A method for unmanned aerial vehicle wing de-icing control

Abstract

The present application is suitable for the technical field of wing deicing, and discloses a kind of unmanned aerial vehicle wing deicing control method, comprising: collecting environmental parameters and unmanned aerial vehicle wing state parameters;When environmental parameters and wing state parameters meet the unmanned aerial vehicle anti-icing mode, the wing is divided into several temperature consistency regions based on wing state parameters, anti-icing is realized by adaptive heating power control on each temperature consistency region, and wing state parameters are updated after anti-icing mode ends;If updated wing state parameters meet the unmanned aerial vehicle deicing mode, temperature control is carried out based on updated wing state parameters, and deicing is realized by cooperative flight control, and wing state parameters are updated again after deicing mode ends.The present application solves the problem that traditional uniform heating or fixed power distribution cannot adapt to the heat dissipation difference of different regions of the wing, and maintains the uniform temperature of the wing surface with the lowest energy consumption when there is no icing, which is conducive to deicing.

Description

Technical Field

[0001] This invention relates to the field of wing de-icing technology, specifically to a method for controlling wing de-icing of unmanned aerial vehicles (UAVs). Background Technology

[0002] When existing de-icing robots operate in icy environments ranging from -40℃ to 0℃, the leading edge and upper surface of the drone wings are prone to condensation of frost and mixed frost, leading to: ① damage to aerodynamic shape, reduced lift, increased drag, and impact on flight stability; ② increased wing load due to ice accumulation, exceeding the flight control attitude compensation range and posing a risk of loss of control; ③ shortcomings of traditional single de-icing methods (such as simple coating or heating): passive coating can only delay icing but cannot remove existing ice layers; simple heating has high energy consumption and uneven heat generation, which can easily lead to aging of wing materials; mechanical de-icing structures are complex and damage aerodynamic performance.

[0003] Existing drone wing de-icing methods are difficult to coordinate with passive anti-icing, active heating and flight control vibration, and lack precise control based on temperature and ice thickness, resulting in poor de-icing effect, low energy efficiency or affecting flight safety. Summary of the Invention

[0004] The purpose of this invention is to provide a method for de-icing drone wings to solve the problem of poor de-icing effect when drone wings are icy in the prior art.

[0005] The objective of this invention can be achieved through the following technical solution: a method for de-icing the wings of a drone, comprising: Collect environmental parameters and UAV wing status parameters; When the environmental parameters and wing state parameters meet the anti-icing mode of the UAV, the wing is divided into several temperature-consistent regions based on the wing state parameters. Anti-icing is achieved by adaptive heating power control of each temperature-consistent region. The wing state parameters are updated after the anti-icing mode ends. If the updated wing status parameters meet the requirements of the UAV de-icing mode, temperature control is performed based on the updated wing status parameters, and collaborative flight control is used to achieve de-icing. The wing status parameters are updated again after the de-icing mode ends. The drone mode is adaptively adjusted based on environmental parameters and updated wing state parameters. The wing state parameters include multi-point wing temperature, ice thickness, and attitude deviation. The multi-point wing temperature is obtained by reading the resistance values ​​of several thermistors embedded inside the nano-heating layer and converting them into Celsius temperature values. The ice thickness is calculated by reading the real-time capacitance value of the wing leading edge icing sensor and comparing it with the reference capacitance value in the ice-free state. The attitude deviation is obtained from the flight attitude angle data output by the flight control inertial measurement unit.

[0006] Preferably, the environmental parameters include ambient temperature and pre-calibrated parameters, which include an ambient temperature judgment threshold, an anti-icing mode wing surface temperature range, an anti-icing mode required power range, an active de-icing ice layer thickness threshold, a heating target temperature range, a heating mode required power range, a safety protection temperature upper limit, an attitude deviation limit value, and a jitter stop thickness threshold.

[0007] Preferably, the specific steps for dividing the wing into several temperature-uniform zones are as follows: Read temperature data from multiple points on the wing. Each temperature data point represents a temperature measurement point, and each temperature measurement point corresponds to an independent control area. Calculate the temperature difference between adjacent temperature measurement points to form a temperature difference sequence. Find the position in the temperature difference sequence where the product of adjacent temperature differences is negative and the absolute value of both temperature differences is greater than the preset temperature difference value, and take the intermediate temperature measurement point corresponding to this position as the turning point. Calculate the median of the absolute values ​​of each temperature difference, and take the starting temperature measurement point corresponding to the absolute value of the temperature difference that is greater than the preset multiple of the median as the gradient point; First, the wing is divided into several sub-regions using the inflection point as the first dividing point. Then, within each sub-region, the gradient point is used as the second dividing point to further divide it into several temperature-consistent regions. Each temperature-consistent region contains one or more consecutively numbered control areas.

[0008] Preferably, the specific steps of the adaptive heating power control are as follows: For each temperature uniformity zone, the arithmetic mean of the temperature values ​​of all temperature measurement points within it is calculated as the average temperature of that temperature uniformity zone. The difference between the temperature at each temperature measurement point and the average temperature of the area where the temperature is consistent is calculated as the deviation value. Select the temperature consistency area corresponding to the two temperature measurement points with the largest absolute values ​​of deviation as the key adjustment area; Based on the preset position weight table, obtain the control zone weight coefficient corresponding to each temperature measurement point, and obtain the power adjustment amount of the key adjustment area and other temperature consistency areas respectively; The initial power is obtained by adding the reference power of each control zone to the corresponding power adjustment amount. The initial power of all control zones is summed, and the initial power of each control zone is scaled proportionally based on the sum of the initial power. After limiting, the adaptive heating power of each control zone is output.

[0009] Preferably, the specific steps for obtaining the power adjustment amounts of the key adjustment area and other temperature-consistent areas are as follows: For each temperature measuring point identified as a key adjustment area, the deviation value, preset weighting coefficient, and power adjustment coefficient of the temperature measuring point are obtained. The weighting coefficient and the power adjustment coefficient are multiplied, and then multiplied by the absolute value of the deviation value of the temperature measuring point. The adjustment direction is then determined according to the sign of the deviation value of the temperature measuring point, and the power adjustment amount of the control area corresponding to the temperature measuring point is obtained. For temperature measurement points that are not identified as key adjustment areas, the power adjustment amount of their corresponding control areas is zero.

[0010] Preferably, the specific steps for scaling the initial power of each control zone proportionally based on the initial power sum are as follows: Calculate the sum of the preliminary power of all control zones and compare the sum with the lower limit of the power required for anti-icing mode and the upper limit of the power required for anti-icing mode; If the sum is less than the lower limit of the power required for anti-icing mode, the scaling factor is the lower limit of the power required for anti-icing mode divided by the sum, and the initial power of each control zone is multiplied by the scaling factor to obtain the secondary power of each control zone; If the sum is greater than the upper limit of the power required for anti-icing mode, the scaling factor is the upper limit of the power required for anti-icing mode divided by the sum, and the initial power of each control zone is multiplied by the scaling factor to obtain the secondary power of each control zone; If the sum is between the lower limit of the power required for anti-icing mode and the upper limit of the power required for anti-icing mode, then the initial power of each control zone will be directly used as the secondary power.

[0011] Preferably, the specific steps for performing temperature control and coordinating with the flight control to perform vibration de-icing are as follows: In de-icing mode, the heating power is determined based on the ice thickness in the updated wing status parameters, the wing leading edge temperature is raised to the target heating temperature range, and maintained for a preset time. The jitter amplitude is calculated based on the current ice thickness. The obtained jitter amplitude is packaged with a fixed frequency into a command and sent to the flight controller. The flight controller generates jitter by adjusting the rotor differential speed. The flight control attitude deviation is monitored in real time during the jitter period. If the attitude deviation exceeds the attitude deviation limit, the jitter is stopped.

[0012] Preferably, the drone modes specifically include anti-icing mode, de-icing mode, standby mode, and safety reset mode.

[0013] Preferably, the specific steps for adaptively adjusting the drone mode are as follows: The wing status parameters and ambient temperature are updated again after the de-icing mode is obtained; If the ambient temperature is not greater than the ambient temperature judgment threshold and the ice thickness in the updated wing status parameters is less than the active de-icing ice thickness threshold, then switch to anti-icing mode. If the ambient temperature is higher than the ambient temperature threshold, switch to standby mode; If the ice thickness in the updated wing status parameters is not less than the active de-icing ice thickness threshold and the ambient temperature is not greater than the ambient temperature judgment threshold, then the system will enter the safe reset mode.

[0014] The beneficial effects of this invention are: 1. This invention reads the temperature values ​​of multiple temperature measuring points embedded inside the nano-heating layer, calculates the temperature difference between adjacent measuring points, identifies temperature trend inflection points by the product of adjacent temperature differences being negative and the absolute value exceeding a preset threshold, and identifies gradient points by comparing the absolute value of the temperature difference with the median. The system is then divided into several temperature-consistent regions, first by inflection points and then by gradient points. The deviation of each measuring point from the average temperature of its region is calculated, and the two regions with the largest absolute deviations are selected as key adjustment areas. Combining preset position weighting coefficients and power adjustment coefficients, the power adjustment amount is calculated based on the sign and magnitude of the deviation, allowing regions with large deviations to receive greater power correction. The initial power of all control areas is then summed and scaled, and after upper and lower limit limiting, an adaptive heating power is output. This invention solves the shortcomings of traditional uniform heating or fixed power distribution, which cannot adapt to the heat dissipation differences in different areas of the wing. It maintains a uniform wing surface temperature with minimal energy consumption when there is no icing, which is beneficial for de-icing. Attached Figure Description

[0015] The present invention will now be further described with reference to the accompanying drawings.

[0016] Figure 1 This is a flowchart of the method provided in an embodiment of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1 As shown, the present invention is a method for de-icing the wings of a drone, comprising: S100: Collects environmental parameters and UAV wing status parameters.

[0019] In this embodiment of the invention, the environmental parameters include ambient temperature and pre-calibrated parameters; The ambient temperature was measured and obtained using the temperature sensor built into the drone. The pre-calibrated parameters specifically include the ambient temperature judgment threshold, the wing surface temperature range in anti-icing mode, the power required for anti-icing mode, the ice thickness threshold for active de-icing, the heating target temperature range, the power required for heating mode, the upper limit of safety protection temperature, the attitude deviation limit, and the shaking stop thickness threshold. In this embodiment, the ambient temperature threshold is set to 5°C, the wing surface temperature range for anti-icing mode is set to 0°C to 2°C, the required power for anti-icing mode is set to 3W to 5W, the ice thickness threshold for active de-icing is set to 1mm, the target heating temperature range is set to 30°C to 40°C, the required power for heating mode is set to 8W to 12W, the upper limit of the safety protection temperature is set to 60°C, the attitude deviation limit is set to 5°, and the shaking stop thickness threshold is set to 0.2mm. It should be noted that the various parameters pre-calibrated are comprehensively set based on engineering experience values ​​of wing material low-temperature resistance, ice adhesion mechanical properties, flight control attitude stability margin, and energy consumption balance.

[0020] The wing status parameters of the UAV include multi-point wing temperature, ice thickness, and attitude deviation. The multi-point temperature of the wing is measured by simultaneously reading the resistance values ​​of five thermistors embedded inside the nano-heating layer, which are denoted as follows: ,in, Located at one end near the drone's fuselage, Located near the wingtip of the drone, the other three thermistors are equidistantly distributed. The values ​​are then obtained by looking up a table and converting them to corresponding Celsius temperatures, and recorded as follows: This application scenario uses the resistance conversion of five thermistors to obtain the temperature of multiple points on the wing. However, it is not limited to obtaining the temperature of multiple points on the wing by converting the resistance of five thermistors. It can be finely adjusted according to the actual needs of the application scenario. Ice thickness is obtained by reading the real-time capacitance values ​​of icing sensors on both sides of the wing leading edge and then converting them. Specifically, when the drone is first started and there is no ice on the wing surface, the capacitance values ​​of the icing sensors are read ten times consecutively. The arithmetic mean of these ten capacitance values ​​is then taken as the baseline capacitance value in the ice-free state. Then, the thickness is calculated using the formula... The ice thickness d is calculated, where C represents the real-time capacitance value. Indicates the reference capacitance value. The calibration coefficients are determined in advance through experiments, and their values ​​typically range from [value range missing]. ; Attitude deviation is calculated by obtaining the current pitch and roll angles from the flight attitude angle data output by the UAV flight control inertial measurement unit, and then calculating the current value of the attitude deviation.

[0021] Furthermore, the aforementioned method for de-icing the wings of a UAV also includes: S200: When the environmental parameters and wing state parameters meet the anti-icing mode of the UAV, the wing is divided into several temperature-consistent regions based on the wing state parameters. Anti-icing is achieved by adaptive heating power control of each temperature-consistent region. The wing state parameters are updated after the anti-icing mode ends.

[0022] In this embodiment of the invention, the anti-icing mode of the drone refers to the ambient temperature being lower than the ambient temperature determination threshold and the ice thickness in the wing state parameters being zero. It should be noted that the anti-icing mode of the drone is designed to maintain the surface temperature of the high-incidence area of ​​icing on the leading edge of the wing within the anti-icing mode wing surface temperature range, in order to delay or prevent the ice layer from thickening further.

[0023] Dividing the wing into several temperature-consistent zones is to eliminate the overall temperature difference interference caused by differences in heat dissipation conditions or airflow scouring between different zones, thereby achieving power adjustment and avoiding local overcooling and icing or local overheating that could damage the wing. The specific steps for dividing the wing into several temperature-uniform zones are as follows: Reading the temperature of multiple points on the wing Each temperature represents a temperature measurement point, and the temperature difference between adjacent temperatures is calculated using the following formula: ,in, , express and The temperature difference between them express and The temperature difference between them express and The temperature difference between them express and The temperature difference between adjacent temperatures is used to construct a temperature difference sequence; Obtain the sign of each temperature difference in the temperature difference sequence, and identify the locations where all signs change. If the product of adjacent temperature differences is negative, and the absolute values ​​of the two temperature differences corresponding to these adjacent temperature differences are both greater than a preset temperature difference value, then there is a turning point in the temperature trend at the temperature measurement point located between these two adjacent temperature differences. For example, if... and If the product of is negative, it means There is a turning point here; It should be noted that the preset temperature difference value is set based on experience with the normal thermal fluctuation amplitude of the wing surface, and is usually set to 0.3℃. Its function is to filter out invalid sign changes caused by small temperature differences and avoid misjudging normal temperature fluctuations as turning points. To obtain the median of the absolute values ​​of the temperature differences, specifically, to take the median of the four absolute values ​​of the temperature differences. , , , Sort the values ​​in ascending order, and take the arithmetic mean of the absolute values ​​of the two middle temperature differences as the median, denoted as the median temperature difference. For each absolute temperature difference, if it is greater than a preset multiple of the median temperature difference, then a temperature gradient exists at the starting position corresponding to that temperature difference. For example, if... If the median temperature difference is greater than a preset multiple, then it is determined that... and If a temperature gradient exists, then it means There exists a gradient point at that location; It should be noted that the preset multiplier is an empirical value, usually set to 1.5, which is used to distinguish between normal fluctuations and temperature gradients; The wing is divided into several temperature-consistent regions based on inflection points and gradient points. Specifically, each inflection point is used as the first dividing point to divide the wing into several sub-regions. If there is no inflection point, the entire wing is treated as one sub-region. Then, it is checked whether there is a gradient point within each sub-region. If there is, the gradient point is used as the second dividing point. The sub-region is further divided based on the second dividing point, and finally the wing is divided into several temperature-consistent regions. It should be noted that each of the five temperature measurement points corresponds to an independent control zone. The temperature consistency zone is dynamically divided based on the inflection point and gradient point. Each temperature consistency zone contains one or more consecutively numbered control zones.

[0024] Adaptive heating power control refers to selecting the temperature measurement point with the largest temperature deviation as the key adjustment target based on several temperature uniformity zones, and calculating the heating power of each temperature uniformity zone to keep the temperature of the wing uniformly within the wing surface temperature range of the anti-icing mode. The specific steps of adaptive heating power control are as follows: For each temperature uniformity region, the arithmetic mean of the temperature values ​​of all temperature measurement points within it is calculated as the average temperature, and then the deviation value of each temperature measurement point is obtained. Specifically, for each temperature measurement point To determine the temperature uniformity zone at a given point, calculate the temperature measurement point's value. The difference between the average temperature and the average temperature within the temperature range is the deviation value. Five deviation values ​​are ultimately obtained, namely: , , , , The five deviation values ​​are sorted from largest to smallest absolute value, and the temperature measurement points corresponding to the two largest absolute values ​​of deviation are selected, and the corresponding temperature consistency areas are taken as the key adjustment areas. It should be noted that the first two areas were selected as the key adjustment areas because prioritizing their calibration can achieve the maximum uniformity effect with the minimum power adjustment, avoiding power dispersion caused by adjusting too many positions. If multiple temperature measurement points in the first two areas have the same absolute value of deviation, then all of them will be the key adjustment targets. Retrieve the control zone weight coefficient corresponding to each temperature measurement point from the pre-stored location weight table. Let the reference power of each control zone be... For key adjustment areas, the power adjustment amount for: ,in, For the sign function, when The value is +1 when... The value is -1 when The value is 0 at this time. The power adjustment coefficient, used to linearly convert the temperature deviation at the measurement point into a power adjustment value, is typically 0.8 W / ℃. For other temperature-uniform regions, its corresponding... The initial power of each control zone is ; It should be noted that the position weight table consists of five weight coefficients determined in advance through experiments, representing the sensitivity of the surface control area to temperature. It should be noted that the reference power is obtained by dividing the lower limit of the power required for anti-icing mode by the number of control zones and then multiplying by 0.6W. When there is no temperature deviation, the total power of each control zone is 3W. Then calculate the preliminary total power of the five control zones. And based on the initial power sum, the initial power of each control area is scaled to obtain the secondary power. Specifically, if Then, the scaling factor b is obtained, and its calculation formula is: The initial power of each control zone is proportionally amplified to obtain the scaled secondary power. Its calculation formula is ,like Then, the scaling factor b is obtained, and its calculation formula is: The initial power of each control region is scaled down proportionally to obtain the scaled secondary power. Its calculation formula is ,like ,but ; It should be noted that 3W is the lower limit of the power required for anti-icing mode, and 5W is the upper limit of the power required for anti-icing mode. The upper and lower limits of the secondary power are preset, and the secondary power of each control zone is limited. The limited secondary power is output as the adaptive heating power of each control zone. Among them, limiting the amplitude is to prevent local icing caused by excessively low adaptive heating power in a single control zone or damage to the wing material by excessively high power, and to ensure that the deviation of adaptive heating power in each control zone does not exceed the safety boundary.

[0025] After the anti-icing mode ends, the wing status parameter update steps are as follows: After the anti-icing mode has been running for a fixed period of time, the capacitance value of the icing sensor is read again and converted into the updated ice thickness. At the same time, the current temperature values ​​of the five thermistors are read, and the updated ice thickness and the five temperature values ​​are transmitted to the S300 as new wing status parameters.

[0026] Furthermore, the aforementioned method for de-icing the wings of a UAV also includes: S300: If the updated wing state parameters meet the UAV de-icing mode, temperature control is performed based on the updated wing state parameters, and collaborative flight control is used to achieve de-icing. After the de-icing mode ends, the wing state parameters are updated again.

[0027] In this embodiment of the invention, the UAV de-icing mode refers to the updated wing state parameters showing that the ice thickness is not less than the active de-icing ice thickness threshold. Temperature control refers to determining the heating power based on the ice thickness in the updated wing status parameters. The goal is to raise the wing leading edge temperature to within the target heating temperature range. Specifically, the highest temperature among the five temperature measurement points in the updated wing status parameters is taken as the representative temperature of the wing surface. The representative temperature is read every half second, and the difference between the representative temperature and the lower limit of the target heating temperature range is calculated. The total heating power is adjusted using proportional control to gradually bring the representative temperature closer to the target heating temperature range. The total heating power is limited within the power required by the heating mode and is evenly distributed among the control zones. When the representative temperature remains above the lower limit of the target heating temperature range for 10 consecutive seconds, it is determined that a melt water film has formed at the interface between the ice layer and the coating, and the heating phase ends. If the representative temperature exceeds the upper limit of the safety protection temperature during the heating process, the heating power supply is immediately cut off and an overheat alarm is issued, exiting the de-icing mode and switching to S400. The proportional control relationship for adjusting the total heating power using proportional control is as follows: Total heating power = Basic heating power + Proportional coefficient × Temperature deviation, where the basic heating power is set to 8W and the proportional coefficient is 0.3W / ℃.

[0028] Collaborative flight control for de-icing refers to calculating the jitter amplitude based on the current ice thickness to assist in de-icing. Specifically, the closer the ice thickness is to the jitter stop threshold, the smaller the jitter amplitude; conversely, the closer the ice thickness is to the active de-icing ice thickness threshold, the larger the jitter amplitude. The jitter amplitude is controlled within a preset range. The jitter amplitude is packaged with a fixed frequency of 15Hz into a command and sent to the flight controller. The flight controller generates vibration along the wing chord by adjusting the rotor differential speed. During the jitter, the flight controller attitude deviation is read every 0.2 seconds. If the attitude deviation exceeds... Immediately stop the shaking and switch to S400; The jitter amplitude is calculated as follows: Jitter Amplitude = Lower Limit of Preset Amplitude Range + (Upper Limit of Preset Amplitude Range) (Preset amplitude range lower limit) × (Current ice thickness) (Shake stop thickness threshold) / (Active de-icing ice layer thickness threshold) (Jitter stop thickness threshold); It should be noted that the preset amplitude range is usually set to It is determined by the balance test between the flight control attitude stability margin and the inertial force required for ice layer to fall off, ensuring that the jitter amplitude does not exceed the attitude deviation limit and can effectively loosen the ice layer; While the de-icing process is initiated, the capacitance value of the icing sensor is read and the ice thickness is updated every 0.5 seconds. After each update, the value is compared with the de-icing stop thickness threshold. When the updated ice thickness drops below the de-icing stop thickness threshold, it is determined that the ice has detached, and the flight controller is notified to stop the de-icing and the heating power is reduced to zero. If the thickness is still greater than the de-icing stop thickness threshold after the de-icing continues for 60 seconds, the heating and de-icing process is repeated, up to three times. If it is still ineffective after three times, a severe icing alarm is sent to the flight controller, and it is recommended to return to base. After the de-icing mode ends, the ice thickness and the temperature values ​​of the five temperature measurement points are read and updated again as the wing status parameters for the next update and then transferred to S400.

[0029] Furthermore, the aforementioned method for de-icing the wings of a UAV also includes: S400: Adaptively adjusts the UAV mode based on environmental parameters and updated wing state parameters.

[0030] In this embodiment of the invention, the drone mode specifically includes anti-icing mode, de-icing mode, standby mode, and safety reset mode; The wing status parameters and ambient temperature are updated again after the de-icing mode is obtained; If the ambient temperature is still below or equal to the ambient temperature threshold and the ice thickness in the updated wing status parameters is less than the active de-icing ice thickness threshold, then the drone mode will be switched to anti-icing mode and adaptive heating power control will continue to be executed. If the ambient temperature is higher than the ambient temperature threshold, then regardless of the ice thickness in the updated wing status parameters, all heating outputs will be turned off, the drone mode will be switched to standby mode, and the ambient temperature will only be monitored periodically. If the ice thickness in the updated wing status parameters is still not less than the active de-icing ice thickness threshold and the ambient temperature is not greater than the ambient temperature judgment threshold, it indicates that the ice has not been eliminated after passing through anti-icing mode and de-icing mode. In this case, the system will enter safety reset mode, stop shaking, and cut off power for cooling. If the wing temperature is lower than the upper limit of the heating target temperature range after cooling, it will be reheated at the maximum safe power. If the ice thickness is lower than the ice thickness threshold after heating, the system will switch to anti-icing mode. Otherwise, an icing warning will be sent and an emergency landing will be recommended.

Claims

1. A method for de-icing the wings of an unmanned aerial vehicle (UAV), characterized in that, include: Collect environmental parameters and UAV wing status parameters; When the environmental parameters and wing state parameters meet the anti-icing mode of the UAV, the wing is divided into several temperature uniform regions based on the wing state parameters. Anti-icing is achieved by adaptive heating power control of each temperature uniform region. The wing state parameters are updated after the anti-icing mode ends. If the updated wing status parameters meet the requirements of the UAV de-icing mode, temperature control is performed based on the updated wing status parameters, and collaborative flight control is used to achieve de-icing. The wing status parameters are updated again after the de-icing mode ends. The drone mode is adaptively adjusted based on environmental parameters and updated wing state parameters. The wing state parameters include multi-point wing temperature, ice thickness, and attitude deviation. The multi-point wing temperature is obtained by reading the resistance values ​​of several thermistors embedded inside the nano-heating layer and converting them into Celsius temperature values. The ice thickness is calculated by reading the real-time capacitance value of the wing leading edge icing sensor and comparing it with the reference capacitance value in the ice-free state. The attitude deviation is obtained from the flight attitude angle data output by the flight control inertial measurement unit.

2. The method for de-icing a UAV wing according to claim 1, characterized in that, The environmental parameters include ambient temperature and pre-calibrated parameters, which include ambient temperature judgment threshold, wing surface temperature range for anti-icing mode, power range required for anti-icing mode, ice thickness threshold for active de-icing, heating target temperature range, power range required for heating mode, upper limit of safety protection temperature, attitude deviation limit value, and shaking stop thickness threshold.

3. The method for de-icing a UAV wing according to claim 2, characterized in that, The specific steps for dividing the wing into several temperature-uniform zones are as follows: Read temperature data from multiple points on the wing. Each temperature data point represents a temperature measurement point, and each temperature measurement point corresponds to an independent control area. Calculate the temperature difference between adjacent temperature measurement points to form a temperature difference sequence. Find the position in the temperature difference sequence where the product of adjacent temperature differences is negative and the absolute value of both temperature differences is greater than the preset temperature difference value, and take the intermediate temperature measurement point corresponding to this position as the turning point. Calculate the median of the absolute values ​​of each temperature difference, and take the starting temperature measurement point corresponding to the absolute value of the temperature difference that is greater than the preset multiple of the median as the gradient point; First, the wing is divided into several sub-regions using the inflection point as the first dividing point. Then, within each sub-region, the gradient point is used as the second dividing point to further divide it into several temperature-consistent regions. Each temperature-consistent region contains one or more consecutively numbered control areas.

4. The method for de-icing a UAV wing according to claim 3, characterized in that, The specific steps of the adaptive heating power control are as follows: For each temperature uniformity zone, the arithmetic mean of the temperature values ​​of all temperature measurement points within it is calculated as the average temperature of that temperature uniformity zone. The difference between the temperature at each temperature measurement point and the average temperature of the area where the temperature is consistent is calculated as the deviation value. Select the temperature consistency area corresponding to the two temperature measurement points with the largest absolute values ​​of deviation as the key adjustment area; Based on the preset position weight table, obtain the control zone weight coefficient corresponding to each temperature measurement point, and obtain the power adjustment amount of the key adjustment area and other temperature consistency areas respectively; The initial power is obtained by adding the reference power of each control zone to the corresponding power adjustment amount. The initial power of all control zones is summed, and the initial power of each control zone is scaled proportionally based on the sum of the initial power. After limiting, the adaptive heating power of each control zone is output.

5. The method for de-icing a UAV wing according to claim 4, characterized in that, The specific steps for obtaining the power adjustment amounts for the key adjustment area and other temperature-consistent areas are as follows: For each temperature measuring point identified as a key adjustment area, the deviation value, preset weighting coefficient, and power adjustment coefficient of the temperature measuring point are obtained. The weighting coefficient and the power adjustment coefficient are multiplied, and then multiplied by the absolute value of the deviation value of the temperature measuring point. The adjustment direction is then determined according to the sign of the deviation value of the temperature measuring point, and the power adjustment amount of the control area corresponding to the temperature measuring point is obtained. For temperature measurement points that are not identified as key adjustment areas, the power adjustment amount of their corresponding control areas is zero.

6. The method for de-icing a UAV wing according to claim 5, characterized in that, The specific steps for scaling the preliminary power of each control zone proportionally based on the preliminary power sum are as follows: Calculate the sum of the preliminary power of all control zones and compare the sum with the lower limit of the power required for anti-icing mode and the upper limit of the power required for anti-icing mode; If the sum is less than the lower limit of the power required for anti-icing mode, the scaling factor is the lower limit of the power required for anti-icing mode divided by the sum, and the initial power of each control zone is multiplied by the scaling factor to obtain the secondary power of each control zone; If the sum is greater than the upper limit of the power required for anti-icing mode, the scaling factor is the upper limit of the power required for anti-icing mode divided by the sum, and the initial power of each control zone is multiplied by the scaling factor to obtain the secondary power of each control zone; If the sum is between the lower limit of the power required for anti-icing mode and the upper limit of the power required for anti-icing mode, then the initial power of each control zone will be directly used as the secondary power.

7. The method for de-icing a UAV wing according to claim 6, characterized in that, The specific steps for temperature control and coordinated flight control to perform vibration de-icing are as follows: In de-icing mode, the heating power is determined based on the ice thickness in the updated wing status parameters, the wing leading edge temperature is raised to the target heating temperature range, and maintained for a preset time. The jitter amplitude is calculated based on the current ice thickness. The obtained jitter amplitude is packaged with a fixed frequency into a command and sent to the flight controller. The flight controller generates jitter by adjusting the rotor differential speed. The flight control attitude deviation is monitored in real time during the jitter period. If the attitude deviation exceeds the attitude deviation limit, the jitter is stopped.

8. The method for de-icing a UAV wing according to claim 7, characterized in that, The drone modes specifically include anti-icing mode, de-icing mode, standby mode, and safety reset mode.

9. A method for de-icing a UAV wing according to claim 8, characterized in that, The specific steps for adaptively adjusting the drone mode are as follows: The wing status parameters and ambient temperature are updated again after the de-icing mode is obtained; If the ambient temperature is not greater than the ambient temperature judgment threshold and the ice thickness in the updated wing status parameters is less than the active de-icing ice thickness threshold, then switch to anti-icing mode. If the ambient temperature is higher than the ambient temperature threshold, switch to standby mode; If the ice thickness in the updated wing status parameters is not less than the active de-icing ice thickness threshold and the ambient temperature is not greater than the ambient temperature judgment threshold, then the system will enter the safe reset mode.

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