Control method of tree barrier tail cutting device, electronic equipment and program product

Abstract

The invention discloses a control method of a tree barrier tail cutting device, electronic equipment and a program product. The method comprises the following steps: acquiring a first position parameter of the tree barrier tail cutting device at a current moment and a second position parameter of the tree barrier tail cutting device at a future moment; based on the first position parameter and the second position parameter, constructing channel control parameters of an unmanned aerial vehicle body in the tree obstacle tail cutting device on different channels; based on the channel control parameters, rotor rotating speeds of different rotors in the unmanned aerial vehicle body are determined; and controlling the unmanned aerial vehicle body to fly based on the rotor rotating speed so as to control the tree obstacle tail cutting device to fly. According to the invention, the technical problem of low control precision of the tree barrier tail cutting device in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of equipment control, and in particular to a control method, electronic equipment and program product of a tree barrier tail cutting device. Background Art

[0002] At present, the traditional manual tree obstacle clearing method can no longer meet the needs of modern power grid operation and maintenance, and the automated tree obstacle clearing solution based on drones is becoming a new trend in the operation and maintenance of the power industry. However, drones may face many technical challenges in practical applications, especially in the interaction with the physical environment. The traditional drone position and attitude control method may be greatly disturbed during the physical interaction process, resulting in the inability to achieve high-precision cleaning when using drones to drive tail cutting devices to clear high-altitude obstacles such as branches and treetops.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a control method, electronic device and program product for a tree barrier tail cutting device, so as to at least solve the technical problem of low precision in controlling the tree barrier tail cutting device in the related art.

[0005] According to one aspect of an embodiment of the present invention, a control method for a tree barrier tail cutting device is provided, comprising: obtaining a first position parameter of the tree barrier tail cutting device at a current moment and a second position parameter at a future moment; constructing channel control parameters of a UAV body on different channels in the tree barrier tail cutting device based on the first position parameter and the second position parameter; determining the rotor speeds of different rotors in the UAV body based on the channel control parameters; and controlling the flight of the UAV body based on the rotor speed to control the flight of the tree barrier tail cutting device.

[0006] Furthermore, based on the channel control parameters, the rotor speeds of different rotors in the UAV body are determined, including: based on the channel control parameters, determining a first speed parameter of the UAV body in a control time period, wherein the control time period is used to characterize the time period between a current moment and a future moment; based on the first speed parameter, determining a first force parameter to which the UAV body is subjected during the control time period, and a second force parameter to which the tail cutting device in the tree obstacle tail cutting device is subjected during the control time period; based on the first force parameter and the second force parameter, determining the rotor speeds of different rotors in the UAV body.

[0007] Furthermore, based on the first force parameter and the second force parameter, the rotor speeds of different rotors in the UAV body are determined, including: obtaining the disturbance force parameters to which the UAV body is subjected during flight, and the rotor configuration parameters of different rotors in the UAV body; adjusting the first force parameter based on the disturbance force parameter and the second force parameter to obtain the target force parameter; and determining the rotor speeds corresponding to different rotors based on the rotor configuration parameters and the target force parameter.

[0008] Furthermore, based on the first speed parameter, a second force parameter of the tail cutting device in the tree obstacle tail cutting device during the control time period is determined, including: obtaining the gravity vector of the tail cutting device and the displacement vector of the tail cutting device during the control time period; based on the first speed parameter and the displacement vector, determining the second speed parameter of the tail cutting device during the control time period; based on the second speed parameter and the displacement vector, determining the acceleration parameter of the tail cutting device during the control time period; based on the gravity vector and the acceleration parameter, determining the second force parameter.

[0009] Furthermore, the first position parameter includes: the center of mass position and body attitude of the UAV body. Obtaining the first position parameter of the tree obstacle tail cutting device at the current moment includes: obtaining the first angular velocity of the UAV body in the body coordinate system, and the flight speed of the UAV body in the world coordinate system; determining the body attitude based on the first angular velocity, the preset transformation matrix and the preset rotation matrix; determining the center of mass position based on the flight speed.

[0010] Furthermore, based on the first position parameter and the second position parameter, channel control parameters of the UAV body in the tree obstacle tail cutting device on different channels are constructed, including: based on the first position parameter and the second position parameter, current observation values ​​and expected values ​​of the UAV body on different channels are determined; based on the channel identifiers of different channels, channel controllers corresponding to different channels are obtained; the current observation values ​​and expected values ​​are input into the channel controller, and the channel control parameters of the corresponding channels are determined using the channel controller.

[0011] Furthermore, the channel controller includes: a sliding mode controller, an extended state observer and a fuzzy controller; the current observation value and the expected value are input into the channel controller, and the channel control parameters of the corresponding channel are determined by using the channel controller, including: based on the expected value, determining the sliding surface of the sliding mode controller; the current observation value is input into the extended state observer to obtain the first parameter range and the first control parameter of the UAV body under the corresponding channel, wherein the first parameter range is used to characterize the value range of the control parameter of the UAV body under the corresponding channel; the expected value and the sliding mode surface are input into the fuzzy controller to obtain the second control parameter of the UAV body under the corresponding channel, and the upper limit value of the disturbance of the sliding mode controller; the expected value, the sliding mode surface, the first parameter range and the upper limit value of the disturbance are input into the sliding mode controller to obtain the third control parameter of the UAV body under the corresponding channel; based on the first control parameter, the second control parameter and the third control parameter, the channel control parameter is determined.

[0012] According to another aspect of an embodiment of the present invention, a control device for a tree barrier tail cutting device is also provided, including: a parameter acquisition module, used to obtain a first position parameter of the tree barrier tail cutting device at a current moment and a second position parameter at a future moment; a parameter construction module, used to construct channel control parameters of a UAV body in the tree barrier tail cutting device on different channels based on the first position parameter and the second position parameter; a rotation speed determination module, used to determine the rotor speeds of different rotors in the UAV body based on the channel control parameters; and a body control module, used to control the flight of the UAV body based on the rotor speed, so as to control the flight of the tree barrier tail cutting device.

[0013] Furthermore, the speed determination module is also used to: determine a first speed parameter of the UAV body in the control time period based on the channel control parameter, wherein the control time period is used to characterize the time period between the current moment and the future moment; determine a first force parameter to which the UAV body is subjected during the control time period, and a second force parameter to which the tail cutting device in the tree obstacle tail cutting device is subjected during the control time period based on the first speed parameter; determine the rotor speed of different rotors in the UAV body based on the first force parameter and the second force parameter.

[0014] Furthermore, the speed determination module is also used to: obtain the disturbance force parameters to which the UAV body is subjected during flight, and the rotor configuration parameters of different rotors in the UAV body; adjust the first force parameter based on the disturbance force parameter and the second force parameter to obtain the target force parameter; and determine the rotor speeds corresponding to different rotors based on the rotor configuration parameters and the target force parameter.

[0015] Furthermore, the rotation speed determination module is also used to: obtain the gravity vector of the tail clipping device and the displacement vector of the tail clipping device within the control time period; determine the second speed parameter of the tail clipping device within the control time period based on the first speed parameter and the displacement vector; determine the acceleration parameter of the tail clipping device within the control time period based on the second speed parameter and the displacement vector; and determine the second force parameter based on the gravity vector and the acceleration parameter.

[0016] Furthermore, the first position parameter includes: the center of mass position and body attitude of the UAV body, and the parameter acquisition module is also used to: obtain the first angular velocity of the UAV body in the body coordinate system, and the flight speed of the UAV body in the world coordinate system; determine the body attitude based on the first angular velocity, the preset transformation matrix and the preset rotation matrix; determine the center of mass position based on the flight speed.

[0017] Furthermore, the parameter construction module is also used to: determine the current observation value and expected value of the UAV body on different channels based on the first position parameter and the second position parameter; obtain the channel controllers corresponding to different channels based on the channel identifiers of different channels; input the current observation value and expected value into the channel controller, and use the channel controller to determine the channel control parameters of the corresponding channel.

[0018] Furthermore, the channel controller includes: a sliding mode controller, an extended state observer and a fuzzy controller; the parameter construction module is also used to: determine the sliding surface of the sliding mode controller based on the expected value; input the current observation value into the extended state observer to obtain the first parameter range and the first control parameter of the UAV body under the corresponding channel, wherein the first parameter range is used to characterize the value range of the control parameter of the UAV body under the corresponding channel; input the expected value and the sliding surface into the fuzzy controller to obtain the second control parameter of the UAV body under the corresponding channel, and the upper limit value of the disturbance of the sliding mode controller; input the expected value, the sliding surface, the first parameter range and the upper limit value of the disturbance into the sliding mode controller to obtain the third control parameter of the UAV body under the corresponding channel; determine the channel control parameter based on the first control parameter, the second control parameter and the third control parameter.

[0019] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0020] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0021] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0022] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0023] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0024] In an embodiment of the present invention, a first position parameter of a tree barrier tail cutting device at a current moment and a second position parameter at a future moment are obtained; based on the first position parameter and the second position parameter, channel control parameters of a UAV body in the tree barrier tail cutting device on different channels are constructed; based on the channel control parameters, the rotor speeds of different rotors in the UAV body are determined; based on the channel control parameters, the flight of the UAV body is controlled based on the rotor speed, so as to control the flight of the tree barrier tail cutting device. The channel control parameters for controlling different channels of the UAV body are determined by the current first position parameter of the UAV and the second position parameter corresponding to the high-altitude obstacle. The accuracy of the determined channel control parameters can be ensured, thereby improving the accuracy of the rotor speeds of different rotors in the UAV body determined according to the channel control parameters, so as to improve the flight accuracy of controlling the UAV body to fly to high-altitude obstacles by using the rotor speed, thereby solving the technical problem of low accuracy in controlling the tree barrier tail cutting device in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] Figure 1 is a flow chart of a control method of a tree barrier tail cutting device according to an embodiment of the present invention;

[0027] Figure 2 is a schematic diagram of a tree barrier tail cutting device according to an embodiment of the present application;

[0028] Figure 3 is a schematic diagram of a pitch channel controller according to an embodiment of the present application;

[0029] Figure 4 It is a structural block diagram of a control device of a tree barrier tail cutting device according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] According to an embodiment of the present invention, a control method embodiment of a tree barrier tail cutting device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] Figure 1 FIG. 1 is a flow chart of a control method of a tree barrier tail cutting device according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0034] Step S102, obtaining a first position parameter of the tree obstacle tail cutting device at the current moment and a second position parameter at a future moment.

[0035] The above-mentioned tree barrier tail cutting device may refer to equipment for handling obstacles such as tree branches and treetops in the corridor of high-voltage transmission lines. The tree barrier tail cutting device may include two parts: a drone body and a tail cutting device. The drone body can provide flight power for the tail cutting device to drive the tail cutting device to clear high-altitude obstacles. The above-mentioned first position parameters may include but are not limited to: parameters such as the center of mass position and attitude of the tree barrier tail cutting device at the current moment, which can be determined based on the flight parameters of the tree barrier tail cutting device. The above-mentioned second position parameters may include but are not limited to: parameters such as the center of mass position and attitude of the tree barrier tail cutting device at a future moment, which can be determined based on the position of the obstacle to be cleared.

[0036] In an optional scheme of the present embodiment, in order to accurately clear high-altitude obstacles such as tree branches and treetops, before automatically controlling the flight of the tree obstacle tail cutting device, the control system can first determine the position information of the high-altitude obstacles that currently need to be cleared, and based on the determined position information, determine the position parameters that the UAV needs to reach in the future, such as the center of mass position and attitude corresponding to the above-mentioned second position parameters, thereby realizing the operation of clearing high-altitude obstacles at a fixed point using the tree obstacle tail cutting device. In order to stably control the tree barrier tail cutting device to reach the above-mentioned second position parameters, reduce the flight time of the tree barrier tail cutting device due to flight path planning errors, affect the efficiency of clearing high-altitude obstacles, and avoid mistakenly clearing objects that do not need to be cleared in other areas, the control system can simultaneously determine the position parameters of the tree barrier tail cutting device at the current moment according to the current flight parameters of the tree barrier tail cutting device, such as the confidence position and posture corresponding to the above-mentioned first position parameters, and then plan the flight route, control parameters and other data of the tree barrier tail cutting device from the current position to the position of the high-altitude obstacle based on the determined first position parameters and second position parameters, thereby improving the stability and efficiency of the tree barrier tail cutting device during flight, while ensuring the accuracy of clearing high-altitude obstacles.

[0037] To facilitate understanding of the above-mentioned tree barrier tail cutting device, Figure 2 This is a schematic diagram of a tree obstacle tail cutting device according to an embodiment of the present application, wherein 201 represents the UAV body portion, 202 represents the tail cutting device portion, and the tail cutting device can be installed on the belly of the UAV body at multiple angles below the body through a connecting rod, and correspondingly, eight coaxial rotors can be configured on the UAV body.

[0038] Step S104, based on the first position parameter and the second position parameter, construct channel control parameters of the UAV body in the tree obstacle tail cutting device on different channels.

[0039] The above-mentioned channel may refer to a control channel for controlling the flight of the drone body. To ensure the stability of the drone body during flight, the above-mentioned channels may include but are not limited to: roll channel, pitch channel, yaw channel, surge channel, sway channel and height channel. The above-mentioned channel control parameters may be parameters for controlling the flight state of the drone body on different channels. For example, the control system may control the rotation of the drone around its longitudinal axis (X axis) through the control parameters on the roll channel; control the rotation of the drone around its lateral axis (Y axis) through the control parameters on the pitch channel; control the rotation of the drone around its vertical axis (Z axis) through the control parameters on the yaw channel; control the forward or backward movement of the drone in the X-axis direction through the control parameters on the longitudinal displacement channel; control the left and right translation movement of the drone in the Y-axis direction through the control parameters on the sway displacement channel; and control the ascending or descending movement of the drone in the Z-axis direction through the control parameters on the height displacement channel.

[0040] In an optional scheme of this embodiment, considering that the flight power of the tree barrier tail cutting device is mainly provided by the UAV body, after determining the first position parameter and the second position parameter of the tree barrier tail cutting device, the control system can determine the channel control parameters of the UAV body on different channels according to the determined first position parameter and the second position parameter. For example, the control system can first determine the flight direction, flight distance, flight time and other parameters of the UAV body according to the center of mass position in the first position parameter and the center of mass position in the second position parameter, and at the same time determine the rotation direction, rotation angle and other parameters of the UAV body according to the posture in the first position parameter and the posture in the second position parameter, and then determine the rotation-related parameters of the UAV body on the corresponding rolling channel, pitch channel, and yaw channel according to these parameters, as well as the displacement-related parameters on the longitudinal displacement channel, lateral displacement channel, and vertical displacement channel. By constructing the channel control parameters of these channels, the control system can more accurately control the flight of the UAV body, thereby improving the accuracy of clearing high-altitude obstacles using the tree barrier tail cutting device.

[0041] Step S106, determining the rotor speeds of different rotors in the UAV body based on the channel control parameters.

[0042] In an optional scheme of the present embodiment, taking into account that a plurality of rotors are usually configured on a UAV body, by changing the rotor speed of different rotors, the flight direction, flight angle, rotation direction, rotation angle and other parameters of the UAV can be changed accordingly, that is, the channel control parameters of the UAV body on different channels can be changed accordingly to control the flight of the UAV body. Therefore, after determining the channel control parameters on different channels, the control system can determine the rotor speed of different rotors in the UAV body according to the determined channel control parameters, so that the UAV body can fly from the current position to the position of the high-altitude obstacle that needs to be cleared according to the planned flight parameters, so that the tree obstacle tail cutting device can have the aforementioned second position parameters at a future time.

[0043] Step S108, controlling the flight of the UAV body based on the rotor speed to control the flight of the tree obstacle cutting tail device.

[0044] In an optional scheme of the present embodiment, after determining the rotor speed of different rotors in the UAV body, the control system can use the determined rotor speed to control the flight of the UAV body, so as to change the rotor speed of different rotors on the UAV and accordingly change the flight direction, flight angle, rotation direction, rotation angle and other parameters of the UAV body, so as to drive the tree obstacle cutting tail device as a whole to fly to the location of the high-altitude obstacle.

[0045] In an embodiment of the present invention, a first position parameter of a tree barrier tail cutting device at a current moment and a second position parameter at a future moment are obtained; based on the first position parameter and the second position parameter, channel control parameters of a UAV body in the tree barrier tail cutting device on different channels are constructed; based on the channel control parameters, the rotor speeds of different rotors in the UAV body are determined; based on the channel control parameters, the flight of the UAV body is controlled based on the rotor speed, so as to control the flight of the tree barrier tail cutting device. The channel control parameters for controlling different channels of the UAV body are determined by the current first position parameter of the UAV and the second position parameter corresponding to the high-altitude obstacle. The accuracy of the determined channel control parameters can be ensured, thereby improving the accuracy of the rotor speeds of different rotors in the UAV body determined according to the channel control parameters, so as to improve the flight accuracy of controlling the UAV body to fly to high-altitude obstacles by using the rotor speed, thereby solving the technical problem of low accuracy in controlling the tree barrier tail cutting device in the related art.

[0046] Furthermore, based on the channel control parameters, the rotor speeds of different rotors in the UAV body are determined, including: based on the channel control parameters, determining a first speed parameter of the UAV body in a control time period, wherein the control time period is used to characterize the time period between a current moment and a future moment; based on the first speed parameter, determining a first force parameter to which the UAV body is subjected during the control time period, and a second force parameter to which the tail cutting device in the tree obstacle tail cutting device is subjected during the control time period; based on the first force parameter and the second force parameter, determining the rotor speeds of different rotors in the UAV body.

[0047] The starting time of the above control time period is the current time, that is, the time when the UAV body starts to fly, and the ending time is the future time, that is, the time when the UAV body reaches the position of the high-altitude obstacle.

[0048] In an optional solution of this embodiment, in order to accurately determine the rotor speeds of different rotors in the drone body, the control system can first determine, based on the constructed channel control parameters, the first speed parameter used to change the position parameters such as the center of mass position and attitude of the drone body within the above control time period, such as the angular velocity, translational velocity and other parameters of the drone. Then, the determined first speed parameter is used to determine the force parameter that the drone body needs to be subjected to in order to achieve the above first speed parameter within the above control time period, i.e., the above first force parameter, and the force parameter that the tail cutting device will be subjected to when the drone body drives the tail cutting device to fly within the above control time period, i.e., the above second force parameter, so as to use the first force parameter and the second force parameter to reflect the force conditions of the drone body and the tail cutting device. Taking into account the first force parameter of the UAV body and the second force parameter of the tail cutting device, they are usually affected by the thrust parameters generated by different rotors in the UAV body when rotating, and the thrust parameters generated by different rotors are related to the rotor speeds of different rotors. Therefore, based on the determined first force parameter and the second force parameter, the control system can determine the rotor speeds of different rotors in the UAV body accordingly, so that based on the determined rotor speed, the speed parameter of the UAV body can reach the above-mentioned first speed parameter within the above-mentioned control time period.

[0049] Furthermore, based on the first force parameter and the second force parameter, the rotor speeds of different rotors in the UAV body are determined, including: obtaining the disturbance force parameters to which the UAV body is subjected during flight, and the rotor configuration parameters of different rotors in the UAV body; adjusting the first force parameter based on the disturbance force parameter and the second force parameter to obtain the target force parameter; and determining the rotor speeds corresponding to different rotors based on the rotor configuration parameters and the target force parameter.

[0050] The above-mentioned target force parameters may refer to thrust parameters of different rotors in the UAV body, such as thrust, thrust torque and other parameters, which may usually be provided by the power and rotational torque of different rotors.

[0051] In an optional scheme of the present embodiment, in order to accurately determine the rotor speed of different rotors according to the first force parameter and the second force parameter, the control system can simultaneously consider the influence of the environment in which the tree obstacle tail cutting device is located. Based on this, the control system can first obtain the disturbance force parameters that the UAV body may be subjected to during the flight, such as uncertain disturbances caused by factors such as UAV parameter perturbations and environmental wind disturbances, and considering that different rotor configuration parameters may also produce different force parameters at the same rotor speed, therefore, while obtaining the above-mentioned disturbance force parameters, the control system can further obtain the rotor configuration parameters of different rotors in the UAV body, such as the number of rotors of multiple rotors on the UAV body, the positions of different rotors, the distance d from different rotors to the center of mass of the UAV, the thrust coefficient corresponding to the rotor, the anti-torque moment coefficient and other parameters. After obtaining the disturbance force parameters that the UAV body may be subjected to during flight, the control system can adjust the first force parameter according to the disturbance force parameter and the second force parameter to determine the thrust parameters that different rotors in the UAV body need to output, that is, the above-mentioned target force parameters, and then accurately distribute the target force parameters to different rotors according to the obtained rotor configuration parameters of different rotors, thereby determining the rotor speeds that different rotors need to achieve.

[0052] For ease of understanding, the formula for determining the target force parameter can be:

[0053] B F t = B F- B G b +F l -ΔF b ;

[0054] B M t = B M+M l -ΔM b .

[0055] Among them, B represents the body coordinate system, t represents the time, B F t It represents the thrust output of different rotors. B M t represents the thrust torque corresponding to the thrust, ΔF b represents the disturbance corresponding to the thrust, ΔM b represents the disturbance corresponding to the inference moment, BF represents the resultant external force included in the first force parameter, F l represents the resultant external force corresponding to the second force parameter, B M represents the total external moment included in the first force parameter, M l represents the resultant external moment corresponding to the second force parameter, l represents the distance between the center of the UAV body and the center of the tail cutting device, b represents the UAV body, B G b Represents the gravity vector of the drone body.

[0056] The thrust can be generated by the power U generated by the rotor z Provided, expressed as:

[0057] B F t =[0 0 U z ] T .

[0058] The corresponding thrust matrix can be expressed as:

[0059] B M t =[U φ U θ U ψ ] T .

[0060] Among them, U z It represents the height thrust generated by the drone body through multiple rotors, U φ represents the rolling moment, U θ represents the pitch moment, U ψ Represents the heading moment.

[0061] According to the above thrust and thrust torque, the control input matrix of the UAV body can be obtained:

[0062]

[0063] Among them, d represents the distance from the different rotors to the center of mass, F t,i and Q i is the thrust and anti-torque generated by the i-th rotor, which can be expressed as:

[0064] F t,i =k f n i 2 ;

[0065] Q i =(-1) n+1 k m n i2 .

[0066] Among them, k f and k m are thrust coefficient and anti-torque coefficient, n i is the rotor speed.

[0067] Through the above formula, the control system can determine the rotor speed of different rotors.

[0068] Furthermore, based on the first speed parameter, a second force parameter of the tail cutting device in the tree obstacle tail cutting device during the control time period is determined, including: obtaining the gravity vector of the tail cutting device and the displacement vector of the tail cutting device during the control time period; based on the first speed parameter and the displacement vector, determining the second speed parameter of the tail cutting device during the control time period; based on the second speed parameter and the displacement vector, determining the acceleration parameter of the tail cutting device during the control time period; based on the gravity vector and the acceleration parameter, determining the second force parameter.

[0069] In an optional solution of the present embodiment, considering that the gravity parameter, flight speed, flight direction and other parameters of the tail cutting device itself may affect the second force parameter of the tail cutting device, therefore, when determining the second force parameter of the tail cutting device in the above control time period according to the first speed parameter, the control system may first obtain the gravity vector of the tail cutting device and the displacement vector corresponding to the displacement of the tail cutting device in the above control time period, and then use the determined first speed parameter and the above displacement vector to determine the second speed parameter that the tail cutting device will reach when driven by the drone body in the above control time period, and further determine the acceleration parameters of the tail cutting device in the above control time period according to the second speed parameter and the displacement vector, such as the acceleration magnitude, the acceleration direction and other parameters, and then determine the second force parameter of the tail cutting device according to the acceleration parameter and the gravity vector of the tail cutting device.

[0070] The reaction force of the tail-cutting device on the UAV body is derived by the Newton-Euler iterative method. It is also necessary to introduce the displacement vector of the tail-cutting device. B d l . It is expressed as: B d l = B R S B d s . B R S is the installation angle rotation matrix of the tail cutting device and the machine system, B d s is the displacement vector of the UAV body and the tail cutting device, expressed as: B d s =[0 0 l]T . l is the distance between the UAV body and the tail cutting device.

[0071] For ease of understanding, the first speed parameter may include the rotation speed of the drone body. B ω b and translation speed B v b Based on this, the control system can deduce the rotation speed of the tail cutting device B ω s and translation speed B v s , the derivation formula can be shown as follows:

[0072] B ω s = B ω b ;

[0073] B v s = B v b + B ω b × B d l .

[0074] in, B d l Represents the displacement vector of the tail cutting device, which can be obtained by the preset rotation matrix B R s and the overall displacement vector of the tree barrier device B d s The dot product of B d s =[0 0 l] T .

[0075] The rotation speed of the tail cutting device is B ω s and translation speed B v s Correspondingly, the rotational acceleration of the tail cutting device and translational acceleration It can be:

[0076]

[0077] After obtaining the translational and rotational velocities and accelerations of the tail cutting device, the expression of the second force parameter of the tail cutting device can be as follows:

[0078]

[0079] in, E GS represents the gravity vector of the tail cutting device in the world coordinate system, F l,ext represents the contact force generated by the tail cutting device during operation, ΔF l,ext , ΔM l,ext It represents the parameter perturbation of the UAV body and the disturbance force parameters corresponding to the wind disturbance, J l represents the moment of inertia matrix.

[0080] Further, similar to determining the first force parameter, when determining the first force parameter of the drone body, the control system can obtain the mass of the drone body, and then determine the first force parameter according to the mass of the drone body and the acceleration parameter corresponding to the current speed parameter of the drone body. The formula for determining the first force parameter can be as follows:

[0081]

[0082] Furthermore, the first position parameter includes: the center of mass position and body attitude of the UAV body. Obtaining the first position parameter of the tree obstacle tail cutting device at the current moment includes: obtaining the first angular velocity of the UAV body in the body coordinate system, and the flight speed of the UAV body in the world coordinate system; determining the body attitude based on the first angular velocity, the preset transformation matrix and the preset rotation matrix; determining the center of mass position based on the flight speed.

[0083] In an optional solution of this embodiment, as described above, the first position parameter determined may include the center of mass position and body attitude of the drone body at the current moment, and considering that the center of mass position, body attitude and other parameters of the drone body are usually related to the flight speed, angular velocity and other parameters of the drone body, when obtaining the first position parameter, the control system may first obtain the first angular velocity of the drone body in the body coordinate system, and the flight speed of the drone body in the world coordinate system, and then use the preset conversion matrix from Euler angular velocity to angular velocity, and the preset rotation matrix between the angular velocity of the drone in the world coordinate system and the angular velocity of the drone in the body coordinate system to determine the Euler angle of the drone in the world coordinate system, and use the determined Euler angle to determine the above-mentioned body attitude. At the same time, the control system may use the current flight speed of the drone body to determine the center of mass position of the drone body.

[0084] For ease of understanding, the center of mass position of the drone body can be expressed in the world coordinate system as: E X b =[x b y b z b ] T , the posture of the drone body can be expressed by Euler angles: E φ=[φ θ ψ]T , the relationship between the angular velocity of the drone body in the world coordinate system and the angular velocity of the body is as follows:

[0085] B ω b = B R E E ω b .

[0086] in, B ω b is the angular velocity of the UAV body in the aircraft system, E ω b is the angular velocity of the world coordinate system, B R E is the rotation matrix from the world coordinate system to the body coordinate system. Euler angular velocity and E ω b The relationship is as follows:

[0087]

[0088] Where W(φ) is the conversion matrix from Euler angular velocity to angular velocity.

[0089]

[0090] The kinematic equation of the drone body is as follows:

[0091]

[0092] Furthermore, based on the first position parameter and the second position parameter, channel control parameters of the UAV body in the tree obstacle tail cutting device on different channels are constructed, including: based on the first position parameter and the second position parameter, current observation values ​​and expected values ​​of the UAV body on different channels are determined; based on the channel identifiers of different channels, channel controllers corresponding to different channels are obtained; the current observation values ​​and expected values ​​are input into the channel controller, and the channel control parameters of the corresponding channels are determined using the channel controller.

[0093] In an optional scheme of the present embodiment, in order to accurately determine the channel control parameters of the UAV body on different channels, the control system can first determine the current observation values ​​and expected values ​​of the UAV body on different channels based on the acquired first position parameters and second position parameters, and at the same time use the channel identifiers of different channels to obtain a channel controller for determining the channel parameters corresponding to different channels, and then input the above-mentioned current observation values ​​and expected values ​​into the channel controller to use the channel controller to determine the channel control parameters of the corresponding channels.

[0094] For ease of understanding, in this application, the control channel of the drone body can be decoupled into the six channels mentioned above, which can be expressed as:

[0095]

[0096] Among them, f x 、f y 、f z 、f φ 、f θ and f ψ represents the disturbance value of each channel, b x 、b y 、b z 、b φ 、b θ and b ψ Represents adjustable parameters, u x 、u y 、u z 、u φ 、u θ and u ψ Represents the intermediate control amount of each channel.

[0097] Among them, the intermediate control quantity u of each channel x 、u y 、u z 、u φ 、u θ and u ψ with U x , U y , U z , U φ , U θ and U ψ The relationship is:

[0098]

[0099]

[0100] Among them, U φ , U θ , U ψ , U z are the roll angle, pitch angle, heading angle, and altitude input of the tail cutting device of the UAV body, respectively. BE is the Euler angle transformation matrix, s ψ is the sine function of the heading angle ψ of the tail clipping device of the UAV body, c ψ It is the cosine function of the heading angle ψ of the tail clipping device of the UAV body.

[0101] Furthermore, the channel controller includes: a sliding mode controller, an extended state observer and a fuzzy controller; the current observation value and the expected value are input into the channel controller, and the channel control parameters of the corresponding channel are determined by using the channel controller, including: based on the expected value, determining the sliding surface of the sliding mode controller; the current observation value is input into the extended state observer to obtain the first parameter range and the first control parameter of the UAV body under the corresponding channel, wherein the first parameter range is used to characterize the value range of the control parameter of the UAV body under the corresponding channel; the expected value and the sliding mode surface are input into the fuzzy controller to obtain the second control parameter of the UAV body under the corresponding channel, and the upper limit value of the disturbance of the sliding mode controller; the expected value, the sliding mode surface, the first parameter range and the upper limit value of the disturbance are input into the sliding mode controller to obtain the third control parameter of the UAV body under the corresponding channel; based on the first control parameter, the second control parameter and the third control parameter, the channel control parameter is determined.

[0102] In an optional solution of this embodiment, in order to ensure the accuracy of the determined channel control parameters, at least the above-mentioned sliding mode controller, extended state observer and fuzzy controller can be configured in the channel controller. When the channel control parameters of the corresponding channel are determined by the channel controller, the control system can first determine the sliding mode surface of the sliding mode controller according to the above-mentioned expected value, and then input the above-mentioned current observation value into the extended state observer to obtain the first parameter range and the first control parameter of the drone body under the corresponding channel, wherein the first parameter range is used to characterize the value range of the control parameter of the drone body under the corresponding channel, and at the same time, the above-mentioned expected value and the sliding mode surface are input into the fuzzy controller to obtain the second control parameter of the drone body under the corresponding channel, and the upper limit value of the disturbance of the sliding mode controller, and then the expected value, the sliding mode surface, the first parameter range and the upper limit value of the disturbance are input into the sliding mode controller to obtain the third control parameter of the drone body under the corresponding channel, and finally the channel control parameter is determined according to the first control parameter, the second control parameter and the third control parameter.

[0103] For ease of understanding, take the determination of the channel control parameters corresponding to the pitch channel as an example. Figure 3 is a schematic diagram of a pitch channel controller according to an embodiment of the present application, wherein θ d represents the expected value, that is, the expected pitch angle, and θ represents the pitch angle detected in real time by the drone during flight. By using the extended state observer, the pitch angle can be observed to obtain the corresponding current observation value. At the same time, according to the current observation value, the pile expansion state observer can also output the corresponding parameter range b θ , and the corresponding first control parameter u1 θ According to the expected value, the control system can determine the corresponding sliding surface s θAccording to the sliding surface and the expected value, the fuzzy controller can determine the second control parameter u2 of the UAV body in the pitch channel θ , and the upper limit value K of the disturbance corresponding to the sliding film controller θ Finally, according to the disturbance upper limit value, expected value, sliding surface and the first parameter range, the sliding mode controller can output the third control parameter u3 under the pitch channel θ According to the determined first control parameter, second control parameter and third control parameter, the control system can determine the channel control parameter u for real-time control of the pitch angle of the UAV body. θ .

[0104] Taking the pitch channel as an example, the expanded state observer can be as follows:

[0105]

[0106] Among them, σ θ is the disturbance estimate of the pitch channel, is θ The derivative of , β is the observation gain, β1 = 3ω0, β2 = 3ω0 2 , β3=ω0 3 , ω0 is the bandwidth of the extended state observer, b θ is the adjustable parameter of the pitch channel, u θ is the control quantity of the pitch channel.

[0107] Taking the pitch channel as an example, a feedback control law based on the fuzzy sliding mode control law is designed, and the corresponding sliding mode surface can be expressed as:

[0108]

[0109] in, c θ is the pitch sliding surface coefficient, θ d is the expected value of the pitch channel.

[0110] The corresponding sliding mode controller can be designed as:

[0111]

[0112] Among them, K θ =max|σ θ | is the upper bound of the perturbation.

[0113] The corresponding fuzzy control rule can be designed as:

[0114] K θ Increase;

[0115] K θReduce.

[0116] Correspondingly, in the fuzzy controller, is the input, ΔK θ To determine the upper limit of the disturbance, the fuzzy sets of the input and output of the fuzzy controller are defined as:

[0117]

[0118] ΔK θ ={NB NM ZO PM PB}.

[0119] Among them, NB is negative and large, NM is negative and medium, ZO is zero, PB is positive and large, and PM is positive and medium.

[0120] K can be calculated by integration method θ The perturbation upper bound of is estimated, which can be expressed as:

[0121]

[0122] Among them, G θ is the proportionality coefficient.

[0123] According to an embodiment of the present invention, a device embodiment of a method for controlling a tree tail clipping is provided. It should be noted that the device can be used to execute the control method of the tree tail clipping device described above. Figure 4 is a structural block diagram of a control device for a tree barrier tail cutting device according to an embodiment of the present application. Figure 4 As shown, the device includes: a parameter acquisition module 402 , a parameter construction module 404 , a rotation speed determination module 406 and a machine body control module 408 .

[0124] Among them, the parameter acquisition module 402 is used to obtain the first position parameter of the tree barrier tail cutting device at the current moment and the second position parameter at the future moment; the parameter construction module 404 is used to construct the channel control parameters of the UAV body in the tree barrier tail cutting device on different channels based on the first position parameter and the second position parameter; the speed determination module 406 is used to determine the rotor speed of different rotors in the UAV body based on the channel control parameters; the body control module 408 is used to control the flight of the UAV body based on the rotor speed to control the flight of the tree barrier tail cutting device.

[0125] Furthermore, the speed determination module is also used to: determine a first speed parameter of the UAV body in the control time period based on the channel control parameter, wherein the control time period is used to characterize the time period between the current moment and the future moment; determine a first force parameter to which the UAV body is subjected during the control time period, and a second force parameter to which the tail cutting device in the tree obstacle tail cutting device is subjected during the control time period based on the first speed parameter; determine the rotor speed of different rotors in the UAV body based on the first force parameter and the second force parameter.

[0126] Furthermore, the speed determination module is also used to: obtain the disturbance force parameters to which the UAV body is subjected during flight, and the rotor configuration parameters of different rotors in the UAV body; adjust the first force parameter based on the disturbance force parameter and the second force parameter to obtain the target force parameter; and determine the rotor speeds corresponding to different rotors based on the rotor configuration parameters and the target force parameter.

[0127] Furthermore, the rotation speed determination module is also used to: obtain the gravity vector of the tail clipping device and the displacement vector of the tail clipping device within the control time period; determine the second speed parameter of the tail clipping device within the control time period based on the first speed parameter and the displacement vector; determine the acceleration parameter of the tail clipping device within the control time period based on the second speed parameter and the displacement vector; and determine the second force parameter based on the gravity vector and the acceleration parameter.

[0128] Furthermore, the first position parameter includes: the center of mass position and body attitude of the UAV body, and the parameter acquisition module is also used to: obtain the first angular velocity of the UAV body in the body coordinate system, and the flight speed of the UAV body in the world coordinate system; determine the body attitude based on the first angular velocity, the preset transformation matrix and the preset rotation matrix; determine the center of mass position based on the flight speed.

[0129] Furthermore, the parameter construction module is also used to: determine the current observation value and expected value of the UAV body on different channels based on the first position parameter and the second position parameter; obtain the channel controllers corresponding to different channels based on the channel identifiers of different channels; input the current observation value and expected value into the channel controller, and use the channel controller to determine the channel control parameters of the corresponding channel.

[0130] Furthermore, the channel controller includes: a sliding mode controller, an extended state observer and a fuzzy controller; the parameter construction module is also used to: determine the sliding surface of the sliding mode controller based on the expected value; input the current observation value into the extended state observer to obtain the first parameter range and the first control parameter of the UAV body under the corresponding channel, wherein the first parameter range is used to characterize the value range of the control parameter of the UAV body under the corresponding channel; input the expected value and the sliding surface into the fuzzy controller to obtain the second control parameter of the UAV body under the corresponding channel, and the upper limit value of the disturbance of the sliding mode controller; input the expected value, the sliding surface, the first parameter range and the upper limit value of the disturbance into the sliding mode controller to obtain the third control parameter of the UAV body under the corresponding channel; determine the channel control parameter based on the first control parameter, the second control parameter and the third control parameter.

[0131] An embodiment of the present application further provides an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention when running.

[0132] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0133] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0134] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0135] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0136] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0137] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0138] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0139] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0140] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc., which can store program code.

[0141] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A control method for a tree barrier tail cutting device, characterized in that: include: Obtaining a first position parameter of the tree barrier tail cutting device at a current moment and a second position parameter at a future moment; Based on the first position parameter and the second position parameter, construct channel control parameters of the UAV body on different channels in the tree obstacle tail cutting device; Based on the channel control parameters, determining the rotor speeds of different rotors in the UAV body; The flight of the UAV body is controlled based on the rotor rotation speed to control the flight of the tree obstacle cutting tail device.

2. The method according to claim 1, characterized in that Determining the rotor speeds of different rotors in the UAV body based on the channel control parameters includes: Based on the channel control parameter, determining a first speed parameter of the UAV body in a control time period, wherein the control time period is used to represent a time period between the current moment and the future moment; Based on the first speed parameter, determining a first force parameter to which the UAV body is subjected during the control time period, and a second force parameter to which the tail cutting device in the tree obstacle tail cutting device is subjected during the control time period; Based on the first force parameter and the second force parameter, the rotor rotation speeds of different rotors in the UAV body are determined.

3. The method according to claim 2, characterized in that Determining the rotor speeds of different rotors in the UAV body based on the first force parameter and the second force parameter includes: Obtaining disturbance force parameters of the UAV body during flight and rotor configuration parameters of different rotors in the UAV body; Adjusting the first force parameter based on the disturbance force parameter and the second force parameter to obtain a target force parameter; Based on the rotor configuration parameters and the target force parameters, the rotor rotation speeds corresponding to different rotors are determined.

4. The method according to claim 2, characterized in that: Determining a second force parameter of the tail cutting device in the tree obstacle tail cutting device during the control time period based on the first speed parameter includes: Acquire the gravity vector of the tail clipping device and the displacement vector of the tail clipping device within the control time period; determining a second speed parameter of the tail clipping device within the control time period based on the first speed parameter and the displacement vector; determining an acceleration parameter of the tail clipping device within the control time period based on the second speed parameter and the displacement vector; The second force parameter is determined based on the gravity vector and the acceleration parameter.

5. The method according to any one of claims 1 to 4, characterized in that: The first position parameter includes: the center of mass position and the body attitude of the UAV body. Acquiring the first position parameter of the tree obstacle tail cutting device at the current moment includes: Obtaining a first angular velocity of the UAV body in a body coordinate system and a flight speed of the UAV body in a world coordinate system; Determining the body posture based on the first angular velocity, a preset conversion matrix and a preset rotation matrix; Based on the flight speed, the center of mass position is determined.

6. The method according to any one of claims 1 to 5, characterized in that: Based on the first position parameter and the second position parameter, channel control parameters of the drone body in the tree obstacle tail cutting device on different channels are constructed, including: Determine expected values ​​of current observation values ​​of the drone body on different channels based on the first position parameter and the second position parameter; Based on the channel identifiers of different channels, obtain the channel controllers corresponding to the different channels; The current observed value and the expected value are input into the channel controller, and the channel control parameter of the corresponding channel is determined by using the channel controller.

7. The method according to claim 6, characterized in that The channel controller includes: a sliding mode controller, an extended state observer and a fuzzy controller; the current observation value and the expected value are input into the channel controller, and the channel control parameters of the corresponding channel are determined by the channel controller, including: Based on the expected value, determining a sliding mode surface of the sliding mode controller; Inputting the current observation value into the expanded state observer to obtain a first parameter range and a first control parameter of the UAV body under the corresponding channel, wherein the first parameter range is used to characterize the value range of the control parameter of the UAV body under the corresponding channel; Input the expected value and the sliding mode surface into the fuzzy controller to obtain the second control parameter of the UAV body under the corresponding channel and the upper limit value of the disturbance of the sliding mode controller; Inputting the expected value, the sliding surface, the first parameter range and the upper limit of the disturbance into the sliding mode controller to obtain a third control parameter of the UAV body under the corresponding channel; The channel control parameter is determined based on the first control parameter, the second control parameter and the third control parameter.

8. An electronic device, characterized in that: include: A memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 7 when running.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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