Unmanned aerial vehicle for transformer substation insulator cleaning and PRTV spraying and control system

Abstract

The invention relates to an unmanned aerial vehicle for transformer substation insulator cleaning and PRTV spraying and a control system, and belongs to the field of aircraft control. The control system comprises an image module used for collecting real-time image information near an operation point, then identifying the real-time image information to determine an actual operation point, analyzing a difference value between the actual operation point in the real-time image information and a target operation point input by a user according to a preset rule, and generating an offset adjustment instruction; the spraying module comprises a pressure tank, a liquid pipeline and an electromagnetic valve, the liquid pipeline is communicated with the pressure tank, the electromagnetic valve is installed on the liquid pipeline, and a vector nozzle module is arranged at an outlet of the liquid pipeline; and an attitude prediction module. By the adoption of the technical scheme, the insulator surface cleaning and coating spraying effects can be guaranteed, and the stability during operation can be guaranteed.

Description

Technical Field

[0001] The present invention belongs to the field of aircraft control, and particularly relates to a drone and a control system for cleaning insulators of a substation and spraying PRTV. Background Art

[0002] In the context of the rapid development of modern technology, drone technology has flourished and widely penetrated into various special operation fields, bringing innovative changes to different industries. The emergence of agricultural pest control drones has greatly improved the efficiency of crop pest control. In large-scale farm operations, they shuttle through the fields, spraying pesticides to ensure the healthy growth of crops; fire-fighting drones have shown great prowess in fire rescue scenarios. They can carry fire extinguishing agents and remotely spray and extinguish fires in areas with fierce flames, opening up new ways for fire-fighting work.

[0003] When these special operation drones perform spraying tasks, although they play a significant role, however, their requirements for spraying accuracy are relatively low. Agricultural pest control drones only need to ensure that pesticides generally cover the farmland area, with the emphasis on large-area and high-efficiency operations. A small amount of spraying deviation has little impact in the vast farmland environment; the same is true for fire-fighting drones. Facing the raging fire, their primary goal is to quickly deliver the fire extinguishing agent near the fire point. In an emergency fire situation, a certain degree of spraying landing point error will not have a decisive impact on the fire extinguishing effect.

[0004] In sharp contrast, in the critical field of the power system, especially in the maintenance work scenario of substation insulators, the accuracy requirements for drone technology are extremely high. As the hub of power transmission, the insulators inside the substation are exposed to a complex and harsh environment for a long time, and are extremely prone to being contaminated with dirt and deteriorating. Regular cleaning and spraying of protective coatings are urgently needed to ensure the stability and safety of power transmission. The application scenario targeted by this technology is to use drones to complete this delicate task. When the drone performs insulator cleaning and spraying operations inside the substation, it needs to spray out cleaning agents or coatings, and at this time, a reaction force will be generated. This reaction force breaks the force balance maintained by the drone during hovering based on data collected by gyroscopes and other sensors, making it difficult to stably control the attitude of the drone.

[0005] Unlike agricultural plant protection and firefighting drones, in the limited and complex space environment of substations, the cleaning and spraying points of insulators must be accurately released. A slight deviation may lead to incomplete cleaning of the insulator surface or uneven spraying of the paint, which will not effectively protect the insulator, reduce its insulation performance, and increase the risk of power failure; on the other hand, the unstable operation of the drone may also cause it to collide with other precision equipment in the substation, triggering a chain reaction and seriously endangering the normal operation of the entire power system. Therefore, how to overcome the influence of reaction force and achieve accurate and stable operation of drones when performing such tasks has become a key issue that needs to be solved urgently. Summary of the invention

[0006] The purpose of the present invention is to provide a drone and a control system for cleaning and spraying PRTV on insulators in substations, which can ensure the cleaning effect of the insulator surface and the paint spraying effect, and can ensure the stability during operation.

[0007] To achieve the above purpose, the technical solution of the present invention is: a UAV control system for substation insulator cleaning and PRTV spraying, comprising:

[0008] The image module is used to collect real-time image information near the operation point, then identify the real-time image information to determine the actual operation point, and analyze the difference between the actual operation point in the real-time image information and the target operation point input by the user according to the preset rules to generate an offset adjustment instruction;

[0009] The injection module comprises a pressure tank, a liquid pipeline and a solenoid valve, wherein the liquid pipeline is connected to the pressure tank, the solenoid valve is installed on the liquid pipeline, and a vector nozzle module is provided at the outlet of the liquid pipeline;

[0010] The posture prediction module is used to receive the spray start instruction input by the user, and control the solenoid valve to open after receiving the spray start instruction, and generate a first posture adjustment instruction according to the preset initial state of the vector nozzle module and the spray medium;

[0011] A flight control module, configured to generate a first flight control instruction according to the first attitude adjustment instruction;

[0012] The attitude detection module is used to collect the attitude V1 of the drone before the first flight control instruction and the attitude V2 after the first flight control instruction, and compare V1 and V2 and then feed back to the flight control module. The flight control module is also used to generate a second flight control instruction that adjusts V2 to V1;

[0013] The flight control module is also used to generate a third flight control instruction according to the angle change of the vector nozzle module.

[0014] The principle and beneficial effects of the basic solution are as follows: The collected image information will be processed by an image recognition algorithm. Through feature extraction and pattern matching of target objects such as insulators, this algorithm identifies the actual operation points in a complex substation environment. This is based on deep learning training of the shape, texture, color and other features of insulators, enabling the system to accurately distinguish insulators from the surrounding environment.

[0015] The system pre-stores the information of the target operation points input by the user. By comparing the actual operation points and the target operation points in the same coordinate system and according to the preset coordinate calculation rules, the difference between the two is calculated. This difference includes position offset information (such as offsets in the horizontal and vertical directions) and angle deviation information, and then an offset adjustment instruction is generated based on this difference. This offset adjustment instruction is designed to guide the drone to adjust its own position and attitude so that it can accurately align with the target operation point, ensuring the accuracy of subsequent cleaning and spraying operations.

[0016] The pressure tank is a container for storing cleaning liquid or PRTV coating. It is connected to the vector nozzle module through a liquid pipeline. The liquid in the pressure tank can flow through the liquid pipeline to the vector nozzle module under the action of pressure. The pressure inside the pressure tank can be adjusted according to different spraying requirements, and its pressure monitoring device can monitor and feedback the pressure information in real time to ensure the stability of the spraying process.

[0017] The liquid pipeline plays a role in transporting the liquid. Its material and structural design ensure the normal transportation of the liquid under different flight states. At the same time, its connection reliability and tightness prevent liquid leakage.

[0018] The solenoid valve is a key component for controlling liquid spraying. It receives signals from the attitude prediction module. When receiving the opening signal, the solenoid valve opens, allowing the liquid to flow from the pressure tank into the vector nozzle module.

[0019] The vector nozzle module, as the final spraying execution component, has a unique design that allows angle adjustment in multiple dimensions. Through a mechanical structure driven by a motor, it can achieve multi-angle adjustment of the nozzle in the up-down and left-right directions to meet the cleaning and spraying requirements for different parts of the insulator.

[0020] After receiving the opening spraying instruction, the attitude prediction module will calculate using the principles of fluid mechanics and dynamics based on the pre-stored initial state of the vector nozzle module (such as initial angle, spraying mode, etc.) and the physical properties of the spraying medium to be used (including density, viscosity, spraying speed, etc.).

[0021] Considering that a reaction force will be generated during spraying, according to Newton's third law, this reaction force will affect the attitude of the drone. The attitude prediction module will calculate the attitude changes that may be caused by this reaction force based on information such as the mass, shape, center of gravity position, and current attitude of the drone, and then generate a first attitude adjustment instruction. This instruction contains the pre-adjustment amounts for the pitch, roll, and yaw attitudes of the drone to ensure that the drone can make attitude adjustments in advance at the beginning of the spraying action to offset the instantaneous attitude changes caused by spraying.

[0022] As the core control unit of the system, the flight control module receives the first attitude adjustment instruction from the attitude prediction module and converts it into a first flight control instruction. This conversion is based on the flight dynamics and control algorithms of the drone, mapping the attitude adjustment amounts to control signals for each execution component of the drone (such as rotor motors, servos, etc.). For example, for the adjustment of the pitch angle, the flight control module will calculate the rotational speed adjustment amounts of each rotor motor according to the attitude adjustment amount, and by increasing or decreasing the rotational speed of the corresponding motor, generate the corresponding torque to make the drone reach the desired pitch attitude.

[0023] At the same time, the attitude detection module will collect the attitudes V1 and V2 of the drone before and after the execution of the first flight control instruction. The flight control module receives these two attitude information and compares the differences between them. If it is found that there is a deviation between V1 and V2, it means that there is an attitude deviation during the execution of the first flight control instruction. The flight control module generates a second flight control instruction based on this deviation, aiming to adjust the attitude of the drone from V2 back to V1 to ensure the attitude stability of the drone.

[0024] The attitude detection module relies on high-precision sensors (such as gyroscopes, accelerometers, and magnetometers) to collect the attitude information of the drone in real time. These sensors are distributed at key positions of the drone, measuring the attitude information of the drone from different dimensions, including pitch, roll, yaw angles, as well as angular velocity and acceleration, etc.

[0025] The sensors continuously update the data at a certain sampling frequency to form a continuous attitude data stream. The collected attitude information will go through filtering and data processing to remove noise and interference, ensuring the accuracy and reliability of the data, and finally transmitting the accurate information of V1 and V2 to the flight control module, providing a data basis for the attitude adjustment decision of the flight control module.

[0026] By using the precise image recognition and position offset calculation of the image module, the operation point can be accurately located, enabling the drone to accurately perform cleaning and PRTV spraying operations on substation insulators, avoiding the position deviations that may occur in traditional manual operations or simple drone operations, and greatly improving the accuracy of the operation.

[0027] The system can quickly complete the positioning and attitude adjustment of the operation points, reducing the adjustment time and operation steps, thus significantly improving the operation efficiency. Especially when dealing with multiple insulators or large-area insulators, it can efficiently complete the cleaning and spraying tasks and reduce the operation cycle.

[0028] By predicting and adjusting the UAV attitude in advance through the attitude prediction module and the continuous attitude control of the flight control module, the stability of the UAV during the spraying process is ensured, the operation difficulty of the pilot is reduced, and the risk of colliding with substation facilities caused by attitude out-of-control is reduced.

[0029] The vector nozzle module in the spraying module can achieve multi-angle and multi-mode spraying, and can flexibly adapt to insulators of different shapes, heights and positions, ensuring that all parts of the insulators can be fully cleaned and evenly sprayed.

[0030] The spraying pressure, flow rate and mode can be conveniently adjusted according to different operation requirements, improving the adaptability of the system to different operation scenarios and ensuring the cleaning and spraying quality at the same time.

[0031] In an embodiment of the present invention, the image module can also generate a fourth flight control instruction according to the offset of the operation point; the image module collects the real-time image information near the operation point, identifies the real-time image information to determine the actual operation point, compares it with the target operation point input by the user, calculates the difference between the two, and this difference represents the offset amount of the operation point and is sent to the flight control module and the vector nozzle module. The flight control module generates a fourth flight control instruction according to the offset amount; the vector nozzle module fine-tunes the angle and direction of the nozzle according to the offset amount.

[0032] In an embodiment of the present invention, after receiving the first attitude adjustment instruction from the attitude prediction module, the flight control module converts the first attitude adjustment instruction into an operable first flight control instruction. The first attitude adjustment instruction includes attitude parameters P 1 =(a 1 , b 1 , c 1 , d 1 ), where a 1 represents the pitch angle adjustment amount of the quadcopter UAV around the x-axis, b 1 represents the roll angle adjustment amount around the y-axis, c 1 represents the yaw angle adjustment amount around the z-axis, d 1 represents the height adjustment amount. Through the conversion function F 1 , the attitude parameters are converted into the first flight control instruction C 1 =F 1 (P 1 ), where C 1 =(m 1 , n 1 , p1 , q 1 ), m 1 is the adjustment amount of the front rotor motor speed, n 1 is the adjustment amount of the right rotor motor speed, p 1 is the adjustment amount of the rear rotor motor speed, q 1 is the adjustment amount of the left rotor motor speed.

[0033] In an embodiment of the present invention, when the attitude detection module feeds back the attitude V of the drone before the first flight control command 1 =(a v1 , b v1 , c v1 , d v1 ) and the attitude V after the first flight control command 2 =(a v2 , b v2 , c v2 , d v2 ) to the flight control module, the flight control module calculates the attitude deviation amount ΔV = V 2 - V 1 =(a v2 - a v1 , b v2 - b v1 , c v2 - c v1 , d v2 - d v1 ); if the deviation amount for each attitude dimension satisfies |ΔV i | > ∈, where i = a, b, c, d, and ∈ is a preset attitude deviation threshold, then the flight control module generates a second flight control command C 2 = F 2 (ΔV) to adjust the attitude V 2 to V 1 , where F 2 is a function for calculating the adjustment command according to the attitude deviation amount, and C 2 =(m 2 , n 2 , p 2 , q 2 ) to correct the deviation by correspondingly adjusting the speeds of each rotor motor; where a v1 , b v1 , c v1 , d v1 respectively represent the pitch angle adjustment amount of the quadcopter drone around the x-axis, the roll angle adjustment amount around the y-axis, the yaw angle adjustment amount around the z-axis, and the height adjustment amount when the attitude V 1 before the first flight control command; similarly, a v2 , b v2 , c v2 , dv2 Indicates the attitude V after the first flight control command 2 and the corresponding parameter; m 2 , n 2 , p 2 , q 2 respectively represent the adjustment amounts of the front rotor motor speed, the right rotor motor speed, the rear rotor motor speed, and the left rotor motor speed of the second flight control command C 2 .

[0034] In an embodiment of the present invention, when the flight control module generates a third flight control command according to the angle change of the vector nozzle module, let the angle change amount of the vector nozzle module be Δθ = (Δθ x , Δθ y , Δθ z ), Δθ x , Δθ y , Δθ z are respectively the angle change amounts of the vector nozzle module on the x, y, and z axes. The flight control module generates the third flight control command C 3 = F 3 (Δθ), where C 3 =(m 3 , n 3 , p 3 , q 3 ), m 3 , n 3 , p 3 , q 3 are respectively the adjustment amounts of the front rotor motor speed, the right rotor motor speed, the rear rotor motor speed, and the left rotor motor speed under the third flight control command C 3 . By adjusting the flight parameters of the quadcopter drone, that is, the rotor motor speed, to adapt to the angle change of the vector nozzle module. 3

[0035] In an embodiment of the present invention, during the whole process, the flight control module also receives the fourth flight control command C 4 =(m 4 , n 4 , p 4 , q 4 ) from the image module, and m 4 , n 4 , p 4 , q 4 respectively represent the fourth flight control command C 4 ​The adjustment amounts of the front rotor motor speed, the right rotor motor speed, the rear rotor motor speed, and the left rotor motor speed are obtained, and they are superimposed on the existing flight control commands to achieve the comprehensive control of the quadrotor UAV. Let the current flight control command be C = (m, n, p, q), where m, n, p, and q are the adjustment amounts of the front rotor motor speed, the right rotor motor speed, the rear rotor motor speed, and the left rotor motor speed under the current flight control command C, respectively. Then the final updated flight control command is C = C 1 + C 2 + C 3 + C 4 , to ensure the flight attitude of the quadrotor UAV and the coordinated operation of the vector nozzle module, and to achieve the precise cleaning and PRTV spraying operation of the substation insulators.

[0036] In an embodiment of the present invention, the F 1 is a complex conversion function, and its purpose is to convert the attitude adjustment parameters into specific rotor motor speed adjustment amounts; for the pitch angle adjustment amount a 1 , according to the dynamic characteristics and aerodynamic principles of the quadrotor UAV, it is mapped to the corresponding motor speed adjustment.

[0037] When a 1 is positive (indicating that the UAV needs to lift its head), F 1 will increase the speed m 1 of the front rotor motor and decrease the speed p 1 of the rear rotor motor to generate a lifting moment about the x-axis. At the same time, according to the structure and physical parameters of the quadrotor UAV, through the pre-determined proportionality coefficients k 1 and k 2 , the adjustment amount of m 1 can be expressed as m 1 = k 1 × a 1 , and the adjustment amount of p 1 can be expressed as p 1 = -k 2 × a 1 , and the values of k 1 and k 2 depend on the specific model and physical characteristics of the quadrotor UAV, including rotor size, weight distribution factors. For the roll angle adjustment amount b 1 , the same principle is followed, and the adjustment amounts of n 1 and q 1 will be calculated according to another proportionality coefficient k 3 and k 4 , for example, n 1 = k 3 × b 1(Increase the rotational speed of the right rotor motor when tilting to the right), q 1 =-k 4 ×b 1 (Decrease the rotational speed of the left rotor motor when tilting to the right). For the yaw angle adjustment amount c 1 , through another proportionality coefficient k 5 and k 6 adjust the corresponding motor rotational speeds to generate a rotational torque about the axis. For the altitude adjustment amount, the rotational speeds of the four motors are adjusted simultaneously through a unified proportionality coefficient, such that m 1 =n 1 =p 1 =q 1 =k 7 ×d 1 , to achieve the ascent or descent of the UAV.

[0038] In an embodiment of the present invention, the function of the F 2 function is to adjust the motor rotational speeds according to the attitude deviation amount to correct the attitude deviation. For the deviation in each dimension, it first determines the adjustment direction and the approximate range of the adjustment amount according to the sign and magnitude of the deviation.

[0039] For example, for the pitch angle deviation a v2 -a v1 , if the deviation is positive (i.e., the current attitude is tilting up too much compared to the target attitude), F 2 will calculate a negative adjustment amount, and through the corresponding proportionality coefficients k 8 and k 9 adjust the rotational speeds of the front and rear rotor motors, such that m 2 =-k 8 ×(a v2 -a v1 ), p 2 =k 9 ×(a v2 -a v1 ), to adjust the UAV attitude back to the target attitude. For the roll and yaw angle deviations, a similar method is adopted, and the corresponding motor rotational speeds are adjusted according to the deviation amount and the corresponding proportionality coefficients k 10 、k 11 . For the altitude deviation d v2 -d v1 , the proportionality coefficient k 12 is used to adjust the rotational speeds of the four motors simultaneously to achieve precise altitude adjustment.

[0040] In an embodiment of the present invention, the F 3 function takes into account the influence of the angle change of the vector nozzle module on the flight attitude of the UAV.

[0041] When the vector nozzle has an angle change Δθ in the x-axis directionx When, in order to counteract the torque generated by the reaction force of the nozzle, F 3 will adjust the rotational speed of the corresponding rotor motors according to the proportionality coefficients k 13 and k 14 For example, m 3 =-k 13 ×Δθ x and p 3 =k 14 ×Δθ x . For the angular changes Δθ y and Δθ z in the y-axis and z-axis directions, the rotational speed of the motors is also adjusted according to the corresponding proportionality coefficients k 15 , k 16 to ensure that the UAV can still maintain a stable flight attitude when the nozzle angle changes. These proportionality coefficients are determined according to the physical characteristics and flight mechanics principles of the quadrotor UAV. Different UAVs may have different proportionality coefficients to achieve the optimal attitude adjustment effect.

[0042] The present invention also provides a UAV for cleaning and spraying PRTV on substation insulators, adopting the control system as described in any one of the above.

[0043] Compared with the prior art, the present invention has the following beneficial effects: The present invention realizes the ability to ensure the cleaning and coating spraying effects on the surface of the insulator and can ensure the stability during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a logic block diagram of the UAV control system for cleaning and spraying PRTV on substation insulators according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] The technical solutions of the present invention will be specifically described below with reference to the drawings.

[0046] The present invention provides a UAV control system for cleaning and spraying PRTV on substation insulators (as Figure 1 shown), including:

[0047] An image module, which is used to collect real-time image information near the operation point, then identify the actual operation point from the real-time image information, and analyze the difference between the actual operation point in the real-time image information and the target operation point input by the user according to the preset rules, and generate an offset adjustment instruction;

[0048] A spraying module, including a pressure tank, a liquid pipeline and a solenoid valve. The liquid pipeline is connected to the pressure tank. The solenoid valve is installed on the liquid pipeline. A vector nozzle module is provided at the outlet of the liquid pipeline;

[0049] An attitude prediction module, configured to receive an enabling injection command input by a user, control the opening of a solenoid valve after receiving the enabling injection command, and generate a first attitude adjustment command according to a preset initial state of a vector nozzle module and an injection medium;

[0050] A flight control module, configured to generate a first flight control command according to the first attitude adjustment command;

[0051] An attitude detection module, configured to collect the attitude V1 of the unmanned aerial vehicle before the first flight control command and the attitude V2 after the first flight control command, compare V1 and V2 and feedback the result to the flight control module, and the flight control module is further configured to generate a second flight control command for adjusting V2 to V1;

[0052] The flight control module is further configured to generate a third flight control command according to the angle change of the vector nozzle module.

[0053] The image module is further capable of generating a fourth flight control command according to the offset of the operation point; the image module collects real-time image information near the operation point, identifies this information to determine the actual operation point, compares it with the target operation point input by the user, calculates the difference between the two, and this difference represents the offset of the operation point and is sent to the flight control module and the vector nozzle module. The flight control module generates a fourth flight control command according to the offset; the vector nozzle module finely adjusts the angle and direction of the nozzle according to the offset.

[0054] During specific use: During specific use: The image module is equipped with a high-resolution camera, which is installed on the unmanned aerial vehicle, and its position and angle are carefully designed to ensure that it can clearly collect real-time image information near the operation point. The camera can automatically adjust parameters such as the aperture and shutter speed according to different lighting conditions to ensure the quality of the image.

[0055] Before the unmanned aerial vehicle takes off, the focal length, viewing angle, etc. of the camera can be remotely adjusted through a ground control station so that it can cover the expected operation range.

[0056] Preprocess the image, including operations such as denoising and enhancing contrast, to improve the clarity and recognition of the image. Then, identify target objects such as insulators through an image recognition algorithm, and further determine the actual operation point. This image recognition algorithm can be based on deep learning technology. Through training with a large amount of insulator image data, the system can accurately identify insulators under different shapes, sizes, and environmental conditions.

[0057] According to preset rules, compare the identified actual operation points with the target operation points input by the user. These preset rules can include coordinate comparison, contour matching, etc., and calculate the difference between the two. Based on the calculated difference, generate an offset adjustment instruction. For example, if the abscissa of the actual operation point differs from the abscissa of the target operation point by x pixels and the ordinate differs by y pixels, then according to a specific mapping relationship, convert this offset into an offset adjustment instruction, which contains information such as the movement amount and rotation angle of the drone in the horizontal and vertical directions.

[0058] The pressure tank is made of high-strength and corrosion-resistant materials and can accommodate different types of cleaning fluids or PRTV coatings inside. A pressure monitoring device is installed on the pressure tank to monitor the pressure inside the tank in real time and feed back the pressure information to the ground control station. The liquid pipeline is made of flexible and high-pressure-resistant materials to ensure stable liquid transportation under different flight postures. It is connected to the pressure tank through a reliable sealed joint to prevent liquid leakage. A flow regulating device is installed in the pipeline to adjust the flow rate of the liquid as needed. This flow regulating device can be remotely controlled through the ground control station, and the operator can adjust the flow rate according to the actual situation to achieve the best cleaning or spraying effect.

[0059] The solenoid valve is installed on the liquid pipeline. It receives the control signal from the attitude prediction module and can quickly open or close after receiving the opening signal to achieve precise control of liquid spraying. The response time of the solenoid valve is extremely short, ensuring the timeliness and accuracy of liquid spraying.

[0060] The vector nozzle module is located at the outlet of the liquid pipeline. It has multiple independently controllable nozzles and can achieve multi-angle and multi-mode spraying. The angle of the nozzles can be adjusted through a motor-driven mechanical structure, and the adjustment range meets the cleaning and spraying requirements for different parts of the insulator. For example, the up and down adjustment range can reach, the left and right adjustment range can reach, and it can switch between different spraying modes (such as fan-shaped, columnar, etc.).

[0061] The initial state (including nozzle angle, spraying mode, etc.) of the vector nozzle module can be set through the ground control station and stored in the preset parameters of the system to provide a basis for the attitude prediction module.

[0062] The attitude prediction module continuously listens for the start spraying instruction input by the user, and the user can send this instruction through the ground control station. Once the start spraying instruction is received, the attitude prediction module will calculate the impact of the reaction force and torque generated by spraying on the drone's attitude based on the preset initial state of the vector nozzle module and the characteristics of the spraying medium (such as density, viscosity, etc.), as well as the physical parameters of the drone (such as mass, moment of inertia, etc.) stored in the system.

[0063] Based on the above calculation results, a first attitude adjustment instruction is generated. This instruction includes the adjustment amounts for the pitch, roll, and yaw angles of the drone to offset in advance the attitude changes that may occur during spraying. For example, if a reaction torque of a certain magnitude is predicted based on the spraying medium and spraying speed, the attitude prediction module will generate corresponding attitude adjustment amounts to enable the drone to appropriately adjust its attitude before spraying and maintain stability.

[0064] After receiving the first attitude adjustment instruction transmitted by the attitude prediction module, the flight control module converts it into a first flight control instruction according to the built-in control algorithm.

[0065] This control algorithm takes into account the dynamic characteristics of the drone and calculates the required rotational speed adjustment amounts for each rotor motor or the angle adjustment amounts for the servos according to different attitude adjustment amounts. For example, for the adjustment of the pitch angle, the flight control module calculates the differential adjustment amount of the rotational speeds of the front and rear rotor motors based on factors such as the center of gravity position and rotor layout of the drone to achieve the adjustment of the pitch attitude of the drone.

[0066] When the angle of the vector nozzle module changes, the flight control module will generate a third flight control instruction based on the angle change information feedback by the vector nozzle module, combined with the current attitude and flight state of the drone.

[0067] For example, when the vector nozzle rotates to the left by a certain angle, the flight control module will adjust the rotational speed of the right rotor motor to generate a corresponding torque to offset the influence caused by the nozzle angle change and maintain the stable flight of the drone.

[0068] The attitude detection module uses sensors such as high-precision gyroscopes, accelerometers, and magnetometers. These sensors are installed at key positions of the drone to ensure accurate measurement of the drone's attitude.

[0069] The attitude detection module continuously collects the attitude data of the drone, collects the attitude information at a certain sampling frequency (such as 100Hz), and forms an attitude data stream, including the attitude angles (pitch, roll, yaw), angular velocity, and acceleration of the drone, etc.

[0070] Specifically, after receiving the first attitude adjustment instruction from the attitude prediction module, the flight control module converts the instruction into an operable first flight control instruction, and the first attitude adjustment instruction includes attitude parameter P 1 =(a 1 , b 1 , c 1 , d 1 ), where a 1 represents the pitch angle adjustment amount of the quadrotor drone around the x-axis, b 1 represents the roll angle adjustment amount around the y-axis, c 1Indicates the yaw angle adjustment amount around the z-axis, d 1 Indicates the altitude adjustment amount, which is converted into the first flight control command C through a specific conversion function F1 1 = F 1 (P 1 ), where C 1 = (m 1 , n 1 , p 1 , q 1 ), m1 is the front rotor motor speed adjustment amount, n1 is the right rotor motor speed adjustment amount, p1 is the rear rotor motor speed adjustment amount, and q1 is the left rotor motor speed adjustment amount.

[0071] When the attitude detection module feeds back the attitude V of the UAV before the first flight control command 1 = (a v1 , b v1 , c v1 , d v1 ) and the attitude V after the first flight control command 2 = (a v2 , b v2 , c v2 , d v2 ) to the flight control module, the flight control module calculates the attitude deviation amount ΔV = V 2 - V 1 = (a v2 - a v1 , b v2 - b v1 , c v2 - c v1 , d v2 - d v1 ). If the deviation amount for each attitude dimension satisfies |ΔV i | > ∈ (where i = a, b, c, d, and ∈ is a preset attitude deviation threshold), then the flight control module generates a second flight control command C 2 = F 2 (ΔV) to adjust the attitude V 2 to V 1 , where V 2 is a function for calculating the adjustment command based on the attitude deviation amount, and C 2 = (m 2 , n 2 , p 2 , q 2 ), and corrects the deviation by correspondingly adjusting the rotational speeds of each rotor motor. Among them, a v1 , b v1 , c v1 , d v1 respectively represent the attitude V before the first flight control command 1When, the pitch angle adjustment amount of the quadcopter UAV around the x-axis, the roll angle adjustment amount around the y-axis, the yaw angle adjustment amount around the z-axis, and the altitude adjustment amount; similarly, a v2 , b v2 , c v2 , d v2 represent the corresponding parameters of the attitude V 2 after the first flight control command; m 2 , n 2 , p 2 , q 2 respectively represent the front rotor motor speed adjustment amount, the right rotor motor speed adjustment amount, the rear rotor motor speed adjustment amount, and the left rotor motor speed adjustment amount of the second flight control command C 2 .

[0072] When in use, when the flight control module generates the third flight control command according to the angle change of the vector nozzle module, let the angle change amount of the vector nozzle module be Δθ = (Δθ x , Δθ y , Δθ z ), the flight control module generates the third flight control command C 3 = F 3 (Δθ) according to the function F 3 , where C 3 = (m 3 , n 3 , p 3 , q 3 ). By adjusting the flight parameters of the quadcopter UAV, that is, the rotor motor speed, to adapt to the angle change of the vector nozzle module. m 3 , n 3 , p 3 , q 3 respectively represent the front rotor motor speed adjustment amount, the right rotor motor speed adjustment amount, the rear rotor motor speed adjustment amount, and the left rotor motor speed adjustment amount under the third flight control command C 3 . By adjusting the flight parameters of the quadcopter UAV, that is, the rotor motor speed, to adapt to the angle change of the vector nozzle module.

[0073] During the whole process, the flight control module also receives the fourth flight control command C 4 = (m 4 , n 4 , p 4 , q 4 ) from the image module, and superimposes it with the existing flight control commands to achieve the comprehensive control of the quadcopter UAV. Let the current flight control command be C = (m, n, p, q), then the final flight control command is updated to C = C 1 + C 2 + C 3 + C 4, m, n, p, q are the adjustment amounts of the front rotor motor speed, right rotor motor speed, rear rotor motor speed, and left rotor motor speed respectively under the current flight control command C. Then the final flight control command is updated to C = C 1 + C 2 + C 3 + C 4 , to ensure the flight attitude of the quadrotor UAV and the coordinated operation of the vector nozzle module, and to achieve precise cleaning and PRTV spraying operations on the substation insulators.

[0074] F 1 is a complex conversion function, whose purpose is to convert the attitude adjustment parameters into specific rotor motor speed adjustment amounts; for the pitch angle adjustment amount a 1 , it maps it to the corresponding motor speed adjustment according to the dynamic characteristics and aerodynamic principles of the quadrotor UAV.

[0075] When a 1 is positive (indicating that the UAV needs to pitch up), F 1 will increase the speed m of the front rotor motor 1 and decrease the speed p of the rear rotor motor 1 , to generate a pitching moment about the x-axis. At the same time, according to the structure and physical parameters of the quadrotor UAV, through the pre-determined proportionality coefficients k 1 and k 2 , the adjustment amount of m 1 can be expressed as m 1 = k 1 × a 1 , the adjustment amount of p 1 can be expressed as p 1 = -k 2 × a 1 , and the values of k 1 and k 2 depend on the specific model and physical characteristics of the quadrotor UAV, including factors such as rotor size and weight distribution. For the roll angle adjustment amount b 1 , the same principle is followed, and the adjustment amounts of n 1 and q 1 will be calculated according to another proportionality coefficient k 3 and k 4 , for example, n 1 = k 3 × b 1 (increase the speed of the right rotor motor when tilting to the right), q 1 = -k 4 × b 1 (decrease the speed of the left rotor motor when tilting to the right). For the yaw angle adjustment amount c 1 , through another proportionality coefficient k5 and k 6 Adjust the corresponding motor speed to generate a rotational torque about the axis. For the height adjustment amount, the speeds of the four motors are adjusted simultaneously by a unified proportionality coefficient, such that m 1 = n 1 = p 1 = q 1 = k 7 × d 1 , to achieve the ascent or descent of the drone.

[0076] When the attitude detection module feeds back the attitude V of the drone before the first flight control command 1 = (a v1 , b v1 , c v1 , d v1 ) and the attitude V after the first flight control command 2 = (a v2 , b v2 , c v2 , d v2 ) to the flight control module, the flight control module calculates the attitude deviation amount ΔV = V 2 - V 1 = (a v2 - a v1 , b v2 - b v1 , c v2 - c v1 , d v2 - d v1 ). If the deviation amount for each attitude dimension satisfies |ΔV i | > ∈ (where i = a, b, c, d, and ∈ is a preset attitude deviation threshold), then the flight control module generates a second flight control command C 2 = F 2 (ΔV), to adjust the attitude V 2 to V 1 , where F 2 is a function for calculating the adjustment command based on the attitude deviation amount, and C 2 = (m 2 , n 2 , p 2 , q 2 ), to correct the deviation by adjusting the speeds of the respective rotor motors.

[0077] The function of F 2 is to adjust the motor speed according to the attitude deviation amount to correct the attitude deviation. For the deviation in each dimension, it first determines the adjustment direction and the approximate range of the adjustment amount based on the sign and magnitude of the deviation.

[0078] For example, for the pitch angle deviation av2 -a v1 , if the deviation is positive (i.e. the current posture is raised too much compared to the target posture), F 2 A negative adjustment will be calculated, through the corresponding proportional coefficient k 8 and k 9 To adjust the front and rear rotor motor speeds, so that m 2 =-k 8 ×(a v2 -a v1 ), p 2 =k 9 ×(a v2 -a v1 ) to adjust the drone's attitude back to the target attitude. A similar method is used for roll and yaw angle deviations, based on the deviation amount and the corresponding proportional coefficient k 10 , k 11 etc. to adjust the corresponding motor speed. For the height deviation d v2 -d v1 , using the scaling factor k 12 The speed of the four motors is adjusted simultaneously to achieve precise adjustment of the height.

[0079] When the flight control module generates the third flight control instruction according to the angle change of the vector nozzle module, the angle change of the vector nozzle module is Δθ=(Δθ x , Δθ y , Δθ z ), the flight control module according to the function F 3 Generate the third flight control instruction C 3 =F 3 (Δθ), where C 3 =(m 3 , n 3 , p 3 ,q 3 ), by adjusting the flight parameters of the quadrotor drone (mainly the rotor motor speed) to adapt to the angle changes of the vector nozzle module.

[0080] The F 3 The function takes into account the impact of the angle change of the vector nozzle module on the flight attitude of the drone.

[0081] When the vector nozzle has an angle change Δθ in the x-axis direction x In order to offset the torque generated by the nozzle reaction force, F 3 According to the proportionality factor k 13 and k 14 Adjust the corresponding rotor motor speed, for example m 3 =-k 13 ×Δθ x and p 3 =k14 ×Δθ x For the angular changes Δθ in the y-axis and z-axis directions y and Δθ z , similarly adjust the motor speed according to the corresponding proportionality coefficients k 15 、k 16 etc. to ensure that the drone can still maintain a stable flight attitude when the nozzle angle changes. These proportionality coefficients are determined according to the physical characteristics and flight mechanics principles of the quadcopter drone. Different drones may have different proportionality coefficients to achieve the optimal attitude adjustment effect.

[0082] The above are only embodiments of the present invention. The present invention is not limited to the fields involved in these embodiments. Common knowledge such as the specific structures and characteristics known in the art is not described in detail herein. Those of ordinary skill in the art know all the common technical knowledge in the technical field to which the invention pertains before the filing date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date. Those of ordinary skill in the art can, under the inspiration given in this application, combine their own abilities to improve and implement this solution. Some typical well-known structures or well-known methods should not become an obstacle for those of ordinary skill in the art to implement this application. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can still be made, and these should also be regarded as the protection scope of the present invention, which will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application should be subject to the content of its claims, and the specific implementation manners and the like described in the specification can be used to interpret the content of the claims.

Claims

1. A UAV control system for substation insulator cleaning and PRTV spraying, characterized in that: include: The image module is used to collect real-time image information near the operation point, then identify the real-time image information to determine the actual operation point, and analyze the difference between the actual operation point in the real-time image information and the target operation point input by the user according to the preset rules to generate an offset adjustment instruction; The injection module comprises a pressure tank, a liquid pipeline and a solenoid valve, wherein the liquid pipeline is connected to the pressure tank, the solenoid valve is installed on the liquid pipeline, and a vector nozzle module is provided at the outlet of the liquid pipeline; The posture prediction module is used to receive the spray start instruction input by the user, and control the solenoid valve to open after receiving the spray start instruction, and generate a first posture adjustment instruction according to the preset initial state of the vector nozzle module and the spray medium; A flight control module, configured to generate a first flight control instruction according to the first attitude adjustment instruction; The attitude detection module is used to collect the attitude V1 of the drone before the first flight control instruction and the attitude V2 after the first flight control instruction, and compare V1 and V2 and then feed back to the flight control module. The flight control module is also used to generate a second flight control instruction that adjusts V2 to V1; The flight control module is also used to generate a third flight control instruction according to the angle change of the vector nozzle module.

2. The UAV control system for substation insulator cleaning and PRTV spraying according to claim 1 is characterized in that: The image module can also generate a fourth flight control instruction according to the offset of the operating point; the image module collects real-time image information near the operating point, identifies the real-time image information to determine the actual operating point, and compares it with the target operating point input by the user, calculates the difference between the two, and the difference represents the offset of the operating point and is sent to the flight control module and the vector nozzle module, and the flight control module generates a fourth flight control instruction according to the offset; The vector nozzle module fine-tunes the angle and direction of the nozzle based on the offset.

3. The UAV control system for substation insulator cleaning and PRTV spraying according to claim 1 is characterized in that: After receiving the first attitude adjustment instruction from the attitude prediction module, the flight control module converts the first attitude adjustment instruction into an operable first flight control instruction, wherein the first attitude adjustment instruction includes attitude parameters P1=(a1, b1, c1, d1), wherein a1 represents the pitch angle adjustment amount of the quadrotor drone around the x-axis, b1 represents the roll angle adjustment amount around the y-axis, c1 represents the yaw angle adjustment amount around the z-axis, and d1 represents the height adjustment amount. The attitude parameters are converted into the first flight control instruction C1=F1(P1) through a conversion function F1, wherein C1=(m1, n1, p1, q1), m1 is the speed adjustment amount of the front rotor motor, n1 is the speed adjustment amount of the right rotor motor, p1 is the speed adjustment amount of the rear rotor motor, and q1 is the speed adjustment amount of the left rotor motor.

4. The UAV control system for substation insulator cleaning and PRTV spraying according to claim 3 is characterized in that: When the attitude detection module sets the attitude of the drone before the first flight control command V1 = (a v1 , b v1 , c v1 , d v1 ) and the attitude after the first flight control instruction V2=(a v2 , b v2 , c v2 , d v2 ) is fed back to the flight control module, the flight control module calculates the attitude deviation ΔV=V2-V1=(a v2 -a v1 , b v2 -b v1 , c v2 -c v1 , d v2 -d v1 ); If the deviation for each posture dimension satisfies |ΔV i |>∈, where i=a, b, c, d, ∈ is the preset attitude deviation threshold, then the flight control module generates a second flight control instruction C2=F2(ΔV) according to the deviation to adjust the attitude V2 to V1, where F2 is a function for calculating the adjustment instruction according to the attitude deviation, and C2=(m2, n2, p2, q2), and the deviation is corrected by adjusting the speed of each rotor motor accordingly; where a v1 , b v1 , c v1 , d v1 They respectively represent the pitch angle adjustment around the x-axis, the roll angle adjustment around the y-axis, the yaw angle adjustment around the z-axis, and the height adjustment of the quadrotor drone at the posture V1 before the first flight control command; similarly, a v2 ,b v2 ,c v2 ,d v2 Represents the corresponding parameters of the attitude V2 after the first flight control instruction; m2, n2, p2, q2 respectively represent the front rotor motor speed adjustment amount, right rotor motor speed adjustment amount, rear rotor motor speed adjustment amount, and left rotor motor speed adjustment amount of the second flight control instruction C2.

5. The UAV control system for substation insulator cleaning and PRTV spraying according to claim 4 is characterized in that: When the flight control module generates the third flight control instruction according to the angle change of the vector nozzle module, the angle change of the vector nozzle module is Δθ=(Δθ x , Δθ y , Δθ z ), Δθ x , Δθ y , Δθ z They are the angle changes of the vector nozzle module of the x, y, and z axes respectively. The flight control module generates a third flight control instruction C3=F3(Δθ) according to the function F3, wherein C3=(m3, n3, p3, q3), m3, n3, p3, q3 respectively represent the front rotor motor speed adjustment amount, the right rotor motor speed adjustment amount, the rear rotor motor speed adjustment amount, and the left rotor motor speed adjustment amount under the third flight control instruction C3. The flight parameters of the quadrotor UAV, that is, the rotor motor speed, are adjusted to adapt to the angle change of the vector nozzle module.

6. The UAV control system for substation insulator cleaning and PRTV spraying according to claim 5 is characterized in that: During the whole process, the flight control module also receives the fourth flight control instruction C4=(m4,n4,p4,q4) from the image module, where m4,n4,p4,q4 respectively represent the front rotor motor speed adjustment amount, the right rotor motor speed adjustment amount, the rear rotor motor speed adjustment amount, and the left rotor motor speed adjustment amount under the fourth flight control instruction C4, and superimposes it with the existing flight control instruction to achieve comprehensive control of the quadrotor UAV. Suppose the current flight control instruction is C=(m,n,p,q), where m,n,p,q are respectively the front rotor motor speed adjustment amount, the right rotor motor speed adjustment amount, the rear rotor motor speed adjustment amount, and the left rotor motor speed adjustment amount under the current flight control instruction C. The final flight control instruction is updated to C=C1+C2+C3+C4 to ensure the coordinated operation of the flight attitude of the quadrotor UAV and the vector nozzle module, so as to achieve precise cleaning and spraying PRTV operations on substation insulators.

7. The UAV control system for substation insulator cleaning and PRTV spraying according to claim 3 is characterized in that: The F1 is a complex conversion function, the purpose of which is to convert the attitude adjustment parameters into specific rotor motor speed adjustment values; for the pitch angle adjustment value a1, it maps it to the corresponding motor speed adjustment based on the dynamic characteristics and aerodynamic principles of the quadrotor drone.

8. The UAV control system for substation insulator cleaning and PRTV spraying according to claim 4 is characterized in that: The function of the F2 function is to adjust the motor speed according to the posture deviation to correct the posture deviation. For the deviation in each dimension, it first determines the approximate range of the adjustment direction and the adjustment amount according to the positive and negative sign and size of the deviation.

9. The UAV control system for substation insulator cleaning and PRTV spraying according to claim 5 is characterized in that: The F3 function takes into account the impact of the angle change of the vector nozzle module on the flight attitude of the UAV.

10. A drone for substation insulator cleaning and PRTV spraying, characterized in that: A control system as described in any one of claims 1 to 9 is adopted.

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