnormality.

[0079] The specific processing process of the cable monitoring warning information is as follows: extract the collected cable information, the cable information includes real-time cable length and real-time cable weight information, mark the real-time cable length as P1, and mark the real-time cable weight as V1. When the cable is first installed, collect its standard length P2 and standard weight V2;

[0080] The length evaluation parameter Pp is obtained by the formula (|P1-P2|)*α=Pp, and the weight evaluation parameter is obtained by the formula (|V1-V2|)*β=Vv;

[0081] When the length assessment parameter Pp exceeds the preset range or the weight assessment parameter exceeds the preset range, a cable monitoring warning message is generated;

[0082] Among them, 0.91≤α≤0.99, α is proportional to P2, 0.95≤β≤0.99, β is proportional to V2;

[0083] Cables are an important component of tethered drones, and their status is directly related to the flight safety of the drone. By monitoring the cables, we can understand their tension, wear, breakage and other conditions in real time, discover potential safety hazards in time, and avoid flight accidents.

[0084] Preventing failures: By monitoring the cables, abnormal conditions such as aging, looseness, and breakage can be discovered in time, so that corresponding measures can be taken for prevention and maintenance. This helps reduce the probability of failures and improve the operational stability and reliability of the drone.

[0085] Extend service life: Cable monitoring helps to promptly detect and solve cable problems, avoiding premature damage caused by the expansion of problems. Through reasonable maintenance and care, the service life of the cable can be extended and the use efficiency of the drone can be improved.

[0086] Optimize operating efficiency: The state of the cable directly affects the operating efficiency of the drone. By monitoring the cable, you can understand its state changes under different working conditions, thereby optimizing the drone's operating parameters and strategies and improving operating efficiency.

[0087] Reduce maintenance costs: Through real-time monitoring and early warning of cables, potential problems can be discovered and solved in a timely manner to avoid greater losses caused by the expansion of problems. This helps to reduce maintenance costs and improve the economic benefits of drones.

[0088] The specific processing process of the image monitoring warning information is as follows: extracting the collected image information, the image information is an image of a preset mark set on a cable winch of the tethered drone;

[0089] Process the image information, collect the position information of the marker every preset time, and measure the distance information between the marker and the preset position to obtain the evaluation distance, and do this for x consecutive times. The preset position in this process is other marker objects selected on the installation surface when installing the cable winch;

[0090] The x-time evaluation distance is extracted, and when the x-time evaluation distance is greater than the preset value evaluation distance, an image monitoring warning message is generated;

[0091] x ≥ 5;

[0092] Through the above process, image analysis can be used to understand whether the cable winch has any abnormal position deviation changes during actual use, and timely detection and warning can be issued to ensure the safety of the cable winch and the drone.

[0093] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0094] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0095] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An intelligent monitoring system for a cable winch of a tethered drone, characterized in that: It includes an environment information acquisition module, a winch information acquisition module, a cable information acquisition module, an image information acquisition module, a data processing module and an information sending module; The environmental information acquisition module is used to acquire the environmental information of the cable winch, and the winch information acquisition module is used to acquire the cable winch information; The power supply information acquisition module is used to collect power supply information of the cable winch, the cable information acquisition module; The image information acquisition module is used to acquire image information of the cable winch; The data processing module is used to process the environment information of the cable winch to generate environment monitoring warning information, process the cable winch information to obtain winch monitoring information, process the cable information to obtain cable monitoring warning information, and process the image information to obtain image monitoring warning information; The information sending module is used to send the environmental monitoring warning information, winch monitoring warning information, cable monitoring warning information and image monitoring warning information to a preset receiving terminal after the above information is generated.

2. The intelligent monitoring system for cable winches of a tethered drone according to claim 1, characterized in that: The specific processing of the winch monitoring warning information is as follows: extracting the collected cable winch information, the cable winch information including the cable winch fixing force information, lubricating oil application information, winch force information and winch weight information; The fixed force information of the cable winch is processed to obtain the force evaluation coefficient. When the force evaluation coefficient is abnormal, the winch monitoring warning information is generated; The lubricating oil smearing information is processed to obtain smearing evaluation parameters, and when the smearing evaluation parameters are abnormal, winch monitoring warning information is generated; The winch force information and the winch weight information are processed to obtain the winch evaluation parameters. When the winch evaluation information is abnormal, the winch monitoring warning information is generated.

3. The intelligent monitoring system for cable winches of a tethered drone according to claim 2, characterized in that: The collection process of the fixed force information of the cable winch is as follows: the fixed force information of the cable winch is collected by a pressure sensing device arranged between the cable winch and the fixed surface, and at least four pressure sensing devices are arranged at the front end, rear end, left end and right end between the cable winch and the fixed surface, respectively. The pressure information collected by the pressure sensing devices at the front end, rear end, left end and right end is the fixed force information of the cable winch; The process of collecting lubricant application information is as follows: each time the lubricant is applied, the weight of the lubricant is collected to obtain a first weight, and after the application is completed, the weight of the lubricant is collected again to obtain a second weight, and the difference between the first weight and the second weight is calculated to obtain the lubricant application information.

4. The intelligent monitoring system for cable winches of a tethered UAV according to claim 2, characterized in that: The acquisition process of the stress evaluation coefficient and the abnormality determination process are as follows: extract the fixed stress information of the cable winch, extract the pressure information collected by the pressure sensing devices at the front end, the rear end, the left end and the right end from the fixed stress information of the cable winch, mark the front end pressure information as Q, mark the rear end pressure information as H, mark the left end pressure information as Z, and mark the right end pressure information as Y; Then calculate the difference Qh between Q and H, calculate the difference Q and Z to get Qz, calculate the difference Q and Y Qy, calculate the difference H and Z Hz, calculate the difference H and Y Hy, and calculate the difference Z and Y Zy; Continuously collect Qh, Qz, Qy, Hz, Hy and Zy for x times, extract the number of Qh, Qz, Qy, Hz, Hy and Zy that exceeds the preset range, that is, obtain the force evaluation coefficient. When the force evaluation coefficient is greater than the preset value, it indicates that there is an abnormality; The past process of obtaining the smear assessment parameter and the abnormality judgment process are as follows: extract the collected lubricant smear information, continuously collect m times of lubricant smear information, extract the number of m times of lubricant smear information that is greater than the preset value, that is, obtain the smear assessment parameter, and when the smear assessment parameter is greater than m / 2, it indicates that there is an abnormality.

5. The intelligent monitoring system for cable winches of a tethered UAV according to claim 2, characterized in that: The acquisition process and abnormality determination process of the winch evaluation parameters are as follows: extract the collected winch force information, continuously collect the winch force information q times, extract the number of winch force information q times whose average is greater than the preset value a1, that is, obtain the first winch parameter, then extract the winch weight information, collect the winch weight information before the cable winch is used, mark it as G1, collect the winch weight information after the cable winch is used, mark it as G2, calculate the difference between G2 and G1, and obtain the second winch parameter; The first capstan parameter and the second capstan parameter constitute a capstan evaluation parameter. When the first capstan parameter is greater than a preset value, it indicates that the capstan evaluation parameter is abnormal. When the second capstan parameter exceeds a preset range, it indicates that the capstan evaluation parameter is abnormal.

6. The intelligent monitoring system for cable winches of a tethered UAV according to claim 1, characterized in that: The specific processing process of the environmental monitoring warning information is as follows: extracting the collected environmental information of the cable winch, the environmental information of the cable winch includes the flatness information of the installation site, the hardness information of the installation site, the electromagnetic interference source information, the wind force level of the use site, the temperature of the use site and the humidity of the use site; Evaluate the installation site flatness information, which refers to the horizontality of the cable winch installation location. When the installation site flatness information exceeds the preset range, an environmental monitoring warning message is generated. Evaluate the hardness information of the installation site. The hardness information of the installation site refers to the softness of the ground when the cable winch is used on the ground. When the hardness information of the installation site is less than the preset value, an environmental monitoring warning message is generated; Evaluate the electromagnetic interference source information and obtain the interference source assessment parameters. When the interference source assessment parameters are abnormal, generate environmental monitoring warning information; The wind speed level, temperature and humidity at the place of use are evaluated. When the wind speed level at the place of use is greater than the preset value, the temperature at the place of use exceeds the preset range or the humidity at the place of use is greater than the preset value, an environmental monitoring warning message is generated.

7. The intelligent monitoring system for cable winches of a tethered UAV according to claim 6, characterized in that: The specific processing process of the interference source assessment parameters is as follows: extract the collected electromagnetic interference source information, the electromagnetic interference source information is the number of interference devices within a preset range whose interference intensity is greater than a preset value, and then extract the number of interference devices fixed with the cable winch to be less than a preset value, that is, obtain the interference source assessment parameters. When the interference source assessment parameters are greater than the preset number, it indicates that there is an abnormality.

8. The intelligent monitoring system for cable winches of a tethered UAV according to claim 1, characterized in that: The specific processing process of the cable monitoring warning information is as follows: extract the collected cable information, the cable information includes real-time cable length and real-time cable weight information, mark the real-time cable length as P1, and mark the real-time cable weight as V1. When the cable is first installed, collect its standard length P2 and standard weight V2; The length evaluation parameter Pp is obtained by the formula (|P1-P2|)*α=Pp, and the weight evaluation parameter is obtained by the formula (|V1-V2|)*β=Vv; When the length assessment parameter Pp exceeds the preset range or the weight assessment parameter exceeds the preset range, a cable monitoring warning message is generated; Among them, 0.91≤α≤0.99, α is proportional to P2, 0.95≤β≤0.99, β is proportional to V2.

9. The intelligent monitoring system for cable winches of a tethered UAV according to claim 1, characterized in that: The specific processing process of the image monitoring warning information is as follows: extracting the collected image information, the image information is an image of a preset mark set on a cable winch of the tethered drone; Process the image information, collect the location information of the marker every preset time, and measure the distance information between the marker and the preset position to obtain the evaluation distance, and repeat x times; The x-time evaluation distance is extracted, and when the x-time evaluation distance is greater than the preset value evaluation distance, an image monitoring warning message is generated.

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