Unmanned aerial vehicle carrying laser insulator cleaning outflow field analysis method and device

Abstract

The application provides a method and device for analyzing an external flow field of a UAV-mounted laser for cleaning insulators, the method comprising: importing a pre-established three-dimensional geometric model of the UAV-mounted laser into a fluid-thermal transient analysis system; determining a fluid domain of the three-dimensional geometric model based on the fluid-thermal transient analysis system; performing grid division on the fluid domain to obtain a grided fluid domain; determining material properties of the UAV and the laser, and boundary parameters and initial parameters of the fluid domain; determining a simulation scenario of the UAV-mounted laser for cleaning insulators based on the fluid-thermal transient analysis system; and determining an external flow field of the grided fluid domain based on the simulation scenario, the boundary parameters, the initial parameters and the material properties, so as to ensure the stability of the UAV posture and improve the efficiency of cleaning insulators.

Description

Technical Field

[0001] This invention relates to the field of computational fluid dynamics, and in particular to a method and apparatus for analyzing the external flow field of an insulator cleaned by a laser mounted on a drone. Background Technology

[0002] Insulators are important components in power systems. To maintain their performance, they need to be cleaned regularly to remove dirt from their surfaces.

[0003] Currently, in cleaning insulators in power systems, drones equipped with lasers are commonly used to reduce manual labor. However, during the cleaning process, drones are affected by airflow disturbances, leading to unstable flight and reducing the efficiency of laser-based insulator cleaning. Summary of the Invention

[0004] This invention provides a method and apparatus for analyzing the external flow field of a drone equipped with a laser for cleaning insulators, in order to solve the technical problem in the prior art that the attitude stability of the drone cannot be maintained during the process of cleaning insulators with a laser.

[0005] On one hand, the present invention provides a method for analyzing the external flow field of insulators cleaned by a drone equipped with a laser, comprising:

[0006] Import the pre-established three-dimensional geometric model of the UAV equipped with a laser into the fluid-thermal transient analysis system;

[0007] Based on the fluid-thermal transient analysis system, the fluid domain of the three-dimensional geometric model is determined;

[0008] The fluid domain is divided into grids to obtain a gridded fluid domain;

[0009] Determine the material properties of the UAV and the laser, as well as the boundary parameters and initial parameters of the fluid domain;

[0010] The simulated scenario of the UAV carrying a laser cleaning insulator was determined based on the fluid-thermal transient analysis system.

[0011] The external flow field of the gridded fluid domain is determined based on the simulated scenario, the boundary parameters, the initial parameters, and the material properties.

[0012] According to the present invention, a method for analyzing the external flow field of an insulator cleaned by a UAV-mounted laser includes importing a pre-established three-dimensional geometric model of the UAV-mounted laser into a fluid-thermal transient analysis system, comprising:

[0013] Based on the dimensional parameters of a pre-established three-dimensional geometric model of a UAV equipped with a laser, an overall flow field domain is delineated in the fluid-thermal transient analysis system;

[0014] The three-dimensional geometric model is imported into the overall flow field domain.

[0015] According to the present invention, a method for analyzing the external flow field of an insulator cleaned by a UAV equipped with a laser is provided. The step of determining the fluid domain of the three-dimensional geometric model based on the fluid-thermal transient analysis system includes:

[0016] Based on the fluid-thermal transient analysis system, the rotor fluid domain corresponding to each rotor of the UAV is determined;

[0017] The base wall shape of the UAV base, the laser wall shape of the laser, and the rotor wall shape of the sliding area of ​​each rotor are separated from the overall flow field.

[0018] Based on the shape of the base wall, the shape of the laser wall, and the shape of the rotor wall, the solid domain of the three-dimensional geometric model is determined;

[0019] The fluid domain of the three-dimensional geometric model is obtained by subtracting the solid domain from the overall flow field domain.

[0020] According to the present invention, a method for analyzing the external flow field of an insulator using a laser mounted on a drone is provided, wherein the step of meshing the fluid domain to obtain a meshed fluid domain includes:

[0021] Determine the UAV rotor rotation domain and the laser beam emission region of the laser in the fluid domain;

[0022] The fluid domain is meshed based on tetrahedral meshes and patch conformal methods, and the meshes of the UAV rotor rotation domain and the laser beam emission region are refined to obtain a meshed fluid domain.

[0023] According to the present invention, a method for analyzing the external flow field of an insulator using a UAV-mounted laser is provided. The method for determining the simulated scenario of the UAV-mounted laser cleaning insulator based on the fluid-thermal transient analysis system includes at least one of the following:

[0024] Based on the fluid-thermal transient analysis system, the k-ε turbulence model is selected; wherein, the k-ε turbulence model is used to analyze the external flow field of the insulator being cleaned by the laser mounted on the UAV;

[0025] Based on the fluid-thermal transient analysis system, the thermal source characteristics of the laser are defined;

[0026] Based on the fluid-thermal transient analysis system, the energy equation in the solver is activated;

[0027] Based on the fluid-thermal transient analysis system, the laser heat source of the laser is set;

[0028] Based on the fluid-thermal transient analysis system, the parameters of the laser beam emitted by the laser are defined.

[0029] According to the present invention, a method for analyzing the external flow field of an insulator cleaned by a laser mounted on a UAV is provided, wherein the k-ε turbulence model is expressed by the following formula:

[0030]

[0031]

[0032] in, k Represents turbulent kinetic energy. Represents an operator. d Indicates the distance from the center of the light spot. ρ Indicates fluid density, u Indicates molecular viscosity. u t Indicates turbulent viscosity. P k This represents the turbulent kinetic energy generation term. P b Indicates the buoyancy-generating term. Indicates the turbulent kinetic energy dissipation rate. This represents the correction term in the turbulence model. Represents turbulent energy term. Indicates the first i Spatial coordinates in direction Indicates turbulent viscosity. Represents the turbulent kinetic energy number. t Indicates time.

[0033] According to the present invention, a method for analyzing the external flow field of an insulator using a laser mounted on a drone is provided, which, based on the fluid-thermal transient analysis system, includes setting up a laser heat source for the laser, comprising:

[0034] Introducing a Gaussian-distributed laser heat source;

[0035] Define the heat flux density distribution of the laser heat source;

[0036] The laser power density and spatial distribution of the laser heat source are determined.

[0037] According to the present invention, a method for analyzing the external flow field of an insulator cleaned by a laser mounted on a UAV is provided, wherein the Gaussian distributed laser heat source is represented by the following formula:

[0038]

[0039] in, P(ρ) This indicates that at a radius of [missing information] from the center point of the heat source ρ Power density at that location P e The power density at the center of the laser heat source. The heat source distribution width parameter represents the distance from the center of the heat source to any point.

[0040] According to the present invention, an external flow field analysis method for cleaning insulators using a laser mounted on a drone is provided, wherein the overall flow field domain is cylindrical in shape.

[0041] On the other hand, the present invention also provides an external flow field analysis device for cleaning insulators using a laser mounted on a drone, comprising:

[0042] The model import module is used to import a pre-built 3D geometric model of a UAV equipped with a laser into the fluid-thermal transient analysis system;

[0043] The fluid domain determination module is used to determine the fluid domain of the three-dimensional geometric model based on the fluid-thermal transient analysis system.

[0044] The mesh generation module is used to divide the fluid domain into meshes to obtain a meshed fluid domain.

[0045] The parameter determination module is used to determine the material properties of the UAV and the laser, as well as the boundary parameters and initial parameters of the fluid domain;

[0046] The simulation scenario determination module is used to determine the simulation scenario of the UAV carrying a laser cleaning insulator based on the fluid-thermal transient analysis system.

[0047] The external flow field analysis module is used to determine the external flow field of the gridded fluid domain based on the simulation scenario, the boundary parameters, the initial parameters, and the material properties.

[0048] On the other hand, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the external flow field analysis method for cleaning insulators with a laser mounted on a UAV as described above.

[0049] The present invention provides a method and apparatus for analyzing the external flow field of a UAV-mounted laser for cleaning insulators. Based on a fluid-thermal transient analysis system, it determines the fluid domain of a three-dimensional geometric model, and then meshes the fluid domain to obtain a meshed fluid domain. This improves the computational efficiency and the accuracy and reliability of the calculation results in subsequent steps. The material properties of the UAV and laser, as well as the boundary and initial parameters of the fluid domain, are determined. A simulated scenario of UAV-mounted laser cleaning of insulators is determined based on the fluid-thermal transient analysis system. The external flow field of the meshed fluid domain is determined based on the simulated scenario, boundary parameters, initial parameters, and material properties. This allows for the evaluation of the disturbance effect of laser emission on the external flow field of the UAV, providing data support for developing control strategies to adjust the UAV's flight attitude and maintain stable flight, thereby improving the accuracy and efficiency of laser cleaning of insulators. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0051] Figure 1 This is a schematic flowchart of the external flow field analysis method for cleaning insulators using a laser mounted on a drone, provided in an embodiment of the present invention.

[0052] Figure 2 This is a schematic diagram of fluid domain meshing provided in an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of the external flow field analysis device for cleaning insulators using a laser mounted on a drone, provided in an embodiment of the present invention.

[0054] Figure 4 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0056] Figure 1This is a flowchart illustrating the external flow field analysis method for cleaning insulators using a laser mounted on a drone, as provided in this embodiment of the invention. The method can be executed by a computer, mobile phone, or smart wearable device, etc.

[0057] Specifically, the method may include steps 101 to 106.

[0058] 101. Import the pre-established three-dimensional geometric model of the UAV equipped with the laser into the fluid-thermal transient analysis system.

[0059] In this step, the fluid-thermal transient analysis system, namely the ANSYS (Finite Element Method) fluid flow and transient thermal analysis system, is used. The ANSYS fluid flow and transient thermal analysis system can be pre-connected via Data Transfer to ensure that the model and data can be transferred between them. The number of rotors on the UAV is not specifically limited; for example, it can typically be a quadcopter, hexacopter, or octocopter, etc.

[0060] 102. Based on the fluid-thermal transient analysis system, determine the fluid domain of the three-dimensional geometric model.

[0061] In this step, the fluid domain of the three-dimensional geometric model is determined based on the fluid-thermal transient analysis system. The main purpose is to more accurately simulate and analyze the aerodynamic performance and heat transfer characteristics of the UAV in the external flow field.

[0062] 103. The fluid domain is divided into grids to obtain a gridded fluid domain.

[0063] In this step, the fluid domain is meshed to obtain a meshed fluid domain, which helps to improve the computational efficiency and the accuracy and reliability of the calculation results in subsequent steps.

[0064] 104. Determine the material properties of the UAV and laser, as well as the boundary and initial parameters of the fluid domain.

[0065] In this step, material properties can include not only those of the UAV and laser, but also those of air. Specific material properties can include density, viscosity, and thermal conductivity. Boundary parameters can include flow parameters at the inlet, outlet, and walls. Initial parameters can include the UAV's initial position and initial velocity. Specifically, the fluid domain walls defined by each UAV rotor are set as moving walls, rotating relative to adjacent boundaries; the UAV surface is set as a no-slip wall to simulate viscous effects; the pressure outlet is set to ambient pressure (e.g., atmospheric pressure) to ensure smooth fluid flow out of the computational domain; and the inlet velocity is typically determined using wind speeds from the actual flight environment (e.g., 4 m / s).

[0066] 105. Based on the fluid-thermal transient analysis system, determine the simulated scenario of cleaning insulators with a laser mounted on a UAV.

[0067] This step 105 may include at least one of the following:

[0068] Based on the fluid-thermal transient analysis system, the k-ε turbulence model was selected; the k-ε turbulence model was used to analyze the external flow field of the UAV-borne laser cleaning insulator.

[0069] Based on a fluid-thermal transient analysis system, the thermal source characteristics of the laser are defined.

[0070] Based on the fluid-thermal transient analysis system, the energy equation in the solver is activated;

[0071] Based on the fluid-thermal transient analysis system, the laser heat source of the laser is set;

[0072] Based on the fluid-thermal transient analysis system, the parameters of the laser beam emitted by the laser are defined.

[0073] 106. Determine the external flow field of the meshed fluid domain based on the simulation scenario, boundary parameters, initial parameters, and material properties.

[0074] In this step, during the determination of the external flow field, calculations can be performed according to a pre-set number of iterations. During the iterative calculations, the residuals can be monitored, and convergence can be determined by monitoring changes in the residuals. Generally, when the residuals decrease to a certain level, the simulation calculation of the external flow field can be considered converged. This step can be implemented by setting a transient solver. For example, the time list of the transient solver can be set, a suitable calculation output time step can be debugged, the residual plot can be monitored, and the convergence condition can be determined. The time step size and total simulation time of the transient analysis can be defined to ensure that the dynamic changes in the external flow field of the UAV are captured during the laser cleaning process.

[0075] In this embodiment, based on a fluid-thermal transient analysis system, the fluid domain of the three-dimensional geometric model is determined. The fluid domain is then meshed to obtain a meshed fluid domain, which improves the computational efficiency and the accuracy and reliability of subsequent steps. The material properties of the UAV and laser, as well as the boundary and initial parameters of the fluid domain, are determined. A simulated scenario of UAV-equipped laser cleaning insulators is determined based on the fluid-thermal transient analysis system. The external flow field of the meshed fluid domain is determined based on the simulated scenario, boundary parameters, initial parameters, and material properties. This allows for the evaluation of the disturbance effect of laser emission on the external flow field of the UAV, providing data support for developing control strategies to adjust the UAV's flight attitude and maintain stable flight, thereby improving the accuracy and efficiency of laser cleaning of insulators.

[0076] In one embodiment of this specification, importing a pre-established three-dimensional geometric model of a UAV equipped with a laser into a fluid-thermal transient analysis system may include:

[0077] Based on the dimensional parameters of a pre-established three-dimensional geometric model of a UAV equipped with a laser, an overall flow field domain is delineated in the fluid-thermal transient analysis system;

[0078] Import the three-dimensional geometric model into the overall flow field domain.

[0079] In this embodiment, the size of the overall flow field domain needs to be larger than the size of the three-dimensional geometric model; that is, the size of the overall flow field domain needs to be large enough to ensure the accuracy of the boundary conditions. Furthermore, the shape of the overall flow field domain can be cylindrical. A cylindrical shape provides a relatively simple geometry, facilitating the setting of boundary conditions and mesh generation, thereby simplifying the calculation process. Compared to other shapes, a cylinder can reduce computational complexity in fluid dynamics simulations, allowing for more efficient use of computational resources and time. The dimensional parameters of the three-dimensional geometric model may include the main body length (e.g., 0.8m), main body width (e.g., 0.8m), main body height (e.g., 0.3m), and propeller diameter (e.g., 0.4m), etc.

[0080] In one embodiment of this specification, determining the fluid domain of a three-dimensional geometric model based on a fluid-thermal transient analysis system may include:

[0081] Based on the fluid-thermal transient analysis system, the rotor fluid domain corresponding to each rotor of the UAV is determined;

[0082] The base wall shape of the UAV base, the laser wall shape of the laser, and the rotor wall shape of the slip region of each rotor are separated from the overall flow field.

[0083] Based on the shape of the base wall, the laser wall, and the rotor wall, the solid domain of the three-dimensional geometric model is determined.

[0084] Subtracting the solid domain from the overall flow field domain yields the fluid domain of the three-dimensional geometric model.

[0085] In this embodiment, determining the rotor fluid domain corresponding to each rotor of the UAV allows for a more accurate simulation of the interaction between the rotor and the surrounding air, thereby improving the accuracy of flight stability analysis. Determining the solid domain allows for the simulation of the interaction between the fluid and the solid, helping to more clearly define the scope of the fluid domain and providing accurate boundary conditions for fluid dynamics analysis. The determination of the fluid domain based on the shape of the solid domain allows for a more realistic simulation of the UAV's flight state in the actual environment, improving the accuracy of the simulation.

[0086] In general, the fluid domains corresponding to each rotor can be defined using the Design Modeler in a fluid-thermal transient analysis system. Boolean operations and selection extraction operations can be used to separate the base wall shape of the UAV's base, the laser wall shape of the laser, and the rotor wall shape of the slip region of each rotor from the overall flow field.

[0087] After subtracting the solid domain from the overall flow field domain to obtain the fluid domain of the three-dimensional geometric model, the boundaries of the fluid domain can be defined, such as inlet, outlet, and wall boundary conditions. Inlet boundary conditions are typically used to define the velocity or flow rate of the fluid entering the computational domain. The velocity vector of the fluid entering the computational domain is defined; for example, the wind speed in a real UAV flight environment can be simulated by setting the inlet velocity. The fluid temperature at the inlet is defined as room temperature (e.g., 22°C).

[0088] Exit boundary conditions are used to define the conditions under which fluid leaves the computational domain. For example, setting the pressure outlet to ambient atmospheric pressure ensures that the fluid flows smoothly out of the computational domain. This is to simulate an open boundary, allowing fluid within the computational domain to flow freely without restriction.

[0089] Wall boundary conditions are used to define the interaction between a fluid and a solid surface. Wall boundary conditions can include at least one of no-slip conditions, moving walls, and heat flux. Defining no-slip conditions involves setting the UAV surface as a no-slip wall to simulate viscous effects, meaning the fluid velocity is zero upon contact with the solid surface, reflecting actual physics. Defining moving walls involves setting the fluid domain walls of each UAV rotor as moving walls, rotating these walls relative to adjacent boundaries to simulate rotor motion and its influence on the surrounding flow field. Additionally, heat flux or temperature conditions are defined because the heat emitted by the laser causes an increase in the surrounding air temperature; this heat transfer can be quantified using heat flux.

[0090] In one embodiment of this specification, meshing the fluid domain to obtain a meshed fluid domain may include:

[0091] Determine the rotor rotation domain of the UAV and the laser beam emission region of the laser in the fluid domain;

[0092] The fluid domain is meshed based on tetrahedral meshes and patch conformal methods, and the meshes are further refined for the UAV rotor rotation domain and the laser beam emission region, resulting in a meshed fluid domain.

[0093] In this embodiment, the results of mesh generation of the fluid domain based on tetrahedral mesh and patch conformal method can be found in [reference needed]. Figure 2A tetrahedral mesh is used as the mesh shape. The mesh size is defined using a patch conformal method. The tetrahedral mesh offers high flexibility and adaptability to complex geometries, allowing for more detailed discretization of the fluid domain while maintaining mesh quality. Refining the mesh (or densifying the mesh) in the UAV rotor rotation domain and the laser beam emission region better captures the flow characteristics and interactions in these areas, enabling more accurate simulation of flow behavior in these complex regions and improving the accuracy of external flow field analysis. Furthermore, the overall geometric dimensions of the 3D geometric model can be constrained to ensure the accuracy of mesh generation, making the simulation results closer to reality. In UAV external flow field analysis, an accurate geometric model is fundamental to obtaining reliable simulation results.

[0094] In one embodiment of this specification, the k-ε turbulence model can be represented by the following formula (1), and the heat source characteristics of the laser can be represented by the following formula (2):

[0095] Formula (1).

[0096] Formula (2).

[0097] in, k Represents turbulent kinetic energy. Represents an operator. d Indicates the distance from the center of the light spot. ρ Indicates fluid density, u Indicates molecular viscosity. u t Indicates turbulent viscosity. P k This represents the turbulent kinetic energy generation term. P b Indicates the buoyancy-generating term. Indicates the turbulent kinetic energy dissipation rate. This represents the correction term in the turbulence model. Represents turbulent energy term. Indicates the first i Spatial coordinates in direction Indicates turbulent viscosity. Represents the turbulent kinetic energy number. t Indicates time.

[0098] In this embodiment, Equation (1) represents the transport equation of turbulent kinetic energy in the k−ϵ turbulence model, and Equation (2) represents the transport equation of turbulent kinetic energy dissipation rate. Equations (1) and (2) describe the turbulence characteristics and are used in computational fluid dynamics (CFD) simulations to establish and solve discretized equations for the fluid domain. This facilitates the transformation of continuous fluid dynamics problems into discrete numerical problems, ensuring the accuracy and efficiency of the analysis. In other words, Equations (1) and (2) are also equivalent to discretized equations. This embodiment can also define the heat transfer field, for example, by setting the laser power density (e.g., 18 W), laser spot radius (e.g., 2.5 mm), specific heat (e.g., 1200 J / (kgK)), sublimation heat (e.g., 500 KJ / kg), etc. In addition, the operational equations of the turbulence model can be represented by Equation (3).

[0099] (3)

[0100] Among them, in formula (3) , , Expressed as constants in the turbulence model, Represented as the turbulent kinetic energy dissipation rate source term, v i Represented as the first i The fluid velocity component in the direction. Furthermore, the rotation of each rotor of the UAV can be set in a unit region, for example, by selecting grid motion and setting the origin coordinates of the rotor rotation axis.

[0101] In one embodiment of this specification, the laser heat source of the laser, based on the fluid-thermal transient analysis system, may include:

[0102] Introducing a Gaussian-distributed laser heat source;

[0103] Use UDF (User Defined Function) to define the heat flux density distribution of the laser heat source;

[0104] The laser power density and spatial distribution of the laser heat source are determined.

[0105] In this embodiment, a Gaussian-distributed laser heat source is introduced when performing external flow field analysis on a UAV. This heat source can simulate the spatial distribution characteristics of the laser beam. Typically, a Gaussian-distributed laser heat source can be described mathematically, for example, using a Gaussian function to represent the variation of laser power density with spatial location. By introducing a Gaussian-distributed laser heat source, the thermal effects during laser cleaning can be simulated more accurately, improving the accuracy of the analysis.

[0106] User-defined functions (UDFs) are a feature in CFD software such as ANSYS Fluent, allowing users to customize physical processes according to specific needs. UDFs are used to define the heat flux density distribution of a laser heat source. A UDF can include parameters such as laser power, wavelength, and divergence angle, as well as a physical model of the laser-material interaction, thereby achieving precise control over the characteristics of the laser heat source. User-defined functions (UDFs) allow for flexible definition of the heat flux density distribution of a laser heat source, adapting to the needs of different insulator cleaning processes and enhancing the controllability of the cleaning process.

[0107] Setting the laser power density and spatial distribution of the laser heat source typically involves determining parameters such as laser power, spot size, focal length, and the distribution of the laser beam on the UAV surface. Adjusting these parameters allows for the simulation of the laser heat source's impact on the UAV's external flow field, including changes in heat transfer and aerodynamic performance. By setting the laser heat source's power density and spatial distribution, the cleaning effect can be optimized, ensuring uniformity and efficiency while minimizing potential damage to insulators. These steps collectively improve the accuracy and efficiency of external flow field analysis for UAV-mounted laser insulator cleaning, contributing to higher-quality cleaning operations. In practice, this may require combining the UAV's geometric model and material properties with CFD software for numerical simulation to obtain detailed data on the laser heat source's influence on the UAV's external flow field.

[0108] In one embodiment of this specification, the Gaussian distributed laser heat source can be represented by the following formula (4):

[0109] Formula (4).

[0110] Among them, in formula (4) P(ρ) This indicates that at a radius of [missing information] from the center point of the heat source ρ Power density at that location P e The power density at the center of the laser heat source. The heat source distribution width parameter represents the distance from the center of the heat source to any point. A Gaussian distributed laser heat source describes the spatial distribution of laser power density and is used to define how the intensity of the laser heat source changes with distance.

[0111] In some other embodiments of the present invention, determining the simulated scenario of the UAV carrying a laser cleaning insulator based on a fluid-thermal transient analysis system may further include:

[0112] Equations for heat conduction and convection were established, and the temperature changes in the air fluid during laser heating were simulated using these equations.

[0113] The heat conduction and convection equations can be expressed by the following formula (5):

[0114] Formula (5).

[0115] Among them, in formula (5) For the density of the fluid, The specific heat capacity of air. For the temperature field, The velocity vector of the air. The thermal conductivity of air. For laser heat source items, t For time. Considering heat conduction and convection, as well as the influence of the laser heat source on the temperature field, the temperature change in the air fluid during laser heating is simulated using heat conduction and convection equations.

[0116] In some other embodiments of the present invention, determining the simulated scenario of the UAV carrying a laser cleaning insulator based on a fluid-thermal transient analysis system may further include:

[0117] Establish the laser heat source equation to simulate the energy attenuation of laser light as it propagates through air;

[0118] The laser heat source term equation for simulating the energy attenuation of a laser beam propagating in air can be expressed by formula (6):

[0119] Formula (6).

[0120] in, Let be the absorption coefficient of laser light in the fluid. The intensity of the incident laser. Let be the depth at which the laser propagates in the fluid. The laser heat source equation, which simulates the energy attenuation of the laser as it propagates in air, can be used to calculate the energy absorption of the laser at different depths.

[0121] In one embodiment of the present invention, defining the laser beam parameters emitted by the laser based on the fluid-thermal transient analysis system may include:

[0122] The initial position of the laser beam (x, y, and z coordinates of the laser beam center), heat flux density, beam radius, etc.

[0123] In some other embodiments of the present invention, determining the simulated scenario of the UAV carrying a laser cleaning insulator based on a fluid-thermal transient analysis system may further include:

[0124] Equations for heat transfer from laser to air fluid were established, and the overall process of heat transfer from laser to air fluid was simulated and analyzed.

[0125] Formula (7).

[0126] In this embodiment, the above formulas (4) to (7) can be used to accurately predict and analyze the thermal interaction effect between laser and fluid in simulation.

[0127] In some other embodiments of this specification, based on the fluid-thermal transient analysis system, the energy equation in the solver is activated. Specifically, this can be done in the "Solution" panel to ensure that the "Energy" equation is enabled.

[0128] In some other embodiments of this specification, the external flow field analysis method for cleaning insulators using a UAV equipped with a laser may further include:

[0129] The heat transfer module defines the laser heat source by defining the heat flux or using the "Volume Heat Source" model: the volume heat source is defined using a custom UDF function in ANSYS, and the DEFINE_SOURCE function is used in the UDF to set parameters according to the characteristics of the laser, such as laser power, action time, and spatial distribution.

[0130] In some other embodiments of this specification, the selection of the k-ε turbulence model based on the fluid-thermal transient analysis system and the definition of the heat source characteristics of the laser based on the fluid-thermal transient analysis system can both be considered as setting a physical model.

[0131] Setting up the physical model (based on the fluid-thermal transient analysis system, selecting the k-ε turbulence model; based on the fluid-thermal transient analysis system, defining the heat source characteristics of the laser) may specifically include:

[0132] Step 1: Select a physical model and set the relevant parameters. Choose the commonly used k−ϵ turbulence model.

[0133] Set the relevant parameters of the turbulence model, such as turbulent kinetic energy and turbulent kinetic energy dissipation rate.

[0134] Define the heat transfer field: Enable the energy equations to define the heat transfer characteristics in the fluid and solid domains. Set the heat source characteristics of the laser, including heat flux or volumetric heat sources, to simulate the heating effect of the laser.

[0135] Step 2: Set the rotor's grid motion and rotation axis:

[0136] Configure unit regions for each rotor:

[0137] Identify and divide the rotor region in the geometric model to ensure the independence of the rotor region and the quality of the mesh.

[0138] Select mesh motion:

[0139] Configure the mesh motion of the rotor region to ensure that the rotor can correctly simulate rotational motion during the simulation.

[0140] Choose an appropriate grid motion type to simulate the actual motion state of the rotor.

[0141] Set the rotor rotation axis origin coordinates: Define the rotor rotation axis and origin coordinates so that the rotor rotates along the predetermined axis and position during the simulation.

[0142] The connection between step one and step two is the relationship between the physical model and the mesh motion.

[0143] The viscous mode selected in step one determines the physical properties of the fluid and solid domains. These physical properties need to be considered when setting up the mesh motion in step two. For example, the parameter settings of the turbulence model will affect the fluid flow characteristics in the rotor region, while the heat transfer field settings will affect the temperature distribution and heat conduction in the rotor region.

[0144] Coordination between rotor region partitioning and physical model:

[0145] Step two involves setting up the rotor's element region to ensure that the physical model parameters defined in step two can be accurately applied within the rotor region. The independence of the rotor region and the mesh quality directly affect the computational accuracy of the turbulence model and the heat transfer model.

[0146] The mesh motion settings for the rotor region need to take into account the fluid and heat transfer characteristics defined in step one to ensure that the influence of the rotor on the flow field and temperature field during motion can be accurately simulated.

[0147] Rotation axis setting and flow field characteristics:

[0148] In step two, the origin coordinates of the rotor's rotation axis are set to ensure that the rotor can accurately simulate rotational motion during the simulation process.

[0149] In summary, this invention primarily simulates the impact of laser emission as a heat source on the external flow field of a UAV, predicting potential flow field disturbances during laser cleaning operations. When the UAV is not activating the laser, the flow field distribution is relatively uniform, the surrounding airflow is stable, and the pressure and velocity fields are stable. After the laser emits its beam, it heats the surrounding air, causing a local decrease in air density and the formation of updrafts, resulting in significant flow field disturbances and vortex disturbances below the UAV. The air velocity in front of and to the sides of the UAV increases, and the pressure distribution changes. Due to these flow field disturbances, the UAV's pitch and yaw angles change slightly, leading to attitude changes. Subsequently, by applying a PID control algorithm, the UAV's attitude can be quickly adjusted and stabilized after the flow field disturbances occur. Analysis of the UAV's external flow field provides data support for developing strategies to accurately control the laser beam position and direction to stabilize the UAV's attitude, ensuring uniform cleaning of the insulator surface, reducing cleaning time, and improving operational efficiency. Furthermore, it lays the foundation for developing corresponding flight paths and strategies.

[0150] Based on the same general inventive concept, this invention also protects an external flow field analysis device for cleaning insulators using a laser mounted on a drone, such as... Figure 3 As shown. The external flow field analysis device for cleaning insulators using a UAV-mounted laser, provided by this invention, is described below. The external flow field analysis device for cleaning insulators using a UAV-mounted laser described below can be referred to in correspondence with the external flow field analysis method for cleaning insulators using a UAV-mounted laser described above. The device may include a model import module 201, a fluid domain determination module 202, a mesh generation module 203, a parameter determination module 204, a simulation scene determination module 205, and an external flow field analysis module 206.

[0151] The model import module 201 is used to import a pre-established three-dimensional geometric model of a UAV equipped with a laser into the fluid-thermal transient analysis system;

[0152] The fluid domain determination module 202 is used to determine the fluid domain of the three-dimensional geometric model based on the fluid-thermal transient analysis system.

[0153] Mesh generation module 203 is used to divide the fluid domain into meshes to obtain a meshed fluid domain;

[0154] The parameter determination module 204 is used to determine the material properties of the UAV and the laser, as well as the boundary parameters and initial parameters of the fluid domain;

[0155] The simulation scenario determination module 205 is used to determine the simulation scenario of the UAV carrying a laser cleaning insulator based on the fluid-thermal transient analysis system;

[0156] The external flow field analysis module 206 is used to determine the external flow field of the gridded fluid domain based on the simulation scenario, the boundary parameters, the initial parameters, and the material properties.

[0157] Figure 4 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention.

[0158] like Figure 4 As shown, the electronic device may include a processor 610, a communication interface 620, a memory 630, and a communication bus 640. The processor 610, communication interface 620, and memory 630 communicate with each other via the communication bus 640. The processor 610 can call logic instructions from the memory 630 to execute an external flow field analysis method for cleaning insulators using a laser mounted on a UAV.

[0159] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer 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 steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0160] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the external flow field analysis method for cleaning insulators with a laser mounted on a UAV provided by the above methods.

[0161] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the external flow field analysis method for cleaning insulators with a laser mounted on a UAV provided by the methods described above.

[0162] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0163] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0164] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for analyzing the external flow field of insulators cleaned using a laser mounted on a drone, characterized in that, include: Import the pre-established three-dimensional geometric model of the UAV equipped with a laser into the fluid-thermal transient analysis system; Based on the fluid-thermal transient analysis system, the fluid domain of the three-dimensional geometric model is determined, including determining the rotor fluid domain corresponding to each rotor of the UAV based on the fluid-thermal transient analysis system; separating the base wall shape of the UAV base, the laser wall shape of the laser, and the rotor wall shape of the slip region of each rotor from the overall flow field domain; determining the solid domain of the three-dimensional geometric model based on the base wall shape, the laser wall shape, and the rotor wall shape; and subtracting the solid domain from the overall flow field domain to obtain the fluid domain of the three-dimensional geometric model. The fluid domain is divided into grids to obtain a gridded fluid domain; Determine the material properties of the UAV and the laser, as well as the boundary parameters and initial parameters of the fluid domain; The simulated scenario of the UAV carrying a laser cleaning insulator was determined based on the fluid-thermal transient analysis system. The external flow field of the gridded fluid domain is determined based on the simulated scenario, the boundary parameters, the initial parameters, and the material properties.

2. The method for analyzing the external flow field of insulators using a laser mounted on a UAV according to claim 1, characterized in that, The process of importing a pre-established three-dimensional geometric model of a UAV equipped with a laser into the fluid-thermal transient analysis system includes: Based on the dimensional parameters of a pre-established three-dimensional geometric model of a UAV equipped with a laser, an overall flow field domain is delineated in the fluid-thermal transient analysis system; The three-dimensional geometric model is imported into the overall flow field domain.

3. The method for analyzing the external flow field of insulators using a laser mounted on a UAV according to claim 1, characterized in that, The step of meshing the fluid domain to obtain a meshed fluid domain includes: Determine the UAV rotor rotation domain and the laser beam emission region of the laser in the fluid domain; The fluid domain is meshed based on tetrahedral meshes and patch conformal methods, and the meshes of the UAV rotor rotation domain and the laser beam emission region are refined to obtain a meshed fluid domain.

4. The method for analyzing the external flow field of insulators using a UAV-mounted laser for cleaning according to claim 1, characterized in that, The simulated scenario of the UAV carrying a laser cleaning insulator, determined based on the fluid-thermal transient analysis system, includes at least one of the following: Based on the fluid-thermal transient analysis system, the k-ε turbulence model is selected; wherein, the k-ε turbulence model is used to analyze the external flow field of the insulator being cleaned by the laser mounted on the UAV; Based on the fluid-thermal transient analysis system, the thermal source characteristics of the laser are defined; Based on the fluid-thermal transient analysis system, the energy equation in the solver is activated; Based on the fluid-thermal transient analysis system, the laser heat source of the laser is set; Based on the fluid-thermal transient analysis system, the parameters of the laser beam emitted by the laser are defined.

5. The method for analyzing the external flow field of insulators using a UAV-mounted laser for cleaning according to claim 4, characterized in that, The k-ε turbulence model is expressed by the following formula: in, k Represents turbulent kinetic energy. Represents an operator. ρ Indicates fluid density, u Indicates molecular viscosity. u t Indicates turbulent viscosity. P k This represents the turbulent kinetic energy generation term. P b Indicates the buoyancy-generating term. Indicates the turbulent kinetic energy dissipation rate. This represents the correction term in the turbulence model. Represents turbulent energy term. Indicates the first i Spatial coordinates in direction Represents the turbulent kinetic energy number. t Indicates time, The fluid velocity vector is represented in the th... Components in direction, Indicates the first Spatial coordinates in the direction.

6. The method for analyzing the external flow field of an insulator cleaned by a UAV equipped with a laser, as described in claim 4, is characterized in that... Based on the fluid-thermal transient analysis system, the laser heat source of the laser is set up, including: Introducing a Gaussian-distributed laser heat source; Define the heat flux density distribution of the laser heat source; The laser power density and spatial distribution of the laser heat source are determined.

7. The method for analyzing the external flow field of an insulator cleaned by a UAV equipped with a laser, as described in claim 6, is characterized in that... The Gaussian distributed laser heat source is represented by the following formula: in, P(ρ) This indicates that at a radius of [missing information] from the center point of the heat source ρ Power density at that location P e The power density at the center of the laser heat source. The heat source distribution width parameter represents the distance from the center of the heat source to any point.

8. The method for analyzing the external flow field of insulators using a laser mounted on a UAV according to claim 2, characterized in that, The overall flow field is cylindrical in shape.

9. A device for analyzing the external flow field of insulators using a laser mounted on a drone, characterized in that, include: The model import module is used to import a pre-built 3D geometric model of a UAV equipped with a laser into the fluid-thermal transient analysis system; The fluid domain determination module is used to determine the fluid domain of the three-dimensional geometric model based on the fluid-thermal transient analysis system. This includes determining the rotor fluid domain corresponding to each rotor of the UAV based on the fluid-thermal transient analysis system; separating the base wall shape of the UAV base, the laser wall shape of the laser, and the rotor wall shape of the slip region of each rotor from the overall flow field domain; determining the solid domain of the three-dimensional geometric model based on the base wall shape, the laser wall shape, and the rotor wall shape; and subtracting the solid domain from the overall flow field domain to obtain the fluid domain of the three-dimensional geometric model. The mesh generation module is used to divide the fluid domain into meshes to obtain a meshed fluid domain. The parameter determination module is used to determine the material properties of the UAV and the laser, as well as the boundary parameters and initial parameters of the fluid domain; The simulation scenario determination module is used to determine the simulation scenario of the UAV carrying a laser cleaning insulator based on the fluid-thermal transient analysis system. The external flow field analysis module is used to determine the external flow field of the gridded fluid domain based on the simulation scenario, the boundary parameters, the initial parameters, and the material properties.

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