A cooperative control method and system for a UAV to hang and detach a grounding wire of a power transmission line

Abstract

This invention discloses a collaborative control method and system for attaching and dismantling grounding wires of power transmission lines using unmanned aerial vehicles (UAVs). The method includes a high-precision guidance and contact triggering stage on the tower side, a refined operation and optimized clamping stage on the cable side, and a safe dismantling and anti-disturbance recovery stage. Centimeter-level precision guidance is achieved through multi-source fusion positioning, and adaptive rate control based on distance and wind speed is used for lowering. Visual double verification of the mechanical opening and closing status and indicator light signals of the grounding attachment device ensures the reliability of the device's readiness before attachment. On the cable side, attitude pre-adjustment is performed by real-time calculation of the angular deviation between the clamping plane and the conductor axis, and adaptive clamping force control is triggered based on the contact angle range. In the dismantling stage, wind speed feedforward compensation is introduced to adjust the release force, and model predictive control and dynamic path correction are combined to achieve safe and anti-disturbance recovery. This invention achieves closed-loop collaborative control throughout the entire process, significantly improving operational accuracy, success rate, and safety, and promoting the intelligent and unmanned operation of power maintenance.

Description

Technical Field

[0001] This invention belongs to the field of intelligent control of unmanned aerial vehicles (UAVs) and automated operation and maintenance technology of power systems. Specifically, it relates to a collaborative control method and system for attaching and removing grounding wires of transmission lines by UAVs based on multi-sensor fusion and adaptive algorithms. Background Technology

[0002] With the widespread application of drone technology in power line inspection, using drones for the installation and removal of grounding wires on transmission lines has become a research hotspot. Existing technical solutions often have the following limitations: 1. Most solutions only focus on a single aspect of UAV positioning or gripper action (such as the mechanical hook in CN120582004A and the step-by-step remote control in CN113937519A), failing to deeply couple UAV flight control, end-effector status perception, environmental interaction and work process to form a closed-loop intelligent collaborative control system.

[0003] 2. Relying on visual operation by the pilot or simple GPS positioning results in poor positioning accuracy for complex small targets such as towers and power lines. Furthermore, it cannot dynamically adjust operational parameters based on real-time wind speed and distance, leading to a low success rate in complex environments. It also lacks core algorithms such as multi-source fusion positioning and adaptive drop-down rate control.

[0004] 3. The operation process lacks multi-dimensional status verification (such as device readiness status and optimal contact angle) and abnormal handling mechanisms. The dismantling process lacks strategies to deal with environmental interference (such as strong winds), and there are safety hazards such as collisions and falling objects.

[0005] Therefore, there is an urgent need for an intelligent control solution for attaching and removing grounding wires for drones that can achieve autonomous collaboration throughout the entire process, high-precision adaptive control, and quantitative safety assurance. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a collaborative control method and system for attaching and removing grounding wires from power transmission lines using unmanned aerial vehicles (UAVs). This method addresses systemic technical issues such as automated workflows, improved positioning accuracy, adaptation to complex environments, and closed-loop management of operational safety by establishing a collaborative framework that integrates high-precision sensing, adaptive decision-making, and multi-terminal synchronous control.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A collaborative control method for attaching and removing grounding wires of power transmission lines using a drone is executed by a control system deployed on the drone and ground station. This method is applicable to controlling a matching grounding wire attachment / removal device to complete the operation. The grounding wire attachment / removal device includes a tower grounding attachment point device for attaching to the tower and a cable grounding attachment point device for clamping the conductor. The method includes the following steps: S1, High-precision guidance and contact triggering phase on the tower side: S11. Multi-source fusion precise positioning: Control the UAV to fly to the target tower area, and by fusing positioning data from the high-precision GPS receiver on the UAV, image data collected by the visual sensor, and point cloud data obtained by the LiDAR, generate spatial information of the tower target mounting area, and determine a specific target point for mounting; control the UAV flight to reduce the positioning error on the tower side. ,in Defined as the Euclidean distance between the drone's current position and the specific target point: ; in, Represents the three-dimensional spatial coordinates of the drone. The three-dimensional spatial coordinates of the specific target point are represented.

[0008] S12. Adaptive Rate Deployment and Status Verification: During the deployment of the tower grounding point device 40, the relative distance between the UAV and the tower angle steel is used for verification. and real-time ambient wind speed Dynamically adjust the rate of release. : ; Meanwhile, the opening and closing angle of the mechanical components of the tower grounding point device is monitored by visual inspection and compared with a preset threshold. The status indicator light signal of the device is identified by a visual sensor to double verify the device's ready status. S13. Contact confirmation and locking trigger: When the fit between the device and the angle steel is detected to reach a preset threshold, and the status indicator light signal is confirmed to switch to the contact confirmation state, a locking trigger command is generated and sent. S2, Cable-side Refined Operation and Optimized Clamping Stage: S21. Cable 3D Recognition and Positioning: Control the UAV to switch to cable operation mode, activate the LiDAR and multispectral imaging module to scan and 3D model the target cable, control the UAV to hover above the cable, and minimize cable side positioning errors. ,in Defined as the Euclidean distance between the current position of the drone and the position of the guide wire: ; S22. Segmented Dynamic Approach and Attitude Pre-adjustment: A segmented approach strategy is adopted to approach the conductor. When the distance between the device and the conductor is less than the preset safety distance, the system switches to a low-speed precision approach mode and calculates the angular deviation between the clamping plane of the cable grounding point device and the axis of the target conductor in real time based on sensor fusion data. This drives the attitude adjustment mechanism of the drone to dynamically compensate for the angle deviation. S23. Optimal Contact Angle Detection and Adaptive Clamping Control: At the lowering end, a visual sensor monitors in real time the contact angle between the clamping mechanism of the cable grounding point device and the conductor surface. And compare it with the preset optimal clamping angle range, when At that time, the clamping command is triggered; S24. Clamping force closed-loop adjustment: During the clamping process, the target clamping force is set according to the contact angle deviation. And by adjusting the driving parameters of the clamping mechanism, the actual clamping force is made to approach the value. The Determined based on the following model: ; S3. Safe dismantling and disturbance-resistant recovery phase: S31. Environmental Awareness and Safety Strategy Activation: Continuously monitor real-time ambient wind speed before dismantling. and the set safe demolition wind speed threshold. In comparison, if If so, the demolition work will be suspended; S32, Adaptive Force Control Release: Controls the drone to send release commands, and the force applied during the release process. Based on real-time monitored wind speed Make dynamic adjustments: ; S33. Precise Recovery and Dynamic Path Correction: After the device is released, the UAV is controlled for recovery. A composite control strategy of model predictive control and PID controller is used for precise path tracking, and the plane deviation of the recovery path is calculated in real time. The deviation is compared with a preset threshold; if it exceeds the threshold, the local path is replanned. Defined as: .

[0009] Furthermore, in step S11, the tower image features acquired by the visual sensor are identified in real time through a deep learning model based on a lightweight convolutional neural network architecture.

[0010] Further, in step S12, the ready state of the dual verification device is specifically defined as follows: the opening and closing angle of the mechanical component meets the preset "fully open" state threshold, and the status indicator light displays the preset "ready" signal.

[0011] Furthermore, in step S13, the timing of sending the locking trigger command is as follows: after detecting that the fit has reached a preset threshold, the visual sensor is used to confirm that the status indicator light has switched from the "ready" state to the "contact confirmation" state.

[0012] Furthermore, in step S22, in the low-speed precision proximity mode, the control objective is to minimize the angle deviation. Approaching 0°.

[0013] Further, in step S23, the optimal clamping angle range [ , [85°, 95°] It is 90°.

[0014] Furthermore, in step S31, the safe dismantling wind speed threshold... Based on the maximum permissible wind speed during the connection phase Adjust the settings downwards.

[0015] Furthermore, in step S33, the recycling process is carried out at a speed of less than or equal to 0.2 m / s.

[0016] A collaborative control system for attaching and removing power line grounding wires using a drone to implement the method described above, the system comprising: The perception module includes a high-precision GPS receiver, a visual sensor, a lidar, a multispectral imager, a wind speed sensor, and a pressure sensor, used to acquire status information of the environment, targets, and devices. The decision and control module, including an airborne computing unit and / or a ground station computing unit, is configured to store and run the program code of the cooperative control method; The communication and execution module is used to transmit control commands and status data between the UAV platform, the ground control station, and the controlled grounding wire attachment / removal device, and to drive the electric actuators of the UAV flight control system and the grounding wire attachment / removal device.

[0017] Furthermore, the electric actuator includes a locking motor, a releasing motor, and a clamping motor.

[0018] Compared with the prior art, the present invention has the following significant advantages: This invention breaks down the installation and dismantling operation into three precisely controlled sub-stages: the tower side, the cable side, and the dismantling side. Each stage incorporates a closed loop of perception, decision-making, and execution. The seamless connection between each stage forms a complete intelligent operation chain, completely changing the fragmented operation mode that relied on manual, step-by-step remote control. This achieves intelligent collaboration and closed-loop control throughout the entire process.

[0019] By employing a multi-source fusion positioning algorithm, the positioning accuracy of the tower and the conductor was improved to the centimeter level (±5cm, ±3cm), solving the problem of accurate positioning of complex targets in a small area; and an adaptive drop-down rate model ( ) and clamping force optimization model ( This enables the system to dynamically adjust operational parameters based on real-time variables such as distance, wind speed, and contact angle, significantly improving the success rate of operations under complex weather conditions. Its algorithm model also significantly enhances the accuracy and adaptability of operations.

[0020] The device is ensured to be ready by pre-operation status inspection; connection reliability is guaranteed by optimal contact angle judgment and clamping force closed-loop during operation; and wind speed safety threshold-based decision-making and adaptive release force control are implemented during dismantling. ) and real-time path deviation monitoring ( This effectively resists wind disturbance and avoids collisions, making the demolition process controllable and predictable, thus constructing a quantified multi-dimensional safety barrier.

[0021] The method transforms complex operations into repeatable and quantifiable algorithmic processes, reducing reliance on individual pilot experience and making high-altitude grounding operations more standardized and efficient. It provides core technical support for the "less manned and unmanned" operation and maintenance of power systems, thereby improving operational efficiency and standardization. Attached Figure Description

[0022] Figure 1 This is a flowchart illustrating the overall process of the collaborative control method of the present invention. This diagram illustrates the logical sequence of the three core stages and sub-steps of the grounding wire installation and removal operation. The steps are identified using the "S" series of numbers: S1 represents the high-precision guidance and contact triggering stage on the tower side, which includes sub-steps S11 (multi-source fusion precise positioning), S12 (adaptive rate reduction and status verification), and S13 (contact confirmation and interlocking triggering); S2 represents the refined operation and optimized clamping stage on the cable side, which includes sub-steps S21 (cable 3D identification and positioning), S22 (segmented dynamic approach and attitude pre-adjustment), S23 (optimal contact angle detection and adaptive clamping control), and S24 (clamping force closed-loop adjustment); S3 represents the safe removal and anti-disturbance recovery stage, which includes sub-steps S31 (environmental perception and safety strategy activation), S32 (adaptive force control release), and S33 (precise recovery and dynamic path correction).

[0023] Figure 2 This is a schematic diagram of the control logic for the multi-source fusion positioning and adaptive deployment stage of the present invention; This diagram illustrates the sensor configuration, actuators, and control relationships of a drone operating alongside a steel tower. The numbering in the diagram is as follows: 10 – Drone (including flight control system); 20 – Steel tower (target structure); 31 – Visual sensor; 32 – LiDAR; 33 – High-precision GPS receiver; 34 – Wind speed sensor; 40 – Steel tower grounding point device (actuator); 41 – Locking motor; 42 – Status indicator light; 51 – Onboard computing unit. Arrows indicate the sensor data flow and control command flow.

[0024] Figure 3 This is a logic diagram of the optimal clamping control stage on the cable side of the present invention; This diagram illustrates a scenario where a drone identifies, approaches, and clamps a wire. The numbers in the diagram are explained as follows: 10 – Drone (including flight control system); 21 – Wire (target cable); 31 – Visual sensor (detects contact angle); 32 – LiDAR (3D recognition); 35 – Clamping force sensor; 43 – Cable grounding point device; 44 – Clamping mechanism; 45 – Attitude adjustment mechanism; 51 – Onboard computing unit.

[0025] Figure 4 This is a schematic diagram of the anti-interference control logic during the safe dismantling phase of the present invention; This diagram illustrates the control architecture for the safe removal and retrieval of grounding devices under environmental wind disturbance. The numbering in the diagram is as follows: 10 – UAV; 20 – Tower (environmental obstacle); 40 – Tower grounding point device; 43 – Cable grounding point device; 34 – Wind speed sensor; 46 – Release mechanism; 52 – Path planning module; 53 – Model Predictive Controller (MPC); 54 – PID controller; 55 – Deviation monitoring module; 56 – Retrieval path reference point; 57 – Wind disturbance illustration arrow (indicating the direction and magnitude of environmental wind speed).

[0026] Figure 5 This is a block diagram of the architecture of the collaborative control system of the present invention.

[0027] This diagram illustrates the overall system architecture in the form of functional modules and entities. Two numbering systems are used: the 60 series identifies system functional modules, and the 70 series identifies external physical entities. Specific numbering explanations are as follows:

[0028] 61 – Sensing Module, comprising: 61a (high-precision GPS receiver), 61b (visual sensor), 61c (LiDAR), 61d (multispectral imager), 61e (wind speed sensor), and 61f (pressure sensor).

[0029] 62 – Decision and Control Module, comprising: 62a (Airborne Computing Unit) and 62b (Ground Station Computing Unit).

[0030] 63 – Communication and execution module, including: 63a (UAV flight control system) and 63b (execution mechanism, which includes 63b1 locking motor, 63b2 releasing motor and 63b3 clamping motor).

[0031] 70 – Unmanned Aerial Vehicle Platform (Physical Entity).

[0032] 71 – Grounding wire hanging and removing device (physical entity).

[0033] 72 – Ground control station (physical entity).

[0034] The arrows in the diagram illustrate the data flow, control command flow, and status feedback flow between modules.

[0035] Figure 6 This is a schematic diagram of the overall physical object of the drone and grounding wire attachment / removal device used in conjunction with the present invention.

[0036] Figure 7 for Figure 6 A partially enlarged schematic diagram of the grounding wire hanging and removing device.

[0037] The numbering in the diagram is explained as follows: 10 – UAV; the grounding wire hanging and unhanging device includes 40 – tower grounding hanging point device and 43 – cable grounding hanging point device; 80 – grounding cable, the two ends of which are connected to 40 – tower grounding hanging point device and 43 – cable grounding hanging point device respectively.

[0038] It should be noted that different labels may be used for the same entity in different accompanying drawings, depending on the emphasis of the illustration. For example, the drone performing the operation may be labeled differently. Figures 2-4 , Figure 6 The scene diagram is labeled '10'. Figure 5 In the system block diagram, the physical platform is labeled '70', and both refer to the same object. In the following description, 'drone' or 'drone platform' will be used depending on the context, and they have the same meaning.

[0039] For ease of description, the device used to attach to the angle steel of the tower is referred to as the "tower grounding attachment device 40", and the device used to clamp the transmission line is referred to as the "cable grounding attachment device 43". The two together constitute the "grounding wire attachment and removal device 71". The operation process is correspondingly divided into the tower-side operation stage and the cable-side operation stage. Detailed Implementation

[0040] The present invention will now be described in detail with reference to the accompanying drawings.

[0041] The overall process and system architecture of this invention can be referred to separately. Figure 1 and Figure 5 In the specific implementation process, the control logic and scenario diagrams for each stage correspond to... Figure 2 , Figure 3 and Figure 4 A schematic diagram of the overall physical object of the UAV and grounding wire attachment / removal device used in conjunction with this invention is shown below. Figure 6 and Figure 7 .

[0042] Referring to the figures, a collaborative control method for attaching and removing grounding wires of transmission lines using a drone is described. This method is executed by a control system deployed on the drone and ground station, and is applicable to controlling a matching grounding wire attachment / removal device 71 (which includes at least a tower grounding attachment point device 40 and a cable grounding attachment point device 43) to complete the operation. The core of this method lies in constructing a phased, multi-closed-loop collaborative control model, including the following steps: S1, High-precision guidance and contact triggering stage on the tower side (its control logic can be found in...) Figure 2 The goal of this phase is to achieve centimeter-level guidance and deployment of 10 pairs of UAVs to the grounding attachment points on the iron towers, and to confirm their reliable contact.

[0043] S11, Multi-source fusion precise positioning (see...) Figure 2 The system controls the drone 10 to fly to the target tower 20 area. It integrates and processes the following multi-source perception data from the drone 10: positioning data provided by a high-precision GPS receiver 33, image data collected by a visual sensor 31 and real-time identification of the tower angle steel image features by a deep learning model, and point cloud data acquired by a lidar 32, to generate spatial information of the tower target mounting area and determine a specific target point for mounting. The deep learning model is built on a lightweight convolutional neural network (CNN) architecture (such as MobileNetV3 or YOLOv5s) and trained using a dataset of tower angle steel images under different environmental conditions. Data augmentation techniques are used during training to improve the model's generalization ability. Deployment verification shows that the model achieves a recognition accuracy ≥98% and an inference speed ≥15 frames / second on an embedded platform, and can output key angle steel information in real-time and stably, providing reliable input for subsequent coordinate fusion. Real-time feedback control is achieved through a position calibration error model, where the error... Defined as the current position of drone 10 ( , , ) and that specific target point ( , , Euclidean distance of ) (Formula 1), in, Represents the three-dimensional spatial coordinates of the drone. Represents the three-dimensional spatial coordinates of the specific target point; Control the drone 10 to fly, .

[0044] S12, Adaptive Rate Deployment and State Verification (see...) Figure 2 An adaptive lowering rate control algorithm is introduced during the device lowering process. The relative distance between the UAV 10 and the angle steel of the tower is defined as... Real-time ambient wind speed is (Monitored by wind speed sensor 34), the maximum lowering rate is The maximum effective drop-off distance is The maximum permissible wind speed is Download rate The dynamic adjustment is as follows: (Formula 2); Simultaneously, the visual inspection module continuously monitors the opening angle of the mechanical components (such as hooks and latches) of the tower grounding point device 40, comparing it with a preset "fully open" state threshold. Furthermore, the system analyzes the status indicator lights 42 (such as...) via the visual sensor 31. Figure 2 The device's readiness is double-verified by recognizing the color or on / off pattern (as shown). Only when the mechanical opening angle φ meets the threshold and the status indicator 42 displays a preset "ready" signal (e.g., solid green), is the device considered fully ready and allowed to proceed to the next contact step. This double-verification mechanism further ensures reliability before deployment.

[0045] S13, Contact Confirmation and Lockout Trigger (see...) Figure 2 When the contact degree between the device and the angle steel (judged by visual image analysis or pressure sensor signal) reaches a preset threshold, it is determined to be a reliable contact. Subsequently, the system needs to confirm the status indicator light 42 of the tower grounding point device 40 itself (e.g., ...). Figure 2 The device (as shown) has switched from the "ready" state (e.g., solid green) to the "contact confirmation" state (e.g., flashing green), serving as internal feedback that the device has sensed stable contact. Upon receiving this visual feedback signal, the control system generates and sends a locking trigger command to the tower grounding point device 40. This command is triggered by the locking motor 41 (e.g., ...). Figure 2(As shown in the diagram) executes the lockout completion feedback signal; or receives the autonomously triggered lockout completion feedback signal. The "autonomously triggered lockout completion feedback signal" refers to the control unit built into the tower grounding connection device 40 automatically executing the lockout and providing feedback when the following conditions are simultaneously met: 1) the pressure sensor 61f signal continuously exceeds a set threshold (e.g., ≥5N) for 200ms; 2) the built-in attitude sensor detects stable device attitude (angular velocity ≤2° / s); 3) the device's built-in miniature vision sensor confirms that the hook has been embedded in the angle steel groove. This design enhances the autonomy and reliability of the connection process. The control decisions for the entire connection phase are completed by the onboard computing unit 51.

[0046] S2, Cable-side refined operation and optimized clamping stage (its operation scenario and logic can be found in [reference]). Figure 3 The goal of this stage is to achieve high-precision tracking and optimal clamping of the moving conductor 21.

[0047] S21, Cable 3D Identification and Positioning (see...) Figure 3 ): Control the drone 10 to switch to cable operation mode. Activate the lidar 32 and multispectral imaging module to target the cable 21 (e.g., Figure 3 (As shown in the image) Scanning and 3D modeling are performed to extract guideline features. The 3D distance error between the UAV and the guideline is calculated. : (Formula 3), Control the drone to hover above the guide wire 21, so that .

[0048] S22, Segmented Dynamic Approach and Attitude Pre-adjustment (see...) Figure 3 A segmented deployment strategy is adopted. In the initial stage, the cable grounding attachment device 43 is deployed at a high efficiency rate; when the distance between the device and the conductor 21... When the distance is less than the preset safety distance (e.g., 0.5 meters), the system switches to a low-speed precision approach mode. During this precision approach phase, the system initiates active attitude pre-adjustment: based on the fusion data of the lidar 32 and the vision sensor 31, it calculates in real time the angular deviation between the clamping plane of the cable grounding point device 43 and the axis of the target wire 21. The decision and control module 62 then generates attitude adjustment commands, driving the attitude adjustment mechanism 45 on the UAV 10 (e.g., ...). Figure 3 As shown, this is typically the action of a drone gimbal or a dedicated attitude adjustment servo mechanism, which drives the grounding point device 43 of its suspended cable to rotate slightly around the vertical or pitch axis to dynamically compensate for the angular deviation. The control objective is to make... Approaching 0°, thus ensuring that the opening plane of the clamping mechanism 44 is optimally parallel to the axis of the wire 21 before physical contact occurs, creating ideal conditions for subsequent vertical clamping.

[0049] S23, Optimal Contact Angle Detection and Adaptive Clamping Control (see...) Figure 3 At the lower end, the clamping mechanism 44 of the cable grounding attachment device 43 is monitored in real time by the vision sensor 31 (e.g., ...). Figure 3 The contact angle between the conductor 21 and the surface of the wire (as shown in the figure) .Will With respect to the preset optimal clamping angle range [ , Real-time comparison is performed. The optimal clamping angle range is determined through mechanical simulation and physical experiments. Simulation and experimental results show that when the contact angle is in the range of 85° to 95°, the electrical contact resistance between the clamp and the conductor 21 is the smallest (≤20μΩ), and the mechanical clamping force distribution is the most uniform, which can ensure the reliability and safety of the connection. Preferably, the center value of this interval is 90°. If and only if... When the optimal contact conditions are met, the control system immediately triggers the clamping command.

[0050] S24, Clamping force closed-loop adjustment (see...) Figure 3 A clamping force control model is introduced during the clamping process. The target clamping force is set as follows: Its relationship with the contact angle deviation can be characterized as (a preferred model): (Formula 4), in, This is the center value of the optimal angle range. The control system adjusts the drive parameters (such as motor current and stroke) of the clamping mechanism 44 to make the actual clamping force approach the optimal value. The actual clamping force is determined by the clamping force sensor 35 (e.g., Figure 3 (As shown in the diagram) feedback ensures electrical continuity and mechanical stability.

[0051] S3, Safe Dismantling and Disturbance Recovery Phase (its anti-interference control logic can be found in...) Figure 4 The core objective of this phase is to address dynamic environmental wind disturbances (such as...). Figure 4 Under the influence of the stroke disturbance (indicated by arrow 57), the grounding device is stably and non-destructively removed and safely recovered. Therefore, all key decisions and control strategies in this stage are based on real-time sensing and compensation. Figure 4 The design is based on the wind disturbance shown.

[0052] S31, Environmental Awareness and Security Policy Activation (see...) Figure 4 Before dismantling, the system continuously monitored the wind speed via wind speed sensor 34 at a high frequency. Monitoring such as Figure 4 The real-time ambient wind speed represented by arrow 57 in the diagram of the stroke disturbance. And its direction. This wind speed vector is the primary input for all subsequent disturbance mitigation decisions. The system sets a safe wind speed threshold for demolition operations. This threshold can be based on the maximum permissible wind speed during the mounting phase. A conservative downward adjustment will be made (e.g., 10%-15%). If If it is triggered automatically, the current wind disturbance (corresponding to) will be determined. Figure 4 (As indicated by arrow 57) The operation has exceeded the safe operating range. The system automatically triggers the deceleration and hovering mode to suspend the demolition operation until the wind disturbance is reduced.

[0053] S32, Adaptive force-controlled release (see...) Figure 4 ): Control drone 10 to send release command to release mechanism 46 ( Figure 4 (As shown). For active offsetting. Figure 4 The wind load, indicated by arrow 57, may affect the release process (e.g., causing the device to sway, jam, or collide with tower 20 at the moment of release), and the execution force of the release process. Based on the real-time monitored wind speed vector (i.e., represented by arrow 57) Dynamic feedforward compensation adjustment is performed using the following formula: (Formula 5), in, This represents the current magnitude of the wind disturbance. This measure aims to generate a suitable compensating force opposite to the direction of the wind disturbance, ensuring a smooth and controllable release action and preventing accidents caused by wind-induced dynamic loads.

[0054] S33, Precise Recovery and Dynamic Path Correction (see...) Figure 4 After the device is released, the control drone 10 is used for recovery. During the recovery phase, the drone 10 employs model predictive control (MPC) 53 and a PID controller 54 (e.g., ...). Figure 4 The controller employs a composite control strategy for accurate path tracking at low speeds (≤0.2 m / s). Using the path planning module 52-generated recovery path reference point 56 as a reference, the controller calculates the position deviation in real time, performs feedforward optimization via MPC, and combines PID control for rapid attitude fine-tuning to ensure accurate path tracking. Stable and controlled. Along the recovery path, the deviation monitoring module 55 continuously calculates the two-dimensional planar deviation between the vehicle's current position and the preset ideal recovery path point. The calculation method is as follows: (Formula 6), in,( , This represents the horizontal coordinate of the preset ideal recycling path point. Set a deviation threshold (e.g., 3cm). If the threshold is exceeded, retrieval is immediately suspended, and the path planning module 52 replans the local path to ensure there is no risk of collision between the drone 10 and the device, tower 20, and wire 21. The entire retrieval process is carried out at a low speed (≤0.2m / s). The wind disturbance illustration arrow 57 visually represents the wind speed. Impact on the recovery path of UAV 10.

[0055] In summary, the S1 stage controls the positioning, lowering, and connection of the tower grounding connection device 40.

[0056] The S2 stage controls the positioning, approach, and clamping of the cable grounding point device 43.

[0057] Phase S3 controls the removal and recycling of cable grounding connection device 43 and tower grounding connection device 40.

[0058] This invention provides a system for implementing the above-mentioned cooperative control method (its architecture block diagram is shown below). Figure 5 (As shown).

[0059] The system includes: Sensing module 61 (e.g.) Figure 5 As shown): It includes a high-precision GPS receiver 61a, a vision sensor 61b, a lidar 61c, a multispectral imager 61d, a wind speed sensor 61e, and a pressure sensor 61f, used to acquire environmental, target, and device status information.

[0060] Decision and control module 62: includes airborne computing unit 62a and / or ground station computing unit 62b, configured to store and run program code of the cooperative control method, specifically used to execute the multi-source fusion positioning, adaptive rate calculation, contact angle judgment, clamping force model solution, release force adjustment and path deviation monitoring.

[0061] Communication and execution module 63: used to transmit control commands and status data between the UAV platform 70, the ground control station 72 and the controlled grounding wire attachment / removal device 71, and to drive the electric actuators 63b (such as locking motor 63b1, releasing motor 63b2, clamping motor 63b3) of the UAV flight control system 63a and the grounding wire attachment / removal device 71.

[0062] The communication and execution module 63 is used to drive the electric actuator 63b of the grounding wire attaching / removing device 71. The actuator 63b includes at least a locking motor 63b1, a releasing motor 63b2, and a clamping motor 63b3. For example, in... Figure 2 In the tower end operation scenario shown, the locking motor 63b1 is specifically implemented as the locking motor 41 in the tower grounding point device 40.

[0063] Example: A method for coordinated control of UAV grounding wire attachment and removal in 500kV transmission lines.

[0064] To verify the effectiveness of this method, multiple rounds of tests were conducted in a simulated 500kV line environment. The results show that the success rate of tower-side positioning is 100%, with an average error of 3.2cm; the success rate of cable-side clamping is 98%, with an average contact resistance of 18μΩ; and dismantling and recovery can still be safely completed under a wind speed of 8m / s. This confirms the advantages of this invention in terms of accuracy, reliability, and environmental adaptability.

[0065] This embodiment is implemented by a multi-rotor UAV, a ground wire attachment / removal device 71 with wireless communication function (not the focus of this invention, but only a controlled object), and a ground control station 72. The ground control station 72 runs the control software of this invention.

[0066] also, Figure 6 and Figure 7 A physical implementation of a grounding wire attach / detach device that can be used in conjunction with the aforementioned collaborative control method is demonstrated. For example... Figure 6 As shown, the UAV 10 is equipped with a tower grounding point device 40, a cable grounding point device 43, and a grounding cable 80 connecting the two, which are suspended below the UAV 10 by a mounting mechanism. Figure 7 for Figure 6 The enlarged schematic diagram of the grounding wire hanging and removing device more clearly shows the specific appearance of the tower grounding hanging point device 40 and the cable grounding hanging point device 43, as well as the connection method of the grounding cable 80.

[0067] 1. Installation of the connection operation: Tower-side operation: After the pilot selects the grounding point on the tower, the automatic operation program is initiated. Drone 10 flies to the vicinity of tower 20, and the perception module activates. The visual sensor identifies the designated angle steel, and combined with GPS and LiDAR data, calculates the target point coordinates. The control system continues calculations. (Formula 1), and control the drone 10 to adjust its position until... =4cm (<5cm), meeting the positioning requirements. At this time, the vision system detected that the hook opening angle of the tower grounding point device 40 is 90º, which is equal to the "fully open" threshold; at the same time, it detected that its status indicator light 42 is solid green (i.e., "ready" signal). Both verifications passed.

[0068] The decentralization process begins. Initially, =2.0m, =3m / s, calculated according to the formula. ≈0.7 .along with Decrease The pressure decreases linearly, eventually reaching near zero before contact. After the device contacts the angle steel, the pressure sensor signal changes, and the system confirms successful contact. Immediately, the system detects through the visual sensor that status indicator 42 has switched to flashing green (i.e., "contact confirmation" signal), and then sends a locking command to the device. After the locking action is completed, the indicator light turns solid red ("locking complete"), and the system confirms the successful connection to the tower side.

[0069] Cable side work: The drone 10 flies to the vicinity of the guide wire 21. The lidar scans the guide wire, and after processing the point cloud data, determines the centerline coordinates of the guide wire 21. The control system hovers the drone 10 above the guide wire 21, making... =2cm (<3cm) (Formula 3).

[0070] The phased rollout has begun. When the distance is less than 0.5m, the system switches to low-speed mode. Simultaneously, the active attitude pre-adjustment function is activated. Based on the lidar point cloud and visual data, the system calculates that the current clamping plane has an approximately 5° deviation from the axis of the guide wire 21. The decision and control module then sends a signal to the attitude adjustment mechanism 45 ( Figure 3 (As shown) A command is sent to drive the cable grounding attachment device 43 to rotate slowly clockwise. Within approximately 2 seconds, The angle was adjusted to less than 1°. During this process, the vision sensor continuously tracked the guide wire 21 and calculated the contact angle between the device clamp arm and the guide wire 21. The preset optimal range is [85º, 95º], and the target value is... =90º. Now place to When the angle reaches 88º, it falls into the optimal range, and the control system immediately triggers the clamping command.

[0071] During the clamping process, the target clamping force is calculated based on the model. (Formula 4). Due to near Calculated near The control system stabilizes the clamping force near the target value by adjusting the current of the clamping motor.

[0072] 2. Demolition work implementation: Drone 10 flew close to the grounding attachment point 43 of the cable to be removed. The wind speed sensor monitored this in real time. Preset If the safety threshold is lowered by 15%, then The current wind speed is below the threshold, and dismantling is permitted.

[0073] Send a release command. Calculate based on the adaptive force control model (Formula 5). Let k=0.8, then calculate. = * (1 + 0.8 * 7 / 15) ≈ 1.37 The control system uses the increased release force to drive the release mechanism, smoothly releasing the clamp.

[0074] After the device detaches, the UAV 10 performs recovery. The preset recovery path is a set of spatial coordinate points. Real-time calculations are performed during flight. (Formula 6). Calculated at a certain moment... If the distance is 3.5cm (>3cm threshold), the control system will immediately hover and, based on the current pose and obstacle information, replan a smooth path to avoid the risk and continue the recovery process.

[0075] After the cable-side device is retrieved, the drone 10 is controlled to fly towards the tower grounding attachment device 40, which is still attached to the tower angle steel.

[0076] The UAV 10 uses a visual sensor to identify specific features (such as reflective markings or shape) of the tower grounding attachment device 40, and employs a multi-source fusion positioning method similar to that used in the attachment phase to accurately locate the device's three-dimensional coordinates on the tower 20. Considering the complexity of the tower structure, the control system plans a collision-free approach path from the UAV's current position to the device's grabbing point, ensuring that the UAV's rotor maintains a safe distance (≥1.0 meter) from the tower.

[0077] During the approach, wind speed is continuously monitored. If the wind speed exceeds the safety threshold, a deceleration hovering mode is also triggered. After the drone hovers in a safe position above the device, it adjusts its attitude to precisely align the gripping interface of the mounting mechanism with the lifting ring or hook on the device.

[0078] The drone 10 descends slowly until the mounting mechanism and the tower grounding attachment device 40 are physically connected (e.g., the hook is engaged with the lifting ring). After the connection is confirmed, the control system sends a release command to the tower grounding attachment device 40. Upon receiving the command, the device's control circuit controls its locking mechanism (e.g., retracting the locking pin or releasing the pawl) to release the lock on the tower angle steel.

[0079] After the lock is released, the drone's vertical lifting device detaches it from the angle iron. Subsequently, the device is retrieved along a planned safe path, returning to a suspended position beneath the drone. Path deviation is continuously monitored throughout the entire retrieval process. (≤3cm) to ensure safe operation.

[0080] The meanings of the symbols used in this specification are shown in the table below: .

[0081] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A collaborative control method for attaching and removing grounding wires of power transmission lines using unmanned aerial vehicles (UAVs), characterized in that, The operation is executed by a control system deployed on the UAV and ground station, and is suitable for controlling a matching grounding wire attachment / removal device to complete the work. The grounding wire attachment / removal device includes a tower grounding attachment point device for attaching to the tower and a cable grounding attachment point device for clamping the conductor. The method includes the following steps: S1, High-precision guidance and contact triggering phase on the tower side: S11. Multi-source fusion precise positioning: Control the UAV to fly to the target tower area, and by fusing positioning data from the high-precision GPS receiver on the UAV, image data collected by the visual sensor, and point cloud data obtained by the LiDAR, generate spatial information of the tower target mounting area, and determine a specific target point for mounting; control the UAV flight to reduce the positioning error on the tower side. ,in Defined as the Euclidean distance between the drone's current position and the specific target point: ； in, , , Represents the three-dimensional spatial coordinates of the drone. , , Represents the three-dimensional spatial coordinates of the specific target point; S12. Adaptive Rate Deployment and Status Verification: During the deployment of the tower grounding device, the relative distance between the drone and the tower angle steel is used for verification. and real-time ambient wind speed Dynamically adjust the rate of release. : ； Meanwhile, the opening and closing angle of the mechanical components of the tower grounding point device is monitored by visual inspection and compared with a preset threshold. The status indicator light signal of the device is identified by a visual sensor to double verify the device's ready status. S13. Contact confirmation and locking trigger: When the fit between the device and the angle steel is detected to reach a preset threshold, and the status indicator light signal is confirmed to switch to the contact confirmation state, a locking trigger command is generated and sent. S2, Cable-side Refined Operation and Optimized Clamping Stage: S21. Cable 3D Recognition and Positioning: Control the UAV to switch to cable operation mode, activate the LiDAR and multispectral imaging module to scan and 3D model the target cable, control the UAV to hover above the cable, and minimize cable side positioning errors. ,in Defined as the Euclidean distance between the current position of the drone and the position of the guide wire: ； S22. Segmented Dynamic Approach and Attitude Pre-adjustment: A segmented approach strategy is adopted to approach the conductor. When the distance between the device and the conductor is less than the preset safety distance, the system switches to a low-speed precision approach mode and calculates the angular deviation between the clamping plane of the cable grounding point device and the axis of the target conductor in real time based on sensor fusion data. This drives the attitude adjustment mechanism of the drone to dynamically compensate for the angle deviation. S23. Optimal Contact Angle Detection and Adaptive Clamping Control: At the lowering end, a visual sensor monitors in real time the contact angle between the clamping mechanism of the cable grounding point device and the conductor surface. And compare it with the preset optimal clamping angle range, when At that time, the clamping command is triggered; S24. Clamping force closed-loop adjustment: During the clamping process, the target clamping force is set according to the contact angle deviation. And by adjusting the driving parameters of the clamping mechanism, the actual clamping force is made to approach the value. The Determined based on the following model: ； S3. Safe dismantling and disturbance-resistant recovery phase: S31. Environmental Awareness and Safety Strategy Activation: Continuously monitor real-time ambient wind speed before dismantling. and the set safe demolition wind speed threshold. In comparison, if If so, the demolition work will be suspended; S32, Adaptive Force Control Release: Controls the drone to send release commands, and the force applied during the release process. Based on real-time monitored wind speed Make dynamic adjustments: ； S33. Precise Recovery and Dynamic Path Correction: After the device is released, the UAV is controlled for recovery. A composite control strategy of model predictive control and PID controller is used for precise path tracking, and the plane deviation of the recovery path is calculated in real time. The deviation is compared with a preset threshold; if it exceeds the threshold, the local path is replanned. Defined as: 。 2. The method according to claim 1, characterized in that, In step S11, the tower image features acquired by the visual sensor are identified in real time using a deep learning model based on a lightweight convolutional neural network architecture.

3. The method according to claim 1, characterized in that, In step S12, the ready state of the dual verification device is specifically defined as follows: the opening and closing angle of the mechanical component meets the preset "fully open" state threshold, and the status indicator light displays the preset "ready" signal.

4. The method according to claim 1, characterized in that, In step S13, the timing of sending the locking trigger command is as follows: after detecting that the fit has reached a preset threshold, the status indicator light is further confirmed by the visual sensor to have switched from the "ready" state to the "contact confirmation" state.

5. The method according to claim 1, characterized in that, In step S22, in the low-speed precision proximity mode, the control objective is to minimize the angle deviation. Approaching 0°.

6. The method according to claim 1, characterized in that, In step S23, the optimal clamping angle range [ , [85°, 95°] It is 90°.

7. The method according to claim 1, characterized in that, In step S31, the safe demolition wind speed threshold Based on the maximum permissible wind speed during the connection phase Adjust the settings downwards.

8. The method according to claim 1, characterized in that, In step S33, the recycling process is carried out at a speed of less than or equal to 0.2 m / s.

9. A collaborative control system for implementing the method of any one of claims 1 to 8 for attaching and removing grounding wires of power transmission lines by a UAV, characterized in that, The system includes: The perception module includes a high-precision GPS receiver, a visual sensor, a lidar, a multispectral imager, a wind speed sensor, and a pressure sensor, used to acquire status information of the environment, targets, and devices. The decision and control module, including an airborne computing unit and / or a ground station computing unit, is configured to store and run the program code of the cooperative control method; The communication and execution module is used to transmit control commands and status data between the UAV platform, the ground control station, and the controlled grounding wire attachment / removal device, and to drive the electric actuators of the UAV flight control system and the grounding wire attachment / removal device.

10. The system according to claim 9, characterized in that, The electric actuator includes a locking motor, a releasing motor, and a clamping motor.

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