CN-121990417-A - Wire coil control method and device for unmanned aerial vehicle traction rope

CN121990417ACN 121990417 ACN121990417 ACN 121990417ACN-121990417-A

Abstract

The application belongs to the technical field of unmanned aerial vehicle haulage ropes, and discloses a wire coil control method and device of an unmanned aerial vehicle haulage rope, wherein the method comprises the steps of collecting hovering height data of an unmanned aerial vehicle in real time and calculating corresponding real-time height difference data; the method comprises the steps of removing noise of real-time height difference data by adopting a particle filtering algorithm to obtain a terrain height difference change sequence, calculating sag depth of each height difference sampling point in the terrain height difference change sequence to obtain a sag depth distribution curve, obtaining a mutation position sequence comprising a plurality of mutation positions based on the sag depth distribution curve, calculating tension increment or tension decrement of each mutation position to obtain tension change rate distribution, analyzing a reference trend line of each mutation position based on the tension change rate distribution to obtain tension increase dynamic characteristics, and generating a control instruction set of a wire coil based on the tension increase dynamic characteristics, a preset safety tension range and rated parameters of the wire coil. The application can avoid the risk of sag out of control of the traction rope.

Inventors

LI SHITIAN
LV BAILIANG
ZHANG ZHESHEN
HUANG ZHIQING
CHEN CHANGLONG
Zhan Lulin
YANG JIANYOU
Lin Guanou
WANG BENBEN
HUANG LEI

Assignees

国网浙江省电力有限公司苍南县供电公司

Dates

Publication Date: 20260508
Application Date: 20260408

Claims (10)

1. The wire coil control method of the unmanned aerial vehicle haulage rope is characterized by comprising the following steps of: collecting hover height data of the unmanned aerial vehicle in real time and calculating corresponding real-time height difference data; removing noise of the real-time height difference data by adopting a particle filtering algorithm to obtain a terrain height difference change sequence; Calculating sag depth of each height difference sampling point in the terrain height difference change sequence to obtain a sag depth distribution curve; Calculating the tension increment or the tension decrement of each abrupt change position to obtain tension change rate distribution, and obtaining tension increase dynamic characteristics based on the tension change rate distribution and the analysis of a reference trend line of each abrupt change position; And generating a control instruction set of the wire coil based on the tension growth dynamic characteristic, a preset safety tension range and rated parameters of the wire coil, wherein the control instruction set comprises a target moment, a target speed and a target position.
2. The method for controlling the wire coil of the unmanned aerial vehicle haulage rope according to claim 1, wherein the calculating the sag depth of each height difference sampling point in the terrain height difference variation sequence comprises: obtaining the unit weight, the initial coordinate and the hover coordinate of the altitude difference sampling point of the unmanned aerial vehicle haulage rope, inputting a catenary equation to obtain a boundary condition equation set; constructing a catenary equation based on the unit weight, the horizontal translation parameter, the vertical translation parameter and the initialized horizontal tension value, iterating the horizontal tension value until the catenary equation matches the arc length of the unmanned aerial vehicle haulage rope; Obtaining the vertical height corresponding to each rope point on the haulage rope of the unmanned aerial vehicle when the unmanned aerial vehicle hovers at the altitude difference sampling point according to a successfully matched catenary equation, obtaining a target rope point corresponding to the lowest vertical height, and calculating the distance between the target rope point and the connecting line of the initial coordinate and the hovering coordinate as the sag depth of the altitude difference sampling point.
3. The method for controlling a wire coil of an unmanned aerial vehicle haulage rope according to claim 2, wherein the obtaining a mutation position sequence including a plurality of mutation positions based on the sag depth distribution curve includes: Taking the horizontal tension value when the catenary equation is successfully matched as a target horizontal tension value of the height difference sampling point; Calculating a target vertical tension value of the height difference sampling point according to an integration method and the sag depth of the height difference sampling point; Adding the target horizontal tension value and the target vertical tension value to obtain a total tension value of the height difference sampling point; Calculating a tension difference value of the total tension value of the height difference sampling point and the last height difference sampling point and a tension average value of all the height difference sampling points, and taking the geographic position coordinate of the height difference sampling point corresponding to the tension difference value as a mutation position if the ratio of the tension difference value to the tension average value exceeds a preset mutation threshold value; The method comprises the steps of calculating the height difference gradient value of the height difference sampling point and the last height difference sampling point, judging the terrain type of the geographic position coordinates of the height difference sampling point according to the height difference gradient value, wherein the terrain type comprises ridges and valleys; and outputting each mutation position and the corresponding terrain type as the mutation position sequence.
4. A method for controlling a wire coil of a haulage rope of an unmanned aerial vehicle according to claim 3, wherein the calculating the tension increment or the tension decrement of each abrupt position to obtain the tension change rate distribution comprises: Acquiring two target sampling points with preset distances before and after the mutation position; calculating the tension decrement of the abrupt change position with the terrain type of the valley according to the total tension value of the two target sampling points; calculating tension increment of abrupt change positions of ridges with the terrain type according to total tension values of the two target sampling points; the tension increment or tension decrement of each abrupt position is summarized as the tension change rate distribution.
5. The method for controlling the wire coil of the unmanned aerial vehicle haulage rope according to claim 4, wherein the step of obtaining the tension increase dynamic characteristic based on the tension change rate distribution and the reference trend line analysis of each abrupt change position comprises the steps of: taking the tension increment or the tension decrement with the largest absolute value in the tension change rate distribution as the largest change rate; Extracting a reference trend line of the total tension value sequence of each mutation position by adopting a moving average method; Calculating a total tension value sequence of each abrupt position and a deviation sequence of the reference trend line; Identifying the deviation sequence based on a Gahanning window Fourier transform to obtain the maximum amplitude and dominant period of tension fluctuation; Determining a peak interval and a rising duration from the maximum amplitude and the dominant period; The maximum rate of change, the peak interval, and the rise duration are characterized as the tension growth dynamics.
6. The method for controlling the wire coil of the unmanned aerial vehicle haulage rope according to claim 5, wherein the rated parameters of the wire coil comprise rated acceleration data and mechanical inertia coefficients, and the generating the control instruction set of the wire coil based on the tension increase dynamic characteristic, a preset safety tension range and the rated parameters of the wire coil comprises: Comparing the rated acceleration data with the mechanical inertia coefficient to obtain the response rate of the wire coil motor; comparing the maximum change rate with the response rate of the wire coil motor to obtain a first ratio; If the first ratio is smaller than a preset safety coefficient, multiplying the rated acceleration data by the preset safety coefficient to obtain an acceleration upper limit value; Multiplying the rising duration time by the flying speed of the unmanned aerial vehicle to obtain a terrain mutation distance; Enabling the current position coordinate of the unmanned aerial vehicle to be added with the terrain mutation distance to obtain a terrain mutation coordinate; Obtaining response delay time of a wire coil motor and multiplying the response delay time by the flight speed of the unmanned aerial vehicle to obtain a pre-adjustment advance; Determining a speed change trigger coordinate according to the pre-adjustment advance and the topographic abrupt change coordinate; Obtaining a predicted tension peak value according to the maximum change rate and the peak value interval; Obtaining a target speed adjustment value based on the difference between the predicted tension peak value and the upper limit of the preset safety tension range; generating a trapezoidal speed curve according to the acceleration boundary range, the variable speed trigger coordinates and the target speed adjustment value; And sampling the trapezoid speed curve according to a preset sampling period to obtain the control instruction set.
7. The method of controlling a wire coil of an unmanned aerial vehicle haulage rope of claim 6, further comprising: after the control instruction set is obtained, constructing a sag out-of-control simulation scene; calculating the maximum swing amplitude and the horizontal offset distance of the unmanned plane haulage rope under the sag out-of-control simulation scene of the control instruction set based on a catenary equation and a dynamics equation to obtain a rope space track coordinate point set; Marking the rope space track coordinate points with the distance from the obstacle in the sag out-of-control simulation scene smaller than a preset safety distance in the rope space track coordinate point set as collision risk points; If the number of the collision risk points exceeds a preset optimization threshold, updating the acceleration boundary range and the pre-adjustment advance, and recalculating the control instruction set until the number of the collision risk points is smaller than the preset optimization threshold.
8. The utility model provides a drum controlling means of unmanned aerial vehicle haulage rope which characterized in that includes: The acquisition module is used for acquiring hover height data of the unmanned aerial vehicle in real time and calculating corresponding real-time height difference data; The filtering module is used for removing noise of the real-time height difference data by adopting a particle filtering algorithm to obtain a terrain height difference change sequence; the abrupt change judging module is used for calculating the sag depth of each altitude difference sampling point in the terrain altitude difference change sequence to obtain a sag depth distribution curve; the characteristic module is used for calculating the tension increment or the tension decrement of each abrupt change position to obtain tension change rate distribution; the control module is used for generating a control instruction set of the wire coil based on the tension growth dynamic characteristic, a preset safety tension range and rated parameters of the wire coil, and the control instruction set comprises a target moment, a target speed and a target position.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the method for controlling the wire coil of the unmanned aerial vehicle pull-cord according to any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, realizes the steps of the method for controlling the wire coil of a drone tractor according to any one of claims 1 to 7.

Description

Wire coil control method and device for unmanned aerial vehicle traction rope Technical Field The application relates to the technical field of unmanned aerial vehicle haulage ropes, in particular to a wire coil control method and device of an unmanned aerial vehicle haulage rope. Background The unmanned aerial vehicle guiding rope traction operation plays an irreplaceable role in complex terrain environments such as power line erection and mountain area material transportation, when the unmanned aerial vehicle carries the guiding rope to fly in the undulating terrain, the rope can form sag under the action of gravity, and the natural sagging phenomenon is relatively easy to control in flat terrain, but brings serious challenges in hilly and mountain area environments. When the unmanned aerial vehicle hovering height is kept unchanged and the ground elevation is changed, the effective suspension length of the rope is changed along with the change, so that the sag shape is changed obviously. The existing wire coil control system generally adopts a constant speed or simple sectional speed regulation mode to retract and release the rope, but ignores the dynamic influence of terrain change on the stress state of the rope, cannot respond to the stress change caused by the terrain in real time, often causes lag in rope tension control, and further causes a series of interlocking problems. When the unmanned aerial vehicle flies from one side of the valley to the other side, the effective length of the rope is increased along with the decrease of the ground elevation, the sag is deepened, and the rope tension is correspondingly reduced. When the unmanned plane passes over the ridge, the ground elevation rises rapidly, the effective length of the rope is shortened sharply, the tension is increased suddenly, the sudden change of the tension can not only cause impact load to rope materials, but also cause sag to be out of control, so that the rope collides with or winds up with ground obstacles. In steep ridge zones, even if the moving distance of the unmanned aerial vehicle is small, rapid changes of the terrain height difference can cause severe fluctuation of rope stress, and the rapid stress change is far beyond the response capability of the traditional control system. Therefore, the technical problem solved by the application is how to design a terrain-adaptive acceleration and deceleration control curve for the wire coil of the unmanned aerial vehicle traction rope, and avoid rope stress impact and sag out of control caused by terrain mutation. Disclosure of Invention The application provides a wire coil control method and device for a haulage rope of an unmanned aerial vehicle, which can ensure that the winding and unwinding speed of the haulage rope by a wire coil at a target time and a target position in the future can avoid the risk of sag out of control of the haulage rope. In a first aspect, an embodiment of the present application provides a method for controlling a wire coil of a traction rope of an unmanned aerial vehicle, including: collecting hover height data of the unmanned aerial vehicle in real time and calculating corresponding real-time height difference data; Removing noise of the real-time height difference data by adopting a particle filtering algorithm to obtain a terrain height difference change sequence; Calculating sag depth of each height difference sampling point in the terrain height difference change sequence to obtain a sag depth distribution curve; calculating the tension increment or tension decrement of each abrupt change position to obtain tension change rate distribution; And generating a control instruction set of the wire coil based on the tension growth dynamic characteristics, the preset safety tension range and the rated parameters of the wire coil, wherein the control instruction set comprises a target moment, a target speed and a target position. Further, calculating the sag depth of each height difference sampling point in the terrain height difference change sequence includes: Obtaining the unit weight, the initial coordinate and the hover coordinate of the altitude difference sampling point of the unmanned aerial vehicle haulage rope, inputting a catenary equation to obtain a boundary condition equation set; Constructing a catenary equation based on the unit weight, the horizontal translation parameter, the vertical translation parameter and the initialized horizontal tension value, and iterating the horizontal tension value until the catenary equation is matched with the arc length of the unmanned aerial vehicle traction rope; obtaining the vertical height corresponding to each rope point on the haulage rope of the unmanned aerial vehicle when the unmanned aerial vehicle hovers at the altitude difference sampling point according to the successfully matched catenary equation, obtaining the target rope point corresponding to the lowest vertical height, and calculating