Airborne folding bird nest removing device and method based on PID high-precision control
By using an airborne foldable bird nest removal device based on PID high-precision control, combined with a position detection module and controller, precise, stable, and intelligent bird nest removal is achieved. This solves the problems of poor positioning accuracy and unstable movement in existing technologies, and improves the accuracy and safety of bird nest removal.
Patent Information
- Application Number
- CN202511781856.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-29
- Publication Date
- 2026-02-13
AI Technical Summary
Existing airborne bird nest removers suffer from poor positioning accuracy, unstable operation, and weak adaptability. They cannot accurately control the deployment diameter and clamping force, which may lead to incomplete removal or damage to the equipment. Furthermore, the large impact during start-up and shutdown may frighten birds or damage bird nests.
An airborne folding bird nest removal device based on PID high-precision control is adopted. It combines a position detection module and a controller, uses PID control algorithm to achieve closed-loop control, drives the motor to accurately unfold the diameter, is equipped with a servo motor or stepper motor, enhances integral and derivative control terms, and combines a flexible friction layer to adapt to load changes and airflow disturbances.
It achieves ±1cm level control precision for the unfolding diameter, with smooth and flexible movements, intelligently adapting to different bird nests, reducing operational difficulty, and improving safety and operational standardization.
Smart Images
Figure CN121522997A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of secure communication and access control technology for the Internet of Things in the power industry, specifically to an airborne foldable bird nest removal device, method, system, and storage medium based on PID high-precision control. Background Technology
[0002] Existing airborne bird nest removers primarily use a motor to directly drive the opening and closing of a folding structure via a transmission mechanism. Their control method is mostly a simple open-loop control (i.e., the motor rotates forward / reverse for a certain period). This method has significant drawbacks: First, poor positioning accuracy. Due to transmission chain gaps, friction, and load variations, the final unfolded diameter cannot be precisely controlled, potentially leading to insufficient force for effective removal or excessive force that damages the tower. Second, unstable operation with large start-stop impacts, which may frighten birds or cause nests (especially those containing eggs / chicks) to collapse instantly. Third, weak adaptability, unable to intelligently adjust the clamping force and unfolding stroke according to the size and tightness of different bird nests.
[0003] Applying high-precision PID control theory to this specific unmanned aerial vehicle (UAV) mechanical device, which is affected by airflow and complex loads, in order to achieve intelligent and precise operation, is a technical problem that urgently needs to be solved. Summary of the Invention
[0004] This invention proposes an airborne foldable bird nest removal device and method based on PID high-precision control.
[0005] This invention provides an airborne foldable bird nest removal device based on PID high-precision control, comprising: The drone connection includes a central link, a multi-layered mounting frame, a transmission unit driven by a drive motor, and a folding structure with its two ends hinged to the mounting frame and the transmission unit, respectively. Its features include: Position detection module: used to detect the unfolded diameter of the folding structure or the displacement of the transmission part in real time; Controller: Electrically connected to the drive motor and the position detection module; The controller has a built-in PID control algorithm configured to: receive the feedback signal from the position detection module, calculate the deviation from the preset target position, perform PID calculation based on the deviation, and output a control signal to the drive motor to achieve closed-loop control of the unfolded diameter of the folding structure with a control accuracy of ±1cm.
[0006] Preferably, the drive motor is a servo motor, a stepper motor, or a brushless DC motor with an integrated encoder.
[0007] More preferably, the position detection module is a rotary encoder mounted on the output shaft of the drive motor, and a linear displacement sensor used to detect the displacement of the drive arm or driven arm in the transmission unit.
[0008] More preferably, the control logic of the controller includes: When the folded structure is far from the target diameter, rapid unfolding or shrinking is mainly achieved by relying on the proportional (P) control term; As the folded structure approaches the target diameter, the action of the integral (I) and derivative (D) control terms is automatically enhanced to eliminate steady-state error and suppress overshoot and mechanical oscillation.
[0009] Furthermore, the controller also has multiple pre-stored operating modes, including: Disintegration mode: Controls the folding structure to rapidly expand to the preset maximum diameter, using kinetic energy to break up the bird's nest; Complete nest retrieval mode: Control the folding structure to expand slowly at low speed and low torque until it fits against the inner wall of the nest and remains there, thus achieving complete retrieval of the nest.
[0010] Further preferably, the arc-shaped rod working surface of the folded structure is covered with a flexible or textured friction layer, and the parameters of the PID control algorithm are tuned for this friction characteristic and airflow disturbances during the flight of the UAV to enhance the robustness of the system.
[0011] This invention also provides an airborne folding bird nest removal method based on PID high-precision control, comprising the following steps: S1: Set the target operating diameter of the folding structure via the UAV ground station or controller; S2: Start the drive motor, and the position detection module begins to provide real-time feedback of the current position signal; S3: The controller calculates the deviation e(t) between the current position and the target position; S4: The controller executes the PID control algorithm: u(t) = Kp * e(t) + Ki * ∫e(t)dt + Kd *de(t) / dt, where u(t) is the output control quantity; S5: Convert u(t) into control commands for the drive motor, adjusting its speed and direction; S6: Repeat steps S2 to S5 until the positional deviation e(t) stabilizes within ±1cm, completing one precise opening and closing operation.
[0012] The present invention has the following beneficial effects: 1) Precision operation: The control accuracy of the expansion diameter of the cleaner is improved to ±1cm level, which can achieve "millimeter-level" approach to the outer edge of the bird's nest, which can not only ensure the cleaning effect, but also avoid the risks of over-expansion; 2) Smooth and flexible: PID control, especially the introduction of the derivative (D) term, enables automatic and smooth deceleration when the action approaches the target, greatly reducing the start-stop shock and achieving "flexible" contact with the bird's nest, which is especially important in the complete nest-removal mode. 3) Intelligent Adaptation: Through PID parameter tuning, the system can automatically compensate for load changes caused by mechanical wear, wind disturbance, and different bird nest materials, maintaining stable control performance; 4) Standardized operation: Combined with precise position control, multiple intelligent operation modes can be preset and executed with one click, which reduces the technical threshold for operators and improves the standardization and safety of operations. Attached Figure Description
[0013] Figure 1 A flowchart of an airborne foldable bird nest removal device based on PID high-precision control provided by the present invention; Figure 2 A flowchart of an airborne folding bird nest removal method based on PID high-precision control provided by the present invention. Detailed Implementation
[0014] The principles and features of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments given are only for illustrating the technical solutions of the present invention and are not intended to limit the scope of protection.
[0015] An airborne foldable bird nest clearing device based on PID high-precision control includes: a central connecting rod connected to a drone, a multi-layered fixing frame, a transmission part driven by a drive motor, and a folding structure with its two ends hinged to the fixing frame and the transmission part respectively. Its distinguishing feature is that it includes: Position detection module: used to detect the unfolded diameter of the folding structure or the displacement of the transmission part in real time; Controller: Electrically connected to the drive motor and the position detection module; The controller has a built-in PID control algorithm configured to: receive the feedback signal from the position detection module, calculate the deviation from the preset target position, perform PID calculation based on the deviation, and output a control signal to the drive motor to achieve closed-loop control of the unfolded diameter of the folding structure with a control accuracy of ±1cm.
[0016] The drive motor is a servo motor, a stepper motor, or a brushless DC motor with an integrated encoder.
[0017] The position detection module is a rotary encoder installed on the output shaft of the drive motor, and a linear displacement sensor used to detect the displacement of the drive arm or driven arm in the transmission unit.
[0018] The controller's control logic includes: When the folded structure is far from the target diameter, rapid unfolding or shrinking is mainly achieved by relying on the proportional (P) control term; As the folded structure approaches the target diameter, the action of the integral (I) and derivative (D) control terms is automatically enhanced to eliminate steady-state error and suppress overshoot and mechanical oscillation.
[0019] The controller also has several pre-stored operating modes, including: Disintegration mode: Controls the folding structure to rapidly expand to the preset maximum diameter, using kinetic energy to break up the bird's nest; Complete Nest Retrieval Mode: The folding structure is controlled to expand slowly at a low speed and with low torque until it fits snugly against the inner wall of the nest and remains there, thus achieving complete nest retrieval. The working surface of the arc-shaped rod with the folded structure is covered with a flexible or textured friction layer. The parameters of the PID control algorithm are tuned for this friction characteristic and airflow disturbances during the flight of the UAV to enhance the robustness of the system.
[0020] An airborne folding bird nest removal method based on PID high-precision control specifically includes the following steps: The operator selects the "complete nest retrieval" mode at the ground station and sets a target value (300mm) that is larger than the estimated diameter of the bird's nest. The drone flew over the Bird's Nest stadium, and the controller activated. The motors drove the folding structure to slowly expand. The PID controller runs continuously. In the initial stage of expansion, the deviation is large, and the controller outputs a large control quantity, causing the motor to rotate faster. When the folded structure comes into contact with the outer wall of the Bird's Nest, the load increases suddenly, the motor speed decreases, the rate of change of position feedback (de(t) / dt) decreases, the effect of the derivative (D) term is enhanced, the controller output decreases, and the expansion speed is further reduced, so as to achieve a gentle fit. At this point, due to the resistance of the bird's nest, the folding structure may not be able to reach the preset target of 300mm, which will produce a steady-state deviation. The integral (I) term begins to accumulate this deviation, and the control output is slowly increased until the generated torque is sufficient to make the arc rod fit and hug the inner wall of the bird's nest. At this point, the system reaches equilibrium, and the folding structure is kept on a diameter that is slightly smaller than the preset value, thus achieving adaptive clamping of the bird's nest. Drones can smoothly transport the entire bird's nest to the designated location on the ground.
[0021] In this way, the present invention deeply integrates the general PID control theory with a specific electric vehicle cleaning device, resulting in technical effects that are significantly superior to the original technology.
[0022] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Any equivalent adjustments and extensions made to algorithm parameters, coding structures, authentication mechanisms, or protocol flows within the spirit and principles of the present invention should be considered to fall within the protection scope of the present invention.
Claims
1. An airborne folding bird nest removal device based on PID high-precision control, comprising: The drone connection includes a central link, a multi-layered mounting frame, a transmission unit driven by a drive motor, and a folding structure with its two ends hinged to the mounting frame and the transmission unit, respectively. Its features include: Position detection module: used to detect the unfolded diameter of the folding structure or the displacement of the transmission part in real time; Controller: Electrically connected to the drive motor and the position detection module; The controller has a built-in PID control algorithm configured to: receive the feedback signal from the position detection module, calculate the deviation from the preset target position, perform PID calculation based on the deviation, and output a control signal to the drive motor to achieve closed-loop control of the unfolded diameter of the folding structure with a control accuracy of ±1cm.
2. The airborne folding bird nest removal device based on PID high-precision control according to claim 1, characterized in that, The drive motor is a servo motor, a stepper motor, or a brushless DC motor with an integrated encoder.
3. The airborne folding bird nest removal device based on PID high-precision control according to claim 1, characterized in that, The position detection module is a rotary encoder installed on the output shaft of the drive motor, and a linear displacement sensor used to detect the displacement of the drive arm or driven arm in the transmission unit.
4. The airborne folding bird nest removal device based on PID high-precision control according to claim 1, characterized in that, The control logic of the controller includes: When the folded structure is far from the target diameter, rapid unfolding or shrinking is mainly achieved by relying on the proportional (P) control term; As the folded structure approaches the target diameter, the action of the integral (I) and derivative (D) control terms is automatically enhanced to eliminate steady-state error and suppress overshoot and mechanical oscillation.
5. The airborne folding bird nest removal device based on PID high-precision control according to claim 1, characterized in that, The controller also has multiple pre-stored operating modes, including: Disintegration mode: Controls the folding structure to rapidly expand to the preset maximum diameter, using kinetic energy to break up the bird's nest; Complete nest retrieval mode: Control the folding structure to expand slowly at low speed and low torque until it fits against the inner wall of the nest and remains there, thus achieving complete retrieval of the nest.
6. The airborne folding bird nest removal device and method based on PID high-precision control according to claim 1, characterized in that, The working surface of the arc-shaped rod of the folded structure is covered with a flexible or textured friction layer. The parameters of the PID control algorithm are tuned for this friction characteristic and airflow disturbances during the flight of the UAV to enhance the robustness of the system.
7. An airborne folding bird nest removal method based on PID high-precision control, characterized in that, Includes the following steps: S1: Set the target operating diameter of the folding structure via the UAV ground station or controller; S2: Start the drive motor, and the position detection module begins to provide real-time feedback of the current position signal; S3: The controller calculates the deviation e(t) between the current position and the target position; S4: The controller executes the PID control algorithm: u(t) = Kp * e(t) + Ki * ∫e(t)dt + Kd * de(t) / dt, where u(t) is the output control quantity; S5: Convert u(t) into control commands for the drive motor, adjusting its speed and direction; S6: Repeat steps S2 to S5 until the positional deviation e(t) stabilizes within ±1cm, completing one precise opening and closing operation.