The invention relates to the field of control, in particular to a hoisting risk early warning method and system for a hoisting unmanned aerial vehicle, and the method comprises the steps: calculating a load balance index of the hoisting unmanned aerial vehicle; when the load balance index is smaller than a preset balance threshold value, executing primary early warning; marking the hoisting unmanned aerial vehicle with the minimum load as an abnormal unmanned aerial vehicle, and marking other hoisting unmanned aerial vehicles as normal unmanned aerial vehicles; when the primary early warning is executed, constructing a time sequence, and calculating an angular velocity change coefficient of the abnormal unmanned aerial vehicle at each moment; calculating difference values of relative positions of the abnormal unmanned aerial vehicle and the normal unmanned aerial vehicle corresponding to two adjacent moments, and summing all the difference values to obtain a relative movement value of the abnormal unmanned aerial vehicle corresponding to the moment; and calculating a rollover early warning index of the abnormal unmanned aerial vehicle, and when the rollover early warning index is greater than a preset rollover threshold value, executing secondary early warning. The abnormal condition of the unmanned aerial vehicle is effectively monitored, and the safety and efficiency of hoisting operation are improved.
本发明涉及控制领域,具体涉及一种用于吊装无人机的吊装风险预警方法及系统,方法包括:计算吊装无人机的荷载均衡指数;当荷载均衡指数小于预设的均衡阈值时,执行初级预警;并将荷载最小的吊装无人机标记为异常无人机,将其他吊装无人机标记为正常无人机;当执行初级预警时,构建时间序列,计算每一个时刻异常无人机的角速度变化系数;计算相邻两个时刻对应异常无人机与正常无人机的相对位置的差值,并对所有差值求和得到异常无人机对应时刻的相对移动值;计算异常无人机的侧翻预警指数,当侧翻预警指数大于预设的侧翻阈值时,执行二级预警。本发明有效地监测无人机的异常情况,提高吊装作业的安全性和效率。
Hoisting risk early warning method and system for hoisting unmanned aerial vehicle
一种用于吊装无人机的吊装风险预警方法及系统
2025-02-18
Patent
Electronic Resource
Chinese
Unmanned aerial vehicle hoisting system and hoisting method thereof
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