An intelligent control system for the wire winding and unwinding device of a tethered drone

Abstract

The present invention discloses an intelligent control system for a cable winding and unwinding device of a tethered drone, which relates to the field of control systems and includes: an installation information acquisition module for acquiring the installation information of the cable winding and unwinding device, where the installation information is the depth information of the fixed column inserted into the installation surface in the soft soil scenario and the pressure magnitude information of the four points of the base in the hard soil scenario; a device information acquisition module for acquiring the device information of the cable winding and unwinding device, including the bending stress information of the device guiding mechanism, the device tension control accuracy, and the rotation speed information of the winding device; and an environmental information acquisition module for acquiring the environmental information of the environment where the cable winding and unwinding device is located, including the operating temperature information of the cable winding and unwinding device, the environmental humidity information, the environmental wind force magnitude information, and the environmental electromagnetic interference intensity information. The present invention can perform more intelligent control of the cable winding and unwinding device of the tethered drone.

Description

Technical Field

[0001] The present invention relates to the field of control systems, and particularly to an intelligent control system for a wire winding and unwinding device of a tethered unmanned aerial vehicle (UAV). Background Art

[0002] A tethered UAV, also known as a tethered unmanned aerial vehicle system, is a special form of UAV system. It mainly consists of a UAV, a tethered power supply, an optical cable, and an automatic wire winding and unwinding system;

[0003] Among them, the wire winding and unwinding device of the tethered UAV is a key component to ensure that the UAV can perform tethered operations stably and efficiently;

[0004] In the prior art CN119164442A, the control system of the wire winding and unwinding device of the tethered UAV is relatively single in function, mainly focusing on basic wire winding and unwinding operations, and the monitoring of the installation stability of the device is not comprehensive enough. For example, in different ground conditions, such as soft soil and hard soil, the possible problems in device installation are not fully considered, and it is impossible to accurately judge whether the installation is stable. In terms of the monitoring of the device's own state, the monitoring and processing of the bending stress of the device's guiding mechanism, the tension control accuracy, and the rotation speed of the winding device are not intelligent enough, and it is difficult to detect and handle problems in the initial stage when the device appears abnormal. At the same time, the comprehensive consideration of the UAV's operating state and environmental factors is insufficient, and it cannot respond quickly to ensure the stable operation of the UAV when factors such as environmental wind force and electromagnetic interference change. To solve these problems, the present invention proposes an intelligent control system for a wire winding and unwinding device of a tethered UAV, aiming to achieve more comprehensive and intelligent management and control. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: how to solve the problem that the existing one is relatively single in function, mainly focusing on basic wire winding and unwinding operations, and the monitoring of the installation stability of the device is not comprehensive enough, and provides an intelligent control system for a wire winding and unwinding device of a tethered UAV.

[0006] The present invention solves the above technical problem through the following technical solutions. The present invention includes:

[0007] An installation information acquisition module, which is used to acquire the installation information of the wire winding and unwinding device. The installation information is the depth information of the fixed column inserted into the installation surface in the soft soil scenario, and the pressure magnitude information of the four points of the base in the hard soil scenario;

[0008] A device information acquisition module, which is used to acquire the device information of the wire winding and unwinding device, including the bending stress information of the device's guiding mechanism, the device tension control accuracy, and the rotation speed information of the winding device;

[0009] 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;

[0010] 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;

[0011] 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;

[0012] 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;

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] Furthermore, the method for the cable information acquisition module to acquire cable information is as follows: 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; and calculating the external wear area of the cable through image recognition technology by taking pictures of the cable surface with a camera and applying an image processing algorithm.

[0019] Furthermore, the installation control information includes the installation control information on soft soil and the installation control information on hard soil. Among them: the processing process of the installation control information on soft soil is as follows: extracting two installation information at the first position, the second position, the third position, and the fourth position of the cable winding and unwinding 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, generating installation control information; the soft soil includes muddy soil and sandy soil;

[0020] The processing process of the installation control information on hard soil is as follows: extracting the pressure magnitude information of four points on the base of the cable winding and unwinding equipment of the tethered drone, and successively calculating the differences between every two of the pressure magnitude information of the four points on the base. When any one of the pairwise differences is greater than the preset value, generating installation control information;

[0021] It also includes the step of further processing the two installation information at the first position, the second position, the third position, and the fourth position: re-extracting the two installation information at the first position, the second position, the third position, and the fourth position, and respectively calculating their means A1, A2, A3, and A4. When any one of the pairwise differences between A1, A2, A3, and A4 exceeds the preset range, generating installation control information.

[0022] Furthermore, the processing process of the equipment control information is as follows: continuously collecting the bending stress information of the equipment guiding mechanism x times. When the number of times greater than the preset value exceeds 1 / 3, generating equipment control information, where x ≥ 10;

[0023] Continuously collecting the equipment tension control accuracy m times, removing the maximum value and the minimum value, and calculating the mean of the remaining values. When the mean is less than the preset value, generating equipment control information, where m ≥ 5;

[0024] Extracting the rotation speed information of the rewinding equipment, calculating the difference between it and the standard speed in the current control instruction. When the difference exceeds the preset range, generating equipment control information.

[0025] Furthermore, the processing process of the braking control information is as follows: process the UAV information, extract the difference between the UAV operation jitter amplitude information and the standard jitter amplitude to obtain the first parameter, extract the difference between the vibration force magnitude information of the propeller during UAV operation and the standard vibration force to obtain the second parameter. When any one of the first parameter and the second parameter is greater than the preset value, that is, the UAV evaluation parameter is abnormal, braking control information is generated;

[0026] Analyze the environmental information of the environment where the wire winding and unwinding device is located. 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 magnitude information is greater than the preset value, or the environmental electromagnetic interference intensity information is greater than the preset value, that is, the environmental evaluation parameter is abnormal, braking control information is generated.

[0027] Furthermore, the processing process of the cable management information is as follows: extract the cable weight information, calculate the difference between it and the standard weight. When the difference is greater than the preset value, cable control information is generated;

[0028] Extract the tightness information of the cable connection. When it exceeds the preset range, cable control information is generated;

[0029] Extract the cable resistance. When it is greater than the preset value, cable control information is generated;

[0030] Extract the external wear area of the cable. When it is greater than the preset area, cable control information is generated.

[0031] The present invention has the following advantages compared with the prior art: The intelligent control system of the wire winding and unwinding device of this tethered UAV integrates multiple information collection modules such as installation, equipment, environment, UAV, and cable. Taking the installation information collection module as an example, in the soft soil scenario, the insertion depth of the fixed column can be obtained, and on the hard soil, the pressure at the four points of the base can be collected to accurately judge the installation stability of the equipment. The equipment information collection module monitors the bending stress of the guiding mechanism, the tension control accuracy, and the winding speed, etc. When the bending stress of the guiding mechanism is abnormal, it can be detected in time according to the set rules, providing an accurate basis for equipment maintenance and avoiding UAV operation accidents caused by equipment failures.

[0032] The data processing module deeply analyzes the collected information. In terms of installation management, not only calculates the difference in installation information at different positions to evaluate the stability, but also further judges the overall balance through mean calculation. When processing the equipment control information, comprehensively consider the number of bending stress exceedances of the guiding mechanism, the mean value of the tension control accuracy, and the difference in the winding speed, etc., to comprehensively master the operating state of the equipment and achieve in-depth insight and precise control of the equipment state

[0033] During the braking control information processing, on the one hand, by analyzing the differences between the sway amplitude of the UAV and the vibration force of the propellers and the standard values, the flight stability of the UAV is judged. When abnormal, braking control information is generated to ensure flight safety. On the other hand, information such as environmental temperature, humidity, wind force, and electromagnetic interference is monitored. Any abnormal environmental parameter also triggers braking to avoid damage to the UAV and equipment caused by environmental factors, ensuring the safe operation of the system in complex environments.

[0034] The cable management information processing monitors in real time from aspects such as weight, tightness at the connection, resistance, and external wear area. 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 a timely manner. Staff can respond quickly based on this to avoid serious accidents such as the UAV getting out of control caused by cable failures, ensuring the safety of the entire system.

[0035] The system analyzes various types of information based on preset values and ranges, discovers potential problems in advance and issues warnings. In equipment control, by monitoring the bending stress and tension control accuracy of the guiding mechanism, an alarm is issued before the equipment suffers serious failures. Staff can perform maintenance in a timely manner, reducing equipment downtime and repair costs, ensuring the continuity of UAV operations, improving work efficiency, and making this system more worthy of popularization and use. Description of the Drawings

[0036] Figure 1 is the system block diagram of the present invention;

[0037] Figure 2 is a schematic diagram of the cable winding and unwinding equipment of the present invention installed on soft ground;

[0038] Figure 3 is a schematic diagram of the cable winding and unwinding equipment of the present invention installed on hard ground. Detailed Embodiment

[0039] The following details the embodiments of the present invention. These embodiments are implemented on the premise of the technical solution of the present invention, providing detailed implementation manners and specific operation processes. However, the protection scope of the present invention is not limited to the following embodiments.

[0040] As Figures 1 to 3 shown, this embodiment provides a technical solution: an intelligent control system for a cable winding and unwinding equipment of a tethered UAV, including:

[0041] An installation information acquisition module for acquiring the installation information of the cable winding and unwinding 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 magnitude information of four points of the base in the hard soil scenario;

[0042] The device information acquisition module is used to acquire the device information of the wire winding and unwinding device, including the bending stress information of the device guiding mechanism, the device tension control accuracy, and the rotation speed information of the winding device;

[0043] The environmental information acquisition module is used to acquire the environmental information of the environment where the wire winding and unwinding device is located, including the operating temperature information of the wire winding and unwinding device, the environmental humidity information, the environmental wind force magnitude information, and the environmental electromagnetic interference intensity information;

[0044] The UAV information acquisition module is used to acquire UAV information, including the sway amplitude information during UAV operation and the vibration force magnitude information of the propellers during UAV operation;

[0045] The cable information acquisition module is used to acquire cable information, including the cable weight information, the tightness of the cable connection, the cable resistance, and the external wear area of the cable;

[0046] The data processing module is used to process the installation information, device information, environmental information, UAV information, and cable information to obtain installation control information, device control information, braking control information, and cable control information;

[0047] The information sending module is used to send the installation control information, device control information, braking control information, and cable control information to a preset receiving terminal.

[0048] The installation information acquisition module acquires the installation information in the following ways: installing depth sensors on the fixing columns of the base of the wire winding and unwinding device to obtain the depth of the fixing columns inserted into the installation surface; installing pressure sensors at four points of the base of the wire winding and unwinding device to obtain the pressure magnitude information of the four points of the base.

[0049] The device information acquisition module acquires the device information in the following ways: pasting strain gauge sensors at key parts of the device guiding mechanism to measure the bending stress information of the device guiding mechanism; directly measuring through a tension sensor to obtain the device tension control accuracy; installing a rotational speed sensor on the motor shaft of the winding device to acquire the rotation speed information of the winding device.

[0050] The environmental information acquisition module acquires the environmental information in the following ways: using a temperature sensor to measure the operating temperature information of the wire winding and unwinding device; using a humidity sensor to obtain the environmental humidity information; collecting the environmental wind force magnitude information through an anemometer; monitoring the environmental electromagnetic interference intensity information using an electromagnetic interference intensity sensor.

[0051] The UAV information acquisition module acquires the UAV information in the following ways: using a sensor combination of a gyroscope and an accelerometer to measure the sway amplitude information during UAV operation; installing a force sensor at the connection part of the UAV propellers to obtain the vibration force magnitude information of the propellers.

[0052] The method for the cable information acquisition module to acquire cable information is as follows: measuring the cable weight information through a weighing sensor; obtaining the tightness information of the cable connection point using a torque wrench or a tightness monitoring sensor; measuring the cable resistance using a resistance measuring instrument; using image recognition technology, taking pictures of the cable surface through a camera, and calculating the external wear area of the cable through an image processing algorithm.

[0053] Selection and installation of hardware for cable weight information acquisition: According to the estimated weight range of the cable, select a weighing sensor with a suitable range and meeting the required accuracy. Install the weighing sensor on the support structure of the cable to ensure that the gravity of the cable can be accurately transmitted to the sensor. For example, for a vertically suspended cable, 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 stable installation position of the sensor to avoid affecting the measurement accuracy due to factors such as vibration and shaking.

[0054] Data acquisition and transmission: The weighing sensor converts the weight of the cable into an electrical signal for output. The weak electrical signal output by the sensor is amplified, filtered, etc. through a 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.

[0055] Measurement method of torque wrench for acquiring tightness information of cable connection points: When installing the cable connection point, use a torque wrench to tighten the connection bolts according to the specified torque value. When it is necessary to detect the tightness, 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 starts 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 point is within the normal range. If the torque value is lower than the lower limit of the specified range, it indicates that the connection point may be loose and needs to be tightened; if it is higher than the upper limit, there may be an over-tightening situation, which may cause damage to the bolt or the cable.

[0056] Fastening degree monitoring sensor measurement method: Install the fastening degree monitoring sensor at the cable connection. For example, use a strain gauge type fastening degree sensor and paste the strain gauge on the key parts of the connection bolt or cable joint. When the fastening state at the connection changes, the bolt or joint will generate 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 and converting it through a conversion circuit into the corresponding fastening degree value. The sensor transmits the collected fastening degree data to the intelligent control system by wired or wireless means. The system judges whether the fastening degree is abnormal according to the preset threshold and issues an alarm in a timely manner.

[0057] Cable resistance information acquisition resistor measuring instrument selection and calibration: Select a resistor measuring instrument suitable for the cable resistance measurement range, such as a four-wire resistor measuring instrument, to improve the measurement accuracy and reduce the influence of lead resistance on the measurement result. Before use, calibrate it according to the operating procedures of the measuring instrument to ensure the accuracy of the measuring instrument. The calibration process usually includes zero calibration and standard resistor calibration. By connecting the measuring instrument to a standard resistor with a known resistance value and adjusting the parameters of the measuring instrument to make its measured value match the standard resistor value.

[0058] Resistance measurement operation: Connect the test probes of the resistor measuring instrument to both ends of the cable respectively, ensure good contact between the probes and the cable, and avoid the influence of contact resistance on the measurement result. The measuring instrument applies a certain current to the cable and measures the voltage drop at both ends of the cable. According to Ohm's law (R = U / I), calculate the resistance value of the cable. The measuring instrument displays and outputs the measured resistance value. The intelligent control system receives this 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 problems such as internal damage, corrosion, or aging of the cable, and the system will trigger the corresponding alarm mechanism.

[0059] Installation and parameter setting of the camera for collecting the external wear area information of the cable: Install the camera at a suitable position on the cable winding and unwinding equipment to ensure that the surface of the cable can be clearly photographed. Adjust the position and angle of the camera so that it covers the area where the cable may be worn and ensure that clear images can be obtained under different lighting conditions. Set the parameters of the camera, 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 a suitable focal length and field of view angle to ensure that the surface details of the cable can be accurately reflected in the image.

[0060] Image acquisition and transmission: The camera takes real-time photos of the cable surface at the 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 network or a wireless network. During the transmission process, image compression technology can be used to reduce the data transmission volume and improve the transmission efficiency.

[0061] Image processing and wear area calculation: The image processing unit of the intelligent control system preprocesses the received image, including operations such as grayscale conversion and filtering denoising, to enhance the clarity and quality of the image. Then, using image processing algorithms such as edge detection and threshold segmentation, the contour and wear area of the cable are identified. By calculating the number of pixels in the wear area and based on the resolution of the camera and the actual size ratio of the image, the number of pixels is converted into the actual wear area. The calculated wear area is compared with a preset threshold. If it exceeds the threshold, the system determines that the external wear of the cable is severe and maintenance or replacement is required, and corresponding alarm information is issued.

[0062] The installation control information includes the installation control information on soft soil and the installation control information on hard soil, where: The processing process of the installation control information on soft soil is: Extract the two installation information of the first position, second position, third position, and fourth position of the cable laying and retrieving equipment, and calculate the absolute value of the difference between the two installation information at the first position to obtain the first installation evaluation information, calculate the absolute value of the difference between the two installation information at the second position to obtain the second installation evaluation information, calculate the absolute value of the difference between the two installation information at the third position to obtain the third installation evaluation information, and calculate 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, second installation evaluation information, third installation evaluation information, and fourth installation evaluation information is greater than the corresponding preset value, installation control information is generated; The soft soil includes muddy soil and sandy soil;

[0063] The processing process of the installation control information on hard soil is: Extract the pressure magnitude information of the four points on the base of the cable laying and retrieving equipment of the tethered drone, and calculate the difference between each pair of the pressure magnitude information of the four points on the base in turn. When any one of the pairwise differences is greater than the preset value, installation control information is generated;

[0064] It also includes the step of further processing the two installation information of the first position, second position, third position, and fourth position: Re-extract the two installation information of the first position, second position, third position, and fourth position, and calculate their means A1, A2, A3, and A4 respectively. When any one of the pairwise differences between A1, A2, A3, and A4 exceeds the preset range, installation control information is generated;

[0065] Achieved precise evaluation of the installation stability on soft soil: By calculating the absolute value of the difference in installation information at different positions of the wire winding and unwinding device, the installation evaluation information can be obtained, which can sensitively capture the difference in the insertion depth of the fixed column. If the difference between the two installation information at a certain position is too large, it means that the insertion depth of the fixed column at this position is inconsistent, and there may be risks of tilting or instability in the installation of the device on soft soil. This method provides a microscopic analysis of the installation details, helps to timely detect potential problems, and avoids safety accidents such as the tipping over of the tethered drone during operation due to unstable installation.

[0066] Comprehensively considered the installation situation on hard soil: By calculating the pairwise differences in the pressure magnitudes received by the four points of the base of the wire winding and unwinding device on hard soil, it can intuitively reflect whether the force on the base is uniform. When the pairwise difference is greater than the preset value, it indicates that there is an uneven force on the base, which may cause the device to displace or become unstable during operation. This method evaluates the installation stability from the perspective of the overall force, providing a key basis for ensuring the safe operation of the device on hard soil.

[0067] Improved the accuracy of installation evaluation: By calculating the mean values of the installation information at different positions on soft soil and analyzing whether the pairwise differences between the mean values exceed the preset range, the evaluation dimension is further enriched. This method not only considers the differences in the installation information at individual positions but also comprehensively considers the relationships between multiple positions. When the pairwise differences between the mean values exceed the preset range, it indicates that there is an overall imbalance in the device installation. Even if the installation evaluation information at individual positions may not show abnormalities, potential installation problems can be discovered in this way, thus greatly improving the accuracy and reliability of the installation control information.

[0068] Suppose the wire winding and unwinding device of a tethered drone is installed on muddy soil. At the first position, two installation information (the insertion depth of the fixed column) are measured as 15 cm and 20 cm respectively, and the absolute value of the difference is calculated to obtain the first installation evaluation information as 5 cm. At the second position, the two installation information are 18 cm and 19 cm, and the second installation evaluation information is 1 cm. At the third position, the two installation information are 16 cm and 22 cm, and the third installation evaluation information is 6 cm. At the fourth position, the two installation information are 17 cm and 18 cm, and the fourth installation evaluation information is 1 cm. The preset value is 4 cm. Since both the first installation evaluation information of 5 cm and the third installation evaluation information of 6 cm are greater than the preset value of 4 cm, at this time, installation control information is generated to prompt the management personnel that there are unstable factors in the installation of this wire winding and unwinding device on muddy soil and adjustment is required.

[0069] Example of hard ground: When installing the wire winding and unwinding equipment on a cement floor, the pressure values at the four points of the base are F1 = 100N, F2 = 120N, F3 = 80N, and F4 = 110N respectively. Calculate the differences between each pair: |F1 - F2| = 20N, |F1 - F3| = 20N, |F1 - F4| = 10N, |F2 - F3| = 40N, |F2 - F4| = 10N, |F3 - F4| = 30N. The preset value is 30N. Since |F2 - F3| = 40N is greater than the preset value of 30N, installation control information is generated, indicating that the force on the installation base of the wire winding and unwinding equipment on the cement floor is uneven, which may affect the stability of the equipment. Measures need to be taken for adjustment, such as redistributing the counterweight, etc.

[0070] Example of mean calculation: Still taking the installation on the soft ground mentioned above as an example, re-extract the two installation information at the first position, 15cm and 20cm, and calculate the mean A1 = (15 + 20) / 2 = 17.5cm; for the two installation information at the second position, 18cm and 19cm, the mean A2 = (18 + 19) / 2 = 18.5cm; for the two installation information at the third position, 16cm and 22cm, the mean A3 = (16 + 22) / 2 = 19cm; for the two installation information at 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. Calculate the differences between each pair of the means: |A1 - A2| = 1cm, |A1 - A3| = 1.5cm, |A1 - A4| = 0cm, |A2 - A3| = 0.5cm, |A2 - A4| = 1cm, |A3 - A4| = 1.5cm. All the differences between each pair of the means do not exceed the preset range, indicating that from the perspective of the mean relationship, there are no obvious problems in the overall balance of the installation of the wire winding and unwinding equipment on the muddy ground for the time being. In another case, if the difference between each pair of the calculated means is greater than 2cm, installation control information will be generated to prompt inspection and adjustment of the installation.

[0071] The processing process of the device control information is as follows: Continuously collect the bending stress information of the device guiding mechanism x times. When the number of values greater than the preset value exceeds 1 / 3, device control information is generated, where x ≥ 10;

[0072] Continuously collect the device tension control accuracy m times. After removing the maximum and minimum values, calculate the mean of the remaining values. When the mean is less than the preset value, device control information is generated, where m ≥ 5;

[0073] Extract the rotation speed information of the rewinding device and calculate the difference between it and the standard speed in the current control instruction. When the difference exceeds the preset range, device control information is generated;

[0074] The device control information processing process comprehensively ensures the stable operation of the wire winding and unwinding device through multi-dimensional and systematic monitoring and analysis methods, laying a solid foundation for the safety and efficiency of the tethered UAV operation. It is of great significance for the reliable operation of the device and the smooth execution of tasks.

[0075] Precisely capture potential faults in the guiding mechanism: Continuously collect the bending stress information of the device's guiding mechanism at least 10 times, and use whether the number of values greater than the preset value exceeds 1 / 3 as the basis for generating device control information. This method can effectively avoid the interference of measurement errors caused by accidental factors on the judgment result. For example, during the operation of the device, an occasional external force impact may cause the bending stress value measured at a certain time to increase suddenly. However, if the device is judged to be abnormal based on a single measurement result, it may lead to misjudgment. By collecting multiple times and setting a proportional threshold, the true stress condition of the guiding mechanism can be more accurately reflected. When the number of values greater than the preset value exceeds 1 / 3, it indicates that the guiding mechanism may be under excessive stress for a long time and there is a risk of structural damage. At this time, device control information is generated to timely remind the staff to conduct inspections and maintenance, effectively preventing serious faults such as fractures in the guiding mechanism due to excessive stress and ensuring the normal operation of the wire winding and unwinding device.

[0076] Optimize the evaluation of tension control accuracy: Continuously collect at least 5 sets of device tension control accuracy data, calculate the mean value of the remaining values after removing the maximum and minimum values, and compare it with the preset value to determine whether to generate device control information. The tension control accuracy of the device is crucial for the stable operation of the tethered UAV. Excessive tension may break the cable, while too little tension may cause the cable to slack, affecting the flight stability of the UAV. 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 device. By removing these two extreme values and calculating the mean value, the average performance of the device's tension control can be more accurately evaluated. When the mean value is less than the preset value, it indicates that the tension control accuracy of the device does not meet the requirements and may have an adverse impact on the wire winding and unwinding operation. At this time, device control information is generated to prompt the staff to timely adjust the device parameters or check the device components to ensure that the tension is controlled within an appropriate range and guarantee the safety and stability of the UAV operation.

[0077] Real-time monitoring of the speed stability of the rewinding device: Extract the rotational speed information of the rewinding device and compare it with the standard speed in the current control instruction. When the difference exceeds the preset range, device control information is generated. The rotational speed of the rewinding device directly affects the winding and unwinding speed of the cable, and thus affects the lifting and positioning of the drone. During actual operation, due to factors such as motor performance fluctuations and load changes, the rotational speed of the rewinding device may deviate from the standard speed. By monitoring the speed difference in real time and comparing it with the preset range, the abnormal speed condition of the rewinding device can be detected in a timely manner. For example, when the speed difference exceeds the preset range, it may cause uneven winding and unwinding of the cable, affecting the flight attitude of the drone, and even causing faults such as cable entanglement. At this time, device control information is generated, and the staff can quickly take measures, such as adjusting the motor parameters and checking the transmission components, to restore the rotational speed of the rewinding device to the normal range and ensure the smooth progress of the winding and unwinding operation.

[0078] The processing process of the braking control information is as follows: Process the drone information, extract the difference between the running sway amplitude information of the drone and the standard sway amplitude to obtain the first parameter, extract the difference between the vibration force magnitude information of the propeller during the drone's operation and the standard vibration force to obtain the second parameter. When either the first parameter or the second parameter is greater than the preset value, that is, the drone evaluation parameter is abnormal, braking control information is generated;

[0079] Analyze the environmental information of the winding and unwinding device's location. 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 magnitude information is greater than the preset value, or the environmental electromagnetic interference intensity information is greater than the preset value, that is, the environmental evaluation parameter is abnormal, braking control information is generated.

[0080] Accurately evaluate the flight stability of the drone: By extracting the difference between the running sway amplitude information of the drone and the standard sway amplitude, and the difference between the vibration force magnitude information of the propeller and the standard vibration force, and using whether these two differences are greater than the preset value to determine whether the drone evaluation parameter is abnormal, and then decide whether to generate braking control information. This method can accurately capture the subtle changes during the drone's flight. When the drone is flying, if it encounters situations such as air flow disturbances and mechanical failures, its sway amplitude and propeller vibration force will change. For example, when the drone encounters a strong crosswind, the sway amplitude will increase. At this time, the first parameter may be greater than the preset value, and the system generates braking control information to timely control the rewinding device to retract the cable and the drone, avoiding the drone from losing control and crashing due to excessive sway. Or, if there is partial damage to the propeller, its vibration force will increase abnormally, and the second parameter is greater than the preset value, and the system will also take braking measures to ensure the safety of the drone, thus effectively preventing flight accidents caused by the instability of the drone itself.

[0081] Comprehensively consider the influence of environmental factors: Monitor and analyze information such as the operating temperature, environmental humidity, environmental wind force, and environmental electromagnetic interference intensity of the environment where the cable winding and unwinding equipment is located. As long as any one of the environmental assessment parameters is greater than the preset value, braking control information is generated. Different environmental factors will have different degrees of influence on the cable winding and unwinding equipment of the tethered drone and the drone itself. For example, when the operating temperature is too high, it may cause the performance of the electronic components of the equipment to decline and the mechanical components to expand and contract thermally, affecting the normal operation of the equipment; when the environmental humidity is too high, the cable may be affected by moisture, reducing its insulation performance and increasing the risk of short circuit; when the environmental wind force is too large, it will bring additional resistance to the flight of the drone and may even cause it to deviate from the predetermined flight path; when the environmental electromagnetic interference intensity is too high, it may interfere with the communication signal between the drone and the ground control system, resulting in control failure. Through the real-time monitoring of these environmental factors, once the environmental parameters are abnormal, the system quickly generates braking control information to control the cable winding and unwinding equipment to retract the drone, and waits for the environmental conditions to return to normal before proceeding with the operation, 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.

[0082] Respond in a timely manner to ensure system safety: The process of processing the braking control information is real-time and sensitive, and can react immediately when the state of the drone or the environment is abnormal. Whether the flight attitude of the drone itself is unstable or the environmental factors become unfavorable for the flight of the drone, 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 handling, minimizes safety risks, ensures the safety of the drone and the cable winding and unwinding equipment, and guarantees the smooth progress of related operations.

[0083] The process of processing the cable control information is as follows: Extract the cable weight information, calculate the difference between it and the standard weight, and generate cable control information when the difference is greater than the preset value;

[0084] Extract the tightness information of the cable connection, and generate cable control information when it exceeds the preset range;

[0085] Extract the cable resistance, and generate cable control information when it is greater than the preset value;

[0086] Extract the external wear area of the cable, and generate cable control information when it is greater than the preset area.

[0087] Ensure flight safety: By monitoring key indicators such as the weight of the cable, the tightness of the connection, the resistance, and the external wear area, potential safety hazards in the cable can be detected in a timely manner. For example, when there is an abnormal increase in the cable weight, it may indicate that water has entered the cable or other debris has adhered to it, which will affect the stress on the cable. In severe cases, it may cause the cable to break and lead to a drone crash accident. By monitoring that the weight difference is greater than the preset value, cable control information is generated to remind the staff to check and handle it in a timely manner, effectively avoiding such safety accidents.

[0088] Extend the service life of the equipment: Monitoring the tightness of the cable connection can ensure that the connection is always in a good state. If the connection is loose, it will cause an increase in contact resistance, more heat generation, 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 a timely manner, reducing the damage to the cable caused by connection problems, thereby extending the service life of the cable and the entire tethered drone equipment. Monitoring the cable resistance can detect internal damage or aging of the cable in a timely manner. An increase in resistance usually indicates problems such as conductor damage and corrosion inside the cable, which will lead to a decrease in the power transmission efficiency, more heat generation, and further accelerate the aging of the cable. Detecting the resistance abnormality in a timely manner and taking measures can prevent the problem from deteriorating and extend the service life of the cable.

[0089] Reduce maintenance costs: By regularly monitoring the cable in multiple dimensions, problems can be detected and solved when they are in their infancy, avoiding the accumulation of problems leading to more serious failures. For example, when the external wear area of the cable is greater than the preset area, cable control information is generated. The staff can repair the worn part or replace the cable in a timely manner, preventing the wear from further expanding and causing the cable to break, thus avoiding large-scale repair and replacement work due to cable breakage and reducing the maintenance costs.

[0090] Suppose the standard weight of the cable used in a certain tethered drone is 5 kg. During daily monitoring, the cable weight measured by the weighing sensor is 6 kg, and the difference from the standard weight is 1 kg, while the preset value is 0.5 kg. Since the difference of 1 kg is greater than the preset value of 0.5 kg, the system generates cable control information. After receiving the information, the staff checks the cable and finds that when the cable passes through a wet area, water enters the inside, resulting in an increase in weight. The cable is dried in a timely manner, avoiding the impact on the drone flight caused by the abnormal increase in the cable weight and ensuring flight safety.

[0091] Example of monitoring the tightness of cable connections: The preset range of the tightness of a certain cable connection is that the torque value is between 8 - 10 N·m. During the monitoring process, the torque value measured by a torque wrench at the connection is 6 N·m, which is lower than the lower limit of the preset range. The system generates cable control information. After the staff learned about it, they used a torque wrench to tighten the connection to an appropriate torque value, ensuring the stability of the cable connection, avoiding problems such as poor contact and overheating caused by loose connections, and extending the service life of the cable.

[0092] Example of monitoring the cable resistance: The standard resistance value of a certain cable is 0.5 Ω. During the regular inspection, the resistance of the cable measured by a resistance measuring instrument is 0.8 Ω, which is greater than the preset value of 0.6 Ω. The system generates cable control information. The staff conducted a detailed inspection of the cable and found that the insulation layer of some areas of the cable was aged due to long-term exposure to high temperatures, resulting in an increase in the resistance of the internal conductor. The damaged cable was replaced in a timely manner, avoiding problems such as increased power consumption and severe overheating caused by excessive resistance, ensuring the normal operation of the system, and reducing the maintenance cost.

[0093] Example of monitoring the external wear area of the cable: After a certain cable has been in operation for a period of time, the external wear area of the cable monitored by image recognition technology is 5 cm², while the preset area is 3 cm². Since the wear area is greater than the preset area, the system generates cable control information. The staff evaluated the cable based on the information and found that the worn area has not seriously affected the structure and performance of the cable. The worn area was repaired in a timely manner, preventing further expansion of the wear and avoiding the high cost of replacing the entire cable due to cable breakage, ensuring the normal operation of the tethered drone.

[0094] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0095] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An intelligent control system for a wire winding and unwinding device of a tethered drone, characterized in that, Including: An installation information collection module, which is used to collect the installation information of the wire winding and unwinding 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; An equipment information collection module, which is used to collect the equipment information of the wire winding and unwinding equipment, including the bending stress information of the equipment guiding mechanism, the equipment tension control accuracy and the rotation speed information of the winding equipment; An environmental information collection module, which is used to collect the environmental information of the environment where the wire winding and unwinding equipment is located, including the operating temperature information of the wire winding and unwinding equipment, the environmental humidity information, the environmental wind force magnitude information and the environmental electromagnetic interference intensity information; A drone information collection module, which is used to collect drone information, including the sway amplitude information of the drone during operation and the vibration force magnitude information of the propeller during the operation of the drone; A cable information collection module, which is used to collect cable information, including cable weight information, the tightness of the cable connection, cable resistance and the external wear area of the cable; A data processing module, which is used to process the installation information, equipment information, environmental information, drone information and cable information to obtain installation control information, equipment control information, braking control information and cable control information; An information sending module, which is used to send the installation control information, equipment control information, braking control information and cable control information to a preset receiving terminal; The installation control information includes the installation control information on soft soil and the installation control information on hard soil. Among them: The processing process of the installation control information on soft soil is: Extract the two installation information of the first position, second position, third position and fourth position of the wire winding and unwinding equipment, and calculate the absolute value of the difference between the two installation information at the first position to obtain the first installation evaluation information, calculate the absolute value of the difference between the two installation information at the second position to obtain the second installation evaluation information, calculate the absolute value of the difference between the two installation information at the third position to obtain the third installation evaluation information, and calculate 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, generate the installation control information; Soft soil includes muddy soil and sandy soil; The processing process of the installation control information on hard soil is: Extract the pressure information of the four points on the base of the wire winding and unwinding equipment of the tethered drone, and calculate the difference between each pair of the pressure information of the four points on the base in turn. When any one of the pairwise differences is greater than the preset value, generate the installation control information; It also includes the steps of further processing the two installation information of the first position, second position, third position and fourth position: Re-extract the two installation information of the first position, second position, third position and fourth position, and calculate their means A1, A2, A3, A4 respectively. When any one of the pairwise differences between A1, A2, A3 and A4 exceeds the preset range, generate the installation control information.

2. The intelligent control system of the wire winding and unwinding device of the tethered unmanned aerial vehicle according to claim 1, characterized in that, The method for the installation information acquisition module to acquire installation information is as follows: install a depth sensor on the fixed column of the pay-off and take-up equipment base to obtain the depth of the fixed column inserted into the installation surface; install pressure sensors at four points of the pay-off and take-up equipment base respectively to obtain the pressure magnitude information of the four points of the base.

3. The intelligent control system of the wire winding and unwinding device for the tethered drone according to claim 1, characterized in that, The method for the equipment information acquisition module to acquire equipment information is as follows: paste a strain gauge sensor at the key part of the equipment guiding mechanism to measure the bending stress information of the equipment guiding mechanism; directly measure and obtain the equipment tension control accuracy through a tension sensor; install a rotational speed sensor on the motor shaft of the winding equipment to collect the rotational speed information of the winding equipment.

4. The intelligent control system of the wire winding and unwinding device for the tethered unmanned aerial vehicle according to claim 1, characterized in that, The method for the environmental information acquisition module to acquire environmental information is as follows: measure the operating temperature information of the pay-off and take-up equipment using a temperature sensor; obtain the environmental humidity information using a humidity sensor; collect the environmental wind force magnitude information through a wind speed sensor; monitor the environmental electromagnetic interference intensity information using an electromagnetic interference intensity sensor.

5. The intelligent control system of the wire winding and unwinding device for the tethered drone according to claim 1, characterized in that, The method for the UAV information acquisition module to acquire UAV information is as follows: use a sensor combination of a gyroscope and an accelerometer to measure the sway amplitude information of the UAV operation; install a force sensor at the connection part of the UAV propeller to obtain the vibration force magnitude information of the propeller.

6. The intelligent control system of the wire winding and unwinding device for the tethered drone according to claim 1, characterized in that, The method for the cable information acquisition module to acquire cable information is as follows: measure the cable weight information through a weighing sensor; use a torque wrench or a fastening degree monitoring sensor to obtain the fastening degree information of the cable connection; measure the cable resistance using a resistance measuring instrument; utilize image recognition technology, take pictures of the cable surface through a camera, and calculate the external wear area of the cable through an image processing algorithm.

7. The intelligent control system of the wire winding and unwinding device of the tethered UAV according to claim 1, characterized in that, The processing process of the cable control information is as follows: extract the cable weight information, calculate the difference between it and the standard weight, and generate cable control information when the difference is greater than the preset value; extract the fastening degree information of the cable connection, and generate cable control information when it exceeds the preset range; extract the cable resistance, and generate cable control information when it is greater than the preset value; extract the external wear area of the cable, and generate cable control information when it is greater than the preset area.

8. The intelligent control system of the wire winding and unwinding device of the tethered unmanned aerial vehicle according to claim 1, characterized in that, The processing process of the equipment control information is as follows: continuously collect the bending stress information of the equipment guiding mechanism x times, and generate equipment control information when the number of times greater than the preset value exceeds 1 / 3, where x≥10; continuously collect the equipment tension control accuracy m times, calculate the mean value of the remaining values after removing the maximum and minimum values, and generate equipment control information when the mean value is less than the preset value, where m≥5; extract the rotational speed information of the winding equipment, calculate the difference between it and the standard speed in the current control instruction, and generate equipment control information when the difference exceeds the preset range.

9. The intelligent control system of the wire winding and unwinding device of the tethered unmanned aerial vehicle according to claim 1, characterized in that, The processing process of the braking control information is as follows: process the UAV information, extract the difference between the sway amplitude information of the UAV operation and the standard sway amplitude to obtain the first parameter, extract the difference between the vibration force magnitude information of the UAV propeller during operation and the standard vibration force to obtain the second parameter, and generate braking control information when either the first parameter or the second parameter is greater than the preset value, that is, when the UAV evaluation parameter is abnormal; Analyze the environmental information of the environment where the wire winding and unwinding equipment is located. 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 magnitude information is greater than the preset value, or the environmental electromagnetic interference intensity information is greater than the preset value, that is, when the environmental assessment parameters are abnormal, generate braking control information.

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