A qsr-based soft safety control method and device for a fire unmanned aerial vehicle system

Abstract

Embodiments of the present application provide a kind of based on QSR's fire unmanned plane system soft safety control method and device.The method comprises the following steps:S1: define the QSR soft safety of fire unmanned plane system;S2: analyze the QSR soft safety characteristics of the subsystem of fire unmanned plane system;S3: according to the QSR soft safety characteristics of the subsystem obtained by analysis, the QSR soft safety characteristics that the controller corresponding to the subsystem needs to satisfy are solved;S4: based on the QSR soft safety characteristics that the controller corresponding to the subsystem needs to satisfy obtained by solving, the soft safety controller combination corresponding to fire unmanned plane system is designed, and the soft safety control of fire unmanned plane system is carried out in this way, can guarantee the safety cooperation of fire unmanned plane system in fire environment, avoid equipment damage and task failure due to safety problem.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of soft safety control of interconnection system, and particularly relates to a soft safety control method and device for fire unmanned aerial vehicle system based on QSR. BACKGROUND

[0002] In the design of control system, safety is an important index, which requires that the system will not enter a dangerous state in the process of operation. The interconnection system is a complex system formed by multiple subsystems connected with each other. Because the system is large in scale, the design and analysis are relatively complex. Generally, the subsystems are analyzed and designed first, and then the safety of the overall system is deduced from the safety of the subsystems through tools such as small gain theorem. The safety control of the current fire unmanned aerial vehicle system (which is also an interconnection system) is also implemented based on the above-mentioned manner. However, this manner requires that the gain function in each loop must satisfy a specific constraint condition. With the increase of the number of subsystems, the complexity of this constraint condition will be significantly improved, ultimately leading to the fact that the safety control becomes very difficult. SUMMARY

[0003] In a first aspect, the embodiments of the present application provide a soft safety control method for fire unmanned aerial vehicle system based on QSR, which comprises the following steps:

[0004] S1: defining the QSR soft safety of the fire unmanned aerial vehicle system;

[0005] S2: analyzing the QSR soft safety characteristics of the subsystems of the fire unmanned aerial vehicle system;

[0006] S3: solving the QSR soft safety characteristics required to be satisfied by the controller corresponding to the subsystem according to the QSR soft safety characteristics of the subsystem obtained by analysis;

[0007] S4: designing the combination of the soft safety controller corresponding to the fire unmanned aerial vehicle system based on the QSR soft safety characteristics required to be satisfied by the controller corresponding to the subsystem obtained by solving, and performing soft safety control on the fire unmanned aerial vehicle system by using the combination.

[0008] In some implementable manners of the first aspect, S1 comprises:

[0009] The safety of the fire unmanned aerial vehicle system is represented by the integral quadratic form related to the input and output of the unmanned aerial vehicle system in the fire, that is, the soft safety of the fire unmanned aerial vehicle system G about (Q, S, R);

[0010] If for any and T≥0, there is:

[0011]

[0012] wherein Q=Q T , and R=RT y(t) represents the pose information of the UAV, u(t) represents the signal information received by the UAV, appropriate (Q, S, R) parameters are selected to describe the rate of heat absorption or release of the UAV, so as to constrain the temperature of the UAV to be kept below the specified threshold by using the integral inequality in this form, and specifically when the temperature of the UAV reaches the threshold, the heat dissipated by the cooling mechanism needs to exceed the heat absorbed from the fire and the heat generated by the motor;

[0013] Consider the UAV system:

[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 exchange between the UAV group is given by H, and each subsystem G i can be written in the form of a state space equation, and the entire UAV system about (Q d , S d , R d ) is soft safe.

[0016] In some implementable manners of the first aspect, S2 comprises:

[0017] The QSR soft safety characteristics of the subsystems of the UAV system are analyzed by finding an energy storage function based on the state of the UAV system;

[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; the nonlinear dynamic system is soft safe about (Q, S, R) if there exists a function φ: R n → R, such that for any u∈R q and x∈R p , there is:

[0021]

[0022] Wherein, the function φ is the energy storage function of the fire unmanned aerial vehicle system, if the heat dissipation rate of the fire unmanned aerial vehicle system exceeds the change of the system stored energy, the fire unmanned aerial vehicle system can ensure that the temperature does not exceed the threshold, thereby ensuring the safety of the fire unmanned aerial vehicle system;

[0023] If the fire unmanned aerial vehicle system has the form of affine nonlinear system:

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

[0025] Wherein, x(0) = x0∈R n , and and are the system state, input and output respectively, the fire unmanned aerial vehicle system is soft safe about (Q, S, R), and only if there is a positive integer m and functions φ:R n →R, l:R n →R m , W:R n →R m×p and J:R n →R q×p , such that:

[0026]

[0027] Wherein,

[0028] Finally, the QSR soft safety characteristics of each subsystem are obtained, that is, the ith subsystem G i is soft safe about (Q i , S i , R i ), wherein 1≤i≤n.

[0029] In some implementable manners of the first aspect, S3 comprises:

[0030] A cascaded controller is added to each unmanned aerial vehicle, so that after the controller is cascaded with the unmanned aerial vehicle, the specified QSR soft safety characteristics are met, and the specified combination of the interconnection mode of the unmanned aerial vehicle group can ensure the safety of the unmanned aerial vehicle group; specifically, after the cascaded controller is added, the overall fire unmanned aerial vehicle system is:

[0031]

[0032] Wherein, i = 1, 2, …, n, C i is the controller to be designed, G i is each subsystem; a set of λ i , is solved, so that for 1≤i≤n,

[0033]

[0034] wherein, QSR soft safety characteristic parameters required to be met by the i-th controller, QSR soft safety characteristic parameters required to be met by the i-th subsystem after the controller is cascaded, by solving two linear matrix inequalities, the QSR soft safety characteristic parameters are found, the controller meeting the QSR soft safety characteristic parameters can ensure that the cascaded system meets the specified QSR soft safety characteristic parameters, and the safety requirements of the overall unmanned aerial vehicle group can be met based on the interconnection information of the unmanned aerial vehicle group;

[0035] Finally, the QSR soft safety characteristic parameters of each controller, i.e., the i-th controller C i Regarding Soft safety, wherein 1≤i≤n.

[0036] In some implementable manners of the first aspect, S4 comprises:

[0037] Based on the QSR soft safety characteristics required to be met by the controller of the subsystem obtained by solving, a group of controllers is designed, R C is subjected to Cholesky decomposition, that is, The group of linear controllers can be given by the transfer function C i (s)=(sI―A i ) ―1 B i , wherein, By the group of linear controllers C i (s), it can be ensured that each subsystem after cascading meets the specified QSR soft safety characteristic, and then the interconnection mode of the overall unmanned aerial vehicle group is combined to ensure that the overall unmanned aerial vehicle system meets the QSR soft safety characteristic of the overall system.

[0038] In a second aspect, an embodiment of the present application provides a fire unmanned aerial vehicle system soft safety control device based on QSR, which comprises:

[0039] A definition module is configured to S1: define the QSR soft safety of the fire unmanned aerial vehicle system.

[0040] An analysis module is configured to S2: analyze the QSR soft safety characteristic of the subsystem of the fire unmanned aerial vehicle system.

[0041] A solving module is configured to S3: according to the QSR soft safety characteristic of the subsystem obtained by analysis, solve the QSR soft safety characteristic required to be met by the controller corresponding to the subsystem.

[0042] The control module is configured to S4: based on the QSR soft safety characteristics that the obtained controller of each subsystem needs to satisfy, designing a soft safety controller combination of the fire unmanned aerial vehicle system, and performing soft safety control on the fire unmanned aerial vehicle system based on the soft safety controller combination.

[0043] In a third aspect, an electronic device is provided, which includes at least one processor, and a memory connected with 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 to enable the at least one processor to perform the method described above.

[0044] In a fourth aspect, a non-transitory computer-readable storage medium storing computer instructions is provided, and the computer instructions are used to enable a computer to perform the method described above.

[0045] In the embodiments of the present application, based on the connection mode of the QSR soft safety characteristics of each subsystem in the fire unmanned aerial vehicle system and the fire unmanned aerial vehicle system, the controller of each subsystem is designed, so that the safety characteristics of the whole fire unmanned aerial vehicle system meet the expected requirements, thereby ensuring the safety of the unmanned aerial vehicle system in the extreme environment of the fire scene and avoiding equipment damage and task failure caused by safety problems.

[0046] It should be understood that the content described in the summary section is not intended to limit the key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0047] The above and other features, advantages, and aspects of the embodiments of the present application will become more apparent with reference to the following detailed description when taken in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the present application. The same or similar components are denoted by the same reference numerals throughout the accompanying drawings, in which:

[0048] Figure 1 A flowchart of a QSR-based soft safety control method for a fire unmanned aerial vehicle system according to an embodiment of the present application is provided;

[0049] Figure 2 A structural diagram of a QSR-based soft safety control device for a fire unmanned aerial vehicle system according to an embodiment of the present application is provided;

[0050] Figure 3 A structural diagram of an exemplary electronic device capable of implementing an embodiment of the present application is provided. DETAILED DESCRIPTION

[0051] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0052] In addition, the term "and / or" in the present application is only used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent three cases of existence of A alone, existence of A and B together, and existence of B alone. In addition, the character " / " in the present application generally represents an "or" relationship between the front and rear associated objects.

[0053] In order to solve the technical problems in the background art, the embodiments of the present application provide a QSR-based soft safety control method, device and equipment for a fire unmanned aerial vehicle system and a storage medium. The QSR-based soft safety control method, device and equipment for a fire unmanned aerial vehicle system provided by the embodiments of the present application will be described in detail below with reference to the drawings and specific embodiments.

[0054] Figure 1 The flow chart of the QSR-based soft safety control method for a fire unmanned aerial vehicle system provided by the embodiments of the present application is shown in Figure 1 The fire unmanned aerial vehicle system soft safety control method 100 can include the following steps.

[0055] S1: defining the QSR soft safety of the fire unmanned aerial vehicle system.

[0056] Specifically, the safety of the unmanned aerial vehicle system The safety of the unmanned aerial vehicle system in the fire is represented by the integral quadratic constraint related to the input and output of the unmanned aerial vehicle system in the fire, that is, the soft safety of the unmanned aerial vehicle system G with respect to (Q, S, R).

[0057] If for any and T≥0, there is:

[0058]

[0059] wherein Q=Q T and R=R Ty(t) represents the pose information of the UAV, u(t) represents the signal information received by the UAV, appropriate (Q, S, R) parameters are selected to describe the rate of heat absorption or release of the UAV, so as to constrain the temperature of the UAV to be kept below the specified threshold by using the integral inequality in this form, and specifically when the temperature of the UAV reaches the threshold, the heat dissipated through the cooling mechanism needs to exceed the heat absorbed from the fire and the heat generated by the motor.

[0060] Consider the UAV system:

[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 exchange between the UAV group is given by H, and each subsystem G i can be written in the form of a state space equation, and the entire UAV system for the fire field is soft safe with respect to (Q d , S d , R d ).

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

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

[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; the nonlinear dynamic system is soft safe with respect to (Q, S, R) if there exists a function φ: R n → R, such that for any u∈R q and x∈R p , there is:

[0068]

[0069] Wherein, the function φ is the energy storage function of the unmanned aerial vehicle system in the fire field, if the rate of heat dissipation of the unmanned aerial vehicle system in the fire field exceeds the change of the system stored energy, the unmanned aerial vehicle system in the fire field can ensure that the temperature does not exceed the threshold, thereby ensuring the safety of the unmanned aerial vehicle system in the fire field.

[0070] If the unmanned aerial vehicle system in the fire field has the form of affine nonlinear system:

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

[0072] Wherein, x(0) = x0∈R n , and and are the system state, input and output respectively, the unmanned aerial vehicle system in the fire field is soft safe about (Q, S, R), and only if there is a positive integer m and functions φ:R n →R, l:R n →R m , W:R n →R m×P and J:R n →R q×p , such that:

[0073]

[0074] Wherein,

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

[0076] 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 satisfy.

[0077] Specifically, add a cascaded controller to each unmanned aerial vehicle, so that the controller satisfies the specified QSR soft safety characteristics after being cascaded with the unmanned aerial vehicle, and the specified interconnection mode of the unmanned aerial vehicle group can ensure the safety of the unmanned aerial vehicle group; specifically, after adding the cascaded controller, the overall unmanned aerial vehicle system in the fire field is:

[0078]

[0079] Wherein, i = 1, 2, …, n, C i is the controller to be designed, G i is each subsystem; solve a set of λ i , such that for 1≤i≤n,

[0080]

[0081] wherein, QSR soft safety characteristic parameters required by the i th controller to meet, QSR soft safety characteristic parameters required by the i th subsystem after being cascaded with the controller to meet, by solving two linear matrix inequalities, find these QSR soft safety characteristic parameters, the controller capable of meeting these QSR soft safety characteristic parameters can ensure that the cascaded system meets the specified QSR soft safety characteristic parameters, and based on this, the interconnection information of the UAV group can meet the safety requirements of the overall UAV group.

[0082] Finally, the QSR soft safety characteristic parameters of each controller, i.e., the i th controller C i Regarding Soft safety, wherein 1≤i≤n.

[0083] S4: based on the QSR soft safety characteristics required by the controller of the subsystem obtained by solving, design a combination of soft safety controllers of the fire scene UAV system, and control the fire scene UAV system based on the combination.

[0084] Specifically, based on the QSR soft safety characteristics required by the controller of the subsystem obtained by solving, design a group of controllers, and R C is subjected to Cholesky decomposition, i.e., This group of linear controllers can be given by the transfer function C i (s)=(sI―A i ) ―1 B i , wherein, Through the group of linear controllers C i (s), it can be ensured that each subsystem after being cascaded meets the specified QSR soft safety characteristics, and further, in combination with the interconnection mode of the UAV group, the overall fire scene UAV system can meet the QSR soft safety characteristics of the overall system.

[0085] According to the embodiments of the present application, the following technical effects are achieved at least:

[0086] 1. The safety constraints are applicable to a wide range of scenarios. The QSR soft safety proposed in the present application adopts integral form constraints, and the system does not need to be kept in the range given by the corresponding integral function at each time.

[0087] 2. The UAV system safety analysis does not require additional requirements. The application only needs the QSR soft safety characteristics of each UAV and the given system interconnection mode to analyze the safety characteristics of the entire UAV group. The existing small gain theorem requires additional constraints between UAVs.

[0088] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should 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 application.

[0089] The above is the introduction of the method embodiment, and the following will further illustrate the scheme of the present application through the device embodiment.

[0090] Figure 2 The structural diagram of a fire UAV system soft safety control device based on QSR provided for the embodiment of the present application is shown in FIG. 2, which can include: Figure 2

[0091] The definition module 201 is configured to S1: defining the QSR soft safety of the fire UAV system.

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

[0093] The solving module 203 is configured to S3: solving the QSR soft safety characteristics required by the controller corresponding to the subsystem according to the analyzed QSR soft safety characteristics of the subsystem.

[0094] The control module 204 is configured to S4: designing the soft safety controller combination corresponding to the fire UAV system based on the QSR soft safety characteristics required by the controller corresponding to the subsystem solved, and performing soft safety control on the fire UAV system.

[0095] It can be understood that, Figure 2 Each module / unit in the fire UAV system soft safety control device 200 shown in FIG. 2 has the function of implementing each step in the fire UAV system soft safety control method 100 shown in FIG. 1, and can achieve the corresponding technical effects, and for the sake of brevity, will not be described here. Figure 1

[0096] Figure 3 ​​A block diagram of an exemplary electronic device in which an embodiment of the present application can be implemented. The electronic device 300 is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device 300 can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components of the electronic device shown in the present application, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this patent.

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

[0098] Various 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, a speaker, etc.; a storage unit 308, such as a magnetic 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 can be various general and / or special purpose 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 specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 301 performs various methods and processes described above, such as the method 100. For example, in some embodiments, the method 100 can be implemented as a computer program product, including a computer program tangibly embodied in a computer readable medium, such as the storage unit 308. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded onto the RAM 303 and executed by the computing unit 301, one or more steps of the method 100 described above can be performed. Alternatively, in other embodiments, the computing unit 301 can be configured to perform the method 100 by any other appropriate means, such as by means of firmware.

[0100] The various embodiments described above in the present disclosure can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0101] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces a means for implementing the functions / acts specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0102] In the context of the present application, a computer readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the computer readable storage medium would include one or more lines of electrical connections, a portable computer diskette, 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 disc 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 application also provides a non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions are used to make a computer execute the method 100 and achieve the corresponding technical effects achieved by the embodiments of the present application. For brevity, the description will not be repeated here.

[0104] In addition, the present application also provides a computer program product, which includes a computer program, and the computer program realizes the method 100 when executed by a processor.

[0105] It should be understood that various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in different order, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present application does not limit here.

[0106] The above specific embodiments do not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement and improvement within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A QSR-based soft safety control method for fire unmanned aerial vehicle system, characterized in that, The method comprises: S1: defining QSR soft safety of the fire scene unmanned aerial vehicle system; S2: analyzing QSR soft safety characteristics of a subsystem of the fire scene unmanned aerial vehicle system; S3: solving QSR soft safety characteristics required to be met by a corresponding controller of the subsystem according to the analyzed QSR soft safety characteristics of the subsystem; S4: designing a soft safety controller combination corresponding to the fire scene unmanned aerial vehicle system based on the solved QSR soft safety characteristics required to be met by the corresponding controller of the subsystem, and performing soft safety control on the fire scene unmanned aerial vehicle system by using the soft safety controller combination; The S3 comprises: A cascaded controller is added to each unmanned aerial vehicle, so that the unmanned aerial vehicle meets the specified QSR soft safety characteristics after the controller is cascaded with the unmanned aerial vehicle, and the specified interconnection mode of the unmanned aerial vehicle group can ensure the safety of the unmanned aerial vehicle group; specifically, after the cascaded controller is added, the overall fire scene unmanned aerial vehicle system is: where i = 1, 2,..., n, C i G is the controller to be designed i for each subsystem; solve for a set of λ i such that for 1 ≤ i ≤ n,​ wherein, QSR soft safety property parameters needed to be satisfied by the i-th controller, QSR soft safety property parameters needed to be satisfied by the i-th subsystem after cascading with the controller, by solving two linear matrix inequalities, find these QSR soft safety property parameters, the controller which satisfies these QSR soft safety property parameters can ensure that the cascaded system satisfies the specified QSR soft safety property parameters, and based on this, the interconnection information of the UAV group can satisfy the safety requirements of the overall UAV group; The QSR soft safety characteristic parameters of each controller are finally obtained, that is, the i-th controller C i With respect to Soft safety, wherein 1≤i≤n; The S4 comprises: Based on the QSR soft safety properties that the obtained controllers of the subsystems need to satisfy, a set of controllers is designed for the R C The Cholesky decomposition is performed, i.e. This set of linear controllers can be given by the transfer function C i (s) = (sI-A i ) - 1 B i , where By a set of linear controllers C i (s), it can be ensured that each subsystem after cascading satisfies the specified QSR soft safety properties, and then combined with the interconnection mode of the UAV group, it can be ensured that the overall fire UAV system satisfies the QSR soft safety properties of the overall system.

2. The method of claim 1, wherein, The S1 comprises: The safety of the fire scene unmanned aerial vehicle system is represented by an integral quadratic form constraint related to the input and output of the unmanned aerial vehicle system in the fire scene, that is, the fire scene unmanned aerial vehicle system G is soft safe with respect to (Q, S, R); If for any and T ≥ 0, there is: where Q = Q T and R = R T y(t) represents the pose information of the UAV, u(t) represents the signal information received by the UAV, appropriate (Q, S, R) parameters are selected to describe the rate of heat absorption or release of the UAV, so as to constrain the temperature of the UAV to be kept below the specified threshold value by using the integral inequality in this form, and specifically when the temperature of the UAV reaches the threshold value, the heat dissipated through the cooling mechanism needs to exceed the heat absorbed from the fire and the heat generated by the motor; The unmanned aerial vehicle system is considered: where i = 1, 2, …, n, and the interconnection weight matrix H = [H ij ], each UAV is regarded as a subsystem G i The information exchange between UAV groups is given by H, and each subsystem G i can be written in the form of a state space equation, and the entire fire UAV system is soft safe about (Q d , S d , R d ).

3. The method of claim 1, wherein, The S2 comprises: The QSR soft safety characteristics of the subsystem of the fire scene unmanned aerial vehicle system are analyzed by finding an energy storage function based on the state of the fire scene unmanned aerial vehicle system; For the nonlinear dynamic system of the unmanned aerial vehicle: where x(0) = x0∈R n and and are respectively the state, input and output of the UAV system; this nonlinear dynamical system is soft safe with respect to (Q, S, R) if there exists a function φ: R n → R such that for any u∈R q and x∈R p , the following holds: Wherein, the function φ is an energy storage function of the fire scene unmanned aerial vehicle system, if the rate of heat dissipation of the fire scene unmanned aerial vehicle system exceeds the change of the energy stored by the system, the temperature of the fire scene unmanned aerial vehicle system can be guaranteed to be not higher than a threshold value, thereby ensuring the safety of the fire scene unmanned aerial vehicle system; If the fire scene unmanned aerial vehicle system has an affine nonlinear system form: where x(0) = x0∈R n , and , and are the system state, input and output, respectively, the fire field UAV system is soft safe with respect to (Q, S, R) if and only if there exist positive integers m and functions φ: R n → R, l: R n → R m , W: R n → R m×p , and J: R n → R q×p such that: x(t + 1) = f(x(t), u(t)) = φ(x(t)) + l(x(t))u(t) wherein, Finally, the QSR soft safety properties of each subsystem, i.e., the ith subsystem G i with respect to (Q i , S i , R i ) soft safety, where 1≤i≤n.

4. A QSR-based soft safety control device for fire unmanned aerial vehicle system, characterized in that, The device is used to implement the method in any one of claims 1-3, comprising: A definition module is configured to perform S1: defining QSR soft safety of the fire scene unmanned aerial vehicle system; An analysis module is configured to perform S2: analyzing QSR soft safety characteristics of a subsystem of the fire scene unmanned aerial vehicle system; A solving module is configured to perform S3: solving QSR soft safety characteristics required to be met by a corresponding controller of the subsystem according to the analyzed QSR soft safety characteristics of the subsystem; A control module is configured to perform S4: designing a soft safety controller combination corresponding to the fire scene unmanned aerial vehicle system based on the solved QSR soft safety characteristics required to be met by the corresponding controller of the subsystem, and performing soft safety control on the fire scene unmanned aerial vehicle system by using the soft safety controller combination.

5. An electronic device, comprising: The electronic device comprises: At least one processor; and A memory connected in communication with 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 to enable the at least one processor to perform the method in any one of claims 1-3.

6. A non-transitory computer-readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method in any one of claims 1-3.

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