Intelligent control system of take-up and pay-off equipment of mooring unmanned aerial vehicle

Abstract

The invention discloses an intelligent control system for take-up and pay-off equipment of a mooring unmanned aerial vehicle, and relates to the field of control systems, and the system comprises an installation information collection module which is used for collecting installation information of the take-up and pay-off equipment, and the installation information is depth information of a fixed column inserted into an installation surface in a soft land scene; pressure information of four points of the base in a hard land scene is obtained; the equipment information acquisition module is used for acquiring equipment information of take-up and pay-off equipment, including bending stress information of an equipment guide mechanism, equipment tension control precision and rotation speed information of take-up equipment; the environment information acquisition module is used for acquiring environment information of the environment where the take-up and pay-off equipment is located, and the environment information comprises operation temperature information, environment humidity information, environment wind power information and environment electromagnetic interference intensity information of the take-up and pay-off equipment. According to the invention, more intelligent control of the mooring unmanned aerial vehicle take-up and pay-off equipment can be realized.

Description

Technical Field

[0001] The present invention relates to the field of control systems, and in particular to an intelligent control system for a tethered unmanned aerial vehicle (UAV) retracting and releasing line device. Background Art

[0002] Tethered UAV, also known as tethered UAV, is a special form of UAV system. It is mainly composed of UAV, tethered power supply, photoelectric cable and automatic retractable cable system; Among them, the retractable and retractable equipment of the tethered drone is a key component to ensure that the drone can be tethered stably and efficiently; The control system of the tethered drone reeling and unwinding equipment in the prior art CN119164442A is relatively simple in function, mainly focusing on basic reeling and unwinding operations, and the monitoring of the stability of the equipment installation is not comprehensive enough. For example, under different ground conditions, such as soft soil and hard soil, the problems that may arise in the installation of the equipment are not fully considered, and it is impossible to accurately judge whether the installation is stable. In terms of the equipment's own status monitoring, the monitoring and processing of the bending stress of the equipment's guide mechanism, the tension control accuracy, and the rotation speed of the winding equipment are not intelligent enough, and it is difficult to detect and deal with the equipment in time at the early stage of abnormality. At the same time, there is insufficient comprehensive consideration of the operating status and environmental factors of the drone. When environmental wind force, electromagnetic interference and other factors change, it cannot respond quickly to ensure the stable operation of the drone. In response to these problems, the present invention proposes an intelligent control system for the reeling and unwinding equipment of a tethered drone, aiming to achieve more comprehensive and intelligent management and control. Summary of the invention

[0003] The technical problem to be solved by the present invention is: how to solve the problem that the existing functions are relatively single, mainly focusing on basic reeling and releasing operations, and the monitoring of equipment installation stability is not comprehensive enough, and an intelligent control system for the reeling and releasing equipment of a tethered drone is provided.

[0004] The present invention solves the above technical problems through the following technical solutions, which include: An installation information collection module is used to collect installation information of the retractable and retractable equipment. The installation information is the depth information of the fixed column inserted into the installation surface in the soft soil scenario, and the pressure information of the four points of the base in the hard soil scenario; The equipment information collection module is used to collect the equipment information of the winding and releasing equipment, including the bending stress information of the equipment guide mechanism, the equipment tension control accuracy and the rotation speed information of the winding equipment; The environmental information collection module is used to collect environmental information of the environment in which the wire-reeling and unreeling equipment is located, including operating temperature information, environmental humidity information, environmental wind force information, and environmental electromagnetic interference intensity information of the wire-reeling and unreeling equipment; The UAV information collection module is used to collect UAV information, including the UAV operation shaking amplitude information and the vibration force information of the propeller when the UAV is running; The cable information collection module is used to collect cable information, including cable weight information, tightness of cable connections, cable resistance and cable external wear area; A data processing module is used to process installation information, equipment information, environmental information, drone information, and cable information, and obtain installation control information, equipment control information, brake control information, and cable control information; The information sending module is used to send installation control information, equipment control information, brake control information and cable control information to a preset receiving terminal.

[0005] Furthermore, the installation information acquisition module acquires installation information in the following manner: a depth sensor is installed on a fixed column of the base of the retractable wire device to obtain a depth of insertion of the fixed column into the installation surface; and pressure sensors are respectively installed at four points of the base of the retractable wire device to obtain information on the pressure magnitudes of the four points of the base.

[0006] Furthermore, the device information acquisition module acquires device information in the following manner: a strain gauge sensor is attached to a key position of a device guide mechanism to measure the bending stress information of the device guide mechanism; the device tension control accuracy is directly measured by a tension sensor; and a speed sensor is installed on the motor shaft of the winding device to acquire the rotation speed information of the winding device.

[0007] Furthermore, the environmental information acquisition module acquires environmental information in the following ways: using a temperature sensor to measure the operating temperature information of the pay-off and take-up equipment; using a humidity sensor to obtain environmental humidity information; using a wind speed sensor to acquire environmental wind force information; and using an electromagnetic interference intensity sensor to monitor environmental electromagnetic interference intensity information.

[0008] Furthermore, the drone information collection module collects drone information by using a sensor composed of a gyroscope and an accelerometer to measure the amplitude of the drone's operation vibration; and installing a force sensor at the connection part of the drone's propeller to obtain the vibration force information of the propeller.

[0009] Furthermore, the cable information acquisition module acquires cable information in the following ways: measuring cable weight information by means of a weighing sensor; acquiring tightness information of cable connections by means of a torque wrench or a tightness monitoring sensor; measuring cable resistance by means of a resistance meter; and utilizing image recognition technology to photograph the cable surface by means of a camera, and calculating the external wear area of ​​the cable by means of an image processing algorithm.

[0010] Furthermore, the installation control information includes installation control information on soft soil and installation control information on hard soil, wherein: the processing process of the installation control information on soft soil is: extracting two installation information of the first position, the second position, the third position and the fourth position of the retractable and unreeling equipment, respectively calculating the absolute value of the difference between the two installation information at the first position to obtain the first installation evaluation information, calculating the absolute value of the difference between the two installation information at the second position to obtain the second installation evaluation information, calculating the absolute value of the difference between the two installation information at the third position to obtain the third installation evaluation information, and calculating the absolute value of the difference between the two installation information at the fourth position to obtain the fourth installation evaluation information; when any one of the first installation evaluation information, the second installation evaluation information, the third installation evaluation information and the fourth installation evaluation information is greater than the corresponding preset value, the installation control information is generated; the soft soil includes muddy soil and sandy soil; The processing process of the installation control information on hard land is as follows: extract the pressure information of four points on the base of the retractable line device of the tethered drone, calculate the difference between the pressure information of the four points on the base in turn, and generate the installation control information when any one of the two differences is greater than the preset value; It also includes the step of further processing the two installation information of the first position, the second position, the third position and the fourth position: re-extracting the two installation information of the first position, the second position, the third position and the fourth position, and calculating their averages A1, A2, A3, A4 respectively, and when any of the differences between A1, A2, A3 and A4 exceeds the preset range, generating installation control information.

[0011] Furthermore, the processing process of the device control information is: continuously collecting bending stress information of the device guide mechanism x times, and generating device control information when the number of information greater than a preset value exceeds 1 / 3, wherein x≥10; Continuously collect the tension control accuracy of the equipment m times, remove the maximum and minimum values, and calculate the average of the remaining values. When the average value is less than the preset value, generate equipment control information, where m≥5; The rotation speed information of the winding device is extracted, and the difference between the rotation speed information and the standard speed in the current control instruction is calculated. When the difference exceeds the preset range, the device control information is generated.

[0012] Furthermore, the processing process of the braking control information is as follows: processing the drone information, extracting the difference between the drone running shaking amplitude information and the standard shaking amplitude to obtain a first parameter, extracting the difference between the vibration force magnitude information of the propeller when the drone is running and the standard vibration force to obtain a second parameter, when any one of the first parameter and the second parameter is greater than a preset value, that is, the drone evaluation parameter is abnormal, and generating braking control information; The environmental information of the environment in which the wire-reeling and -unreeling equipment is located is analyzed. When the operating temperature information is greater than the preset value, the environmental humidity information is greater than the preset value, the environmental wind force information is greater than the preset value, or the environmental electromagnetic interference intensity information is greater than the preset value, the environmental assessment parameters are abnormal and braking control information is generated.

[0013] Furthermore, the processing process of the cable control information is: extracting the cable weight information, calculating the difference between the cable weight and the standard weight, and generating the cable control information when the difference is greater than a preset value; Extract the tightness information of the cable connection and generate cable control information when it exceeds the preset range; Extract the cable resistance, and when it is greater than the preset value, generate cable control information; The external wear area of ​​the cable is extracted, and when it is larger than the preset area, cable control information is generated.

[0014] Compared with the prior art, the present invention has the following advantages: the intelligent control system of the tethered drone's retractable wire equipment integrates multiple information collection modules such as installation, equipment, environment, drones and cables. Taking the installation information collection module as an example, the insertion depth of the fixed column can be obtained in soft soil scenarios, and the four-point pressure of the base can be collected on hard soil, so as to accurately judge the stability of the equipment installation. The equipment information collection module monitors the bending stress of the guide mechanism, the tension control accuracy and the winding speed, etc. For example, when the bending stress of the guide mechanism is abnormal, it can be discovered in time according to the set rules, providing an accurate basis for equipment maintenance and avoiding drone operation accidents caused by equipment failure.

[0015] The data processing module conducts in-depth analysis of the collected information. In terms of installation control, not only is the difference of installation information at different positions calculated to evaluate stability, but the overall balance is further judged through mean calculation. When processing equipment control information, the number of excessive bending stresses in the guide mechanism, the mean value of tension control accuracy, and the difference in winding speed are comprehensively considered to fully grasp the operating status of the equipment and achieve in-depth insight and precise control of the equipment status.

[0016] During the processing of brake control information, on the one hand, the flight stability of the drone is judged by analyzing the difference between the drone's shaking amplitude and the propeller vibration force and the standard value, and brake control information is generated in case of abnormality to ensure flight safety. On the other hand, information such as ambient temperature, humidity, wind force and electromagnetic interference is monitored, and any abnormal environmental parameters will also trigger braking to avoid environmental factors from causing damage to the drone and equipment, ensuring the safe operation of the system in complex environments.

[0017] Cable control information processing monitors weight, connection tightness, resistance, and external wear area in real time. For example, when the cable weight increases due to water ingress, the connection becomes loose, the resistance increases due to aging, or the wear area exceeds the standard, cable control information is generated in time, and the staff can respond quickly to avoid serious accidents such as drone loss of control caused by cable failure, ensuring the safety of the entire system.

[0018] The system analyzes various types of information based on preset values ​​and ranges, detects potential problems in advance and issues warnings. In equipment control, by monitoring the bending stress and tension control accuracy of the guide mechanism, an alarm is issued before a serious failure of the equipment occurs, allowing staff to perform maintenance in a timely manner, reducing equipment downtime and maintenance costs, ensuring the continuity of drone operations, and improving work efficiency, making the system more worthy of promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a system block diagram of the present invention; Figure 2 It is a schematic diagram of the wire-retracting and -releasing device of the present invention installed on soft ground; Figure 3 It is a schematic diagram of the wire-retracting and -releasing device of the present invention installed on a hard ground. DETAILED DESCRIPTION

[0020] 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.

[0021] like Figures 1 to 3 As shown, this embodiment provides a technical solution: an intelligent control system for a tethered drone retracting and releasing line device, comprising: An installation information collection module is used to collect installation information of the retractable and retractable equipment. The installation information is the depth information of the fixed column inserted into the installation surface in the soft soil scenario, and the pressure information of the four points of the base in the hard soil scenario; The equipment information collection module is used to collect the equipment information of the winding and releasing equipment, including the bending stress information of the equipment guide mechanism, the equipment tension control accuracy and the rotation speed information of the winding equipment; The environmental information collection module is used to collect environmental information of the environment in which the wire-reeling and unreeling equipment is located, including operating temperature information, environmental humidity information, environmental wind force information, and environmental electromagnetic interference intensity information of the wire-reeling and unreeling equipment; The UAV information collection module is used to collect UAV information, including the UAV operation shaking amplitude information and the vibration force information of the propeller when the UAV is running; The cable information collection module is used to collect cable information, including cable weight information, tightness of cable connections, cable resistance and cable external wear area; A data processing module is used to process installation information, equipment information, environmental information, drone information, and cable information, and obtain installation control information, equipment control information, brake control information, and cable control information; The information sending module is used to send installation control information, equipment control information, brake control information and cable control information to a preset receiving terminal.

[0022] The installation information acquisition module acquires installation information in the following manner: a depth sensor is installed on the fixed column of the base of the retractable wire device to obtain the depth of the fixed column inserted into the installation surface; and pressure sensors are respectively installed at four points of the base of the retractable wire device to obtain the pressure size information of the four points of the base.

[0023] The device information acquisition module acquires device information in the following manner: a strain gauge sensor is attached to a key part of the device guide mechanism to measure the bending stress information of the device guide mechanism; the device tension control accuracy is directly measured by a tension sensor; and a speed sensor is installed on the motor shaft of the winding device to acquire the rotation speed information of the winding device.

[0024] The environmental information acquisition module acquires environmental information in the following ways: using a temperature sensor to measure the operating temperature information of the pay-off and take-up equipment; using a humidity sensor to obtain environmental humidity information; using a wind speed sensor to acquire environmental wind force information; and using an electromagnetic interference intensity sensor to monitor environmental electromagnetic interference intensity information.

[0025] The drone information collection module collects drone information in the following ways: using a sensor composed of a gyroscope and an accelerometer to measure the shaking amplitude information of the drone during operation; installing a force sensor at the connection part of the drone propeller to obtain the vibration force information of the propeller.

[0026] The cable information acquisition module acquires cable information in the following ways: measuring the cable weight information through a weighing sensor; obtaining the tightness information of the cable connection using a torque wrench or a tightness monitoring sensor; measuring the cable resistance using a resistance measuring instrument; using image recognition technology to photograph the cable surface through a camera, and calculating the external wear area of ​​the cable through an image processing algorithm; Cable weight information collection hardware selection and installation: According to the estimated weight range of the cable, select a weighing sensor with a suitable range and accuracy that meets the requirements. Install the weighing sensor on the cable support structure to ensure that the weight of the cable can be accurately transmitted to the sensor. For example, for vertically suspended cables, the weighing sensor can be installed above the cable suspension point, and the weight of the cable directly acts on the sensor. During installation, pay attention to the stability of the sensor installation position to avoid vibration, shaking and other factors that affect the measurement accuracy.

[0027] Data acquisition and transmission: The weighing sensor converts the weight of the cable into an electrical signal output. The weak electrical signal output by the sensor is amplified, filtered, and processed through the signal conditioning circuit to improve the signal quality. The conditioned signal is transmitted to the data acquisition module of the intelligent control system through wired or wireless transmission methods (such as RS485, Bluetooth, Wi-Fi, etc.). The intelligent control system analyzes the received signal, converts it into the actual weight value of the cable, and stores it in the corresponding database for subsequent analysis and processing.

[0028] Cable connection tightness information collection Torque wrench measurement method: When installing the cable connection, use a torque wrench to tighten the connection bolts according to the specified torque value. When the tightness needs to be tested, use the torque wrench to measure the connection bolts again. The torque wrench is equipped with a torque display device. By rotating the bolt, when the bolt begins to loosen or reaches a certain resistance, the torque wrench displays the current torque value. Compare the measured torque value with the specified torque range to determine whether the tightness of the cable connection is within the normal range. If the torque value is lower than the lower limit of the specified range, it means that the connection may be loose and needs to be tightened; if it is higher than the upper limit, it may be overtightened, which may cause damage to the bolts or cables.

[0029] Tightness monitoring sensor measurement method: Install the tightness monitoring sensor at the cable connection, for example, use a strain gauge tightness sensor, and stick the strain gauge on the key part of the connecting bolt or cable joint. When the tightness state of the connection changes, the bolt or joint will produce a small strain, and the resistance value of the strain gauge will change accordingly. By measuring the change in the resistance value of the strain gauge, it is converted into the corresponding tightness value through the conversion circuit. The sensor transmits the collected tightness data to the intelligent control system via wired or wireless means. The system determines whether the tightness is abnormal based on the preset threshold and issues an alarm in time.

[0030] Cable resistance information collectionResistance meter selection and calibration: Select a resistance meter that is suitable for the cable resistance measurement range, such as a four-wire resistance meter, to improve measurement accuracy and reduce the impact of lead resistance on the measurement results. Before use, calibrate the meter according to the operating procedures to ensure the accuracy of the meter. The calibration process usually includes zero point calibration and standard resistance calibration. By connecting the meter to a standard resistor with a known resistance value, the parameters of the meter are adjusted so that its measured value matches the standard resistance value.

[0031] Resistance measurement operation: Connect the test probes of the resistance meter to both ends of the cable, ensuring that the probes are in good contact with the cable to prevent contact resistance from affecting the measurement results. The meter applies a certain current to the cable, measures the voltage drop at both ends of the cable, and calculates the resistance of the cable according to Ohm's law (R = U / I). The meter displays and outputs the measured resistance value, and the intelligent control system receives the data and compares it with the standard resistance value or historical data of the cable. If the resistance value exceeds the normal range, it may indicate that the cable has internal damage, corrosion or aging problems, and the system will trigger the corresponding alarm mechanism.

[0032] Installation and parameter setting of the camera for collecting information on the external wear area of ​​the cable: Install the camera at a suitable position on the cable reel to ensure that the surface of the cable can be clearly photographed. Adjust the position and angle of the camera to cover the area where the cable may be worn, and ensure that clear images can be obtained under different lighting conditions. Set the camera parameters, such as resolution, frame rate, exposure time, etc., to obtain high-quality image data. According to the size of the cable and the actual application scenario, select the appropriate focal length and field of view to ensure that the surface details of the cable can be accurately reflected in the image.

[0033] Image acquisition and transmission: The camera takes real-time images of the cable surface at a set frame rate to obtain continuous image data. The image data is transmitted to the image processing unit of the intelligent control system through a wired or wireless network. During the transmission process, image compression technology can be used to reduce the amount of data transmission and improve transmission efficiency.

[0034] Image processing and calculation of wear area: The image processing unit of the intelligent control system pre-processes the received image, including grayscale, filtering and denoising, to enhance the clarity and quality of the image. Then, the outline and wear area of ​​the cable are identified using image processing algorithms such as edge detection and threshold segmentation. The number of pixels in the wear area is calculated and converted into the actual wear area based on the camera resolution and the actual size ratio of the image. The calculated wear area is compared with the preset threshold. If it exceeds the threshold, the system determines that the cable is severely worn and needs maintenance or replacement, and issues a corresponding alarm message.

[0035] The installation control information includes installation control information on soft soil and installation control information on hard soil, wherein: the processing process of the installation control information on soft soil is: extracting two installation information of the first position, the second position, the third position and the fourth position of the retractable and unreeling equipment, respectively calculating the absolute value of the difference between the two installation information at the first position to obtain the first installation evaluation information, calculating the absolute value of the difference between the two installation information at the second position to obtain the second installation evaluation information, calculating the absolute value of the difference between the two installation information at the third position to obtain the third installation evaluation information, and calculating the absolute value of the difference between the two installation information at the fourth position to obtain the fourth installation evaluation information; when any one of the first installation evaluation information, the second installation evaluation information, the third installation evaluation information and the fourth installation evaluation information is greater than the corresponding preset value, the installation control information is generated; the soft soil includes muddy soil and sandy soil; The processing process of the installation control information on hard land is as follows: extract the pressure information of four points on the base of the retractable line device of the tethered drone, calculate the difference between the pressure information of the four points on the base in turn, and generate the installation control information when any one of the two differences is greater than the preset value; The method further includes the step of further processing the two installation information of the first position, the second position, the third position and the fourth position: re-extracting the two installation information of the first position, the second position, the third position and the fourth position, respectively calculating their averages A1, A2, A3 and A4, and generating installation control information when any difference between any two of A1, A2, A3 and A4 exceeds a preset range; Accurately evaluate the stability of installation on soft soil: By calculating the absolute value of the difference in installation information at different locations of the retractable equipment, installation evaluation information can be obtained, which can keenly capture the difference in the insertion depth of the fixed column. If the difference in installation information between two locations is too large, it means that the insertion depth of the fixed column at that location is inconsistent, and the installation of the equipment on soft soil may be at risk of tilting or instability. This method provides a microscopic analysis of installation details, which helps to detect potential problems in a timely manner and avoid safety accidents such as tipping over of tethered drones during operation due to unstable installation.

[0036] Comprehensive consideration of installation on hard soil: Calculating the pairwise difference of the pressure information at four points on the base of the pay-and-reel equipment on hard soil can intuitively reflect whether the base is evenly stressed. When the pairwise difference is greater than the preset value, it indicates that the base is unevenly stressed, which may cause displacement or instability of the equipment during operation. This method evaluates the installation stability from the perspective of overall stress, providing a key basis for ensuring the safe operation of the equipment on hard soil.

[0037] Improve the accuracy of installation assessment: Calculate the mean of installation information at different locations on soft soil, and analyze whether the difference between the means exceeds the preset range, further enriching the assessment dimension. This method not only considers the difference in installation information at a single location, but also comprehensively considers the relationship between multiple locations. When the difference between the means exceeds the preset range, it means that there is an overall imbalance in the installation of the equipment. Even if the installation assessment information at a single location may not show abnormalities, potential installation problems can be discovered in this way, thereby greatly improving the accuracy and reliability of installation control information.

[0038] Assume that the retractable line equipment for tethered drones is installed on muddy ground. The two installation information (fixed column insertion depth) measured at the first position are 15cm and 20cm respectively. The absolute value of the difference is calculated to obtain the first installation assessment information of 5cm. The two installation information at the second position are 18cm and 19cm, and the second installation assessment information is 1cm. The two installation information at the third position are 16cm and 22cm, and the third installation assessment information is 6cm. The two installation information at the fourth position are 17cm and 18cm, and the fourth installation assessment information is 1cm. The preset value is 4cm. Since the first installation assessment information 5cm and the third installation assessment information 6cm are both greater than the preset value 4cm, the installation control information is generated at this time, reminding the management personnel that there are unstable factors in the installation of the retractable line equipment on muddy ground and adjustments are needed.

[0039] Hard soil example: When installing a wire-retracting and releasing device on a cement floor, the pressure information at the four points of the base is F1=100N, F2=120N, F3=80N, and F4=110N. Calculate the difference between the two values: |F1-F2|=20N, |F1-F3|=20N, |F1-F4|=10N, |F2-F3|=40N, |F2-F4|=10N, |F3-F4|=30N. The preset value is 30N, of which |F2-F3|=40N is greater than the preset value of 30N. Therefore, installation control information is generated, indicating that the installation base of the wire-retracting and releasing device on the cement floor is unevenly stressed, which may affect the stability of the equipment, and measures need to be taken to adjust it, such as redistributing the counterweight.

[0040] Mean calculation example: Taking the soft soil installation as an example, re-extract the two installation information of the first position 15cm and 20cm, and calculate the mean A1=(15+20) / 2=17.5cm; the two installation information of the second position 18cm and 19cm, the mean A2=(18+19) / 2=18.5cm; the two installation information of the third position 16cm and 22cm, the mean A3=(16+22) / 2=19cm; the two installation information of the fourth position 17cm and 18cm, the mean A4=(17+18) / 2=17.5cm. The preset range is that the difference does not exceed 2cm, and the difference between the two means is calculated: |A1-A2|=1cm, |A1-A3|=1.5cm, |A1-A4|=0cm, |A2-A3|=0.5cm, |A2-A4|=1cm, |A3-A4|=1.5cm. All the mean pairwise differences are within the preset range, indicating that from the perspective of the mean relationship, there is no obvious problem in the overall balance of the installation of the retractable and pay-out equipment on muddy ground. If in another case, the calculated mean pairwise differences are greater than 2cm, an installation control information will be generated, prompting the installation to be checked and adjusted.

[0041] The processing process of the device control information is: continuously collect bending stress information of the device guide mechanism x times, and when the number of information greater than a preset value exceeds 1 / 3, generate device control information, where x≥10; Continuously collect the tension control accuracy of the equipment m times, remove the maximum and minimum values, and calculate the average of the remaining values. When the average value is less than the preset value, generate equipment control information, where m≥5; Extract the rotation speed information of the winding device, calculate the difference between the rotation speed information and the standard speed in the current control instruction, and generate device control information when the difference exceeds the preset range; The equipment controls information processing through multi-dimensional, systematic monitoring and analysis to ensure the stable operation of the reel-and-reel equipment, laying a solid foundation for the safety and efficiency of tethered UAV operations, which is of great significance to the reliable operation of the equipment and the smooth execution of the mission.

[0042] Accurately capture hidden dangers of guide mechanism failure: continuously collect bending stress information of the equipment guide mechanism for at least 10 times, and use whether the number greater than the preset value exceeds 1 / 3 as the basis for generating equipment control information. This method can effectively avoid the interference of measurement errors caused by accidental factors on the judgment results. For example, during the operation of the equipment, occasional external force impact may cause the bending stress value of a certain measurement to increase instantly, but if the equipment is judged to be abnormal based on a single measurement result, it may lead to misjudgment. By collecting multiple times and setting the proportional threshold, the actual stress condition of the guide mechanism can be more accurately reflected. When the number greater than the preset value exceeds 1 / 3, it indicates that the guide mechanism may be subjected to excessive stress for a long time and there is a risk of structural damage. At this time, equipment control information is generated to remind staff to conduct inspections and maintenance in time, effectively preventing the guide mechanism from breaking due to excessive stress and other serious failures, and ensuring the normal operation of the reeling and unwinding equipment.

[0043] Optimize the tension control accuracy assessment: continuously collect the equipment tension control accuracy data for at least 5 times, calculate the mean of the remaining values ​​after removing the maximum and minimum values, and compare it with the preset value to decide whether to generate equipment control information. The equipment tension control accuracy is crucial to the stable operation of the tethered drone. Excessive tension may break the cable, and too little tension may cause the cable to loosen, affecting the flight stability of the drone. During the data collection process, the maximum and minimum values ​​may be affected by sudden interference factors and cannot accurately represent the normal tension control level of the equipment. By removing these two extreme values ​​and calculating the mean, the average performance of the equipment tension control can be more accurately evaluated. When the mean is less than the preset value, it means that the tension control accuracy of the equipment does not meet the requirements, which may have an adverse effect on the reeling and unreeling operation. At this time, the equipment control information is generated to prompt the staff to adjust the equipment parameters or check the equipment components in time to ensure that the tension control is within the appropriate range and ensure the safety and stability of the drone operation.

[0044] Real-time monitoring of the speed stability of the winding device: Extract the rotation speed information of the winding device and compare it with the standard speed in the current control instruction. When the difference exceeds the preset range, generate device control information. The rotation speed of the winding device directly affects the winding and releasing speed of the cable, which in turn affects the lifting and positioning of the drone. In actual operation, due to factors such as motor performance fluctuations and load changes, the rotation speed of the winding device may deviate from the standard speed. By real-time monitoring of the speed difference and comparing it with the preset range, abnormal speed of the winding device can be discovered in time. For example, when the speed difference exceeds the preset range, it may cause uneven cable winding and release, affect the flight attitude of the drone, and may even cause cable entanglement and other faults. At this time, the device control information is generated, and the staff can quickly take measures, such as adjusting the motor parameters, checking the transmission components, etc., to restore the rotation speed of the winding device to the normal range and ensure the smooth progress of the winding and releasing line operation.

[0045] The processing process of the braking control information is as follows: processing the drone information, extracting the difference between the drone running shaking amplitude information and the standard shaking amplitude to obtain a first parameter, extracting the difference between the vibration force magnitude information of the propeller when the drone is running and the standard vibration force to obtain a second parameter, when any one of the first parameter and the second parameter is greater than a preset value, that is, the drone evaluation parameter is abnormal, and generating braking control information; The environmental information of the environment in which the wire-reeling and -unreeling equipment is located is analyzed. When the operating temperature information is greater than the preset value, the environmental humidity information is greater than the preset value, the environmental wind force information is greater than the preset value, or the environmental electromagnetic interference intensity information is greater than the preset value, the environmental assessment parameters are abnormal and braking control information is generated.

[0046] Accurately evaluate the flight stability of drones: By extracting the difference between the drone's operating shaking amplitude information and the standard shaking amplitude, as well as the difference between the propeller vibration force information and the standard vibration force, and judging whether the drone evaluation parameters are abnormal based on whether these two differences are greater than the preset values, it is decided whether to generate braking control information. This method can accurately capture subtle changes in the drone's flight process. When the drone encounters airflow disturbances, mechanical failures, etc. during flight, its shaking amplitude and propeller vibration force will change. For example, when the drone encounters strong side winds, the shaking amplitude will increase. At this time, the first parameter may be greater than the preset value. The system generates braking control information and promptly controls the retracting and releasing equipment to retract the cable and the drone to prevent the drone from losing control and crashing due to excessive shaking. Alternatively, if the propeller is partially damaged, its vibration force will increase abnormally, and the second parameter will be greater than the preset value. The system will also take braking measures to ensure the safety of the drone, thereby effectively preventing flight accidents caused by the instability of the drone itself.

[0047] Comprehensively consider the impact of environmental factors: monitor and analyze the operating temperature, humidity, wind speed, and electromagnetic interference intensity of the environment in which the retractable equipment is located. As long as any of the environmental assessment parameters is greater than the preset value, the braking control information is generated. Different environmental factors will have different degrees of impact on the retractable equipment of the tethered drone and the drone itself. For example, when the operating temperature is too high, the performance of the electronic components of the equipment may decline, and the mechanical parts may expand and contract due to heat and cold, affecting the normal operation of the equipment; excessive humidity may cause the cables to get damp, reduce their insulation performance, and increase the risk of short circuits; excessive wind speed will bring additional resistance to the flight of the drone, and may even cause it to deviate from the scheduled route; excessive electromagnetic interference intensity may interfere with the communication signal between the drone and the ground control system, resulting in control failure. Through real-time monitoring of these environmental factors, once the environmental parameters are abnormal, the system quickly generates braking control information, controls the retractable equipment to retract the drone, and waits for the environmental conditions to return to normal before operating, effectively protecting the equipment and the drone, reducing equipment damage and flight accidents caused by environmental factors, and improving the adaptability and reliability of the tethered drone system in complex environments.

[0048] Timely response to ensure system safety: The braking control information processing process is real-time and sensitive, and can respond immediately when the drone status or environment is abnormal. Whether the drone's own flight attitude is unstable or environmental factors become unfavorable for drone flight, the system can quickly generate braking control information and initiate corresponding braking measures. This timely response mechanism provides a strong guarantee for the safe operation of the tethered drone system, avoids more serious consequences caused by delayed processing, minimizes safety risks, ensures the safety of drones and reeling equipment, and ensures the smooth progress of related operations.

[0049] The processing process of the cable control information is as follows: extracting the cable weight information, calculating the difference between the cable weight and the standard weight, and generating the cable control information when the difference is greater than a preset value; Extract the tightness information of the cable connection and generate cable control information when it exceeds the preset range; Extract the cable resistance, and when it is greater than the preset value, generate cable control information; The external wear area of ​​the cable is extracted, and when it is larger than the preset area, cable control information is generated.

[0050] Ensure flight safety: By monitoring key indicators such as cable weight, connection tightness, resistance, and external wear area, safety hazards of cables can be discovered in a timely manner. For example, when the weight of a cable increases abnormally, it may mean that water has entered the cable or other debris has attached to it, which will affect the stress of the cable. In severe cases, it may cause the cable to break and cause a drone crash. By monitoring the weight difference greater than the preset value, cable control information is generated to remind staff to check and handle it in time, effectively avoiding the occurrence of such safety accidents.

[0051] Extending the service life of equipment: Monitoring the tightness of cable connections can ensure that the connections are always in good connection state. If the connection is loose, it will increase the contact resistance, increase the heat, accelerate the aging of the cable, and even cause a fire. When the tightness exceeds the preset range, cable control information is generated to prompt the staff to tighten it in time and reduce the damage to the cable caused by connection problems, thereby extending the service life of the cable and the entire tethered drone equipment. Monitoring cable resistance can promptly detect damage or aging inside the cable. Increased resistance usually indicates that there are problems such as conductor damage and corrosion inside the cable, which will lead to reduced power transmission efficiency, increased heat, and further accelerated cable aging. Timely detection of resistance abnormalities and taking measures can prevent the problem from worsening and extend the service life of the cable.

[0052] Reduce maintenance costs: By regularly monitoring cables in multiple dimensions, problems can be discovered and solved at the budding stage, avoiding the accumulation of problems and leading to more serious failures. For example, when the external wear area of ​​the cable is larger than the preset area, cable control information is generated, and the staff can repair the worn parts or replace the cables in time to prevent further wear and tear and lead to cable breakage, thereby avoiding large-scale repairs and replacements due to cable breakage and reducing maintenance costs.

[0053] Assume that the standard weight of the cable used for a tethered drone is 5kg. During daily monitoring, the cable weight measured by the weighing sensor is 6kg, and the difference from the standard weight is 1kg, while the preset value is 0.5kg. Since the difference of 1kg is greater than the preset value of 0.5kg, the system generates cable control information. After receiving the information, the staff checked the cable and found that water entered the cable when it passed through a humid area, causing the weight to increase. Timely drying of the cable avoids the impact of abnormal increase in cable weight on the flight of the drone and ensures flight safety.

[0054] Example of monitoring the tightness of cable connections: The preset range of the tightness of a cable connection is a torque value between 8-10N・m. During the monitoring process, the torque value of the connection measured with a torque wrench was 6N・m, which is lower than the lower limit of the preset range. The system generates cable control information. After the staff learns about it, they use a torque wrench to tighten the connection to the appropriate torque value, ensuring the stability of the cable connection, avoiding problems such as poor contact and heating caused by loose connections, and extending the service life of the cable.

[0055] Cable resistance monitoring example: The standard resistance value of a cable is 0.5Ω. During regular inspection, the resistance of the cable was measured by a resistance meter to be 0.8Ω, which is greater than the preset value of 0.6Ω. The system generates cable control information, and the staff conducts a detailed inspection of the cable and finds that some areas of the cable have been affected by high temperatures for a long time, and the insulation layer has aged, resulting in increased resistance of the internal conductor. Timely replacement of damaged cables avoids problems such as increased power loss and severe heating caused by excessive resistance, ensures the normal operation of the system, and reduces maintenance costs.

[0056] Example of cable external wear area monitoring: After a certain cable has been running for a period of time, the image recognition technology detects that the cable's external wear area is 5cm², while the preset area is 3cm². Since the wear area is larger than the preset area, the system generates cable control information. The staff evaluated the cable based on the information and found that the worn parts have not yet caused serious impact on the structure and performance of the cable. The worn parts were repaired in time to prevent further wear and tear, avoid the high cost of replacing the entire cable due to cable breakage, and ensure the normal operation of the tethered drone.

[0057] 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.

[0058] 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 control system for a tethered drone retracting and releasing line device, characterized in that: include: An installation information collection module is used to collect installation information of the retractable and retractable equipment. The installation information is the depth information of the fixed column inserted into the installation surface in the soft soil scenario, and the pressure information of the four points of the base in the hard soil scenario; The equipment information collection module is used to collect the equipment information of the winding and releasing equipment, including the bending stress information of the equipment guide mechanism, the equipment tension control accuracy and the rotation speed information of the winding equipment; The environmental information collection module is used to collect environmental information of the environment in which the wire-reeling and unreeling equipment is located, including operating temperature information, environmental humidity information, environmental wind force information, and environmental electromagnetic interference intensity information of the wire-reeling and unreeling equipment; The UAV information collection module is used to collect UAV information, including the UAV operation shaking amplitude information and the vibration force information of the propeller when the UAV is running; The cable information collection module is used to collect cable information, including cable weight information, tightness of cable connections, cable resistance and cable external wear area; A data processing module is used to process installation information, equipment information, environmental information, drone information, and cable information, and obtain installation control information, equipment control information, brake control information, and cable control information; The information sending module is used to send installation control information, equipment control information, brake control information and cable control information to a preset receiving terminal.

2. The intelligent control system for the retractable line device of the tethered drone according to claim 1, characterized in that: The installation information acquisition module acquires installation information in the following manner: a depth sensor is installed on the fixed column of the base of the retractable wire device to obtain the depth of the fixed column inserted into the installation surface; and pressure sensors are respectively installed at four points of the base of the retractable wire device to obtain the pressure size information of the four points of the base.

3. The intelligent control system of the retractable line device of the tethered drone according to claim 1, characterized in that: The device information acquisition module acquires device information in the following manner: a strain gauge sensor is attached to a key part of the device guide mechanism to measure the bending stress information of the device guide mechanism; the device tension control accuracy is directly measured by a tension sensor; and a speed sensor is installed on the motor shaft of the winding device to acquire the rotation speed information of the winding device.

4. The intelligent control system for the retractable and retractable line equipment of a tethered drone according to claim 1, characterized in that: The environmental information acquisition module acquires environmental information in the following ways: using a temperature sensor to measure the operating temperature information of the pay-off and take-up equipment; using a humidity sensor to obtain environmental humidity information; using a wind speed sensor to acquire environmental wind force information; and using an electromagnetic interference intensity sensor to monitor environmental electromagnetic interference intensity information.

5. The intelligent control system for the retractable and retractable line equipment of a tethered drone according to claim 1, characterized in that: The drone information collection module collects drone information in the following ways: using a sensor composed of a gyroscope and an accelerometer to measure the shaking amplitude information of the drone during operation; installing a force sensor at the connection part of the drone propeller to obtain the vibration force information of the propeller.

6. The intelligent control system for the retractable line device of the tethered drone according to claim 1, characterized in that: The cable information acquisition module acquires the cable information in the following manner: measuring the cable weight information through a weighing sensor; Use a torque wrench or tightness monitoring sensor to obtain the tightness information of the cable connection; use a resistance meter to measure the cable resistance; use image recognition technology to capture the cable surface with a camera, and calculate the external wear area of ​​the cable through an image processing algorithm.

7. The intelligent control system for the retractable line device of the tethered drone according to claim 1, characterized in that: The installation control information includes installation control information on soft soil and installation control information on hard soil, wherein: the processing process of the installation control information on soft soil is: extracting two installation information of the first position, the second position, the third position and the fourth position of the retractable and unreeling equipment, respectively calculating the absolute value of the difference between the two installation information at the first position to obtain the first installation evaluation information, calculating the absolute value of the difference between the two installation information at the second position to obtain the second installation evaluation information, calculating the absolute value of the difference between the two installation information at the third position to obtain the third installation evaluation information, and calculating the absolute value of the difference between the two installation information at the fourth position to obtain the fourth installation evaluation information; when any one of the first installation evaluation information, the second installation evaluation information, the third installation evaluation information and the fourth installation evaluation information is greater than the corresponding preset value, the installation control information is generated; the soft soil includes muddy soil and sandy soil; The processing process of the installation control information on hard land is as follows: extract the pressure information of four points on the base of the retractable line device of the tethered drone, calculate the difference between the pressure information of the four points on the base in turn, and generate the installation control information when any one of the two differences is greater than the preset value; It also includes the step of further processing the two installation information of the first position, the second position, the third position and the fourth position: re-extracting the two installation information of the first position, the second position, the third position and the fourth position, and calculating their averages A1, A2, A3, A4 respectively, and when any difference between A1, A2, A3 and A4 exceeds a preset range, generating installation control information.

8. The intelligent control system for the retractable and retractable line equipment of a tethered drone according to claim 1, characterized in that: The processing process of the device control information is: continuously collect bending stress information of the device guide mechanism x times, and when the number of information greater than a preset value exceeds 1 / 3, generate device control information, where x≥10; Continuously collect the tension control accuracy of the equipment m times, remove the maximum and minimum values, and calculate the average of the remaining values. When the average value is less than the preset value, generate equipment control information, where m≥5; The rotation speed information of the winding device is extracted, and the difference between the rotation speed information and the standard speed in the current control instruction is calculated. When the difference exceeds the preset range, the device control information is generated.

9. The intelligent control system for the retractable line device of the tethered drone according to claim 1, characterized in that: The processing process of the braking control information is as follows: processing the drone information, extracting the difference between the drone running shaking amplitude information and the standard shaking amplitude to obtain a first parameter, extracting the difference between the vibration force magnitude information of the propeller when the drone is running and the standard vibration force to obtain a second parameter, when any one of the first parameter and the second parameter is greater than a preset value, that is, the drone evaluation parameter is abnormal, and generating braking control information; The environmental information of the environment in which the wire-reeling and -unreeling equipment is located is analyzed. When the operating temperature information is greater than the preset value, the environmental humidity information is greater than the preset value, the environmental wind force information is greater than the preset value, or the environmental electromagnetic interference intensity information is greater than the preset value, the environmental assessment parameters are abnormal and braking control information is generated.

10. The intelligent control system for the retractable and retractable line equipment of a tethered drone according to claim 1, characterized in that: The processing process of the cable control information is as follows: extracting the cable weight information, calculating the difference between the cable weight and the standard weight, and generating the cable control information when the difference is greater than a preset value; Extract the tightness information of the cable connection and generate cable control information when it exceeds the preset range; Extract the cable resistance, and when it is greater than the preset value, generate cable control information; The external wear area of ​​the cable is extracted, and when it is larger than the preset area, cable control information is generated.

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