Fire scene unmanned aerial vehicle system soft safety control method and device based on QSR

Abstract

The embodiment of the invention provides a fire scene unmanned aerial vehicle system soft safety control method and device based on QSR. The method comprises the following steps: S1, defining QSR soft safety of a fire scene unmanned aerial vehicle system; s2, QSR soft safety characteristics of subsystems of the fire scene unmanned aerial vehicle system are analyzed; s3, according to the analyzed QSR soft safety characteristics of the subsystems, solving the QSR soft safety characteristics which need to be met by the controllers corresponding to the subsystems; and S4, designing a soft safety controller combination corresponding to the fire scene unmanned aerial vehicle system based on the QSR soft safety characteristic which needs to be met by the controller corresponding to the solved subsystem, and carrying out soft safety control on the fire scene unmanned aerial vehicle system according to the soft safety controller combination. In this way, safety cooperation of the fire scene unmanned aerial vehicle system in a fire scene environment can be guaranteed, and equipment damage and task failure caused by safety problems are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of soft safety control of interconnected systems, and in particular to a soft safety control method and device for a fire scene unmanned aerial vehicle system based on QSR. Background Art

[0002] In control system design, safety is an important indicator, which requires that the system will not enter a dangerous state during operation. The interconnected system is a complex system composed of multiple subsystems connected to each other. Due to the large scale of the system, the design and analysis are relatively complex. Usually, the subsystems are analyzed and designed first, and then the safety of the overall system is derived from the safety of the subsystems through tools such as the small gain theorem. The current safety control of the fire scene drone system (which is also an interconnected system) is also implemented based on the above method, but this method requires that the gain function in each loop must meet specific constraints. As the number of subsystems increases, the complexity of this constraint will increase significantly, which ultimately makes safety control very difficult. Summary of the invention

[0003] In a first aspect, an embodiment of the present invention provides a soft safety control method for a fire scene UAV system based on QSR, the method comprising:

[0004] S1: Define the QSR soft safety of fire scene UAV systems;

[0005] S2: Analyze the QSR soft safety characteristics of the subsystems of the fire scene UAV system;

[0006] S3: Based on the QSR soft safety characteristics of the subsystem obtained by analysis, solve the QSR soft safety characteristics that the controller corresponding to the subsystem needs to meet;

[0007] S4: Based on the QSR soft safety characteristics that the controller corresponding to the solved subsystem needs to meet, design the soft safety controller combination corresponding to the fire scene UAV system, and use it to perform soft safety control on the fire scene UAV system.

[0008] In some implementations of the first aspect, S1 includes:

[0009] The safety of the fire scene UAV system is represented by the integral quadratic constraints related to the input and output of the UAV system in the fire scene, that is, the soft safety of the fire scene UAV system G with respect to (Q, S, R);

[0010] If for any and T≥0, we have:

[0011]

[0012] Where Q = Q T , and R = RT , y(t) represents the position information of the drone, u(t) represents the signal information received by the drone, and appropriate (Q, S, R) parameters are selected to describe the rate at which the drone absorbs or releases heat. This form of integral inequality constraint is used to characterize that the temperature of the drone must be kept below a specified threshold. Specifically, when the temperature of the drone reaches the threshold, the heat dissipated by the cooling mechanism must exceed the heat absorbed from the fire and the heat generated by the motor.

[0013] Consider UAV systems:

[0014]

[0015] Where i = 1, 2, ..., n, And the interconnection weight matrix H = [H ij ], each UAV is regarded as a subsystem G i , the information transmission and communication between the drone groups is given by H, and each subsystem G i can be written in the form of state space equations. For the entire fire scene UAV system, (Q d ,S d ,R d )Soft security.

[0016] In some implementations of the first aspect, S2 includes:

[0017] By finding the energy storage function based on the state of the fire scene UAV system, the QSR soft safety characteristics of the subsystem of the fire scene UAV system are analyzed;

[0018] For the nonlinear dynamic system of the UAV:

[0019] y(t)=g(x(t),u(t));

[0020] Where x(0) = x0∈R n ,and and are the state, input and output of the UAV system respectively; this nonlinear dynamic system is soft safe with respect to (Q, S, R) if there exists a function φ:R n →R, so that for any u∈R q and x∈R p ,have:

[0021]

[0022] Among them, the function φ is the energy storage function of the fire scene UAV system. If the rate of heat dissipation of the fire scene UAV system exceeds the change of the system's stored energy, the fire scene UAV system can ensure that the temperature does not exceed the threshold, thereby ensuring the safety of the fire scene UAV system;

[0023] If the fire scene drone system has the form of an affine nonlinear system:

[0024] y=h(x)+J(x)u;

[0025] Where x(0) = x0∈R n ,and and are the system state, input and output respectively. The fire scene UAV system is soft safe with respect to (Q, S, R) if and only if there exists a positive integer m and a function φ:R n →R,l:R n →R m , W:R n →R m×p and J:R n →R q×p When, so that:

[0026]

[0027] in,

[0028] Finally, the QSR soft safety characteristics of each subsystem are obtained, that is, the i-th subsystem G i About (Q i ,S i ,R i )Soft security, where 1≤i≤n.

[0029] In some implementations of the first aspect, S3 includes:

[0030] Add a cascade controller to each drone so that after the controller and the drone are cascaded, the specified QSR soft safety characteristics are met, and the specified interconnection method combined with the drone group can ensure the safety of the drone group; specifically, after adding the cascade controller, the overall fire scene drone system is:

[0031]

[0032] Where i = 1, 2, ..., n, C i For the controller to be designed, G i For each subsystem; solve for a set of λ i , So that for 1≤i≤n,

[0033]

[0034] in, is the QSR soft safety characteristic parameter that the i-th controller needs to meet, The QSR soft safety characteristic parameters that need to be met by the i-th subsystem after being cascaded with the controller are found by solving two linear matrix inequalities. The controller that meets these QSR soft safety characteristic parameters can ensure that the cascaded system meets the specified QSR soft safety characteristic parameters. Based on this, combined with the interconnected information of the drone swarm, the safety requirements of the entire drone swarm can be met.

[0035] Finally, the QSR soft safety characteristic parameters of each controller are obtained, that is, the i-th controller C i about Soft security, where 1≤i≤n.

[0036] In some implementations of the first aspect, S4 includes:

[0037] Based on the QSR soft safety characteristics that the controller corresponding to the solved subsystem needs to satisfy, a set of controllers are designed to C Perform Cholesky decomposition, that is This set of linear controllers can be represented by the transfer function C i (s)=(sI―A i ) ―1 B i Given, where Through a set of linear controllers C i (s), it can ensure that each subsystem meets the specified QSR soft safety characteristics after cascading, and then combined with the interconnection method of the drone group, it can ensure that the overall fire scene drone system meets the QSR soft safety characteristics of the overall system.

[0038] In a second aspect, an embodiment of the present invention provides a soft safety control device for a fire scene drone system based on QSR, the device comprising:

[0039] Definition module, used for S1: defining QSR soft safety of fire scene UAV system;

[0040] Analysis module, used for S2: analyzing the QSR soft safety characteristics of the subsystems of the fire scene UAV system;

[0041] Solving module, used for S3: according to the QSR soft safety characteristics of the subsystem obtained by analysis, solve the QSR soft safety characteristics that the controller corresponding to the subsystem needs to meet;

[0042] Control module, used for S4: Based on the QSR soft safety characteristics that the controller corresponding to the solved subsystem needs to meet, design the soft safety controller combination corresponding to the fire scene UAV system, and use it to perform soft safety control on the fire scene UAV system.

[0043] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described above.

[0044] In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to enable a computer to execute the method described above.

[0045] In an embodiment of the present invention, based on the QSR soft safety characteristics of each subsystem in the fire scene UAV system and the connection method of the fire scene UAV system, a controller is designed for each subsystem so that the overall safety characteristics of the fire scene UAV system meet the desired requirements, thereby ensuring the safe coordination of the UAV system in an extreme environment such as a fire scene and avoiding equipment damage and mission failure due to safety issues.

[0046] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and other features, advantages and aspects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are used to better understand the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0048] Figure 1 A flowchart of a soft safety control method for a fire scene UAV system based on QSR provided by an embodiment of the present invention;

[0049] Figure 2 A structural diagram of a soft safety control device for a fire scene UAV system based on QSR provided by an embodiment of the present invention;

[0050] Figure 3 The figure is a structural diagram of an exemplary electronic device capable of implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 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 are within the scope of protection of the present invention.

[0052] In addition, the term "and / or" in the present invention is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects before and after are in an "or" relationship.

[0053] In order to solve the technical problems in the background technology, the embodiments of the present invention provide a fire scene drone system soft safety control method, device, equipment and storage medium based on QSR. The following is a detailed description of a fire scene drone system soft safety control method, device, equipment and storage medium based on QSR provided by the embodiments of the present invention through specific embodiments in conjunction with the accompanying drawings.

[0054] Figure 1 A flowchart of a soft safety control method for a fire scene UAV system based on QSR is provided in an embodiment of the present invention, such as Figure 1 As shown, the fire scene drone system soft safety control method 100 may include:

[0055] S1: Define the QSR soft safety of fire scene UAV systems.

[0056] Specifically, consider the UAV system The safety of the fire scene UAV system is expressed by the integral quadratic constraints related to the input and output of the UAV system in the fire scene, that is, the soft safety of the fire scene UAV system G with respect to (Q, S, R).

[0057] If for any and T≥0, we have:

[0058]

[0059] Where Q = Q T , and R = R T, y(t) represents the posture information of the UAV, u(t) represents the signal information received by the UAV, and appropriate (Q, S, R) parameters are selected to describe the rate at which the UAV absorbs or releases heat. This form of integral inequality constraint is used to characterize that the temperature of the UAV must be kept below a specified threshold. Specifically, when the temperature of the UAV reaches the threshold, the heat dissipated through the cooling mechanism must exceed the heat absorbed from the fire and the heat generated by the motor.

[0060] Consider UAV systems:

[0061]

[0062] Where i = 1, 2, ..., n, And the interconnection weight matrix H = [H ij ], each UAV is regarded as a subsystem G i , the information transmission and communication between the drone groups is given by H, and each subsystem G i can be written in the form of state space equations. For the entire fire scene UAV system, (Q d ,S d ,R d )Soft security.

[0063] S2: Analyze the QSR soft safety characteristics of the subsystems of the fire scene UAV system.

[0064] Specifically, the QSR soft safety characteristics of the subsystems of the fire scene UAV system are analyzed by finding the energy storage function based on the state of the fire scene UAV system.

[0065] For the nonlinear dynamic system of the UAV:

[0066] y(t)=g(x(t),u(t));

[0067] Where x(0) = x0∈R n ,and and are the state, input and output of the UAV system respectively; this nonlinear dynamic system is soft safe with respect to (Q, S, R) if there exists a function φ:R n →R, so that for any u∈R q and x∈R p ,have:

[0068]

[0069] Among them, function φ is the energy storage function of the fire scene UAV system. If the rate of heat dissipation of the fire scene UAV system exceeds the change of the system's stored energy, the fire scene UAV system can ensure that the temperature does not exceed the threshold, thereby ensuring the safety of the fire scene UAV system.

[0070] If the fire scene drone system has the form of an affine nonlinear system:

[0071] y=h(x)+J(x)u;

[0072] Where x(0) = x0∈R n ,and and are the system state, input and output respectively. The fire scene UAV system is soft safe with respect to (Q, S, R) if and only if there exists a positive integer m and a function φ:R n →R,l:R n →R m , W:R n →R m×P and J:R n →R q×p When, so that:

[0073]

[0074] in,

[0075] Finally, the QSR soft safety characteristics of each subsystem are obtained, that is, the i-th subsystem G i About (Q i ,S i ,R i )Soft security, where 1≤i≤n.

[0076] S3: Based on the QSR soft safety characteristics of the subsystem obtained through analysis, the QSR soft safety characteristics that the controller corresponding to the subsystem needs to satisfy are solved.

[0077] Specifically, a cascade controller is added to each drone, so that after the controller and the drone are cascaded, the specified QSR soft safety characteristics are met, and the interconnection method of the drone group is specified to ensure the safety of the drone group; specifically, after adding the cascade controller, the overall fire scene drone system is:

[0078]

[0079] Where i = 1, 2, ..., n, C i For the controller to be designed, G i For each subsystem; solve for a set of λ i , So that for 1≤i≤n,

[0080]

[0081] in, is the QSR soft safety characteristic parameter that the i-th controller needs to meet, The QSR soft safety characteristic parameters that need to be met by the i-th subsystem after being cascaded with the controller are found by solving two linear matrix inequalities. The controller that meets these QSR soft safety characteristic parameters can ensure that the cascaded system meets the specified QSR soft safety characteristic parameters. Based on this and the interconnected information of the drone swarm, the safety requirements of the entire drone swarm can be met.

[0082] Finally, the QSR soft safety characteristic parameters of each controller are obtained, that is, the i-th controller C i about Soft security, where 1≤i≤n.

[0083] S4: Based on the QSR soft safety characteristics that the controller corresponding to the solved subsystem needs to meet, design the soft safety controller combination corresponding to the fire scene UAV system, and use it to perform soft safety control on the fire scene UAV system.

[0084] Specifically, based on the QSR soft safety characteristics that the controller corresponding to the solved subsystem needs to satisfy, a set of controllers is designed to control R C Perform Cholesky decomposition, that is This set of linear controllers can be represented by the transfer function C i (s)=(sI―A i ) ―1 B i Given, where Through a set of linear controllers C i (s), it can ensure that each subsystem meets the specified QSR soft safety characteristics after cascading, and then combined with the interconnection method of the drone group, it can ensure that the overall fire scene drone system meets the QSR soft safety characteristics of the overall system.

[0085] In summary, according to the embodiments of the present invention, at least the following technical effects are achieved:

[0086] 1. Safety constraints are applicable to a wide range of scenarios. The QSR soft safety proposed in the present invention uses constraints in the form of integrals, which does not require the system to remain within the range given by the integrand at all times.

[0087] 2. No additional requirements are required for the safety analysis of drone systems. The present invention only requires the QSR soft safety characteristics of each drone and a given system interconnection method to analyze the safety characteristics of the entire drone group. The existing small gain theorem requires additional constraints between drones.

[0088] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described order of actions, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0089] The above is an introduction to a method embodiment. The following is a further explanation of the solution of the present invention through an apparatus embodiment.

[0090] Figure 2 The structure diagram of a soft safety control device for a fire scene UAV system based on QSR provided by an embodiment of the present invention is as follows: Figure 2 As shown, the fire scene drone system soft safety control device 200 may include:

[0091] Definition Module 201, for S1: Define QSR soft safety for fire scene UAV systems.

[0092] The analysis module 202 is used for S2: analyzing the QSR soft safety characteristics of the subsystems of the fire scene UAV system.

[0093] The solving module 203 is used for S3: solving the QSR soft safety characteristics that the controller corresponding to the subsystem needs to meet according to the QSR soft safety characteristics of the subsystem obtained by analysis.

[0094] The control module 204 is used for S4: designing a soft safety controller combination corresponding to the fire scene UAV system based on the QSR soft safety characteristics that the controller corresponding to the subsystem needs to satisfy, and using this to perform soft safety control on the fire scene UAV system.

[0095] Understandably, Figure 2 The various modules / units in the fire scene drone system soft safety control device 200 shown have the function of realizing Figure 1 The functions of each step in the fire scene drone system soft safety control method 100 shown and its corresponding technical effects can be achieved. For the sake of brevity, they will not be repeated here.

[0096] Figure 3300 is a block diagram of an exemplary electronic device capable of implementing an embodiment of the present invention. Electronic device 300 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 300 may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown in the present invention, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required in the present invention.

[0097] like Figure 3 As shown, the electronic device 300 may include a computing unit 301, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 302 or a computer program loaded from a storage unit 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic device 300 may also be stored. The computing unit 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0098] A number of components in the electronic device 300 are connected to the I / O interface 305, including: an input unit 306, such as a keyboard, a mouse, etc.; an output unit 307, such as various types of displays, speakers, etc.; a storage unit 308, such as a disk, an optical disk, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the electronic device 300 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0099] The computing unit 301 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 301 performs the various methods and processes described above, such as method 100. For example, in some embodiments, the method 100 may be implemented as a computer program product, including a computer program, which is tangibly contained in a computer-readable medium, such as a storage unit 308. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the computing unit 301, one or more steps of the method 100 described above may be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform the method 100 in any other appropriate manner (e.g., by means of firmware).

[0100] The various embodiments described above in the present invention can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs, which may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general programmable processor, which may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0101] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0102] In the context of the present invention, a computer-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a computer-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0103] It should be noted that the present invention also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute method 100 and achieve the corresponding technical effect achieved by executing the method in an embodiment of the present invention. For the sake of concise description, they will not be repeated here.

[0104] In addition, the present invention also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method 100 is implemented.

[0105] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and the present invention is not limited here.

[0106] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A soft safety control method for a fire scene UAV system based on QSR, characterized in that: The method comprises: S1: Define the QSR soft safety of fire scene UAV systems; S2: Analyze the QSR soft safety characteristics of the subsystems of the fire scene UAV system; S3: Based on the QSR soft safety characteristics of the subsystem obtained by analysis, solve the QSR soft safety characteristics that the controller corresponding to the subsystem needs to meet; S4: Based on the QSR soft safety characteristics that the controller corresponding to the solved subsystem needs to meet, design the soft safety controller combination corresponding to the fire scene UAV system, and use it to perform soft safety control on the fire scene UAV system.

2. The method according to claim 1, characterized in that The S1 includes: The safety of the fire scene UAV system is represented by the integral quadratic constraints related to the input and output of the UAV system in the fire scene, that is, the soft safety of the fire scene UAV system G with respect to (Q, S, R); If for any and T≥0, we have: Where Q = Q T , and R = R T , y(t) represents the position information of the drone, u(t) represents the signal information received by the drone, and appropriate (Q, S, R) parameters are selected to describe the rate at which the drone absorbs or releases heat. This form of integral inequality constraint is used to characterize that the temperature of the drone must be kept below a specified threshold. Specifically, when the temperature of the drone reaches the threshold, the heat dissipated by the cooling mechanism must exceed the heat absorbed from the fire and the heat generated by the motor. Consider UAV systems: Where i = 1, 2, ..., n, And the interconnection weight matrix H = [H ij ], each UAV is regarded as a subsystem G i , the information transmission and communication between the drone groups is given by H, and each subsystem G i can be written in the form of state space equations. For the entire fire scene UAV system, (Q d ,S d ,R d )Soft security.

3. The method according to claim 1, characterized in that The S2 includes: By finding the energy storage function based on the state of the fire scene UAV system, the QSR soft safety characteristics of the subsystem of the fire scene UAV system are analyzed; For the nonlinear dynamic system of the UAV: Where x(0) = x0∈R n ,and and are the state, input and output of the UAV system respectively; this nonlinear dynamic system is soft safe with respect to (Q, S, R) if there exists a function φ:R n →R, so that for any u∈R q and x∈R p ,have: Among them, the function φ is the energy storage function of the fire scene UAV system. If the rate of heat dissipation of the fire scene UAV system exceeds the change of the system's stored energy, the fire scene UAV system can ensure that the temperature does not exceed the threshold, thereby ensuring the safety of the fire scene UAV system; If the fire scene drone system has the form of an affine nonlinear system: Where x(0) = x0∈R n ,and and are the system state, input and output respectively. The fire scene UAV system is soft safe with respect to (Q, S, R) if and only if there exists a positive integer m and a function φ:R n →R,l:R n →R m , W:R n →R m×p and J:R n →R q×p When, so that: in, Finally, the QSR soft safety characteristics of each subsystem are obtained, that is, the i-th subsystem G i About (Q i ,S i ,R i )Soft security, where 1≤i≤n.

4. The method according to claim 1, characterized in that: The S3 includes: Add a cascade controller to each drone so that after the controller and the drone are cascaded, the specified QSR soft safety characteristics are met, and the specified interconnection method combined with the drone group can ensure the safety of the drone group; specifically, after adding the cascade controller, the overall fire scene drone system is: Where i = 1, 2, ..., n, C i For the controller to be designed, G i For each subsystem; solve for a set of λ i , So that for 1≤i≤n, in, is the QSR soft safety characteristic parameter that the i-th controller needs to meet, The QSR soft safety characteristic parameters that need to be met by the i-th subsystem after being cascaded with the controller are found by solving two linear matrix inequalities. The controller that meets these QSR soft safety characteristic parameters can ensure that the cascaded system meets the specified QSR soft safety characteristic parameters. Based on this, combined with the interconnected information of the drone swarm, the safety requirements of the entire drone swarm can be met. Finally, the QSR soft safety characteristic parameters of each controller are obtained, that is, the i-th controller C i about Soft security, where 1≤i≤n.

5. The method according to claim 1, characterized in that The S4 includes: Based on the QSR soft safety characteristics that the controller corresponding to the solved subsystem needs to satisfy, a set of controllers are designed to C Perform Cholesky decomposition, that is This set of linear controllers can be represented by the transfer function C i (s)=(sI―A i ) ― 1 B i Given, where Through a set of linear controllers C i (s), it can ensure that each subsystem meets the specified QSR soft safety characteristics after cascading, and then combined with the interconnection method of the drone group, it can ensure that the overall fire scene drone system meets the QSR soft safety characteristics of the overall system.

6. A soft safety control device for a fire scene drone system based on QSR, characterized in that: The device comprises: Definition module, used for S1: defining QSR soft safety of fire scene UAV system; Analysis module, used for S2: analyzing the QSR soft safety characteristics of the subsystems of the fire scene UAV system; Solving module, used for S3: according to the QSR soft safety characteristics of the subsystem obtained by analysis, solve the QSR soft safety characteristics that the controller corresponding to the subsystem needs to meet; Control module, used for S4: Based on the QSR soft safety characteristics that the controller corresponding to the solved subsystem needs to meet, design the soft safety controller combination corresponding to the fire scene UAV system, and use it to perform soft safety control on the fire scene UAV system.

7. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the method according to any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 5.

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