A tethered lighting unmanned aerial vehicle control method and system under a high-voltage live working environment

Abstract

This invention belongs to the field of unmanned aerial vehicle (UAV) technology and provides a control method and system for a tethered lighting UAV in a high-voltage power operation environment. When the tether line forms an electric field shadow area at a preset position, the front-end gain of the preset sensor is increased to compensate for the signal attenuation caused by shielding. Through amplification processing, the problems of distortion of local electric field distribution caused by the tether line and low reading caused by the electric field shadow area are solved, reducing measurement deviation and sensor interference. At the same time, the filtered electric field data is compared with a threshold. When the electric field detection value exceeds the threshold, the speed is adjusted according to the spatial gradient of the electric field intensity, and compensation is made according to the angle between the tether line and the vertical axis to perform UAV translation control. Simultaneously, the lighting brightness and illumination angle are automatically adjusted according to the electric field intensity, realizing stable control of the UAV under the swing of the tether line. This solves the problems of strong light interference with power equipment detection and the occurrence of blind spots caused by changes in the lighting angle.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and in particular relates to a control method and system for a tethered lighting UAV in a high-voltage electrical working environment. Background Technology

[0002] Tethered lighting drones are widely used in emergency rescue, power repair, and nighttime construction due to their advantages of continuous power supply and long-term hovering. In high-voltage environments such as power repair, the strong electric field can cause electromagnetic interference to the drone's flight control system and communication modules, leading to loss of drone attitude control, flickering or unstable brightness of the lighting module, and even causing safety accidents such as drone crashes and electric shocks.

[0003] Traditional tethered lighting drones lack targeted electric field detection and avoidance mechanisms. Some products only improve safety by adding insulation protection, failing to actively sense electric field strength and adjust operating status, thus failing to meet the safety requirements of high-voltage environments. Furthermore, the tether line, as an inductive conductor, distorts the local electric field distribution, potentially introducing measurement deviations and sensor interference. The tether line directly affects the electric field sensor onboard the drone, causing reading drift, interfering with sensor signal amplification circuits, and creating an electric field shadow zone between the sensor and the high-voltage line, resulting in lower readings. Simultaneously, tethered lighting drones may experience changes in lighting angle and tether line swaying during movement to avoid strong electric fields. Changes in lighting angle can lead to strong light interference with power equipment detection and the creation of blind spots. Tether line swaying not only affects the drone's flight stability but also poses risks such as the power cable swaying and colliding with high-voltage lines, limiting the implementation of solutions that actively sense electric field strength and adjust operating status. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a control method and system for a tethered lighting drone in high-voltage electrical working environments. This invention, through amplification processing, solves the problems of distortion of the local electric field distribution caused by the tether line and low readings due to electric field shadow areas, reducing measurement deviations and sensor interference. Simultaneously, by comparing the filtered electric field data with a threshold, when the detected electric field value exceeds the threshold, the speed is adjusted according to the spatial gradient of the electric field intensity, and compensation is performed based on the angle between the tether line and the vertical axis for drone translation control. Furthermore, the lighting brightness and illumination angle are automatically adjusted according to the electric field intensity, achieving stable drone control under tether line oscillation. This solves the problems of strong light interference with power equipment detection and the appearance of blind spots caused by changes in the lighting angle.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: In a first aspect, the present invention provides a control method for a tethered lighting drone in a high-voltage electrical working environment, comprising: Acquire electric field data under high-voltage working conditions; The electric field data is amplified and filtered; when the tethering wire forms an electric field shadow area at a preset position, the front-end gain of the preset sensor is increased to compensate for the signal attenuation caused by shielding. The filtered electric field data is used to separate the real electric field signal from the background noise, and the reading offset introduced by electrostatic coupling is initially corrected. The filtered electric field data is compared with a threshold. When the detected electric field value exceeds the threshold, the speed is adjusted according to the spatial gradient of the electric field intensity, and compensation is made according to the angle between the tether line and the vertical axis to control the drone's translation. At the same time, the illumination brightness and the illumination angle are automatically adjusted according to the electric field intensity.

[0006] Furthermore, the amplification process includes: when the tethered wire forms an electric field shadow area between the electric field sensor and the high-voltage line at a preset position, increasing the front-end gain of the preset sensor to compensate for the signal attenuation caused by shielding.

[0007] Furthermore, the determination of the electric field shadow region includes: continuously determining the average value of all electric field sensors. and standard deviation Set a deviation threshold. ,in, These are empirical coefficients; when a certain electric field sensor... Continuous N Readings per sampling period Data is considered abnormal if all of the following conditions are met: ; Establish a coordinate system for the UAV with its center of mass as the origin; the installation position vector of each electric field sensor and the connection point vector of the tether line on the UAV are known; determine the position vector from the sensor based on the current attitude of the UAV and the direction of the high-voltage line. i A detection vector pointing in the direction of the high-voltage line; If the distance from the mooring line to the line containing the detection vector is less than the equivalent shielding radius of the mooring cable, and the projection of the mooring line onto the direction of the detection vector lies between the sensor and the high-voltage line, then the sensor can be determined to be the source of the problem. i The detection path was partially or completely blocked by the tethered wire, forming an electric field shadow area.

[0008] Furthermore, the electric field sensor was determined. i After being placed in the electric field shadow region, the following parameters are generated: target sensor, base gain factor. and suggested compensation gain multiple Instructions; initial value Estimate based on the confidence level of the shaded area determination and the proportion of low readings: ; Adjust the amplifier gain of the corresponding channel of the electric field sensor from the current value to the compensation gain multiple, and adjust it once every control cycle until the target compensation gain multiple is reached. After the gain adjustment, if the difference between the new output value of the electric field sensor and the average value of other sensors is still greater than the threshold, then finely adjust the gain again within the safe upper limit. If the new output value has reached or exceeded the average value of other sensors, then maintain the current gain and the compensation is completed. If the new output value saturates, then immediately pull the gain back to the previous stable value.

[0009] Furthermore, the filtering includes: suppressing power frequency electromagnetic radiation noise generated by induced current in the tethered wire through a notch filter, and further processing through a digital filter.

[0010] Furthermore, the separation of the real electric field signal from background noise includes: using an adaptive filter to distinguish signal singularities and random noise; setting an instantaneous energy detector at the front end of the adaptive filter; and calculating the reference signal. The short-time sum of squares: ; in, The length of the sliding window; For time sampling index; This refers to the tap index or iteration count; For the physical quantity of the interference signal; If the short-time sum of squares is greater than an empirical threshold, the weight iteration is paused, and the current error is set to the original sensor value. When the short-time sum of squares remains below the threshold for a preset number of sampling periods, adaptive updates automatically resume. A dual-path parallel architecture is used to process interference separately. The outputs of the two channels are subtracted from the original sensor signal to obtain two denoised signals. The final output is then weighted and fused. ; in, Dynamic weights; This is the denoised signal for channel A; This is the denoised signal for channel B.

[0011] Furthermore, when a sensor reading is too low, bias compensation is performed on the individual sensor whose baseline is shifted due to electrostatic coupling.

[0012] Furthermore, the drone translation includes: when the electric field gradient amplitude is less than a first preset value, translating at a first preset speed; when the electric field gradient amplitude is greater than the first preset value and less than a second preset value, increasing the translation speed; when the electric field gradient amplitude is greater than or equal to the second preset value, translating at a second preset speed; wherein, the first preset value is less than the second preset value, and the first preset speed is less than the second preset speed; If the angle between the tether line and the vertical axis is greater than the first preset angle, a reverse roll compensation torque is applied to make the drone turn sideways to face the wind and guide the tether line back to its normal position naturally; if the angle between the tether line and the vertical axis is less than the second preset angle, the forward translational momentum is maintained; wherein, the first preset angle is greater than the second preset angle.

[0013] Furthermore, the lighting brightness adjustment includes: when the electric field strength is less than a first preset strength, the brightness increases slowly at a preset percentage; when the electric field strength is between the first preset strength and the second preset strength, the brightness increases linearly; when the electric field strength is greater than the second preset strength, the brightness increase rate drops sharply; wherein, the first preset strength is less than the second preset strength.

[0014] Secondly, the present invention also provides a control system for a tethered lighting drone operating in a high-voltage power environment, comprising: The data acquisition module is configured to acquire electric field data under high-voltage working conditions. The first data processing module is configured to amplify and filter the electric field data; wherein, when the tethering wire forms an electric field shadow area at a preset position, the front-end gain of the preset sensor is increased to compensate for the signal attenuation caused by shielding. The second data processing module is configured to: separate the real electric field signal from the background noise in the filtered electric field data, and preliminarily correct the reading offset introduced by electrostatic coupling; The control module is configured to: compare the filtered electric field data with a threshold; when the detected electric field value exceeds the threshold, adjust the speed according to the spatial gradient of the electric field intensity and compensate according to the angle between the tether line and the vertical axis to perform drone translation control; and automatically adjust the illumination brightness and the illumination angle according to the electric field intensity.

[0015] Thirdly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the tethered lighting drone control method under high-voltage working conditions described in the first aspect.

[0016] Fourthly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to implement the steps of the tethered lighting drone control method under high-voltage working conditions described in the first aspect.

[0017] Fifthly, the present invention also provides a computer program product, the computer program product comprising a computer program, which, when executed by a processor, implements the steps of the tethered lighting UAV control method under high-voltage working conditions described in the first aspect.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: When amplifying electric field data, this invention increases the front-end gain of a preset sensor to compensate for signal attenuation caused by shielding when the tether forms an electric field shadow area at a preset position. The filtered electric field data is then separated from the real electric field signal and background noise, and the reading offset introduced by electrostatic coupling is initially corrected. Through the amplification design, the problems of distortion of the local electric field distribution caused by the tether and low readings due to the electric field shadow area are solved, reducing measurement deviation and sensor interference. Simultaneously, the filtered electric field data is compared with a threshold. When the electric field detection value exceeds the threshold, speed adjustment is performed based on the spatial gradient of the electric field intensity, and compensation is made based on the angle between the tether and the vertical axis for drone translation control. Furthermore, the illumination brightness and illumination angle are automatically adjusted based on the electric field intensity, achieving stable drone control under tether swing and solving problems such as strong light interference with power equipment detection and blind spots caused by changes in illumination angle. Attached Figure Description

[0019] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0020] Figure 1 This is a flowchart of the method in Embodiment 1 of the present invention.

[0021] Figure 2 This is a schematic diagram of the system structure of Embodiment 2 of the present invention. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0024] Example 1: Traditional tethered lighting drones lack targeted electric field detection and avoidance mechanisms. Some products only improve safety by adding insulation protection, but cannot actively sense electric field strength and adjust the operating status, making it difficult to meet the safety requirements of high-voltage environments. Moreover, the impact of the tether line on electric field strength detection is mainly reflected in its distortion of the local electric field distribution as an inductive conductor, and may introduce measurement deviations and sensor interference.

[0025] Tethered wires are typically composed of a metallic conductor core (such as copper wire) and a high-strength fiber outer layer (such as Dyneema), with some models containing carbon fiber reinforcement. In a high-voltage electric field (≥110kV), this conductor structure can accumulate induced charges due to electrostatic induction, resulting in local polarization effects. This can lead to problems such as distorting the original electric field distribution, enhancing the local field strength, and forming equivalent dipoles.

[0026] The distorted electric field distribution causes the originally smooth equipotential lines to bend around the tether, forming a concentrated electric field region. At the tip or break of the tether, the electric field strength can locally increase by 20% to 40%, increasing the risk of flashover. The charge separation at both ends of the tether is equivalent to a voltage-fluctuating dipole antenna, forming an equivalent dipole that radiates low-frequency electromagnetic noise. For example, at a distance of 5 meters from a 220kV line, an unshielded tether can cause the surrounding electric field measurement to deviate by ±8.3%.

[0027] The presence of tethering wires directly affects the measurement accuracy of electric field sensors (such as parallel plate capacitive probes) carried by UAVs, as shown in Table 1: Table 1. The impact of tethered wires on the performance of electric field sensors on UAVs.

[0028] Meanwhile, when tethered lighting drones move to avoid strong electric fields, the lighting angle changes and the tether line swings. Changes in the lighting angle can cause strong light to interfere with the detection of power equipment and create blind spots in the lighting. The swinging of the tether line not only affects the flight stability of the drone, but also poses risks such as the power cable swinging and touching high-voltage lines, which limits the implementation of the solution of actively sensing the electric field strength and adjusting the operation status.

[0029] To address at least one of the aforementioned problems, this embodiment provides a control method for a tethered lighting drone in a high-voltage working environment, achieving safe hovering lighting in such an environment. Figure 1 As shown, the method includes the following steps: S1. Collect electric field data: Optionally, electric field data can be collected by electric field sensors deployed around the edges of the frame around the main body of the drone.

[0030] S2, Electrical Data Processing: S2.1 Signal Amplification: The weak analog voltage / current signal (typically in the microvolt or nanoampere range) output by the electric field sensor is precisely amplified to a range that can be stably sampled by the subsequent analog-to-digital converter (ADC) and processor.

[0031] Low-noise, high common-mode rejection ratio (CMRR) amplifiers can be used, such as precision instrumentation amplifiers or shielded operational amplifiers. High CMRR can effectively suppress 50 / 60Hz power frequency interference from sensor wiring and coupling to tethering lines.

[0032] The amplifier gain can be dynamically adjusted by the MCU (microcontroller unit) of the flight control system to cope with the shielding effect. When the tether line forms an electric field shadow area between the sensor and the high-voltage line, the real electric field signal received by the sensor will be weaker. The background data analysis determines that the reading is likely to be low (such as a continuous low value caused by the position of the tether line). The front-end gain of the sensor is appropriately increased to compensate for the signal attenuation caused by shielding and improve the effective dynamic range in the distorted electric field environment.

[0033] S2.1.1, Multi-sensor data anomaly pattern recognition (preliminary judgment): Within the size range of the drone, the background electric field can be considered relatively uniform. When the reading of a certain sensor is consistently and significantly lower than that of other sensors, a suspected shadow area alarm can be triggered.

[0034] Continuously calculate the average readings of all rack edge electric field sensors (e.g., 4). and standard deviation Set a deviation threshold. ,in, This is an empirical coefficient, such as 1.5 or 2. When a certain electric field sensor... Continuous N Readings per sampling period (e.g., 10 periods) A persistently unevenly low value (data anomaly) is determined when all of the following conditions are met: ; If all sensor readings change synchronously and proportionally, it indicates a change in the overall environmental electric field, rather than local shielding, thus ruling out a global change.

[0035] S2.1.2 Spatial geometric correlation verification (confirming the cause): Correlating data anomalies with physical locations to confirm whether they are caused by tethered wire obstruction. Establishing a body coordinate system with the UAV's center of mass as the origin. The precise installation position vector of each electric field sensor is known. And the position vector of the tethering point on the drone (or the center line of the cable swing envelope). T Based on the current attitude (pitch angle) of the drone Roll angle φ Yaw angle The approximate direction of the high-voltage line (which can be estimated using historical electric field intensity gradients or pre-set work area information) is calculated from the sensor. i Detection vector pointing towards the high-voltage line .

[0036] Optionally, define a coordinate system with the UAV's current position as the origin, defining the X-axis as true north, the Y-axis as true east, and the Z-axis as vertically downward; with the UAV's center of mass as the origin, the X-axis as the front of the nose, the Y-axis as the right side of the body, and the Z-axis as vertically downward; detection vector. The goal is to represent the sensor in the body coordinate system. i A unit vector pointing towards the high-voltage line. As shown in Table 2, obtain the input parameters: Table 2 Input Parameters

[0037] All angles must be converted to radians for calculation.

[0038] Construct the direction vector of the high-voltage line in the geographic coordinate system According to azimuth α and elevation angle β Construct a unit vector: ; The first component is the northward component, the second is the eastward component, and the third is the vertically downward component (if the high-voltage line is higher than the drone). β >0, Z (Positive), this vector represents the spatial direction from the drone's location to the high-voltage line, with a magnitude of 1.

[0039] Using the yaw-pitch-roll sequence, the rotation matrix is: ; matrix It describes how vectors in the geographic coordinate system are rotated to the body coordinate system.

[0040] Due to the matrix It is a transformation from geography to organism, and it is necessary to... To transform to the body coordinate system, its transpose must be used (because the rotation matrices are orthogonal). ): ; Right now: ; Calculation results That is, a sensor i The unit direction vector pointing towards the high-voltage line in the body coordinate system.

[0041] Determine whether the tether line (or its swing envelope) is located in the line of sight between sensor i and the high-voltage line. For example, calculate the position of the tether line. T To the probe vector Distance along the line d If the distance d The effective shielding radius of the tethered cable should be smaller than the effective shielding radius of the cable (a preset empirical value, which is related to the cable diameter and shielding material; the effective shielding radius of the tethered cable is usually taken as 70% to 100% of the outer radius of the shielding layer), and the position of the tethered cable should be... T In the detection vector If the projection in the direction is located between the sensor and the high-voltage line, it can be determined that the detection path of sensor i is partially or completely blocked by the tether line, forming an electric field shadow area.

[0042] When both the data anomaly pattern recognition and spatial geometric correlation verification conditions are met simultaneously, it can be determined with high confidence that the sensor... i The sensor is located in the electric field shadow area created by the tethering effect, and the low reading is due to this physical obstruction, rather than a sensor malfunction or a sudden change in the environment.

[0043] S2.1.3, Determining the electric field sensor i Once the target is in the electric field shadow region, the data processing module within the flight control system (MCU) will generate a gain adjustment command, which includes the target sensor ID and the base gain factor. (Standard gain of the sensor at the factory or system calibration) and recommended compensation gain factor Initial value It can be estimated based on the confidence level of the shaded area determination and the proportion of low readings to avoid overcompensation: ; The MCU sends commands to the signal amplification unit in the proximity sensing module via the communication bus, thereby amplifying the electric field sensor. i The amplifier gain of the corresponding channel changes from the current value. Adjust to compensated gain multiple To avoid sudden signal changes and potential circuit instability, gain adjustment should not be done in one step, but rather using a small-step, stepped adjustment method. For example, each adjustment step should be [number missing]. ΔG (like Adjust the gain by 5% every control cycle (e.g., 100ms) until the target compensation gain is reached. : ; in, This is a sign function, ensuring the adjustment direction is correct.

[0044] S2.1.4 Compensation effect verification and closed-loop feedback: After gain adjustment, the system continuously monitors the electric field sensor. i New output value Calculate the new output value. Compared with the average values ​​of other current sensors The ratio. The ideal compensation effect is to make this ratio approach 1 (i.e., consistent with readings from other sensors): If the new output value Still significantly lower than the average of other sensors (For example, if the difference is still greater than the threshold), then the system will operate within the safety limit (e.g.) ≤1.5* Fine-tune again to increase the gain. If the new output value... It has reached or is slightly above the average value of other sensors. If the current gain is maintained, the compensation is complete. If the new output value... If saturation occurs (reaching the upper limit of the ADC range) or noise increases significantly, immediately adjust the gain back to the previous stable value and mark the channel data as potentially unreliable.

[0045] When the spatial geometric correlation verification determines that the tether line has been removed (the occlusion relationship is resolved), and the data anomaly pattern disappears ( (After returning to normal range), the system should automatically initiate the gain recovery process, and the sensor... i The gain is gradually and stepwise pulled back to the base gain. We are preparing to cope with the next environmental change.

[0046] The amplifier circuit board is physically isolated using a separate shielding layer (such as copper grounding) and kept away from the drone's power lines, communication lines, and tether cable connection points to minimize direct conduction interference from electromagnetic radiation and electrostatic coupling at the physical level.

[0047] S2.2, Data Filtering: The goal is to filter out unwanted noise components with known characteristics from the amplified signal, with a focus on eliminating the strong periodic interference from the tethered wire as an equivalent dipole radiation.

[0048] Optionally, a bandpass filter or notch filter can be set before the ADC; a notch (band-stop) filter with a center frequency of 50Hz (or 60Hz, depending on the power grid standard) can be set to suppress power frequency electromagnetic radiation noise generated by the induced current in the tether wire. The digital signal sampled by the ADC is then further processed by a digital filter.

[0049] By combining flight attitude data, the signal is high-pass filtered (to remove ultra-low frequency baseline offset caused by cable sway or sensor temperature drift). This initially separates the reading drift caused by electrostatic coupling, the baseline offset (a slowly changing DC bias signal), and the rapidly changing AC electric field signal.

[0050] S2.3, Data Denoising: Based on the filtering process, the weak real electric field signal is further separated from the background noise (especially random noise that overlaps with the signal spectrum), and the systematic reading offset introduced by electrostatic coupling is initially corrected.

[0051] S2.3.1 Employ wavelet denoising or adaptive filter algorithms (such as LMS / RLS filters). This algorithm can effectively distinguish between signal singularities and random noise, and is suitable for processing non-stationary and nonlinear noise signals contaminated by electrostatic coupling and other switching transients.

[0052] The reference noise source for the algorithm input can come from another sensor that is physically distant from the measurement point and relatively far from the tether line (i.e., taking advantage of the multi-sensor layout), or from a background noise model collected under conditions without a high-voltage electric field (during system self-test).

[0053] Optionally, a wavelet denoising algorithm can be used to distinguish between signal singularities and random noise: An instantaneous energy detector is set up at the front end of the adaptive filter to calculate the reference signal. The short-time sum of squares: ; in, The sliding window length (e.g., 10~50 points, corresponding to 2~10ms); For time sampling index; This refers to the tap index or iteration count; This refers to the physical quantity of the interference signal.

[0054] like > (Empirical threshold, based on historical pulse statistics), then pause the weight iteration of LMS / RLS and set the current error. e ( n Set the sensor to its original value to avoid pulse contamination; when After the data remains below the threshold for 3-5 sampling periods, automatic adaptive updates are resumed. The algorithm is "closed" during pulse bursts to avoid being misled; tracking of stable noise is quickly resumed after the pulse ends.

[0055] A dual-path parallel architecture is adopted, as shown in Table 3, to handle two types of interference respectively: Table 3. Types of Interference Handling

[0056] The two channel outputs are respectively compared with the original sensor signal. Subtracting the two signals yields two denoised signals; the final output is then weighted and fused. ; in, This is the denoised signal for channel A; This is the denoised signal for channel B; The weights are dynamic, based on the short-time sum of squares. Adaptive adjustment: High time, If the value is 0, channel B will be used first. Low time If the value is 1, channel A is used preferentially. This balances high accuracy and strong robustness, avoiding performance degradation of a single algorithm in non-stationary environments.

[0057] The built-in interference status identifier dynamically switches the operating mode according to the indicators in Table 4: Table 4 Working Mode

[0058] Avoid applying a one-size-fits-all approach to parameter settings and improve the system's adaptability in complex electromagnetic environments.

[0059] In some embodiments, in conjunction with physical layer detection, a solar-blind ultraviolet sensor is integrated into the UAV platform to capture ultraviolet photon signals of corona discharge in real time as a truth reference. When the ultraviolet sensor detects a discharge event, it sends a trigger signal to the adaptive filtering system to force it into pulse mode. The residual pulse energy output by the filter can be used in reverse for corona intensity assessment, realizing the integration of detection-suppression-assessment.

[0060] S2.3.2 Multi-sensor data fusion and compensation: When a sensor exhibits persistently lower (shielding effect) or higher (electric field concentration area) readings than other sensors due to its relative position in the "tether line-sensor-high voltage line" relationship, the system can identify that the sensor is significantly affected by distortion through algorithms (e.g., deviation analysis between predicted and measured values ​​based on a geometric model).

[0061] For identified abnormal data points, the system reduces their weight or excludes them when calculating the current environmental electric field strength.

[0062] Meanwhile, the system can perform software-level bias compensation for individual sensors whose baseline shift is caused by electrostatic coupling, based on the multi-sensor data fusion results.

[0063] Using measurement data from the initialization phase or periodic safety hovering phase before startup, a zero electric field reference value is established, including the sensor's own zero point, the system's inherent bias, and the current ambient background noise, for dynamic correction of subsequent real-time readings.

[0064] S3, Tethered Lighting Drone Control: When the electric field detection value is below the threshold, the drone maintains normal hovering and lighting status; when the electric field detection value exceeds the threshold, the control power component drives the drone to move towards the low electric field area, and at the same time, the brightness of the lighting module is automatically adjusted according to the electric field strength to avoid strong light interfering with the detection of power equipment, and the illumination angle is adjusted to ensure that there are no blind spots in the lighting of the work area.

[0065] S3.1 Translation Control: In the electric field sensing system of high-voltage tethered UAVs, when the detected electric field value exceeds the dynamic threshold, the translation control strategy does not simply move away from the high-voltage line. Instead, it uses a physical guidance mechanism driven by the electric field gradient, combined with the dynamic balance of the tether tension and the coordinated control of the flight attitude, to systematically suppress the flight stability and the risk of cable contact.

[0066] S3.1.1 Physical driving mechanism of translation control: It calculates the spatial gradient of the electric field intensity in real time, without relying on the absolute electric field intensity value. This is considered an invisible physical navigation field. The UAV's propulsion system generates thrust vector commands based on the gradient direction (pointing towards the direction of the fastest weakening of the electric field), achieving gradient-based gliding translation. Translation speed With electric field gradient magnitude It exhibits a nonlinear saturated response: When the magnitude of the electric field gradient <0.5 kV / m 2 Slowly translate ( v ≈0.2 m / s), avoid disturbing the mooring line; when 0.5≤ <2.0 kV / m 2 linear growth rate (v∝) ), quickly leave the high-risk area; when ≥2.0 kV / m 2 The speed is saturated at 0.8 m / s to prevent inertial swaying caused by excessively fast movement. Like a buoy in an electric field, the drone automatically slides along a path of decreasing potential, without the need for a preset path, achieving environmental adaptive obstacle avoidance.

[0067] S3.1.2, Suppression of tether line sway: The fundamental cause of tether line swaying is lateral tension fluctuation, not wind speed itself. Translational maneuvers disconnected from tether line dynamics will actually exacerbate the swaying. During translational movement, the UAV actively fine-tunes its pitch and roll angles to keep the tether line in a near-vertical low-energy state: through feedback from the onboard IMU and tension sensors, the system calculates the angle between the tether line and the vertical axis in real time. θ ;like θ If the angle is >8°, the system automatically applies a reverse roll compensation torque, causing the drone to turn sideways into the wind and guiding the tether line back to its normal position; if θ <3°, the system tilts forward moderately to maintain forward momentum and avoids hovering or stalling.

[0068] S3.1.3 Physical isolation of cable contact risk: Centered on the drone, an ellipsoidal safety zone extends along the electric field gradient direction, with its major axis aligned with the gradient direction and its minor axis perpendicular to the conductor's direction. The radius of the safety zone dynamically shrinks with the electric field gradient: the larger the gradient, the narrower the safety zone and the more precise the translation. When the drone enters the edge of this area, the system automatically decelerates and initiates lateral fine-tuning compensation to ensure that the cable remains within the safety envelope.

[0069] During the translation process, the lighting module adjusts the illumination angle synchronously to avoid the beam directly hitting the high-voltage line insulator and prevent strong light reflection from interfering with the ultraviolet detection equipment, thus achieving dual safety by avoiding electricity and light.

[0070] S3.2 Brightness Adjustment: Optionally, real-time acquisition of spatial electric field intensity. The maximum value is taken as the adjustment benchmark. The LED driver uses PWM dimming, but instead of direct linear mapping, it introduces a gamma-corrected nonlinear function: , ; When the electric field strength At lower levels (e.g., <2kV / m), the brightness increases slowly (e.g., 5%→10%) to avoid immediate glare upon turning on the light; when the electric field strength... At medium voltage levels (2kV / m–5kV / m), the brightness increases linearly, meeting the requirements for work lighting; when the electric field strength... At high levels (>5kV / m), the rate of increase in brightness drops sharply, with the upper limit locked at 15% to prevent the formation of strong reflection sources.

[0071] The lighting module is equipped with a mechanical pitch adjustment mechanism, which can automatically adjust within a range of ±15°. When the electric field strength is low (<3kV / m), the beam angle is adjusted to -10° (tilted downwards) to focus on the tower foundation and the lower edge of the insulator, avoiding illuminating the insulator string; When the electric field strength is moderate (3kV / m–6kV / m), the angle automatically returns to 0° (horizontal) to ensure the visibility of inspection personnel; When the electric field strength is high (>6kV / m), the angle immediately rises to +10°, completely avoiding the field of view of the insulator string and the detection equipment, illuminating only the non-sensitive areas of the ground or tower.

[0072] By shifting the spatial optical path to prevent light from illuminating sensitive areas, a more fundamental means of interference suppression than simply reducing brightness.

[0073] In some embodiments, as shown in Table 5, environmental adaptive enhancement control is performed: Table 5 Environmental Adaptive Enhancement Control Mechanism

[0074] Environmental parameters (temperature, humidity, visibility) are input in real time by airborne sensors, and together with the electric field strength, they form a multi-dimensional control input vector to realize a closed loop of perception-decision-execution.

[0075] S3.3, Irradiation Angle Adjustment: In high-voltage tethered drone inspection operations, the lighting system not only needs to avoid light interference with power equipment inspection (such as ultraviolet imaging), but also must ensure full coverage, shadow-free, and uniform illumination of the work area (such as insulator strings, fittings, and wire joints). This embodiment combines electric field strength information, real-time drone pose, and a preset inspection task model. Through dynamic and coordinated adjustment of the lighting angle, it completely eliminates blind spots while avoiding strong light interference.

[0076] S3.3.1 Challenges and physical constraints of achieving blind-spot-free lighting: The drone's fuselage, rotors, onboard sensors, and most importantly, its tethering cables all cast shadows in the work area below. As the drone moves, hovers, and withstands wind, its attitude (pitch and roll) constantly changes; a fixed-angle illumination beam can cause severe shaking of the illuminated area or even loss of target. Different inspection tasks (such as insulator hydrophobicity checks, conductor sag measurements, and hardware heat point screening) have different requirements for illumination angle, uniformity, and shadow contrast. The illumination beam must strictly avoid the field of view of ultraviolet / infrared detection equipment and must not shine directly into the eyes of inspection personnel or cause specular reflection interference from the insulator surface.

[0077] S3.3.2 Detailed process of dynamic lighting angle adjustment: For each type of inspection task (such as insulator string scanning, conductor inspection, and tower panoramic photography), an optimal lighting geometry model is predefined. This model includes: Core illumination area: the critical component area requiring high brightness and uniform illumination. Auxiliary illumination area: the surrounding background area requiring certain illumination. Beam incident angle range: to avoid specular reflection, the angle between the beam and the normal to the equipment surface must be controlled within a specific range (e.g., 30°-60°). Safety exclusion zone markings: in the 3D work space model, areas where direct illumination is absolutely prohibited are marked, including: the viewing cone directly in front of the ultraviolet / infrared camera lens, the porcelain skirt surface of the insulator string that is prone to strong reflection, and the regular observation positions of inspection personnel.

[0078] Based on adaptive priority adjustment of electric field strength and position, when the electric field sensor detects that the electric field strength in a certain direction exceeds the standard (e.g., >5kV / m), the system temporarily marks the corresponding spatial area as a first-level avoidance zone. The illumination module immediately calculates a new beam direction to ensure that the beam's central axis and main lobe completely avoid the area, even if this may temporarily reduce the illumination in some working areas. When the core illumination area is shadowed due to avoiding strong electric field areas, the system activates a compensation illumination mechanism: it analyzes the geometric position of the shadow area and controls the UAV to make slight translations or yaws (usually within 0.5 meters or 5°), changing the relative position of the UAV and the target, thereby using another backup illumination angle or edge light intensity from the illumination module to cover the shadow area. If a single illumination module cannot cover the area, the onboard auxiliary lights (usually low-power, installed at the end of the arm) can be activated to provide supplementary illumination from the side.

[0079] The lighting module is typically mounted on a two-axis gimbal (pitch and yaw). The control strategy is as follows: Primarily controlling the lighting distance and point of impact. When the electric field strength is high, the pitch angle is increased to keep the beam away from high-risk equipment; when it's necessary to cover targets below, the pitch angle is decreased. Primarily controlling the lighting azimuth is used to track dynamically inspected targets or compensate for lighting offset caused by UAV yaw. Beam shape adjustment: Focused mode: used for long-distance, small-area, high-brightness target inspection (e.g., a single insulator), with a narrow beam angle (e.g., 10°). Floodlight mode: used for large-area, panoramic lighting (e.g., entire tower), with a wide beam angle (e.g., 60°). Adaptive switching: The system dynamically adjusts the LED lens group or uses a combination of multiple LED chips to illuminate based on the real-time distance between the UAV and the target, as well as the mission model, achieving stepless or graded adjustment of the beam angle. This ensures that at any distance, the lighting spot precisely covers the core illumination area, avoiding light waste and peripheral glare.

[0080] Using the visible light mission camera onboard the UAV, the brightness distribution map of the captured image is analyzed in real time. Image processing algorithms identify excessively dark areas (potential shadows) and excessively bright areas (potential reflections). Control closed loop: The shadow area location information is fed back to the flight control and lighting control systems. The system integrates the current electric field safety zone and the mission lighting model to recalculate the optimal UAV hovering position fine-tuning, lighting module pitch / yaw angles, and beam shape. Adjustments are executed, and the lighting effect is re-evaluated via visual feedback approximately 200-500ms later, until the shadow area falls below a set threshold (e.g., less than 2% of the image area).

[0081] The tethered lighting drone in this embodiment can be implemented using existing drones. In other embodiments, the tethered lighting drone may include a drone body, a tethered power supply system connected to the drone body via a tether, and a lighting module, a proximity sensor module, and a flight control system integrated on the drone body; the drone body may include a frame, a power assembly, and landing gear. The power assembly includes a brushless motor and a propeller, symmetrically distributed at the four corners of the frame, providing stable lift and attitude adjustment power for the drone; the landing gear is made of carbon fiber, possessing lightweight and impact-resistant characteristics; the tethered power supply system may include a tether cable, a ground power station, and an airborne voltage regulator module. The tether cable is covered with a tin-plated copper wire braided anti-electromagnetic interference shielding layer, which can effectively block the interference of the electric field on the power supply signal inside the cable; the ground power station supports AC220V / DC48V dual input, adapting to the power supply requirements of different operating scenarios; the airborne voltage regulator module can stabilize the input voltage at DC24V. V, ensuring stable operation of all components; the lighting module is mounted on the gimbal bracket below the drone body and includes LED lights, an angle adjustment motor, and a brightness controller. The LED lights use high-efficiency, high-power LEDs, with a maximum illuminance of 10,000 lux; the angle adjustment motor is a stepper motor, allowing the lighting angle to be adjusted within a horizontal range of 360° and a vertical range of -90° to +90°; the brightness controller supports stepless dimming from 10% to 100%. The proximity sensing module includes interconnected electric field sensors, a signal amplification unit, and a data processing submodule. The electric field sensors use capacitive sensing principles and are deployed around the frame edges of the drone body, with a detection range of 0~500kV / m. The signal amplification unit amplifies weak induction signals to a recognizable range, and the data processing submodule filters and reduces noise in the amplified signal before converting it into a digital signal for transmission to the flight control system. The flight control system is the core of the drone's control, with a built-in MCU chip, electrically connected to the power components, lighting module, and proximity sensing module.

[0082] In addition, the flight control system is also connected to a positioning module and a communication module. The positioning module adopts GPS / BeiDou dual-mode positioning with an accuracy of up to 1 meter. The communication module uses an anti-interference data transmission radio to realize real-time data interaction between the UAV and the ground control console. Ground personnel can view information such as electric field strength, UAV position, and lighting parameters through the control console and manually intervene in the UAV's operation status.

[0083] In one embodiment, the drone's main frame is constructed from a single piece of carbon fiber, weighing 3.5 kg. The power unit consists of four 2812 brushless motors paired with 14-inch propellers, with a maximum takeoff weight of 8 kg. The tether cable is 100 m long, with a shielding layer made of 48 ingots of tin-plated copper wire, providing a shielding effectiveness of 45 dB. The ground power station outputs DC 48V with a power of 1000 W. The onboard voltage regulator module outputs DC 24V with a ripple factor ≤1%. The lighting module's LED light assembly consists of 12 50W high-efficiency LEDs, providing a maximum illuminance of 12000 lux. The angle adjustment motor is a 28BYJ-48 stepper motor with an adjustment accuracy of 1°. The brightness controller supports PWM stepless dimming. The electric field sensor of the proximity sensing module is model EFS-05, with a detection range of 0~500kV / m and a response time of ≤100ms; the signal amplification unit uses the AD620 instrumentation amplifier with adjustable amplification factor; the data processing submodule uses an STM32F103 microcontroller to filter the signal.

[0084] The flight control system incorporates an STM32H743 main control chip, with a pre-stored electric field strength safety threshold of 50kV / m. During emergency repairs on a 110kV high-voltage line, when the drone approaches the line to a distance of 10m, the electric field sensor detects an electric field strength of 60kV / m, exceeding the preset threshold. The flight control system immediately controls the power unit to drive the drone 5m away from the line, while simultaneously adjusting the LED light brightness from 100% to 60%, and the angle adjustment motor adjusts the illumination angle to align with the repair point, ensuring clear lighting without the risk of electromagnetic interference.

[0085] This embodiment integrates a proximity sensing module, which can detect the surrounding electric field strength in real time, enabling proactive avoidance of high electric field areas. This significantly improves the safety of UAV operations under high-voltage environments and avoids the risk of loss of control due to electromagnetic interference. The tethering cable adopts an anti-electromagnetic interference shielding layer design to ensure continuous power supply stability and solve the problem of power supply signal interference under strong electric fields. The lighting module supports intelligent adjustment of brightness and angle, and can adapt lighting parameters according to the electric field strength, balancing the lighting needs of the work area with equipment safety. The flight control system communicates with the ground control console in real time, supporting both manual and automatic dual-mode control to adapt to different complexity of work scenarios.

[0086] Example 2: like Figure 2As shown, this embodiment provides a control system for a tethered lighting drone operating in a high-voltage power environment, including: The data acquisition module is configured to acquire electric field data under high-voltage working conditions. The first data processing module is configured to amplify and filter the electric field data; wherein, when the tethering wire forms an electric field shadow area at a preset position, the front-end gain of the preset sensor is increased to compensate for the signal attenuation caused by shielding. The second data processing module is configured to: separate the real electric field signal from the background noise in the filtered electric field data, and preliminarily correct the reading offset introduced by electrostatic coupling; The control module is configured to: compare the filtered electric field data with a threshold; when the detected electric field value exceeds the threshold, adjust the speed according to the spatial gradient of the electric field intensity and compensate according to the angle between the tether line and the vertical axis to perform drone translation control; and automatically adjust the illumination brightness and the illumination angle according to the electric field intensity.

[0087] The working method of the system is the same as that of the tethered lighting UAV control method in the high-voltage power operation environment of Embodiment 1, and will not be repeated here.

[0088] Example 3: This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the tethered lighting drone control method under high-voltage working conditions described in Embodiment 1.

[0089] Example 4: This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, it implements the steps of the tethered lighting drone control method in a high-voltage working environment described in Embodiment 1.

[0090] Example 5: This embodiment provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the tethered lighting UAV control method in a high-voltage power operation environment described in Embodiment 1.

[0091] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A tethered lighting unmanned aerial vehicle control method in a high-voltage live-line environment, characterized in that, include: Acquire electric field data under high-voltage working conditions; The electric field data is amplified and filtered; when the tethering wire forms an electric field shadow area at a preset position, the front-end gain of the preset sensor is increased to compensate for the signal attenuation caused by shielding. The filtered electric field data is used to separate the real electric field signal from the background noise, and the reading offset introduced by electrostatic coupling is initially corrected. The filtered electric field data is compared with a threshold. When the detected electric field value exceeds the threshold, the speed is adjusted according to the spatial gradient of the electric field intensity, and compensation is made according to the angle between the tether line and the vertical axis to perform drone translation control. At the same time, the illumination brightness and illumination angle are automatically adjusted according to the electric field intensity. Determining the electric field sensor i After being placed in the electric field shadow region, the following parameters are generated: target sensor, base gain factor. And suggested compensation gain multiple Instructions; initial values Estimate based on the confidence level of the shaded area determination and the proportion of low readings: ； Adjust the amplifier gain of the corresponding channel of the electric field sensor from the current value to the compensation gain multiple, and adjust it once every control cycle until the target compensation gain multiple is reached. After the gain adjustment, if the difference between the new output value of the electric field sensor and the average value of other sensors is still greater than the threshold, then finely adjust the gain again within the safe upper limit. If the new output value has reached or exceeded the average value of other sensors, then maintain the current gain and the compensation is completed. If the new output value saturates, then immediately pull the gain back to the previous stable value.

2. The control method for a tethered lighting drone in a high-voltage electrical working environment as described in claim 1, characterized in that, The amplification process includes: when the tethered wire forms an electric field shadow area between the electric field sensor and the high-voltage line at a preset position, increasing the front-end gain of the preset sensor to compensate for the signal attenuation caused by shielding.

3. The method of claim 2, wherein the tethered lighting drone control method in a high-voltage live-line work environment is characterized by, The determination of the electric field shadow region includes: continuously determining the average value of all electric field sensors. and standard deviation Set a deviation threshold. ,in, These are empirical coefficients; when a certain electric field sensor... Continuous N Readings per sampling period Data is considered abnormal if all of the following conditions are met: ； Establish a coordinate system for the UAV with its center of mass as the origin; the installation position vector of each electric field sensor and the connection point vector of the tether line on the UAV are known; determine the position vector from the sensor based on the current attitude of the UAV and the direction of the high-voltage line. i A detection vector pointing in the direction of the high-voltage line; If the distance from the mooring line to the line containing the detection vector is less than the equivalent shielding radius of the mooring cable, and the projection of the mooring line onto the direction of the detection vector lies between the sensor and the high-voltage line, then the sensor can be determined to be the source of the problem. i The detection path was partially or completely blocked by the tethered wire, forming an electric field shadow area.

4. The method of claim 1, wherein the method further comprises: The filtering includes: suppressing power frequency electromagnetic radiation noise generated by induced current in the tethering wire through a notch filter, and further processing through a digital filter.

5. The method of claim 1, wherein the method further comprises: The separating real electric field signal from background noise comprises: using adaptive filter to distinguish signal singular point and random noise, setting instantaneous energy detector in front of adaptive filter, calculating short-time square sum of reference signal : ； wherein, is a sliding window length; is a time sample index; is a tap index or iteration number; is a physical quantity of an interference signal; If the short-time sum of squares is greater than an empirical threshold, the weight iteration is paused, and the current error is set to the original sensor value. When the short-time sum of squares remains below the threshold for a preset number of sampling periods, adaptive updates automatically resume. A dual-path parallel architecture is used to process interference separately. The outputs of the two channels are subtracted from the original sensor signal to obtain two denoised signals. The final output is then weighted and fused. ； wherein, is a dynamic weight; is a de-noised signal for channel A; is a de-noised signal for channel B.

6. The method of claim 1, wherein the method further comprises: When a sensor reading is too low, bias compensation is performed on the individual sensor whose baseline is shifted due to electrostatic coupling.

7. The control method for a tethered lighting drone in a high-voltage working environment as described in claim 1, characterized in that, The drone translation includes: when the electric field gradient amplitude is less than a first preset value, translating at a first preset speed; when the electric field gradient amplitude is greater than the first preset value but less than a second preset value, increasing the translation speed; when the electric field gradient amplitude is greater than or equal to the second preset value, translating at a second preset speed; wherein, the first preset value is less than the second preset value, and the first preset speed is less than the second preset speed; If the angle between the tether line and the vertical axis is greater than the first preset angle, a reverse roll compensation torque is applied to make the drone turn sideways to face the wind and guide the tether line back to its normal position naturally; if the angle between the tether line and the vertical axis is less than the second preset angle, the forward translational momentum is maintained; wherein, the first preset angle is greater than the second preset angle.

8. The method of claim 1, wherein the method further comprises: The lighting brightness adjustment includes: when the electric field strength is less than a first preset strength, the brightness increases slowly at a preset percentage; when the electric field strength is between the first preset strength and the second preset strength, the brightness increases linearly; when the electric field strength is greater than the second preset strength, the brightness increase rate drops sharply; wherein, the first preset strength is less than the second preset strength.

9. The tethered lighting UAV control system in high voltage live working environment using the method of claim 1, characterized in that, include: The data acquisition module is configured to acquire electric field data under high-voltage working conditions. The first data processing module is configured to amplify and filter the electric field data; wherein, when the tethering wire forms an electric field shadow area at a preset position, the front-end gain of the preset sensor is increased to compensate for the signal attenuation caused by shielding. The second data processing module is configured to: separate the real electric field signal from the background noise in the filtered electric field data, and preliminarily correct the reading offset introduced by electrostatic coupling; The control module is configured to: compare the filtered electric field data with a threshold; when the detected electric field value exceeds the threshold, adjust the speed according to the spatial gradient of the electric field intensity and compensate according to the angle between the tether line and the vertical axis to perform drone translation control; and automatically adjust the illumination brightness and the illumination angle according to the electric field intensity.

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