Take-up and pay-off control method and device for mooring unmanned aerial vehicle, electronic equipment and medium

Abstract

The embodiment of the invention relates to the technical field of mooring unmanned aerial vehicle control, and provides a mooring unmanned aerial vehicle take-up and pay-off control method and device, electronic equipment and a medium, and the method comprises the steps: measuring the current motor current of a target mooring unmanned aerial vehicle, and determining the current motor torque based on the current motor current; the length of a released cable of the target mooring unmanned aerial vehicle is measured, and the winding thickness of the cable wound around a winding roller currently is determined based on the length of the released cable; determining current cable tension based on the current motor torque and the cable winding thickness; determining a current working condition according to the motion process of the target mooring unmanned aerial vehicle; and adjusting the current motor torque based on the current working condition and the current cable tension, and performing take-up and pay-off control on the target mooring unmanned aerial vehicle by adjusting the current motor torque. The cost of the mooring unmanned aerial vehicle take-up and pay-off system is reduced, and the robustness and long-term reliability of the system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tethered drone control, and in particular to a method, device, electronic device and medium for controlling the pay-in and pay-out of a tethered drone. Background Art

[0002] A tethered drone is a type of aircraft that realizes the function of long-term hovering in the air by means of a tethering system. Its body structure is composed of parts such as a fuselage, arms, and landing gear. The flight mode mainly adopts a multi-rotor form to meet the needs of different application scenarios. The tethering system, as the core component of this type of drone, is composed of a tethering cable with dual functions of power supply and data transmission and a supporting cable pay-in and pay-out device. The tethering cable is usually made of materials with excellent properties such as high strength, low resistance, and abrasion resistance to ensure the reliability and stability of the connection between the drone and the ground control unit.

[0003] During the working process, the tethered drone breaks through the energy supply mode of traditional drones relying on self-carried batteries and can continuously obtain electrical energy from the ground power supply through the tethering cable, thus theoretically achieving unlimited endurance without being limited by the battery capacity. At the same time, with the communication line in the cable, the drone can transmit real-time and stable data such as images and videos collected by various sensors during the flight process to the ground control system and receive instructions sent by ground operators in a timely manner, so as to achieve precise flight control and task execution. Due to the significant advantages of tethered drones in endurance and data transmission, they have shown extremely high application value in many fields (such as monitoring, inspection, communication relay, etc.).

[0004] However, the traditional pay-in and pay-out system of tethered drones mainly controls the pay-out and retraction of the tethering cable automatically and precisely by an automatic pay-in and pay-out device according to the flight state of the drone (such as takeoff, landing, hovering, etc.). It relies on a tension sensor to monitor the cable tension and adjusts the motor torque accordingly. This method has the following disadvantages: (1) High hardware cost: High-precision tension sensors are expensive, especially in long-term high-precision application scenarios, which increases the overall cost of the system. (2) Complicated installation and maintenance: The installation requirements of the tension sensor are high, and it needs to be calibrated and maintained regularly, increasing the complexity of use. (3) Poor environmental adaptability: In a harsh environment, the sensor may be damaged or the measurement drifts, affecting the system stability. (4) Long-term reliability problem: The tension sensor may drift during long-term operation, resulting in inaccurate tension measurement and thus affecting the control accuracy. Therefore, there is an urgent need for an automatic pay-in and pay-out control scheme without a tension sensor to reduce the system cost and improve the robustness and long-term reliability of the system. Summary of the Invention

[0005] The present invention provides a method, device, electronic device and medium for controlling the cable winding and unwinding of a tethered drone, aiming to solve the defects in the prior art such as high hardware cost, complex installation and maintenance, poor environmental adaptability and low control accuracy of the cable winding and unwinding system of the tethered drone, and to reduce the cost of the cable winding and unwinding system of the tethered drone and improve the robustness and long-term reliability of the system.

[0006] The present invention provides a method for controlling the cable winding and unwinding of a tethered drone, including: Measuring the current motor current of the target tethered drone and determining the current motor torque based on the current motor current; Measuring the length of the cable released by the target tethered drone and determining the winding thickness of the cable currently wound on the winding drum based on the length of the cable released; Determining the current cable tension based on the current motor torque and the cable winding thickness; Determining the current working condition according to the movement process of the target tethered drone; Adjusting the current motor torque based on the current working condition and the current cable tension, and controlling the cable winding and unwinding of the target tethered drone by adjusting the current motor torque.

[0007] In a possible implementation manner, the method further includes: Measuring the current motor current of the target tethered drone based on a current sensor; Determining the current motor torque based on the current motor current through a first formula, and the first formula is: ; Wherein, τ is the current motor torque, is the motor torque constant, I is the current motor current.

[0008] In a possible implementation manner, the method further includes: Measuring the length of the cable released by the target tethered drone through a counter; Calculating the winding thickness of the cable wound on the winding drum when the unreleased cable is fully covered in each layer based on the total length of the cable, the length of the cable released, the width of the winding drum, the radius of the winding drum and the radius of the cable.

[0009] In a possible implementation manner, the method further includes: Determining the length of the unreleased cable based on the total length of the cable and the length of the cable released; Calculating the length of the first cable wound on the winding drum in each layer through a second formula based on the width of the winding drum, the radius of the winding drum and the radius of the cable, and the second formula is: ; Wherein, is the length of the first cable wound around the winding drum for each layer, n is the number of winding layers, r is the radius of the cable, R is the radius of the winding drum, W is the width of the winding drum; Determine the length of the second cable completely wound around the winding drum based on the length of the first cable wound around the winding drum for each layer and the number of winding layers; Determine the number of winding layers based on the length of the second cable and the length of the cable not released n ; Based on the number of winding layers n Calculate the cable winding thickness through a third formula, and the third formula is: ; Wherein, h is the cable winding thickness.

[0010] In a possible implementation manner, the method further includes: Calculate the current cable tension through a fourth formula based on the current motor torque and the cable winding thickness, and the fourth formula is: ; Wherein, is the current cable tension.

[0011] In a possible implementation manner, the method further includes: When the movement process of the target tethered drone is ascending, determine that the current working condition is the ascending stage; When the movement process of the target tethered drone is hovering, determine that the current working condition is the hovering stage; When the movement process of the target tethered drone is descending, determine that the current working condition is the descending stage.

[0012] In a possible implementation manner, the method further includes: Pre-calibrate the minimum tension threshold, the maximum tension threshold of the cable, and the standard cable tension in the hovering state; In the ascending stage, when the current cable tension is greater than the maximum tension threshold, adjust the current motor torque to decrease through a proportional controller, and perform cable releasing control on the target tethered drone; In the hovering stage, adjust the current motor torque in real time according to the difference between the standard cable tension and the current cable tension through a proportional-integral-derivative controller, and perform cable winding and releasing control on the target tethered drone; During the landing phase, when the current cable tension is less than the minimum tension threshold, the current motor torque is adjusted to increase by a proportional controller, and the target tethered UAV is controlled to take in the cable.

[0013] The present invention also provides a cable take-in and pay-out control device for a tethered UAV, including the following modules: A measurement and determination module, configured to measure the current motor current of the target tethered UAV and determine the current motor torque based on the current motor current; The measurement and determination module is further configured to measure the length of the cable that has been paid out by the target tethered UAV and determine the winding thickness of the cable currently wound on the winding drum based on the length of the cable that has been paid out; The measurement and determination module is further configured to determine the current cable tension based on the current motor torque and the cable winding thickness; The measurement and determination module is further configured to determine the current working condition according to the movement process of the target tethered UAV; An adjustment and control module, configured to adjust the current motor torque based on the current working condition and the current cable tension, and control the take-in and pay-out of the cable of the target tethered UAV by adjusting the current motor torque.

[0014] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the cable take-in and pay-out control method of the tethered UAV as described in any one of the above is implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the cable take-in and pay-out control method of the tethered UAV as described in any one of the above is implemented.

[0016] The present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, the cable take-in and pay-out control method of the tethered UAV as described in any one of the above is implemented.

[0017] The present invention provides a method, device, electronic device and medium for controlling the cable winding and unwinding of a tethered drone. By measuring the current motor current of the target tethered drone and determining the current motor torque based on the current motor current; measuring the length of the cable that has been released by the target tethered drone and determining the winding thickness of the cable currently wound on the winding drum based on the length of the released cable; determining the current cable tension based on the current motor torque and the cable winding thickness; determining the current working condition according to the movement process of the target tethered drone; adjusting the current motor torque based on the current working condition and the current cable tension, and controlling the cable winding and unwinding of the target tethered drone by adjusting the current motor torque. Compared with the defects of high hardware cost, complex installation and maintenance, poor environmental adaptability and low control accuracy in the prior art for the cable winding and unwinding system of tethered drones, in this solution, an automatic cable winding and unwinding control strategy for tethered drones based on pre-calibrated cable tension without a tension sensor, combined with the control algorithm of a proportional-integral-derivative controller, realizes high-precision tension control during the ascent, hovering and descent of the tethered drone, reduces the hardware dependence on the tension sensor, improves the reliability and stability of the drone mission, improves the operation efficiency of the drone, reduces manual intervention, and reduces the system complexity and maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is one of the flowcharts of the method for controlling the cable winding and unwinding of the tethered drone provided by the present invention.

[0020] Figure 2 It is the second flowchart of the method for controlling the cable winding and unwinding of the tethered drone provided by the present invention.

[0021] Figure 3 It is a schematic diagram of the winding drum provided by the present invention.

[0022] Figure 4 It is the winding layer provided by the present invention n Calculation flowchart 。

[0023] Figure 5 It is a schematic diagram of the structure of the device for controlling the cable winding and unwinding of the tethered drone provided by the present invention.

[0024] Figure 6 It is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed implementation manners

[0025] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] For the convenience of understanding the embodiments of the present invention, the following will further explain with specific embodiments with reference to the accompanying drawings. The embodiments do not constitute a limitation to the embodiments of the present invention.

[0027] Figure 1 is one of the flow schematic diagrams of the cable winding and unwinding control method of the tethered drone provided by the present invention. As Figure 1 shown, the method includes the following: S11. Measure the current motor current of the target tethered drone, and determine the current motor torque based on the current motor current.

[0028] In the embodiments of the present invention, the current motor current of the target tethered drone can be measured by a current sensor. The current sensor can be set at any position on the motor of the target tethered drone as long as it can accurately measure the current.

[0029] There is a certain relationship between the motor torque and the current. The current motor torque is determined by the first formula based on the current motor current. The first formula is: ; Wherein,[[]] τ is the current motor torque, with the unit of Newton meter (Nm), is the motor torque constant, with the unit of Nm / A, I is the current motor current, with the unit of Ampere (A).

[0030] S12. Measure the length of the released cable of the target tethered drone, and determine the winding thickness of the cable currently wound on the winding drum based on the length of the released cable.

[0031] The length of the released cable can be measured by installing a cable counter on the cable. The cable counter can collect the displacement of the cable in real time and transmit the collected result to the control system.

[0032] The winding thickness of the cable is related to factors such as the length of the released cable, the size of the winding drum, and the diameter of the cable. When the length of the released cable increases, the number of layers of the cable wound on the winding drum will decrease, resulting in a smaller winding thickness. The specific calculation method is in Figure 2A detailed description will be given in the corresponding embodiments.

[0033] S13. Determine the current cable tension based on the current motor torque and the cable winding thickness.

[0034] There is a complex mechanical relationship between the cable tension, the motor torque, and the cable winding thickness. When the motor torque increases, the cable tension will also increase accordingly; while a decrease in the cable winding thickness will change the force-bearing situation of the cable, thereby affecting the cable tension. This relationship can be described by establishing a mechanical model.

[0035] Further, according to the established mechanical model, substitute the current motor torque and the cable winding thickness into the model for calculation to obtain the current cable tension. This process may need to be completed with the help of numerical calculation methods.

[0036] S14. Determine the current working condition based on the motion process of the target tethered drone.

[0037] In the embodiments of the present invention, sensors installed on the drone, such as accelerometers, gyroscopes, etc., can be used to collect the motion data of the drone in real time, including information such as speed, acceleration, position, and attitude. According to the collected motion data, analyze the motion process of the drone to determine its current working condition. For example, when the drone is in a hovering state, its speed and acceleration are relatively small. Through these analyses, it can be judged whether the drone is in the three working conditions of ascending, hovering, and descending.

[0038] S15. Adjust the current motor torque based on the current working condition and the current cable tension, and control the pay-in and pay-out of the target tethered drone by adjusting the current motor torque.

[0039] According to the current working condition and the cable tension, formulate corresponding control strategies. For example, when the cable tension is too large, it may be necessary to reduce the motor torque to lower the cable tension; when the cable tension is too small, it may be necessary to increase the motor torque to increase the cable tension. At the same time, the motion state of the drone also needs to be considered. For example, during the landing process, it may be necessary to appropriately increase the motor torque to maintain the stability of the cable tension.

[0040] By controlling the drive circuit of the motor, adjust the current or voltage of the motor, thereby changing the torque of the motor. According to the formulated control strategy, adjust the motor torque in real time to achieve the pay-in and pay-out control of the tethered drone. For example, when pay-in is required, increase the motor torque to make the drone move towards the direction close to the winding drum; when pay-out is required, reduce the motor torque to make the drone move away from the winding drum.

[0041] The method for controlling the cable pay-in and pay-out of a tethered drone provided by the present invention measures the current motor current of the target tethered drone and determines the current motor torque based on the current motor current; measures the length of the cable that has been paid out by the target tethered drone and determines the winding thickness of the cable currently wound on the winding drum based on the length of the cable that has been paid out; determines the current cable tension based on the current motor torque and the cable winding thickness; determines the current working condition according to the movement process of the target tethered drone; adjusts the current motor torque based on the current working condition and the current cable tension, and controls the pay-in and pay-out of the target tethered drone by adjusting the current motor torque. Compared with the defects of high hardware cost, complex installation and maintenance, poor environmental adaptability and low control accuracy in the cable pay-in and pay-out system of tethered drones in the prior art, by this method, an automatic cable pay-in and pay-out control strategy for tethered drones without a tension sensor based on pre-calibrated cable tension, combined with the control algorithm of a proportional-integral-derivative controller, realizes high-precision tension control during the ascent, hover and descent of tethered drones, reduces the hardware dependence on tension sensors, improves the reliability and stability of drone missions, improves the operation efficiency of drones, reduces manual intervention, and reduces the system complexity and maintenance cost.

[0042] Figure 2 is the second flow schematic diagram of the method for controlling the cable pay-in and pay-out of the tethered drone provided by the present invention. As Figure 2 shown, the method includes the following: S21. Measure the current motor current of the target tethered drone based on a current sensor.

[0043] In an embodiment of the present invention, the current motor current of the target tethered drone can be measured by a current sensor. The current sensor can be set at any position on the motor of the target tethered drone as long as it can accurately measure the current.

[0044] S22. Determine the current motor torque based on the current motor current through a first formula.

[0045] There is a certain relationship between the motor torque and the current. The current motor torque is determined through the first formula based on the current motor current. The first formula is: ; where τ is the current motor torque, with the unit of Newton meter (Nm), is the motor torque constant, with the unit of Nm / A, I is the current motor current, with the unit of Ampere (A).

[0046] S23. Measure the length of the cable that has been paid out by the target tethered drone through a counter.

[0047] The length of the released cable can be measured by installing a cable counter on the cable. The cable counter can collect the displacement of the cable in real time and transmit the collected results to the control system.

[0048] S24. Calculate the cable winding thickness of the cable wound on the winding drum when the remaining cable is fully covered in each layer based on the total length of the cable, the length of the released cable, the width of the winding drum, the radius of the winding drum, and the radius of the cable.

[0049] Determine the length of the remaining cable based on the total length of the cable and the length of the released cable; calculate the length of the first cable wound on the winding drum in each layer through the second formula based on the width of the winding drum, the radius of the winding drum, and the radius of the cable. The second formula is: ; Where is the length of the first cable wound on the winding drum in each layer, n is the number of winding layers, r [[ID=X]]is the radius of the cable, R is the radius of the winding drum, W is the width of the winding drum.

[0050] Furthermore, determine the length of the second cable wound on the winding drum based on the length of the first cable wound on the winding drum in each layer and the number of winding layers; determine the number of winding layers based on the length of the second cable and the length of the remaining cable. n。

[0051] Based on the number of winding layers n Calculate the cable winding thickness through the third formula. The third formula is: ; Where h is the cable winding thickness.

[0052] Specifically, a detailed description is given in combination with the schematic diagram of the winding drum as shown in Figure 3 and the calculation flow chart of the number of winding layers as shown in Figure 4 : n Let the total length of the cable be L, the length of the released cable measured by the cable counter be , the width of the winding drum be W, the radius of the winding drum be R, and the radius of the cable be r. When each layer is fully covered, there is: The radius of the first layer is R+r , and the length of the cable in the first layer .

[0053] The radius of the second layer is R+2r , and the length of the cable in the second layer .

[0054] The n radius of the Note: There seems to be a missing value represented by in the original text for the variable in the formula in step . It is translated as in the English version for now. You may need to check and correct it according to the actual situation. Also, the variable in the formula in step might have a similar issue.R + nr , the n layer cable length .

[0055] In the figure, sum is the total length of the cable for each layer (the length of the second cable), that is, the total length of all the cables wound on the winding drum. First, initialize n and sum, and calculate according to the cable length of each layer above , according to update sum.

[0056] Furthermore, compare the difference between sum and L with , if the difference between L and is greater than sum, then n = n + 1, continue to calculate , according to update sum. Until the difference between L and is less than sum, judge the value of n at this time, and obtain the number of winding layers n .

[0057] Furthermore, based on the number of winding layers n calculate the cable winding thickness through the third formula. The third formula is: ; where h is the cable winding thickness.

[0058] S25. Based on the current motor torque and the cable winding thickness, calculate the current cable tension through the fourth formula.

[0059] Based on the current motor torque and the cable winding thickness, calculate the current cable tension through the fourth formula. The fourth formula is: ; where is the current cable tension.

[0060] S26. Determine the current working condition according to the movement process of the target tethered UAV.

[0061] When the movement process of the target tethered UAV is ascending, determine that the current working condition is the ascending stage; when the movement process of the target tethered UAV is hovering, determine that the current working condition is the hovering stage; when the movement process of the target tethered UAV is descending, determine that the current working condition is the descending stage.

[0062] S27. Adjust the current motor torque based on the current working condition and the current cable tension, and control the pay-out and take-up of the target tethered UAV by adjusting the current motor torque.

[0063] Pre-calibrate the minimum tension threshold, maximum tension threshold of the cable and the standard cable tension in the hovering state. The minimum tension threshold Its function is to ensure that the cable will not be overly slack to avoid dragging on the ground or getting entangled. The maximum tension threshold functions to ensure that the cable will not be overly tightened so as not to affect the attitude of the drone or damage the cable. When is the case, it indicates that the cable tension is within a reasonable range and the system does not need to adjust the motor torque.

[0064] If the cable is too tight, , at this time, it is necessary to reduce the motor torque to make it easier for the drone to pull out the cable. If the cable is too loose, , increase the motor torque to automatically tighten the cable and prevent it from slackening and knotting. The movement process of the drone is divided into three stages: takeoff, hovering, and landing. The specific control strategies are as follows: During the takeoff stage: The cable tension increases rapidly. When it increases to , according to the following formula, a proportional control strategy is adopted through the control method to control and reduce the motor torque.

[0065] where, is the proportional parameter.

[0066] During the hovering stage: The standard cable tension , the magnitude of which is , is compared with the calculated tension . When there is wind disturbance or other unexpected situations, a Proportion Integration Differentiation (PID) control strategy is adopted to adjust the motor torque in real time through the following formula.

[0067] where, is the proportional parameter, is the integral parameter, dt is the accumulation of the error term, is the differential coefficient.

[0068] During the landing stage: The cable tension decreases rapidly. When it decreases to , a proportional control is adopted to increase the motor torque to ensure the smooth recovery of the cable. The motor torque is adjusted through the proportional control strategy according to the following formula.

[0069] where, is the proportional parameter.

[0070] The method for controlling the cable winding and unwinding of a tethered drone provided by the present invention measures the current motor current of the target tethered drone, and determines the current motor torque based on the current motor current; measures the length of the cable that has been released by the target tethered drone, and determines the winding thickness of the cable currently wound on the winding drum based on the length of the cable that has been released; determines the current cable tension based on the current motor torque and the cable winding thickness; determines the current working condition according to the movement process of the target tethered drone; adjusts the current motor torque based on the current working condition and the current cable tension, and controls the cable winding and unwinding of the target tethered drone by adjusting the current motor torque. According to this method, an automatic cable winding and unwinding control strategy for a tethered drone based on pre-calibrated cable tension without a tension sensor, combined with the control algorithm of a proportional-integral-derivative controller, realizes high-precision tension control during the ascent, hovering, and descent of the tethered drone, reduces the hardware dependence on the tension sensor, improves the reliability and stability of the drone mission, is applicable to application scenarios such as long-term inspection, aerial monitoring, and disaster emergency, can improve the operation efficiency of the drone, reduce manual intervention, and reduce system complexity and maintenance costs.

[0071] The cable winding and unwinding control device of the tethered drone provided by the present invention will be described below. The cable winding and unwinding control device of the tethered drone described below can be mutually corresponded and referred to the cable winding and unwinding control method of the tethered drone described above.

[0072] Figure 5 It is a schematic structural diagram of the cable winding and unwinding control device of the tethered drone provided by the present invention, specifically including: The measurement and determination module 501 is used to measure the current motor current of the target tethered drone, and determine the current motor torque based on the current motor current. For detailed description, refer to the relevant description corresponding to the above method embodiment, which will not be repeated here.

[0073] The measurement and determination module 501 is further used to measure the length of the cable that has been released by the target tethered drone, and determine the winding thickness of the cable currently wound on the winding drum based on the length of the cable that has been released. For detailed description, refer to the relevant description corresponding to the above method embodiment, which will not be repeated here.

[0074] The measurement and determination module 501 is further used to determine the current cable tension based on the current motor torque and the cable winding thickness. For detailed description, refer to the relevant description corresponding to the above method embodiment, which will not be repeated here.

[0075] The measurement and determination module 501 is further used to determine the current working condition according to the movement process of the target tethered drone. For detailed description, refer to the relevant description corresponding to the above method embodiment, which will not be repeated here.

[0076] The adjustment control module 502 is configured to adjust the current motor torque based on the current working condition and the current cable tension, and perform the control of paying in and out the cable of the target tethered drone by adjusting the current motor torque. For the detailed description, please refer to the relevant description corresponding to the above method embodiment, which will not be repeated here.

[0077] Figure 6 An example of a schematic physical structure diagram of an electronic device is shown as Figure 6 shown. The electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call the logical instructions in the memory 830 to execute the method for controlling the paying in and out of the cable of the tethered drone. The method includes: measuring the current motor current of the target tethered drone, and determining the current motor torque based on the current motor current; measuring the length of the cable released by the target tethered drone, and determining the winding thickness of the cable currently wound on the winding drum based on the length of the cable released; determining the current cable tension based on the current motor torque and the winding thickness of the cable; determining the current working condition according to the movement process of the target tethered drone; adjusting the current motor torque based on the current working condition and the current cable tension, and performing the control of paying in and out the cable of the target tethered drone by adjusting the current motor torque.

[0078] In addition, when the logical instructions in the above-mentioned memory 830 are implemented in the form of software function units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0079] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the method for controlling the pay-in and pay-out of the tethered drone provided by the above-mentioned various methods. The method includes: measuring the current motor current of the target tethered drone, and determining the current motor torque based on the current motor current; measuring the length of the released cable of the target tethered drone, and determining the winding thickness of the cable currently wound on the winding drum based on the length of the released cable; determining the current cable tension based on the current motor torque and the cable winding thickness; determining the current working condition according to the movement process of the target tethered drone; adjusting the current motor torque based on the current working condition and the current cable tension, and controlling the pay-in and pay-out of the target tethered drone by adjusting the current motor torque.

[0080] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the method for controlling the pay-in and pay-out of the tethered drone provided by the above-mentioned various methods. The method includes: measuring the current motor current of the target tethered drone, and determining the current motor torque based on the current motor current; measuring the length of the released cable of the target tethered drone, and determining the winding thickness of the cable currently wound on the winding drum based on the length of the released cable; determining the current cable tension based on the current motor torque and the cable winding thickness; determining the current working condition according to the movement process of the target tethered drone; adjusting the current motor torque based on the current working condition and the current cable tension, and controlling the pay-in and pay-out of the target tethered drone by adjusting the current motor torque.

[0081] The device embodiments described above are merely illustrative. 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 may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0082] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the wire winding and unwinding of a tethered drone, characterized in that Including: Measuring the current motor current of the target tethered drone and determining the current motor torque based on the current motor current; Measuring the length of the released cable of the target tethered drone and determining the cable winding thickness currently wound on the winding drum based on the length of the released cable; Determining the current cable tension based on the current motor torque and the cable winding thickness; Determining the current working condition according to the movement process of the target tethered drone; Adjusting the current motor torque based on the current working condition and the current cable tension, and controlling the pay-in and pay-out of the target tethered drone by adjusting the current motor torque.

2. The method according to claim 1, wherein The measuring the current motor current of the target tethered drone and determining the current motor torque based on the current motor current includes: Measuring the current motor current of the target tethered drone based on a current sensor; Determine the current motor torque based on the current motor current through a first formula, the first formula being: ; Among them, τ is the current motor torque, is the motor torque constant, I is the current motor current.

3. The method according to claim 2, wherein The measuring the length of the released cable of the target tethered drone and determining the cable winding thickness currently wound on the winding drum based on the length of the released cable includes: Measuring the length of the released cable of the target tethered drone through a length counter; Calculating the cable winding thickness of the unreleased cable wound on the winding drum when each layer is fully covered based on the total cable length, the length of the released cable, the width of the winding drum, the radius of the winding drum, and the radius of the cable.

4. The method according to claim 3, wherein The calculating the cable winding thickness of the unreleased cable wound on the winding drum when each layer is fully covered based on the total cable length, the length of the released cable, the width of the winding drum, the radius of the winding drum, and the radius of the cable includes: Determining the length of the unreleased cable based on the total cable length and the length of the released cable; Calculate the length of the first cable wound on the winding drum per layer according to the width of the winding drum, the radius of the winding drum, and the radius of the cable by a second formula, where the second formula is: ; Among them, is the length of the first cable wound on the winding drum for each layer, n is the number of winding layers, r is the radius of the cable, R is the radius of the winding drum, W is the width of the winding drum; Determining the second cable length fully wound on the winding drum based on the first cable length wound on the winding drum per layer and the number of winding layers; Determine the number of winding layers based on the length of the second cable and the length of the cable not paid out n ; Based on the number of winding layers n Calculate the winding thickness of the cable by the third formula, and the third formula is: ; Among them, h is the winding thickness of the cable.

5. The method according to claim 4, wherein The determining the current cable tension based on the current motor torque and the cable winding thickness includes: Calculate the current cable tension according to the fourth formula based on the current motor torque and the cable winding thickness, and the fourth formula is: ; Among them, is the current cable tension.

6. The method according to claim 5, characterized in that The determining the current working condition according to the movement process of the target tethered drone includes: When the movement process of the target tethered drone is ascending, determining that the current working condition is the ascending stage; When the movement process of the target tethered drone is hovering, determining that the current working condition is the hovering stage; When the movement process of the target tethered drone is descending, determining that the current working condition is the descending stage.

7. The method according to claim 6, characterized in that, The adjusting the current motor torque based on the current working condition and the current cable tension, and controlling the pay-in and pay-out of the target tethered drone by adjusting the current motor torque includes: Pre-calibrating the minimum tension threshold, the maximum tension threshold of the cable, and the standard cable tension in the hovering state; In the ascending stage, when the current cable tension is greater than the maximum tension threshold, adjusting the current motor torque to decrease through a proportional controller to control the pay-out of the target tethered drone; In the hovering stage, adjusting the current motor torque in real time according to the difference between the standard cable tension and the current cable tension through a proportional-integral-derivative controller to control the pay-in and pay-out of the target tethered drone; During the landing phase, when the current cable tension is less than the minimum tension threshold, the current motor torque is adjusted to increase by a proportional controller to control the cable retraction of the target tethered UAV.

8. A control device for the wire winding and unwinding of a tethered drone, characterized in that, Including: A measurement and determination module for measuring the current motor current of the target tethered UAV and determining the current motor torque based on the current motor current; The measurement and determination module is further configured to measure the length of the cable released by the target tethered UAV and determine the cable winding thickness currently wound on the winding drum based on the length of the cable released; The measurement and determination module is further configured to determine the current cable tension based on the current motor torque and the cable winding thickness; The measurement and determination module is further configured to determine the current working condition according to the movement process of the target tethered UAV; An adjustment and control module for adjusting the current motor torque based on the current working condition and the current cable tension, and controlling the cable retraction and release of the target tethered UAV by adjusting the current motor torque.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the cable retraction and release control method of the tethered UAV according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the cable retraction and release control method of the tethered UAV according to any one of claims 1 to 7.

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