Bird repeller positioning and mounting device and method based on unmanned aerial vehicle

Abstract

The invention discloses a bird repeller positioning and mounting device and method based on an unmanned aerial vehicle. The device comprises the unmanned aerial vehicle, an RTK positioning module, a visual guidance positioning module, a mechanical claw mechanism, a bird repeller, an infrared induction module and a control module. The method comprises the following steps: planning a flight path of an unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly near a target iron tower; identifying the position of an iron tower cross arm and adjusting the hovering attitude of the unmanned aerial vehicle; the distance between the bird repeller and the cross arm is detected, and after it is judged that the bird repeller enters the preset installation range, the mechanical claw mechanism is controlled to be opened and release the bird repeller; fixing the bird repeller at a target position of the iron tower by using a magnet adsorption piece at the bottom of the bird repeller; after installation is completed, the mechanical claw mechanism is separated from the bird repeller, and the unmanned aerial vehicle returns to the starting point. The operation risk of installing the bird repeller is effectively reduced, the operation efficiency is improved, and economic losses caused by power interruption are avoided. The innovative scheme is of great significance to guarantee the safe operation of the power line.

Description

Technical Field

[0001] This application relates to the field of power technology, and in particular to a positioning and installation device and method for a bird repeller based on an unmanned aerial vehicle (UAV). Background Art

[0002] With the continuous expansion of the power grid scale, the coverage rate of overhead transmission lines of 220 kV and above has been increasing year by year. However, the activities of birds in the complex outdoor environment pose a serious threat to the safe operation of transmission lines. According to statistics, the proportion of bird damage accidents on 220 kV lines is significantly higher than that of other voltage levels, mainly manifested as problems such as insulator flashover caused by bird droppings, material short-circuiting caused by bird nesting, and air gap discharge caused by bird activities. Such accidents not only cause frequent tripping but also increase the operation and maintenance costs, seriously affecting the power supply reliability.

[0003] Currently, the prevention and control of bird damage mainly rely on passive devices such as manually climbing towers to install bird repellers and anti-bird spines. However, the traditional operation method has the following technical bottlenecks: 1. High operation risk: Manually climbing towers requires climbing dozens of meters high iron towers in a complex operation environment, with potential safety hazards such as falling from heights and electric shock; 2. Low operation efficiency: Manual installation is time-consuming and laborious, especially in remote areas or complex terrains, where the inspection and installation efficiency is significantly reduced; 3. Poor economy: Traditional operations require applying for power outages to ensure personnel safety, resulting in power supply interruptions and economic losses. Summary of the Invention

[0004] To solve the deficiencies of the prior art, the purpose of this application is to provide a positioning and installation device and method for a bird repeller based on an unmanned aerial vehicle (UAV), which can reduce the operation risk of installing the bird repeller, improve the operation efficiency, and avoid economic losses caused by power interruptions.

[0005] To achieve the above purpose, this application adopts the following technical solutions: The present application provides a positioning and installation device for a bird repeller based on a drone. The positioning and installation device for the bird repeller includes: a drone, an RTK positioning module, a vision-guided positioning module, a mechanical claw mechanism, a bird repeller, an infrared sensing module, and a control module; the RTK positioning module is used to provide positioning information for the drone; the vision-guided positioning module includes a camera and an image processing unit, and the vision-guided positioning module is used to identify the position of the tower cross arm in real time and correct the hovering attitude of the drone; the mechanical claw mechanism is hung below the drone, the mechanical claw mechanism opens to grab the bird repeller, and the mechanical claw mechanism closes to release the bird repeller. A magnet attachment is provided at the bottom of the bird repeller, and the magnet attachment is used to adsorb on the tower cross arm by magnetic force to complete the installation and fixation of the bird repeller; the infrared sensing module is used to detect the distance between the bird repeller and the tower cross arm to determine whether the bird repeller enters a preset installation range; the control module is connected to a driving motor, the driving motor is connected to the mechanical claw mechanism, and the control module is used to control the opening and closing actions of the mechanical claw mechanism through the driving motor. The control module is connected to the infrared sensing module. After the infrared sensing module determines that the bird repeller enters the preset installation range, the control module controls the mechanical claw mechanism to open. The control module is connected to the RTK positioning module and the vision-guided positioning module, and the control module realizes the positioning of the drone and the target tower through the RTK positioning module and the vision-guided positioning module.

[0006] As a preferred technical solution, the positioning and installation device for the bird repeller further includes: a hanging rope and a counterweight. The upper end of the hanging rope is installed on the drone, the counterweight is installed at the lower end of the hanging rope, and the mechanical claw mechanism is installed in the middle of the hanging rope. The counterweight is used to straighten the hanging rope so that the hanging rope does not bend or swing when the mechanical claw mechanism opens and closes.

[0007] As a preferred technical solution, the mechanical claw mechanism includes: a claw base, several claw arms, a lead screw, and a lifting seat; the claw base is hung below the drone, the claw base has a central axis in the vertical direction, and several claw arms are connected below the claw base and arranged around the central axis of the claw base; each claw arm includes a triangular clamping block, two first connecting rods, and a second connecting rod. The upper ends of the two first connecting rods are respectively hinged to the claw base, and the lower ends of the two first connecting rods are respectively hinged to the triangular clamping block, so that the claw base, the two first connecting rods, and the triangular clamping block form a four-bar linkage mechanism. The driving motor is a rotary motor, the driving motor is connected to the lead screw to drive the lead screw to rotate, the lead screw is threadedly connected to the lifting seat to drive the lifting seat to move up and down, one end of the second connecting rod is hinged to the lifting seat, and the other end of the second connecting rod is hinged to the middle of the first connecting rod close to the central axis of the claw base.

[0008] As a preferred technical solution, the magnet attachment is a neodymium iron boron strong magnet with a magnetic force intensity of 10N - 15N, and the surface of the magnet attachment is coated with an anti-corrosion coating; a groove matching the magnet attachment is provided at the bottom of the bird repeller, and a flexible buffer layer is embedded in the groove.

[0009] As a preferred technical solution, the bird repeller positioning and installation device further includes: an emergency detachment module, which is used to trigger the mechanical claw mechanism to re-grasp when the infrared sensing module detects that the bird repeller fails to be adsorbed successfully. If it fails continuously three times, it will grasp the bird repeller and return.

[0010] As a preferred technical solution, the bird repeller positioning and installation device further includes: a power monitoring unit, which is used to monitor the battery power of the drone in real time. If the power is lower than 20%, the installation task will be forced to terminate and the drone will return.

[0011] This application also provides a method for positioning and installing a bird repeller based on a drone. The method for positioning and installing the bird repeller includes the following steps: planning the flight path of the drone, controlling the drone to fly near the target iron tower; identifying the position of the cross arm of the iron tower and adjusting the hovering attitude of the drone; detecting the distance between the bird repeller and the cross arm, and after determining that the bird repeller enters the preset installation range, controlling the mechanical claw mechanism to open and release the bird repeller; using the magnet attachment at the bottom of the bird repeller to fix the bird repeller at the target position of the iron tower; after the installation is completed, the mechanical claw mechanism detaches from the bird repeller, and the drone returns to the starting point.

[0012] As a preferred technical solution, the method for positioning and installing a bird repeller based on a drone further includes: collecting wind speed data in real time, dynamically adjusting the opening and closing speed of the mechanical claw mechanism and the hovering position of the drone based on the wind speed data, dividing dynamic response thresholds according to wind speed levels, and when the wind speed exceeds the threshold, shortening the response time from the opening to the closing of the mechanical claw mechanism, specifically including: S1. Multi-modal wind speed perception and classification: S1a. Based on Bayesian filtering to fuse the data of the attitude sensor, lidar ranging, and dual-redundant ultrasonic wind speed sensors, establish a three-dimensional wind field model; S1b. Construct a non-linear dynamic response threshold function: τ(v)=k·e^(-αv²)+βv; where v is the wind speed vector, and k, α, and β are environmental adaptation coefficients, and k, α, and β are obtained through online calibration; S1c. Introduce fuzzy logic to establish a wind speed-control intensity mapping table, and define 5-level response modes, where level 0 is calm, level 1 is light wind, level 2 is moderate wind, level 3 is strong wind, and level 4 is storm; S2. Adaptive control strategy optimization: S2a. Construct a double-closed-loop PID control module architecture: the inner loop of the control module controls the opening and closing speed of the mechanical claw mechanism based on the Lyapunov stability method, and the outer loop of the control module uses an improved sliding mode method to control and realize the hovering position compensation of the drone; S2b. Implement dynamic parameter tuning: wind speed gradient sensitivity factor γ = |dv / dt| / v; response time adjustment formula Δt = Σ(γ_i·w_i), where i represents the component in the {x, y, z} directions; adaptive weight factor w_i = 1 / (1 + e^{-σ(v - θ_i)}), where σ is the slope parameter and θ is the threshold parameter; S3. Enhanced visual compensation: S3a. Implement multi-target pose estimation: perform environmental feature point matching through the ORB-SLAM2 method; obtain depth information through a TOF camera; fuse data from various sensors through Kalman filtering; S3b. UAV dynamic trajectory correction: x_{k + 1}=x_k + K·(e_k - prev_e); where K is the optimal gain matrix and e_k is the current pose error; S3c. Disturbance observer compensates for wind field disturbances: d = -C·(x̂ - x) + L·(y - ī); where C and L are observer gain matrices and x̂ is the state estimate value.

[0013] As a preferred technical solution, the positioning and installation method of the bird repeller based on the UAV further includes: when the wind speed exceeds the design limit, automatically switch to the standby control mode of propeller vector thrust compensation, and the propeller wake compensation model: ; where T is the rotor thrust, ρ is the air density, and A is the propeller disk area.

[0014] As a preferred technical solution, the positioning and installation method of the bird repeller based on the UAV further includes a dynamic calibration method for wind speed, and the dynamic calibration method for wind speed includes: Laboratory calibration, use a wind tunnel to generate a standard wind speed and establish an error compensation matrix: , where Vtrue is the true value of the wind speed vector, Mcalib is the calibration matrix, Vsensor is the original measurement value of the sensor, and boffset is the bias correction term; Online self-calibration, when the UAV hovers, infer the wind speed through the IMU accelerometer residual: ;;;;;;;;; , where a_residual is the residual acceleration, that is, the acceleration measured by the IMU minus the acceleration generated by the motor thrust, T_motor is the motor thrust, m is the mass of the UAV, and C_d is the drag coefficient.

[0015] Compared with the prior art, the beneficial effects of the present application are as follows: Through the positioning and installation device and the positioning and installation method of the bird repeller based on the UAV of the present application, it can reduce the operation risk of installing the bird repeller, improve the operation efficiency, and avoid economic losses caused by power outages. Description of the Drawings

[0016] Figure 1 This is a schematic structural diagram of the positioning and installation device for a bird repeller based on a drone in the present application; Figure 2 This is a schematic structural diagram of the mechanical claw mechanism in the present application; Wherein: 1. Drone; 2. Mechanical claw mechanism; 21. Claw base; 22. Claw arm; 221. Triangular clamping block; 222. First connecting rod; 223. Second connecting rod; 23. Lead screw; 24. Lifting seat; 25. Driving motor; 3. Hanging rope; 4. Counterweight. Detailed Implementation Modes

[0017] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the specific implementation modes of the present application will be clearly and completely described below in conjunction with the drawings in the implementation modes of the present application.

[0018] As Figure 1 shown, the present application provides a positioning and installation device for a bird repeller based on a drone, and the positioning and installation device for the bird repeller includes: a drone 1, an RTK positioning module, a vision-guided positioning module, a mechanical claw mechanism 2, a bird repeller, an infrared sensing module, and a control module.

[0019] The RTK positioning module is used to provide positioning information for the drone 1.

[0020] The vision-guided positioning module includes a camera and an image processing unit, and the vision-guided positioning module is used to identify the position of the tower cross arm in real time and correct the hovering attitude of the drone 1.

[0021] Preferably, the camera of the vision-guided positioning module is a binocular stereo camera with a resolution ≥ 4K and a frame rate of 60fps; the image processing unit adopts a convolutional neural network (CNN) model, and the training data includes the morphological characteristics of the tower cross arm under different lighting conditions, and the recognition accuracy error ≤ ±2mm.

[0022] The mechanical claw mechanism 2 is hung below the drone 1, and the mechanical claw mechanism 2 opens to grab the bird repeller, and the mechanical claw mechanism 2 closes to put down the bird repeller.

[0023] A magnet attachment is provided at the bottom of the bird repeller, and the magnet attachment is used to adsorb on the tower cross arm by magnetic force to complete the installation and fixation of the bird repeller.

[0024] Preferably, the magnet attachment is a neodymium iron boron strong magnet with a magnetic force intensity of 10N - 15N, and the surface of the magnet attachment is coated with an anti-corrosion coating. A groove matching the magnet attachment is provided at the bottom of the bird repeller, and a flexible buffer layer is embedded in the groove for reducing the impact on the tower cross arm during adsorption.

[0025] The infrared sensing module is used to detect the distance between the bird repeller and the tower cross arm, so as to judge whether the bird repeller enters the preset installation range.

[0026] The control module is connected to the driving motor 25, and the driving motor 25 is connected to the mechanical claw mechanism 2. The control module is used to control the opening and closing actions of the mechanical claw mechanism 2 through the driving motor 25.

[0027] The control module is connected to the infrared sensing module. After the infrared sensing module determines that the bird repeller enters the preset installation range, the control module controls the mechanical claw mechanism 2 to open.

[0028] The control module is connected to the RTK positioning module and the vision guidance positioning module. The control module realizes the positioning of the drone 1 and the target tower through the RTK positioning module and the vision guidance positioning module.

[0029] The bird repeller positioning and installation device based on the drone proposed in this application realizes an efficient, safe and accurate bird repeller installation method by integrating a variety of high-tech components, and is particularly suitable for the deployment of bird repellers on the tower cross arms of power lines. The following is a detailed analysis of the components and functions of the device: Drone 1: As the carrier of the entire installation system, the drone 1 is responsible for transporting the bird repeller from the ground to the designated tower cross arm position. The drone 1 needs to have sufficient stability and maneuverability to cope with complex and changeable environmental conditions.

[0030] RTK (Real-Time Kinematic) module: This module provides centimeter-level accurate position information for the drone 1 by receiving satellite signals and performing differential calculations. This is crucial for ensuring that the drone 1 can accurately hover above the tower cross arm.

[0031] Vision guidance positioning module: This module includes a camera and an image processing unit, which can capture and identify the position of the tower cross arm in real time. By comparing the image database or using machine learning algorithms, the module can accurately adjust the hovering attitude of the drone 1 to ensure that the mechanical claw mechanism 2 can accurately align with the installation position.

[0032] Mechanical claw mechanism 2: The mechanical claw mechanism 2 mounted under the drone 1 realizes the opening and closing actions by controlling the rotation of the motor. When it opens, the mechanical claw can firmly grasp the bird repeller; when it closes, it releases the bird repeller. The design of the mechanical claw needs to consider weight, strength and reliability to cope with the challenges of high-altitude operations.

[0033] Bird repeller and magnet attachment: The magnet attachment equipped at the bottom of the bird repeller uses magnetic force to adsorb on the tower cross arm to achieve fast and stable installation. This design simplifies the installation process and reduces physical damage to the tower structure.

[0034] Infrared sensing module: This module is used to detect the distance between the bird repeller and the tower cross arm. When the bird repeller enters the preset installation range, the module will send a signal to the control module. This helps the control module trigger the opening action of the mechanical claw mechanism 2 at the appropriate time.

[0035] Control module: As the "brain" of the entire system, the control module is responsible for receiving information from the RTK module, visual guidance positioning module, and infrared sensing module, and controlling the opening and closing actions of the mechanical claw mechanism 2 by driving the motor 25 according to the preset algorithm and logic. The control module also needs to have strong data processing capabilities and real-time response capabilities to ensure the smooth progress of the installation process.

[0036] In summary, the bird repeller positioning and installation device proposed in this application, through highly integrated and intelligent design, effectively reduces the operation risk of installing the bird repeller, improves the operation efficiency, and avoids economic losses caused by power outages. This innovative solution is of great significance for ensuring the safe operation of power lines.

[0037] As a preferred technical solution, the bird repeller positioning and installation device further includes: a hanging rope 3 and a counterweight 4. The upper end of the hanging rope 3 is installed on the drone 1, the counterweight 4 is installed at the lower end of the hanging rope 3, and the mechanical claw mechanism 2 is installed in the middle of the hanging rope 3. The counterweight 4 is used to straighten the hanging rope 3 so that the hanging rope 3 does not bend or swing when the mechanical claw mechanism 2 opens and closes.

[0038] The design of adding the hanging rope 3 and the counterweight 4 to the bird repeller positioning and installation device undoubtedly enhances the stability and reliability of the entire system. The following is a detailed analysis of the beneficial effects of this design: I. Functions and effects of the hanging rope 3 Connection and support: The hanging rope 3, as a connecting component between the drone 1 and the mechanical claw mechanism 2, plays a key supporting role. It ensures that the mechanical claw mechanism 2 and the attached bird repeller can be stably suspended below the drone 1 and move to the designated position along with the drone 1.

[0039] Guidance and positioning: The straight shape of the hanging rope 3 helps to guide the mechanical claw mechanism 2 to move along a predetermined path, ensuring that the bird repeller can accurately align with the installation position of the tower cross arm.

[0040] Buffering and shock absorption: During high-altitude operations, the drone 1 may be slightly shaken by external factors such as wind. The hanging rope 3, as a flexible connecting component, can absorb the impact force caused by these shakes to a certain extent, reduce the vibration of the mechanical claw mechanism 2 and the bird repeller, and protect them from damage.

[0041] II. Functions and effects of the counterweight 4 Straighten the hanging rope 3: The counterweight 4 is installed at the lower end of the hanging rope 3, and its weight is sufficient to straighten the hanging rope 3. In this way, when the mechanical claw mechanism 2 performs the opening and closing actions, the hanging rope 3 will not bend or swing due to the action of gravity or external force, thus ensuring the stability and accuracy of the mechanical claw mechanism 2.

[0042] Enhance stability: The addition of the counterweight 4 also enhances the stability of the entire system. During the flight and hovering of the drone 1, the counterweight 4 can provide a downward pulling force, which helps to offset the influence of the rising air flow of the drone 1 on the hanging rope 3 and the mechanical claw mechanism 2, making the system more stable and reliable.

[0043] Improve the installation accuracy: Since the counterweight 4 ensures that the hanging rope 3 is in a straightened state, the mechanical claw mechanism 2 can more accurately align with the installation position of the tower cross arm when opening and closing. This helps to improve the installation accuracy and efficiency of the bird repeller, and reduce the failures and damages caused by improper installation.

[0044] III. Comprehensive beneficial effects Improve the operation safety: The design of the hanging rope 3 and the counterweight 4 reduces the shaking and vibration of the drone 1 during the operation, and reduces the accidental risks caused by improper operation or external factors, thus improving the operation safety.

[0045] Improve the operation efficiency: The stable hanging rope 3 and the precise positioning of the mechanical claw mechanism 2 help to quickly complete the installation work of the bird repeller, reduce the time for repeated adjustment and calibration, and improve the operation efficiency.

[0046] Reduce the maintenance cost: Since the design of the hanging rope 3 and the counterweight 4 reduces the vibration and impact of the mechanical claw mechanism 2 and the bird repeller, it helps to extend their service life and reduce the cost caused by frequent replacement and maintenance.

[0047] In summary, the addition of the hanging rope 3 and the counterweight 4 significantly improves the stability and reliability of the bird repeller positioning and installation device, reduces the operation risk and maintenance cost, and improves the operation efficiency and installation accuracy. This design is of great significance for ensuring the safe operation of power lines.

[0048] Preferably, the hanging rope 3 is a high-strength nylon braided rope with a tensile strength ≥ 500 kg; the counterweight 4 is a detachable lead block with a weight range of 200 g - 500 g.

[0049] As Figure 2 shown, as a preferred technical solution, the mechanical claw mechanism 2 includes: a claw base 21, a plurality of claw arms 22, a lead screw 23, and a lifting seat 24.

[0050] The claw base 21 is hung below the drone 1. The claw base 21 has a central axis in the vertical direction, and a plurality of claw arms 22 are connected below the claw base 21 and arranged around the central axis of the claw base 21.

[0051] Each claw arm 22 includes a triangular clamping block 221, two first link rods 222 and a second link rod 223. The upper ends of the two first link rods 222 are respectively hinged to the claw base 21, and the lower ends of the two first link rods 222 are respectively hinged to the triangular clamping block 221, so that the claw base 21, the two first link rods 222 and the triangular clamping block 221 form a four-bar linkage.

[0052] The driving motor 25 is a rotary motor. The driving motor 25 is connected to the lead screw 23 to drive the lead screw 23 to rotate. The lead screw 23 is threadedly connected to the lifting seat 24 to drive the lifting seat 24 to lift.

[0053] One end of the second link rod 223 is hinged to the lifting seat 24, and the other end of the second link rod 223 is hinged to the middle of the first link rod 222 near the central axis of the claw base 21.

[0054] Working principle of the mechanical claw mechanism 2: When the driving motor 25 rotates, the lead screw 23 starts to rotate, and then drives the lifting seat 24 to perform a lifting action. Since the two ends of the second link rod 223 are respectively hinged to the lifting seat 24 and the first link rod 222, the lifting of the lifting seat 24 will drive the second link rod 223 to swing. This swing is further converted into the opening and closing action of the claw arm 22, so that the triangular clamping block 221 can accurately clamp or release the bird repeller.

[0055] When clamping the bird repeller, the driving motor 25 drives the lead screw 23 to rise, and the lifting seat 24 rises accordingly. Due to the swinging action of the second link rod 223, the triangular clamping block 221 of the claw arm 22 gradually approaches and clamps the bird repeller. When releasing the bird repeller, the driving motor 25 drives the lead screw 23 to descend, the lifting seat 24 descends accordingly, and the triangular clamping block 221 of the claw arm 22 gradually opens and releases the bird repeller.

[0056] The mechanical claw mechanism 2 has the following beneficial effects: 1. Precise control: Through the threaded connection of the lead screw 23 and the lifting seat 24 and the design of a complex linkage mechanism, precise control of the opening and closing action of the claw arm 22 is achieved. This design can ensure high stability and accuracy of the mechanical claw mechanism 2 when clamping and releasing the bird repeller.

[0057] 2. Strong adaptability: The structural design of the mechanical claw mechanism 2 enables it to adapt to bird repellers of different shapes and sizes. By adjusting the opening and closing angle and clamping force of the claw arm 22, effective clamping and releasing of various types of bird repellers can be achieved.

[0058] 3. High-efficiency operation: Since the robotic claw mechanism 2 has precise control capabilities and strong adaptability, it can significantly improve the installation efficiency of the bird repeller. At the same time, this design also helps to reduce operation risks and maintenance costs.

[0059] In summary, the design of the robotic claw mechanism 2 has beneficial effects such as precise control, strong adaptability, and high-efficiency operation, and can meet the requirements of the unmanned aerial vehicle 1 for installing the bird repeller on the power line.

[0060] Preferably, the lead screw 23 is made of stainless steel and its surface is hardened; the driving motor 25 is a stepper motor with a torque of 0.5 N•m - 1.2 N•m; the inner side of the triangular clamping block 221 is provided with anti-slip lines, the anti-slip lines are made of silica gel material, and the contact area between the clamping surface and the bird repeller is coated with an elastic rubber layer.

[0061] As a preferred technical solution, the bird repeller positioning and installation device further includes: an emergency detachment module, which is used to trigger the robotic claw mechanism 2 to re-grasp when the infrared sensing module detects that the bird repeller fails to be successfully adsorbed. If the failure occurs continuously for 3 times, then grasp the bird repeller and return to the starting point.

[0062] As a preferred technical solution, the bird repeller positioning and installation device further includes: a battery power monitoring unit, which is used to monitor the battery power of the unmanned aerial vehicle 1 in real time. If the power is lower than 20%, the installation task is forced to terminate and the unmanned aerial vehicle 1 returns to the starting point.

[0063] This application also provides a method for positioning and installing a bird repeller based on an unmanned aerial vehicle. The method for positioning and installing the bird repeller includes the following steps: Plan the flight path of the unmanned aerial vehicle and control the unmanned aerial vehicle to fly near the target iron tower; Identify the position of the cross arm of the iron tower and adjust the hovering attitude of the unmanned aerial vehicle; Detect the distance between the bird repeller and the cross arm. After determining that the bird repeller enters the preset installation range, control the robotic claw mechanism to open and release the bird repeller; Use the magnet attachment at the bottom of the bird repeller to fix the bird repeller at the target position of the iron tower; after the installation is completed, the robotic claw mechanism detaches from the bird repeller and the unmanned aerial vehicle returns to the starting point.

[0064] As a preferred technical solution, the method for positioning and installing a bird repeller based on an unmanned aerial vehicle further includes: collecting wind speed data in real time, dynamically adjusting the opening and closing speed of the robotic claw mechanism and the hovering position of the unmanned aerial vehicle based on the wind speed data, dividing dynamic response thresholds according to wind speed levels, and when the wind speed exceeds the threshold, shortening the response time from the opening to the closing of the robotic claw mechanism. Specifically, it includes: S1. Multi-modal wind speed perception and classification: S1a. Based on Bayesian filtering, fuse the data from attitude sensors, lidar rangefinders, and dual-redundant ultrasonic anemometers to establish a three-dimensional wind field model; Among them, the dual-redundant ultrasonic anemometer uses an FT205 + RS485 interface and has: three-dimensional vector wind speed measurement (X / Y / Z axes), IP67 protection level, a temperature compensation module (-20°C to 70°C), and an anti-electromagnetic interference design (EN 61000-6-2 certification). The dual-redundant ultrasonic anemometer includes a main sensor and an auxiliary sensor. The main sensor is installed inside the fairing at the top of the drone (≥30 cm from the propeller), and the auxiliary sensor is installed inside the landing gear. The auxiliary sensor is used to monitor ground effect airflows. Both the main sensor and the auxiliary sensor are installed on the drone using anti-vibration brackets (rubber damping coefficient ≥0.8).

[0065] S1b. Construct a non-linear dynamic response threshold function: τ(v)=k·e^(-αv²)+βv; where v is the wind speed vector, and k, α, and β are environmental adaptation coefficients, which are obtained through online calibration; S1c. Introduce fuzzy logic to establish a wind speed-control intensity mapping table, and define a 5-level response mode, where level 0 is calm, level 1 is gentle breeze, level 2 is moderate wind, level 3 is strong wind, and level 4 is storm; S2. Adaptive control strategy optimization: S2a. Construct a double-closed-loop PID control module architecture: The inner loop of the control module controls the opening and closing speed of the robotic claw mechanism based on the Lyapunov stability method, and the outer loop of the control module uses an improved sliding mode method to control and achieve the UAV hover position compensation; S2b. Implement dynamic parameter tuning: The wind speed gradient sensitivity factor γ = |dv / dt| / v; The response time adjustment formula is Δt = Σ(γ_i·w_i), where i belongs to the {x, y, z} direction components; The adaptive weight factor w_i = 1 / (1 + e^(-σ(v - θ_i))), where σ is the slope parameter and θ is the threshold parameter; S3. Enhanced visual compensation: S3a. Implement multi-target pose estimation: Perform environmental feature point matching through the ORB-SLAM2 method; Obtain depth information through a TOF camera; Fuse the data of each sensor through Kalman filtering; Among them, fusing the data of each sensor through Kalman filtering includes preprocessing: outlier rejection, 3σ criterion sliding window filtering; frequency domain noise reduction, wavelet threshold denoising (db4 wavelet basis); time synchronization, achieving μs-level synchronization through the PTP protocol.

[0066] The following is an example of a fusion algorithm: function x_pred = ekf_predict(x, u) x_pred(1:3) = x(1:3) + x(4:6)*dt; % Position update x_pred(4:6) = x(4:6) + (u(1:3)-k_drag*x(4:6)) / m*dt; % Velocity update end。

[0067] S3b. UAV dynamic trajectory correction: \(x_{k + 1}=x_k + K·(e_k - prev_e)\); where \(K\) is the optimal gain matrix and \(e_k\) is the current pose error; S3c. Disturbance observer compensates for wind field disturbance: \(d = -C·(\hat{x}-x)+L·(y - \bar{y})\); where \(C\) and \(L\) are observer gain matrices and \(\hat{x}\) is the state estimate value.

[0068] Furthermore, a control parameter self - calibration mechanism is established: using the recursive least squares method (RLS) to update the model parameters online.

[0069] Furthermore, the control module includes a main controller and a sub - controller. The main controller has an anti - wind algorithm built - in, and the sub - controller has an obstacle avoidance navigation algorithm built - in. The main controller and the sub - controller communicate information through the CAN bus.

[0070] Furthermore, the method for positioning and installing a bird - repelling device based on a UAV further includes: when the wind speed exceeds the design limit, automatically switch to a standby control mode of propeller vector thrust compensation, and the propeller wake compensation model: ; where \(T\) is the rotor thrust, \(\rho\) is the air density, and \(A\) is the propeller disk area.

[0071] Furthermore, the method for positioning and installing a bird - repelling device based on a UAV further includes a dynamic calibration method for wind speed. The dynamic calibration method for wind speed includes: Laboratory calibration, using a wind tunnel to generate a standard wind speed and establishing an error compensation matrix: , where \(V_{true}\) is the true value of the wind speed vector, \(M_{calib}\) is the calibration matrix, \(V_{sensor}\) is the original measurement value of the sensor, and \(b_{offset}\) is the bias correction term; Suppose the original output of a certain wind speed sensor is \(V_{sensor}=3.0V\), the calibration parameter is: \(M_{calib}=4.0m / s / V\); \(b_{offset}=-0.5m / s\), then the true wind speed is: \(V_{true}=4.0×3.0+( - 0.5)=11.5m / s\).

[0072] Online self-calibration. When the UAV hovers, the wind speed is deduced by the residual of the IMU accelerometer: ;;;;;;;;; , where a_residual is the residual acceleration, that is, the acceleration measured by the IMU minus the acceleration generated by the motor thrust, T_motor is the motor thrust, m is the mass of the UAV, and C_d is the drag coefficient.

[0073] Through the above settings, the present application can achieve the following beneficial effects: 1. The response time of the mechanical claw mechanism from opening to closing is shortened by 40% (test condition: under a wind speed of 8 m / s); 2. The position control accuracy is improved to ±0.1 m (RMS); 3. The applicable wind speed range is extended to 12 m / s.

[0074] By introducing modern control theory, machine learning algorithms and multi-sensor fusion technology, the present application significantly improves the wind resistance performance and control accuracy on the premise of ensuring the system stability, and is applicable to the industrial UAV operation scenarios under complex meteorological conditions.

[0075] It should be noted that the "first", "second" and similar terms used in the specification and claims of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. Similarly, the similar terms such as "a" or "an" do not represent a quantity limitation, but mean that there is at least one. "Multiple" or "several" means at least two. Unless otherwise indicated, the similar terms such as "front", "rear", "left", "right", "down" and / or "up" are only for convenience of description, rather than limited to a position or a spatial orientation. The terms such as "comprising" or "including" mean that the elements or objects appearing before "comprising" or "including" cover the elements or objects listed after "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect.

[0076] The singular forms of "a", "the" and "said" used in the specification and appended claims of the present application are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0077] It should be understood that for those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present application.

Claims

1. Bird repellent positioning and installation device based on an unmanned aerial vehicle, characterized in that, The bird repellent positioning and installation device includes: A drone; An RTK positioning module, which is used to provide positioning information for the drone; A vision-guided positioning module, which includes a camera and an image processing unit, and is used to identify the position of the tower cross arm in real time and correct the hovering attitude of the drone; A mechanical claw mechanism and a bird repellent. The mechanical claw mechanism is hung below the drone. The mechanical claw mechanism opens to grab the bird repellent, and the mechanical claw mechanism closes to release the bird repellent. A magnet attachment is provided at the bottom of the bird repellent, and the magnet attachment is used to adsorb on the tower cross arm by magnetic force to complete the installation and fixation of the bird repellent; An infrared sensing module, which is used to detect the distance between the bird repellent and the tower cross arm to determine whether the bird repellent enters the preset installation range; A control module. The control module is connected to a driving motor, and the driving motor is connected to the mechanical claw mechanism. The control module is used to control the opening and closing actions of the mechanical claw mechanism through the driving motor. The control module is connected to the infrared sensing module. After the infrared sensing module determines that the bird repellent enters the preset installation range, the control module controls the mechanical claw mechanism to open. The control module is connected to the RTK positioning module and the vision-guided positioning module, and the control module realizes the positioning of the drone and the target tower through the RTK positioning module and the vision-guided positioning module.

2. The positioning and installation device of the bird repeller based on an unmanned aerial vehicle according to claim 1, characterized in that, The bird repellent positioning and installation device further includes: A hanging rope and a counterweight. The upper end of the hanging rope is installed on the drone, the counterweight is installed at the lower end of the hanging rope, and the mechanical claw mechanism is installed in the middle of the hanging rope. The counterweight is used to straighten the hanging rope so that the hanging rope does not bend or swing when the mechanical claw mechanism opens and closes.

3. The positioning and installation device of the bird repeller based on an unmanned aerial vehicle according to claim 1, wherein, The mechanical claw mechanism includes: A claw seat, several claw arms, a lead screw and a lifting seat; The claw seat is hung below the drone. The claw seat has a central axis in the vertical direction. The several claw arms are connected below the claw seat and are arranged around the central axis of the claw seat; Each claw arm includes a triangular clamping block, two first connecting rods and a second connecting rod. The upper ends of the two first connecting rods are respectively hinged to the claw seat, and the lower ends of the two first connecting rods are respectively hinged to the triangular clamping block, so that the claw seat, the two first connecting rods and the triangular clamping block form a four-bar linkage mechanism. The driving motor is a rotary motor, and the driving motor is connected to the lead screw to drive the lead screw to rotate. The lead screw is threadedly connected to the lifting seat to drive the lifting seat to move up and down. One end of the second connecting rod is hinged to the lifting seat, and the other end of the second connecting rod is hinged to the middle of the first connecting rod close to the central axis of the claw seat.

4. The positioning and installation device of the bird repeller based on the unmanned aerial vehicle according to claim 1, characterized in that, The magnet attachment is a neodymium iron boron strong magnet with a magnetic force intensity of 10N - 15N, and the surface of the magnet attachment is coated with an anti-corrosion coating; a groove matching the magnet attachment is provided at the bottom of the bird repellent, and a flexible buffer layer is embedded in the groove.

5. The drone-based bird repellent positioning and installation device according to claim 1, characterized in that, The bird repellent positioning and installation device further includes: Emergency detachment module, which is used to trigger the mechanical claw mechanism to re-grasp when the infrared sensing module detects that the bird repeller fails to be adsorbed successfully. If the failure occurs continuously for 3 times, the bird repeller will be grasped and the drone will return.

6. The bird repellent positioning and installation device based on a drone according to claim 1, wherein, The bird repeller positioning and installation device further includes: Battery power monitoring unit, which is used to monitor the battery power of the drone in real time. If the power is lower than 20%, the installation task will be forced to terminate and the drone will return.

7. The positioning and installation method of a bird repeller based on a drone, characterized in that The method for positioning and installing the bird repeller includes the following steps: Plan the flight path of the drone and control the drone to fly near the target iron tower; Identify the position of the cross arm of the iron tower and adjust the hovering attitude of the drone; Detect the distance between the bird repeller and the cross arm. After determining that the bird repeller enters the preset installation range, control the mechanical claw mechanism to open and release the bird repeller; Use the magnet attachment at the bottom of the bird repeller to fix the bird repeller at the target position of the iron tower; After the installation is completed, the mechanical claw mechanism detaches from the bird repeller and the drone returns to the starting point.

8. The bird repeller positioning and installation method according to claim 7, characterized in that, The method for positioning and installing the bird repeller based on the drone further includes: collecting wind speed data in real time, dynamically adjusting the opening and closing speed of the mechanical claw mechanism and the hovering position of the drone based on the wind speed data, dividing dynamic response thresholds according to wind speed levels. When the wind speed exceeds the threshold, shorten the response time from the opening to the closing of the mechanical claw mechanism, specifically including: S1. Multi-modal wind speed perception and classification: S1a. Based on Bayesian filtering to fuse the data of the attitude sensor, lidar ranging, and dual-redundant ultrasonic wind speed sensors, establish a three-dimensional wind field model; S1b. Construct a non-linear dynamic response threshold function: τ(v)=k·e^(-αv²)+βv; where v is the wind speed vector, and k, α, and β are environmental adaptation coefficients, and k, α, and β are obtained through online calibration; S1c. Introduce fuzzy logic to establish a wind speed-control intensity mapping table, and define 5-level response modes, where level 0 is calm, level 1 is light wind, level 2 is moderate wind, level 3 is strong wind, and level 4 is storm; S2. Adaptive control strategy optimization: S2a. Construct a double-closed-loop PID control module architecture: the inner loop of the control module controls the opening and closing speed of the mechanical claw mechanism based on the Lyapunov stability method, and the outer loop of the control module uses an improved sliding mode method to control and realize the hovering position compensation of the drone; S2b. Implement dynamic parameter tuning: wind speed gradient sensitivity factor γ=|dv / dt| / v; response time adjustment formula Δt=Σ(γ_i·w_i), i∈{x,y,z} direction components; adaptive weight factor w_i=1 / (1+e^{-σ(v-θ_i)}), where σ is the slope parameter and θ is the threshold parameter; S3. Enhanced visual compensation: S3a. Realize multi-target pose estimation: perform environmental feature point matching through the ORB-SLAM2 method; obtain depth information through a TOF camera; fuse the data of each sensor through Kalman filtering; S3b. Drone dynamic trajectory correction: x_{k+1}=x_k + K·(e_k - prev_e); where K is the optimal gain matrix and e_k is the current pose error; S3c. The disturbance observer compensates for the wind field disturbance: d = -C·(x̂ - x) + L·(y - ī); where C and L are the observer gain matrices, and x̂ is the state estimate value.

9. The bird repeller positioning and installation method according to claim 8, characterized in that, The method for positioning and installing the bird repeller based on the drone further includes: when the wind speed exceeds the design limit, automatically switching to a backup control mode of propeller vector thrust compensation, and the propeller wake compensation model: ; where T is the rotor thrust, ρ is the air density, and A is the propeller disc area.

10. The method for positioning and installing a bird repeller according to claim 9, characterized in that, The method for positioning and installing the bird repeller based on the unmanned aerial vehicle further includes a dynamic calibration method for the wind speed, and the dynamic calibration method for the wind speed includes: Laboratory calibration, using a wind tunnel to generate a standard wind speed, and establishing an error compensation matrix: , where Vtrue is the true value of the wind speed vector, Mcalib is the calibration matrix, Vsensor is the original measurement value of the sensor, and boffset is the bias correction term; Online self-calibration. When the drone hovers, the wind speed is deduced by the residual of the IMU accelerometer: ;;;;;;;;; , where a_residual is the residual acceleration, that is, the acceleration measured by the IMU minus the acceleration generated by the motor thrust, T_motor is the motor thrust, m is the mass of the drone, and C_d is the drag coefficient.

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