A cable dynamics real-time simulation modeling method, device, equipment and medium

Abstract

This invention discloses a real-time simulation modeling method for cable dynamics, comprising: dividing the optical fiber cable into a landing area, a far-end area, and a near-end area according to the degree of physical influence on the flight of the UAV; wherein, the cable in the landing area has the least physical influence on the flight of the UAV, and the cable in the near-end area has the greatest physical influence on the flight of the UAV; solving the mechanical parameters of the far-end area, and calculating the tension vector applied by the far-end area to the connection node between the far-end area and the near-end area; constructing a segmented mass spring model in the near-end area, solving the segmented mass spring model based on the tension vector, and outputting the cable tension on the UAV, so that the UAV can perform real-time coupled simulation of its flight state based on the cable tension. This invention can significantly improve the physical accuracy of the simulation of ultra-long optical fiber UAV cable dynamics and significantly reduce the physical computational load of the overall simulation.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) simulation technology, and in particular to a method, apparatus, equipment, and medium for real-time simulation modeling of cable dynamics. Background Technology

[0002] Most current UAV simulation training systems focus on simulation modeling for wireless communication UAVs, while cable dynamics simulation technology for fiber optic communication UAVs is relatively scarce. Fiber optic UAVs rely on fiber optic media to form a physical wired connection with ground base stations, and the dynamics simulation of their accompanying ultra-long cables has special modeling requirements. At present, cable simulation modeling methods mainly include two types. The first is the traditional mass-spring model, which relies on Hooke's law to solve the interaction forces between mass points to simulate cable deformation. The second is a purely analytical mathematical model, such as the global catenary equation, which can only statically solve the overall spatial distribution of the cable.

[0003] Both existing cable simulation modeling schemes have significant technical shortcomings: First, the traditional mass-spring model requires extremely large stiffness coefficients when adapting to high-rigidity, non-stretchable optical fibers. Explicit integration forces the simulation time step to be compressed to an extremely small size, easily leading to numerical explosion, cable mass points detaching from the simulation space, and poor numerical stability. Second, using global discrete mass modeling for ultra-long fiber optic cables (tens of kilometers) results in geometrically increasing computational overhead, making it difficult to match the real-time operation requirements of flight simulators. Third, the global catenary pure analytical model can only represent the steady-state profile of the cable and cannot reproduce dynamic effects such as localized cable jitter caused by high-altitude gusts, instantaneous drag loads from UAV sharp turns, and inertial impacts of the cable laying mechanism, resulting in insufficient physical realism in the simulation. Fourth, neither of these single modeling methods can simultaneously simulate the macroscopic overall shape of kilometer-long cables and the near-end centimeter-level micro-disturbances of UAVs, leading to an imbalance in large-scale simulation accuracy.

[0004] Overall, existing methods cannot achieve high-precision, stable, and realistic simulation of ultra-long cable UAV dynamics, and targeted solutions are urgently needed. Summary of the Invention

[0005] This invention provides a real-time simulation modeling method for cable dynamics, which can significantly improve the physical accuracy of the simulation of ultra-long fiber optic UAV cable dynamics and significantly reduce the physical computational load of the whole machine simulation.

[0006] In a first aspect, embodiments of the present invention provide a real-time simulation modeling method for cable dynamics, comprising: Based on the degree of physical impact on the flight of the drone, the fiber optic cables are divided into the landing area, the far end area, and the near end area; among them, the landing area cables have the least physical impact on the flight of the drone, and the near end area cables have the greatest physical impact on the flight of the drone. Solve for the mechanical parameters of the distal region and calculate the tension vector applied by the distal region to the junction of the distal and proximal regions; A segmented mass spring model is constructed in the near-end region. The segmented mass spring model is solved based on the tension vector to output the cable tension on the UAV, so that the UAV can perform real-time coupled simulation of flight state according to the cable tension.

[0007] Furthermore, the landing area is the cable area from the ground base station's cable laying end to the cable landing section, which does not exert a mechanical effect on the drone; The near-end area is the cable area from the tail mount point of the UAV to a preset near distance range. The cable in the near-end area directly bears the UAV's maneuvering, gusts of wind, and the tension of the far-end cable. The far end area is the middle section of the suspended cable area located between the landing area and the near end area. The cable in the far end area is in a steady suspended state in balance between gravity and tension.

[0008] Further, the step of solving for the mechanical parameters of the distal region and calculating the tensile force vector applied by the distal region to the junction of the distal and proximal regions includes: Calculate the catenary coefficient for cables in the remote area; Based on the catenary coefficient, the mass per unit length of the cable, and the gravitational acceleration, the horizontal tension component and the vertical self-weight component of the cable in the far-end area are calculated. The horizontal tension component and the vertical self-weight component are vector synthesized to obtain the tension vector acting on the junction of the distal and proximal regions.

[0009] Further, the calculation of the catenary coefficient corresponding to the cable in the far-end area includes: Obtain the total length of cables in the remote area, and the horizontal distance and vertical height of the UAV relative to the cable landing point; Based on the total length of the cable, the horizontal distance, and the vertical height, a formula for the arc length of the catenary is constructed. Solve the catenary arc length formula to obtain the catenary coefficient corresponding to the cable in the far end area.

[0010] Further, the construction of the segmented mass spring model in the proximal region includes: The near-end area cable is discretized to form multiple sets of sequentially connected mass points to construct a segmented mass point spring model; The inverse mass of the mass corresponding to the drone cable mounting point is configured to be zero to achieve end fixation, and the tension vector output from the far end region is applied as an external load to each mass point in the near end region.

[0011] Furthermore, the step of solving the segmented mass spring model based on the tension vector and outputting the cable tension on the UAV includes: Based on the current position, velocity, inverse mass, and tension vector of each particle, predict the estimated position and velocity of each particle at the next moment. For each group of adjacent mass points, a cable length constraint is applied to correct the estimated position, resulting in the final position of each mass point. The real-time velocity of each mass point is then iteratively updated using the corrected final position. The cable length constraint is used to limit the straight-line distance between adjacent mass points to be equal to the standard original length of a single cable segment. The position correction amount of the mass point adjacent to the drone mounting point is extracted. Based on the position correction amount and the mass of the mass point, the equivalent cable tension is calculated and used as the cable tension on the drone.

[0012] Furthermore, the method also includes: For the landing area, the difference between the total cable release length and the length of the suspended cable in the air is calculated based on the terrain elevation data and the real-time location information of the UAV, and the landing cable length is obtained. Apply a visual rendering to the grounded cables.

[0013] Secondly, embodiments of the present invention provide a real-time simulation modeling device for cable dynamics, comprising: The cable segmentation module is used to divide the fiber optic cable into a landing area, a far-end area, and a near-end area based on the degree of physical impact on the drone's flight; wherein, the landing area cable has the least physical impact on the drone's flight, and the near-end area cable has the greatest physical impact on the drone's flight. The remote solution module is used to solve the mechanical parameters of the remote region and calculate the tension vector applied by the remote region to the connection node between the remote region and the proximal region. The near-end modeling module is used to construct a segmented mass spring model in the near-end region, solve the segmented mass spring model based on the tension vector, and output the cable tension of the cable on the UAV, so that the UAV can perform real-time coupled simulation of the flight state according to the cable tension.

[0014] Thirdly, embodiments of the present invention provide an electronic device, comprising: Memory, used to store computer programs; A processor for executing the computer program; Wherein, when the processor executes the computer program, it implements the real-time simulation modeling method for cable dynamics as described in any of the first aspects above.

[0015] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program, which, when executed, implements the real-time simulation modeling method for cable dynamics described in any of the first aspects above.

[0016] Compared with existing technologies, the cable dynamics real-time simulation modeling method provided by this invention has the following advantages: Based on the degree of physical impact on UAV flight, the optical fiber cable is divided into a landing area, a far-end area, and a near-end area; wherein, the cable in the landing area has the least physical impact on UAV flight, and the cable in the near-end area has the greatest physical impact; the mechanical parameters of the far-end area are solved, and the tension vector applied to the connection node between the far-end and near-end areas is calculated; a segmented mass spring model is constructed in the near-end area, and the segmented mass spring model is solved based on the tension vector to output the cable tension on the UAV, enabling the UAV to perform real-time coupled simulation of its flight state based on the cable tension. This invention can significantly improve the physical fidelity of ultra-long optical fiber UAV cable dynamics simulation and significantly reduce the physical computational load of the overall simulation. Attached Figure Description

[0017] To more clearly illustrate the technical features of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating a real-time simulation modeling method for cable dynamics provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a real-time simulation modeling device for cable dynamics provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to limit the invention.

[0022] In a first aspect, embodiments of the present invention provide a real-time simulation modeling method for cable dynamics, see [link to relevant documentation]. Figure 1 This is a flowchart illustrating an embodiment of a real-time simulation modeling method for cable dynamics provided by the present invention.

[0023] like Figure 1 As shown, the method includes the following steps: S1: Based on the degree of physical impact on the flight of the UAV, the fiber optic cables are divided into the landing area, the far end area, and the near end area; among them, the landing area cables have the least physical impact on the flight of the UAV, and the near end area cables have the greatest physical impact on the flight of the UAV. Specifically, for ultra-long-distance fiber optic UAV flight scenarios, the entire fiber optic cable is divided into three regions according to its spatial location and physical impact on the UAV: ​​the landing region, the far-end region, and the near-end region. The cable in the landing region has the least physical impact on the UAV flight, while the cable in the near-end region has the greatest physical impact. Different regions correspond to different physical states and simulation solution strategies, thereby achieving hierarchical and refined simulation of the dynamics of ultra-long cables.

[0024] S2: Solve for the mechanical parameters of the distal region and calculate the tension vector applied by the distal region to the connection node between the distal and proximal regions; Specifically, for suspended cables in the far end area, the tension vector acting on the connection nodes of the near and far ends is calculated, and the tension vector is used as the boundary input load of the near end dynamic model, eliminating the need for iterative calculation of a massive number of discrete mass points for kilometer-level cables.

[0025] S3: Construct a segmented mass spring model in the near-end region, solve the segmented mass spring model based on the tension vector, and output the cable tension of the cable on the UAV so that the UAV can perform real-time coupled simulation of flight state according to the cable tension.

[0026] Specifically, a high-dynamic, refined simulation is performed in the near-end region to construct a segmented mass spring model. The tension vector output from the far-end region is used as the external load input to solve the segmented mass spring model and calculate the equivalent cable tension acting on the UAV in real time. This tension is then coupled to the UAV rigid body dynamics model, allowing the pilot to perceive the descent and drag resistance caused by the long cable in the simulation, thus achieving bidirectional coupling between the cable and UAV dynamics.

[0027] In summary, this invention addresses multiple shortcomings of traditional single-cable simulation schemes by implementing differentiated regional management and hybrid dynamic modeling based on the degree of physical impact of cables on UAVs. These shortcomings include excessive computational overhead, poor numerical stability, and inability to simultaneously consider macroscopic long-line morphology and near-end fine drag feedback. This invention can stably meet the high-frequency real-time simulation requirements of flight simulators, significantly improve the physical fidelity of ultra-long fiber optic UAV cable dynamic simulation, and significantly reduce the physical computational load of the overall simulation.

[0028] In one optional implementation, the landing area is the cable area from the ground base station cable laying end to the cable landing section, which does not exert a mechanical effect on the drone. The near-end area is the cable area from the tail mount point of the UAV to a preset near distance range. The cable in the near-end area directly bears the UAV's maneuvering, gusts of wind, and the tension of the far-end cable. The far end area is the middle section of the suspended cable area located between the landing area and the near end area. The cable in the far end area is in a steady suspended state in balance between gravity and tension.

[0029] Specifically, the landing area is defined as the cable section from the ground base station to the cable landing end. This part of the cable is completely supported by the ground terrain and is completely separated from the aerial suspension force system. It no longer participates in the mechanical transmission process of the aerial cable and has no dynamic physical impact on the flight status of the UAV.

[0030] The near-end area is a cable section extending outward from the cable mounting point at the tail of the drone within a predetermined short distance. This section of cable is close to the drone body and is the core area where the cable and the drone's dynamics are coupled. It can directly sense the drone's rapid turns, acceleration maneuvers, high-altitude gusts of wind disturbance, and the drag tension of the ultra-long cable at the far end. It exhibits dynamic changes such as high-frequency fluctuations and instantaneous pulling, and is a key section that determines the drone's flight control feel and the realism of the simulation physics.

[0031] Optionally, the preset short-distance range can be set to a range of 50m from the mounting point to the nearest end. It can be flexibly set and adjusted according to the business scenario and actual simulation accuracy requirements. No specific value is limited here.

[0032] The far end area is the middle section of suspended cable between the landing area and the near end area. The cable in this area is far from the UAV itself and is minimally affected by the dynamic disturbances of UAV movement and local gusts. The cable is in a static suspension state in which gravity and horizontal tension are balanced for a long time, and the cable spatial shape is stable without high-frequency instantaneous deformation.

[0033] This embodiment significantly improves simulation accuracy by performing partitioned and differentiated modeling of ultra-long optical fiber cables and specifically matching the physical motion characteristics of each cable segment.

[0034] In one optional implementation, solving for the mechanical parameters of the distal region and calculating the tension vector applied by the distal region to the junction of the distal and proximal regions includes: Calculate the catenary coefficient for cables in the remote area; Based on the catenary coefficient, the mass per unit length of the cable, and the gravitational acceleration, the horizontal tension component and the vertical self-weight component of the cable in the far-end area are calculated. The horizontal tension component and the vertical self-weight component are vector synthesized to obtain the tension vector acting on the junction of the distal and proximal regions.

[0035] Specifically, the catenary coefficient corresponding to the cable in the far end area is first obtained by solving the preset cable geometric parameters and spatial position parameters. This coefficient is used to characterize the overall suspension form and tension characteristics of the ultra-long suspended cable.

[0036] Based on the catenary coefficient and the inherent physical parameters of the cable, the horizontal tension component of the cable in the far-end area is calculated using the following formula: ; in, For the horizontal tension component, This is the catenary coefficient. The mass per unit length of the cable, expressed in kg / m. This is the acceleration due to gravity.

[0037] The direction of this horizontal tension component is always horizontal, pointing towards the cable's landing point on the ground. It is used to simulate the horizontal physical constraints that need to be overcome during the straightening of ultra-long suspended cables and is the core horizontal force that maintains the steady-state catenary shape of the far-end cable.

[0038] The formula for calculating the vertical component of self-weight is as follows: ; in, The component of the force perpendicular to its own weight. The mass per unit length of the cable, expressed in kg / m. It is the acceleration due to gravity. This represents the total length of all cables in the remote area.

[0039] This vertical self-weight component is used to fully characterize the total self-weight load of the entire suspended cable in the far end area, and can accurately reproduce the vertical pulling effect generated by the descent of a long cable.

[0040] The final tension vector is solved by vector synthesis. The synthesis formula is: ; This formula vector-couples the mutually perpendicular horizontal tension component with the vertical self-weight component, ultimately obtaining the total tensile force vector of the far-end cable at the connection node. This tensile force vector can completely and equivalently replace the mechanical effect of the entire far-end suspended cable on the near-end cable, providing accurate and complete external force boundary conditions for the subsequent dynamic solution of the near-end segment mass point spring model.

[0041] This embodiment uses the catenary analytical solution method to complete the mechanical calculation of the far-end area, abandoning the traditional modeling method of discrete mass point iteration over the entire domain of ultra-long cables. It eliminates the need for frame-by-frame dynamic iteration of the massive mass points deployed in the kilometer-level far-end cable, fundamentally avoiding the problem of computational resource consumption caused by massive mass point calculation, and greatly reducing the CPU computing overhead of the simulation equipment.

[0042] In one optional implementation, calculating the catenary coefficient corresponding to the cable in the far-end area includes: Obtain the total length of cables in the remote area, and the horizontal distance and vertical height of the UAV relative to the cable landing point; Based on the total length of the cable, the horizontal distance, and the vertical height, a formula for the arc length of the catenary is constructed. Solve the catenary arc length formula to obtain the catenary coefficient corresponding to the cable in the far end area.

[0043] Specifically, the standard equation for a catenary is: ; in, The catenary coefficient, in this embodiment, has the physical meaning of: , The horizontal tension component of the cable, The mass per unit length of the cable, expressed in kg / m. This is the acceleration due to gravity.

[0044] In the simulation process, we first assume that the cable landing point is the origin (0,0), and then obtain the total length S of the suspended cable in the far end area and the position of the UAV (x,y) in real time. That is, the horizontal distance of the UAV relative to the cable landing point is x and the vertical height is y.

[0045] Based on the standard equation of the catenary, the formula for the arc length of the catenary can be obtained: ; Based on the above catenary equation and catenary arc length formula, we can derive the equation that satisfies the catenary coefficient for a catenary with arc length s between two points with a height difference of y and a horizontal distance of x: ; The catenary coefficient 'a' can be obtained by solving the equation using Newton's iteration method or the bisection method.

[0046] This embodiment constructs a catenary solution model and iteratively solves the catenary coefficient based on the cable spatial geometric parameters under actual flight conditions, effectively improving the fit and accuracy of the simulation of ultra-long cable morphology.

[0047] In one alternative implementation, constructing the segmented mass spring model in the proximal region includes: The near-end area cable is discretized to form multiple sets of sequentially connected mass points to construct a segmented mass point spring model; The inverse mass of the mass corresponding to the drone cable mounting point is configured to be zero to achieve end fixation, and the tension vector output from the far end region is applied as an external load to each mass point in the near end region.

[0048] Specifically, for the high dynamic characteristics of the near-end area cable adjacent to the UAV body, a segmented mass point spring model is constructed to achieve refined dynamic simulation. First, the continuous near-end area optical fiber cable is discretized, and the whole cable is decomposed into multiple cable micro-segments that are connected end to end. Simulation mass points are set at the connection positions of each micro-segment, and all mass points are connected in an orderly manner to form a complete segmented mass point spring model.

[0049] To ensure that the connection between the cable and the drone body conforms to real physical conditions, the inverse mass of the boundary mass point corresponding to the drone cable mounting point is set to zero. This constraint method can achieve rigid fixing of the cable end to the drone body, effectively simulating the connection state of the fiber optic cable being fastened to the drone mounting structure in a real scenario.

[0050] The tension vector obtained from the solution in the far-end region is used as a constant boundary external load and applied to each simulated mass point in the near-end region to realize the mechanical linkage coupling between the ultra-long steady-state cable at the far end and the high dynamic cable at the near end, thereby realizing the continuous transmission of the mechanical state of the cable across the entire region.

[0051] In one optional implementation, the step of solving the segmented mass spring model based on the tension vector and outputting the cable tension on the UAV includes: Based on the current position, velocity, inverse mass, and tension vector of each particle, predict the estimated position and velocity of each particle at the next moment. For each group of adjacent mass points, a cable length constraint is applied to correct the estimated position, resulting in the final position of each mass point. The real-time velocity of each mass point is then iteratively updated using the corrected final position. The cable length constraint is used to limit the straight-line distance between adjacent mass points to be equal to the standard original length of a single cable segment. The position correction amount of the mass point adjacent to the drone mounting point is extracted. Based on the position correction amount and the mass of the mass point, the equivalent cable tension is calculated and used as the cable tension on the drone.

[0052] Specifically, this embodiment uses a position-based dynamics (PBD) algorithm to iteratively solve the segmented mass-spring model. Within a single simulation time step, based on the current spatial position, velocity, inverse mass, and external net force of each mass, the estimated position and velocity of each mass at the next moment are predicted. Here, the inverse mass is the reciprocal of the mass of the mass, and the external net force includes the cable's own weight, air resistance, and the tension vector transmitted from the far end. The corresponding formula for calculating the estimated position is: ; in, Let i be the predicted position vector of particle i at the current time step. Let i be the actual position vector of particle i at the previous time step t. For a simulation time step, Let be the velocity vector of particle i at the previous time step t. For inverse mass, It is an external resultant force.

[0053] The corresponding formula for calculating the estimated speed is: ; in, Let i be the predicted velocity vector of particle i at the current time step. Let be the actual velocity vector of particle i at the previous time step t. For a simulation time step, For inverse mass, It is an external resultant force.

[0054] For each group of adjacent mass points, a fixed cable length constraint is set, and the constraint conditions are satisfied as follows: ; in, and For adjacent particles, Let i be the position vector of particle i. Let j be the position vector of particle j. The original length of the cable between the two particles in its initial static state.

[0055] This constraint is used to ensure that the real-time spacing between adjacent particles always matches the inherent length of the cable.

[0056] The predicted location is corrected based on the cable length constraint, using the following correction formula: ; in, This is the position correction vector that needs to be applied to particle i. Let i be the predicted position vector of particle i at the current time step. Let be the predicted position vector of particle j at the current time step. The initial length of the cable between the two particles when it is initially at rest. Let i be the inverse mass of particle i. Let be the inverse mass of particle j.

[0057] Based on the corrected final position of the particles, the real-time velocity of each particle at time t+Δt is further updated.

[0058] The position correction value of the mass point adjacent to the UAV mounting point is extracted. This displacement correction value is the core deformation parameter generated by the cable to overcome tensile deviation and maintain its inherent shape, and can truly reflect the instantaneous tension of the cable. Based on the position correction value and the mass of the mass point, the equivalent cable tension is calculated, as shown in the following formula: ; in, For cable tension, The mass of the mass points adjacent to the drone's mounting point, i.e., the mass of the cable segment. This is the position correction amount for adjacent mass points at the drone's mounting point.

[0059] The calculated equivalent tension is used as the cable tension acting on the drone in real time, and is simultaneously input into the drone's rigid body dynamics model to accurately simulate the physical sensation of dragging and pulling caused by the cable during the drone's flight.

[0060] This embodiment uses the PBD constraint solution method to optimize the solution logic of the near-end segmented mass point spring model, which completely solves the defects of poor numerical stability and easy numerical explosion when the traditional model simulates high rigidity optical fiber. At the same time, by accessing the far-end tension vector, it realizes the organic combination of macroscopic mechanical constraints of kilometer-level long cables and near-end centimeter-level dynamic disturbances.

[0061] In an optional implementation, the method further includes: For the landing area, the difference between the total cable release length and the length of the suspended cable in the air is calculated based on the terrain elevation data and the real-time location information of the UAV, and the landing cable length is obtained. Apply a visual rendering to the grounded cables.

[0062] Specifically, since the landing area is completely supported by the ground and does not exert any mechanical force on the aerial cables and drones, the scene is visualized and reconstructed, but the cable dynamics are not involved in the iterative calculations to avoid unnecessary computational power consumption.

[0063] Based on terrain elevation data and continuously collected real-time location information of the UAV, the difference is calculated by combining the total cable release length and the total length of the suspended cable in the far and near areas. The difference is the actual length of the ground cable attached to the ground at the current moment.

[0064] Terrain-fit visual rendering was performed on this section of cable to only reproduce the visual scene of the fiber optic drone laying the cable on the ground, without performing any dynamic feedback calculations.

[0065] This example addresses the physical characteristics of cables in ground-level areas that lack mechanical coupling. It utilizes terrain data to complete visualization rendering, eliminating the overhead of modeling and iterative calculations of discrete mass points of cables over several kilometers on the ground, thus significantly reducing the CPU load on the simulation equipment.

[0066] Secondly, embodiments of the present invention provide a real-time simulation modeling device for cable dynamics, see [link to relevant documentation]. Figure 2 This is a schematic diagram of an embodiment of a real-time simulation modeling device for cable dynamics provided by the present invention.

[0067] like Figure 2 As shown, the device includes: The cable segmentation module 21 is used to divide the optical fiber cable into a landing area, a far-end area, and a near-end area according to the degree of physical impact on the flight of the UAV; wherein, the cable in the landing area has the least physical impact on the flight of the UAV, and the cable in the near-end area has the greatest physical impact on the flight of the UAV. The remote solution module 22 is used to solve the mechanical parameters of the remote region and calculate the tension vector applied by the remote region to the connection node between the remote region and the proximal region. The near-end modeling module 23 is used to construct a segmented mass spring model in the near-end region, solve the segmented mass spring model based on the tension vector, and output the cable tension of the cable on the UAV so that the UAV can perform real-time coupled simulation of the flight state according to the cable tension.

[0068] In one optional implementation, the landing area is the cable area from the ground base station cable laying end to the cable landing section, which does not exert a mechanical effect on the drone. The near-end area is the cable area from the tail mount point of the UAV to a preset near distance range. The cable in the near-end area directly bears the UAV's maneuvering, gusts of wind, and the tension of the far-end cable. The far end area is the middle section of the suspended cable area located between the landing area and the near end area. The cable in the far end area is in a steady suspended state in balance between gravity and tension.

[0069] In one optional implementation, solving for the mechanical parameters of the distal region and calculating the tension vector applied by the distal region to the junction of the distal and proximal regions includes: Calculate the catenary coefficient for cables in the remote area; Based on the catenary coefficient, the mass per unit length of the cable, and the gravitational acceleration, the horizontal tension component and the vertical self-weight component of the cable in the far-end area are calculated. The horizontal tension component and the vertical self-weight component are vector synthesized to obtain the tension vector acting on the junction of the distal and proximal regions.

[0070] In one optional implementation, calculating the catenary coefficient corresponding to the cable in the far-end area includes: Obtain the total length of cables in the remote area, and the horizontal distance and vertical height of the UAV relative to the cable landing point; Based on the total length of the cable, the horizontal distance, and the vertical height, a formula for the arc length of the catenary is constructed. Solve the catenary arc length formula to obtain the catenary coefficient corresponding to the cable in the far end area.

[0071] In one alternative implementation, constructing the segmented mass spring model in the proximal region includes: The near-end area cable is discretized to form multiple sets of sequentially connected mass points to construct a segmented mass point spring model; The inverse mass of the mass corresponding to the drone cable mounting point is configured to be zero to achieve end fixation, and the tension vector output from the far end region is applied as an external load to each mass point in the near end region.

[0072] In one optional implementation, the step of solving the segmented mass spring model based on the tension vector and outputting the cable tension on the UAV includes: Based on the current position, velocity, inverse mass, and tension vector of each particle, predict the estimated position and velocity of each particle at the next moment. For each group of adjacent mass points, a cable length constraint is applied to correct the estimated position, resulting in the final position of each mass point. The real-time velocity of each mass point is then iteratively updated using the corrected final position. The cable length constraint is used to limit the straight-line distance between adjacent mass points to be equal to the standard original length of a single cable segment. The position correction amount of the mass point adjacent to the drone mounting point is extracted. Based on the position correction amount and the mass of the mass point, the equivalent cable tension is calculated and used as the cable tension on the drone.

[0073] In an optional embodiment, the device is further configured to: For the landing area, the difference between the total cable release length and the length of the suspended cable in the air is calculated based on the terrain elevation data and the real-time location information of the UAV, and the landing cable length is obtained. Apply a visual rendering to the grounded cables.

[0074] It should be noted that the cable dynamics real-time simulation modeling device provided in this embodiment of the invention is used to execute all the process steps of the cable dynamics real-time simulation modeling method in the above embodiment. The working principles and beneficial effects of the two are one-to-one, so they will not be described again.

[0075] Thirdly, embodiments of the present invention provide an electronic device, see [link to previous document]. Figure 3 The diagram shown is a structural schematic of an electronic device provided in an embodiment of the present invention.

[0076] like Figure 3 As shown, the device includes: Memory 31 is used to store computer programs; Processor 32 is used to execute the computer program; When the processor 32 executes the computer program, it implements the real-time simulation modeling method for cable dynamics as described in any of the above embodiments.

[0077] For example, the computer program may be divided into one or more modules / units, which are stored in the memory 31 and executed by the processor 32 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the electronic device.

[0078] The processor 32 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0079] The memory 31 can be used to store the computer programs and / or modules. The processor 32 implements various functions of the electronic device by running or executing the computer programs and / or modules stored in the memory 31 and calling the data stored in the memory 31. The memory 31 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory 31 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital card (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0080] It should be noted that the aforementioned electronic devices include, but are not limited to, processors and memory, as will be understood by those skilled in the art. Figure 3 The structural diagram is merely an example of the electronic device described above and does not constitute a limitation on the electronic device. It may include more components than shown in the diagram, or combine certain components, or use different components.

[0081] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed, implements the real-time simulation modeling method for cable dynamics described in any of the above embodiments.

[0082] It should be understood that the implementation of all or part of the above-described real-time simulation modeling method for cable dynamics can also be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of the above-described real-time simulation modeling method for cable dynamics. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0083] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. It should be noted that, for those skilled in the art, several equivalent obvious modifications and / or equivalent substitutions can be made without departing from the technical principles of the present invention, and these obvious modifications and / or equivalent substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A real-time simulation modeling method for cable dynamics, characterized in that, include: Based on the degree of physical impact on the flight of the drone, the fiber optic cables are divided into the landing area, the far end area, and the near end area; among them, the landing area cables have the least physical impact on the flight of the drone, and the near end area cables have the greatest physical impact on the flight of the drone. Solve for the mechanical parameters of the distal region and calculate the tension vector applied by the distal region to the junction of the distal and proximal regions; A segmented mass spring model is constructed in the near-end region. The segmented mass spring model is solved based on the tension vector to output the cable tension on the UAV, so that the UAV can perform real-time coupled simulation of flight state according to the cable tension.

2. The real-time simulation modeling method for cable dynamics as described in claim 1, characterized in that, The landing area refers to the cable area from the ground base station's cable laying end to the cable landing section, which does not exert any mechanical force on the drone; The near-end area is the cable area from the tail mount point of the UAV to a preset near distance range. The cable in the near-end area directly bears the UAV's maneuvering, gusts of wind, and the tension of the far-end cable. The far end area is the middle section of the suspended cable area located between the landing area and the near end area. The cable in the far end area is in a stable suspended state in balance between gravity and tension.

3. The real-time simulation modeling method for cable dynamics as described in claim 1, characterized in that, The process of solving for the mechanical parameters of the distal region and calculating the tension vector applied by the distal region to the junction of the distal and proximal regions includes: Calculate the catenary coefficient for cables in the remote area; Based on the catenary coefficient, the mass per unit length of the cable, and the gravitational acceleration, the horizontal tension component and the vertical self-weight component of the cable in the far-end area are calculated. The horizontal tension component and the vertical self-weight component are vector-synthesized to obtain the tension vector acting on the junction of the distal and proximal regions.

4. The real-time simulation modeling method for cable dynamics as described in claim 3, characterized in that, The calculation of the catenary coefficient corresponding to the cable in the far-end area includes: Obtain the total length of cables in the remote area, and the horizontal distance and vertical height of the UAV relative to the cable landing point; Based on the total length of the cable, the horizontal distance, and the vertical height, a formula for the arc length of the catenary is constructed. Solve the above catenary arc length formula to obtain the catenary coefficient corresponding to the cable in the far end area.

5. The real-time simulation modeling method for cable dynamics as described in claim 1, characterized in that, The construction of the segmented mass spring model in the proximal region includes: The near-end area cable is discretized to form multiple sets of sequentially connected mass points to construct a segmented mass point spring model; The inverse mass of the mass corresponding to the drone cable mounting point is configured to be zero to achieve end fixation, and the tension vector output from the far end region is applied as an external load to each mass point in the near end region.

6. The real-time simulation modeling method for cable dynamics as described in claim 1, characterized in that, The step of solving the segmented mass spring model based on the tension vector to output the cable tension on the UAV includes: Based on the current position, velocity, inverse mass, and tension vector of each particle, predict the estimated position and velocity of each particle at the next moment. For each group of adjacent mass points, a cable length constraint is applied to correct the estimated position, resulting in the final position of each mass point. The real-time velocity of each mass point is then iteratively updated using the corrected final position. The cable length constraint is used to limit the straight-line distance between adjacent mass points to be equal to the standard original length of a single cable segment. The position correction amount of the mass point adjacent to the drone mounting point is extracted. Based on the position correction amount and the mass of the mass point, the equivalent cable tension is calculated and used as the cable tension on the drone.

7. The real-time simulation modeling method for cable dynamics as described in claim 1, characterized in that, The method further includes: For the landing area, the difference between the total cable release length and the length of the suspended cable in the air is calculated based on the terrain elevation data and the real-time location information of the UAV, and the landing cable length is obtained. Apply a visual rendering to the ground cables.

8. A real-time simulation modeling device for cable dynamics, characterized in that, include: The cable segmentation module is used to divide the fiber optic cable into a landing area, a far-end area, and a near-end area based on the degree of physical impact on the drone's flight; wherein, the landing area cable has the least physical impact on the drone's flight, and the near-end area cable has the greatest physical impact on the drone's flight. The remote solution module is used to solve the mechanical parameters of the remote region and calculate the tension vector applied by the remote region to the connection node between the remote region and the proximal region. The near-end modeling module is used to construct a segmented mass spring model in the near-end region, solve the segmented mass spring model based on the tension vector, and output the cable tension of the cable on the UAV, so that the UAV can perform real-time coupled simulation of the flight state according to the cable tension.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program; Wherein, when the processor executes the computer program, it implements the real-time simulation modeling method for cable dynamics as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the real-time simulation modeling method for cable dynamics as described in any one of claims 1 to 7.

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