CN107943005B - Detection method and detection device and unmanned aerial vehicle - Google Patents
Detection method and detection device and unmanned aerial vehicle Download PDFInfo
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- CN107943005B CN107943005B CN201711279537.6A CN201711279537A CN107943005B CN 107943005 B CN107943005 B CN 107943005B CN 201711279537 A CN201711279537 A CN 201711279537A CN 107943005 B CN107943005 B CN 107943005B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B2219/24065—Real time diagnostics
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Abstract
The invention provides a detection method, a detection device and an unmanned aerial vehicle, wherein the detection method is used for detecting a mounting module in the unmanned aerial vehicle, and comprises the following steps: acquiring type information and version information of the mounting module; sending a test instruction to the mounting module according to the type information and the version information so that the mounting module operates according to the test instruction and returns a feedback value; comparing the feedback value with a preset feedback value; and when the feedback value is consistent with a preset feedback value, displaying the inspection passing information of the mounting module. The detection method, the detection device and the unmanned aerial vehicle provided by the invention can automatically and quickly detect the mounting module arranged on the unmanned aerial vehicle, and are convenient to detect and low in cost.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a detection method, a detection device and an unmanned aerial vehicle.
Background
Unmanned aerial vehicles are playing an increasingly important role in our lives, such as unmanned aerial vehicle courier delivery, plant protection unmanned aerial vehicles, unmanned aerial vehicle rescue, and so on. Because unmanned aerial vehicle uses more and more extensively, the mounting module on the unmanned aerial vehicle is also more and more abundant, along with the frequent use of unmanned aerial vehicle's mounting module, and service environment's condition is complicated, and this can make the inevitable damage that appears of mounting module on the unmanned aerial vehicle, needs professional to carry out mounting module inspection and change usually. However, the lack of professional technicians and the high detection cost cause that the mounting module in the unmanned aerial vehicle cannot be rapidly detected and maintained, and the hidden danger of the mounting module of the unmanned aerial vehicle is caused.
Disclosure of Invention
In view of this, the present invention provides a detection method, a detection device and an unmanned aerial vehicle, which can automatically and quickly detect a mounting module mounted on the unmanned aerial vehicle, and are convenient to detect and low in cost.
The invention provides a detection method, which is used for detecting a mounting module in an unmanned aerial vehicle, and comprises the following steps: acquiring type information and version information of the mounting module; sending a test instruction to the mounting module according to the type information and the version information so that the mounting module operates according to the test instruction and returns a feedback value; comparing the feedback value with a preset feedback value; and when the feedback value is consistent with a preset feedback value, displaying the inspection passing information of the mounting module.
Specifically, the step of comparing the feedback value with a preset feedback value further includes: and when the feedback value is inconsistent with a preset feedback value, displaying that the mounting module fails to pass the inspection.
Specifically, the step of displaying that the mount module fails to pass the information after the step of verifying the mount module further includes: obtaining a first control signal according to the inspection failure information; and sending the first control signal to an automatic replacing device so as to control the automatic replacing device to replace the mounting module.
Specifically, the type information includes a mounting module type code, and the mounting module type code includes a toxic gas detection module type code, a remote shouting module type code, a casting module type code, a multiple visible light pod module type code, a highlight lamp irradiation module type code or a temperature detection module type code.
Specifically, the version information includes mounted module hardware version information and mounted module software version information.
Specifically, the test instruction comprises a serial port communication test command, an LED test command, a CAN bus communication test command, a PWM signal interface test command, an AD temperature acquisition interface test command, an IIC interface test command, a USB interface test command, an SBUS interface test command, a FLASH unit test command, an SRAM unit test command, an EEPROM unit test command, a loudspeaker unit test command and an RS485 communication test command.
Specifically, the step of obtaining the type information and the version information of the mounted module further includes: judging whether a replacing signal of the mounting module is received or not; if yes, executing the step of acquiring the type information and the version information of the mounting module; if not, returning to the step of judging whether the replacement signal of the mounting module is received or not.
The invention also provides a detection device, which comprises a detection platform arranged on the unmanned aerial vehicle, wherein the detection platform comprises: a memory for storing executable program code; and a processor for calling the executable program code in the memory, the executing step including the detection method as described above.
Specifically, the detection device further comprises an automatic replacing device and an output platform; the automatic replacing device is used for replacing a mounting module in the unmanned aerial vehicle; and the output platform is used for displaying the inspection passing information or the inspection failing information of the mounting module.
The invention also provides an unmanned aerial vehicle which comprises the detection device.
Therefore, according to the detection method, the detection device and the unmanned aerial vehicle provided by the embodiment, the type information and the version information in the mounting module are acquired to send the corresponding test instruction to the mounting module, so that the mounting module runs the corresponding test instruction to obtain the feedback value, and whether the mounting module passes the test is judged, and therefore the mounting module mounted on the unmanned aerial vehicle can be automatically and rapidly detected, the detection is convenient, and the cost is low. Detection of the mounted module can be realized without professional technicians.
In order to make the aforementioned and other objects, features and advantages of the invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a block diagram of a detection method according to a first embodiment of the present invention.
Fig. 2 is a block diagram of a detection method according to a second embodiment of the present invention.
Fig. 3 is a block diagram of a detection method according to a third embodiment of the present invention.
Fig. 4 is a block diagram of a detecting device according to a fourth embodiment of the present invention.
FIG. 5 is a block diagram of the testing platform shown in FIG. 4.
Fig. 6 is a block diagram of a drone according to a fifth embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention for achieving the intended purpose, the following detailed description of the embodiments, methods, steps, structures, features and effects of the detection method according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
The foregoing and other aspects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments, as illustrated in the accompanying drawings. While the invention has been described in connection with specific embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention.
Referring to fig. 1, fig. 1 is a block diagram illustrating a detection method according to a first embodiment of the invention. The detection method provided by the embodiment can be but is not limited to be used for detecting a mounting module of the device on the unmanned aerial vehicle. As shown in fig. 1, the detection method comprises the following steps:
step S11, obtaining type information and version information of the mounted module.
Specifically, in this embodiment, the detection platform installed in the unmanned aerial vehicle may be electrically connected to the mounting module mounted on the bottom of the unmanned aerial vehicle, so as to realize communication interaction between the detection platform and the mounting module, for example, serial communication or the like may be used. Specifically, in this embodiment, the detection platform sends the acquisition type instruction information to the mount module currently mounted in the unmanned aerial vehicle, so as to acquire the type information of the current mount module. The detection platform judges whether the type information in the current mounting module conforms to a first preset protocol rule. The detection platform acquires the type code of the mounting module when the type information is consistent with the first preset protocol rule, and prompts that the current mounting module is abnormal when the type information is inconsistent with the first preset protocol rule.
Specifically, in the present embodiment, the version information may include, but is not limited to, mounted module hardware version information and mounted module software version information.
Further, in this embodiment, after acquiring the type code of the mount module, the detection platform sends instruction information for acquiring the hardware version information to the mount module to acquire the hardware version information of the mount module, and determines whether the acquired hardware version information conforms to a second preset protocol rule. When the acquired hardware version information is consistent with the second preset protocol rule, the detection platform sends instruction information for acquiring software version information to the mounting module so as to acquire the software version information of the mounting module, and judges whether the acquired software version information accords with the third preset protocol rule.
Specifically, in the present embodiment, the type information may include, but is not limited to, a mounting module type code including a toxic gas detection module type code, a remote shouting module type code, a casting module type code, a multiple visible light pod type code, a highlight irradiation module type code, or a temperature detection module type code.
Specifically, in the present embodiment, the verification program and the interface of the mounted module are related to the type information and the version information of the mounted module. Specifically, the detection module determines which module type code the type code of the mount module belongs to, so as to obtain the functional interface included in the mount module according to the module type code. The detection module can determine the application state of the functional interface of the mounting module in the current version information according to the hardware version information and the software version information of the mounting module, for example, which functional interfaces in the mounting module are in the use state and which functional interfaces are in the non-use state.
And step S12, sending a test instruction to the mounting module according to the type information and the version information, so that the mounting module operates according to the test instruction and returns a feedback value.
Specifically, in the present embodiment, the test instruction may include, but is not limited to, a serial port communication check command, an LED check command, a CAN bus communication check command, a PWM signal interface check command, an AD temperature acquisition interface check command, an IIC interface check command, a USB interface check command, an SBUS interface check command, a FLASH unit check command, an SRAM unit check command, an EEPROM unit check command, a speaker unit check command, and an RS485 communication check command.
Specifically, in this embodiment, when the mount module receives a serial port communication check command, an LED check command, a CAN bus communication check command, a PWM signal interface check command, an AD temperature acquisition interface check command, an IIC interface check command, a USB interface check command, an SBUS interface check command, a FLASH unit check command, an SRAM unit check command, an EEPROM unit check command, a speaker unit check command, and an RS485 communication check command sent by the detection platform, the mount module executes corresponding test instructions one by one, and returns a feedback value to the detection platform after the execution of the corresponding instructions is completed.
Step S13, comparing the feedback value with a preset feedback value.
Specifically, in the present embodiment, the feedback value is plural and corresponds to the number of test instructions. Specifically, the plurality of feedback values are compared with corresponding preset feedback values one by one to judge whether each feedback value is consistent with the corresponding preset feedback value.
And step S14, when the feedback value is consistent with the preset feedback value, displaying the mounting module checking passing information.
Specifically, in this embodiment, the detection module sequentially sends test instructions corresponding to the functional interfaces to the mount module according to the conditions of the functional interfaces of the mount module. And after receiving the corresponding test instruction, the mounting module starts to execute a self-checking program of the functional interface corresponding to the test instruction, and sends a checking result, such as a feedback value, to the detection platform after the checking is finished. And after receiving the feedback value, the detection platform judges whether the feedback value accords with a corresponding preset feedback value so as to judge whether the currently tested functional interface in the mounting module is normal and output a detection result. And after the detection platform outputs the detection result, if the detection result of the currently tested functional interface is normal, continuing to detect the next functional interface in the mounting module until all the functional interfaces in the mounting module are detected.
Specifically, in this embodiment, after all the functional interfaces in the mounted module are checked. If the test results of all the functional interfaces in the mounting module are normal, the mounting module test passing information is displayed on the output platform, and the mounting module does not need to be replaced.
Referring to fig. 2, fig. 2 is a block diagram illustrating a detection method according to a second embodiment of the present invention. As shown in fig. 1 and fig. 2, specifically, the following is also included after step S13 of the first embodiment:
and step S21, when the feedback value is inconsistent with the preset feedback value, showing that the mounting module fails to pass the check information.
Specifically, in this embodiment, after the mounting module runs all test instructions, the detection platform compares a plurality of feedback values returned by the mounting module with corresponding preset feedback values one by one, if at least one of the plurality of feedback values is inconsistent with the corresponding preset feedback value, the current mounting module in the unmanned aerial vehicle fails to pass the inspection, and the detection platform sends mounting module inspection non-passing information to the output platform to control the output platform to display that the mounting module fails to pass the inspection.
In step S22, a first control signal is obtained according to the verification failure information.
Step S23, sending a first control signal to the automatic replacing device to control the automatic replacing device to replace the mounted module.
Specifically, in this embodiment, the detection platform sends a first control signal to the automatic replacing device when the detection that the mounting module currently mounted on the unmanned aerial vehicle fails to be checked. Automatic change device is after receiving first control signal, and control robotic arm takes off the carry module of carry on unmanned aerial vehicle to with reserve carry module device on unmanned aerial vehicle, thereby realize the carry module on the automatic quick replacement unmanned aerial vehicle, maintain with the carry module that damages.
Referring to fig. 3, fig. 3 is a block diagram illustrating a detection method according to a third embodiment of the present invention. As shown in fig. 1 to 3, specifically, the following step is further included before step S11 in the first embodiment or the second embodiment:
step S31, it is determined whether a replacement signal for the mounted module is received.
Specifically, in the present embodiment, if yes, step S11 is executed: and acquiring the type information and the version information of the mounted module. If not, the process returns to step S31: and judging whether a replacing signal of the mounting module is received or not.
Specifically, in this embodiment, when the mount module on the unmanned aerial vehicle is changed, the detection platform will receive the change signal of the mount module. The detection platform sends the request for obtaining the type information and the version information to the mounting module according to the received replacement signal, but the detection platform is not limited to this, for example, in other embodiments, the detection platform may also send the request for obtaining the type information and the version information to the mounting module after a preset time interval, so as to implement the timing detection of the mounting module mounted on the unmanned aerial vehicle.
Referring to fig. 4, fig. 4 is a block diagram of a detecting device 100 according to a fourth embodiment of the invention. As shown in fig. 4, the inspection apparatus 100 includes an inspection stage 20, an automatic exchanging apparatus 30, and an output stage. Specifically, the detection platform 20 is in communication connection with the automatic replacing device 30 and the output platform 40, respectively, so as to realize data interaction among the detection platform 20, the automatic replacing device 30 and the output platform 40. Specifically, in the present embodiment, the output platform 40 may be, but is not limited to, a fixed device on the automatic exchanging device 30. Detection platform 20 fixing device is on unmanned aerial vehicle, and is connected with the mounting module 10 electricity of device on unmanned aerial vehicle to detect mounting module 10.
Specifically, in the present embodiment, the automatic exchanging apparatus 30 may include, but is not limited to, a robot arm (not shown) and a camera module (not shown). Camera module fixing device is on robotic arm's free end, specifically, after automatic change device 30 discerned unmanned aerial vehicle's mounting module 10 position according to camera module collection image information and visual algorithm, control robotic arm snatchs mounting module 10 to mounting module 10 on to unmanned aerial vehicle is changed.
Referring to fig. 5, fig. 5 is a block diagram illustrating the structure of the detecting platform 20 in fig. 4. As shown in fig. 4 and 5, the detection platform 20 includes a memory 22 and a processor 24. In particular, in the present embodiment, the memory 22 is used to store executable program code. The processor 24 is used for calling the executable program code in the memory 22 and executing the following steps: acquiring type information and version information of the mounting module 10; sending a test instruction to the mounting module 10 according to the type information and the version information, so that the mounting module 10 operates according to the test instruction and returns a feedback value; comparing the feedback value with a preset feedback value; when the feedback value is consistent with the preset feedback value, the display mounting module 10 checks the passing information.
Specifically, in this embodiment, processor 24 is further configured to show that mounting module 10 checks the fail message when the feedback value is inconsistent with the preset feedback value.
Specifically, in the present embodiment, the processor 24 is further configured to derive the first control signal according to the verification failure information; the first control signal is transmitted to the automatic exchanging device 30 to control the automatic exchanging device 30 to exchange the mounted module 10.
Specifically, in the present embodiment, the type information includes a mounting module 10 type code, and the mounting module 10 type code includes a toxic gas detection module type code, a remote shouting module type code, a casting module type code, a multiple visible light pod module type code, a highlight irradiation module type code, or a temperature detection module type code.
Specifically, in the present embodiment, the version information includes the hardware version information of the mounted module 10 and the software version information of the mounted module 10.
Specifically, in this embodiment, the test instruction includes a serial port communication check command, an LED check command, a CAN bus communication check command, a PWM signal interface check command, an AD temperature acquisition interface check command, an IIC interface check command, a USB interface check command, an SBUS interface check command, a FLASH unit check command, an SRAM unit check command, an EEPROM unit check command, a speaker unit check command, and an RS485 communication check command. In particular, the test instructions may be, but are not limited to being, stored in the memory 22.
Specifically, in this embodiment, the processor 24 is further configured to determine whether a replacement signal of the mounting module 10 is received; if yes, executing the step of obtaining the type information and the version information of the mounting module 10; if not, returning to the step of judging whether the replacement signal of the mounting module 10 is received.
Specifically, in the present embodiment, the automatic exchange device 30 is used to exchange the mounting module 10 in the drone. Output platform 40 is used to display the verification pass information or the verification fail information of mounted module 10.
For the specific process of implementing each function of each functional unit of the detection platform 20, please refer to the specific contents described in the embodiments shown in fig. 1 and fig. 3, which is not described herein again.
Referring to fig. 6, fig. 6 is a block diagram of a drone 200 according to a fifth embodiment of the present invention. As shown in fig. 6, specifically, in the present embodiment, the unmanned aerial vehicle 200 includes the detection platform 20 in the detection apparatus 100, and specifically, please refer to fig. 5 and the corresponding description for the specific structure of the detection platform 20, which is not repeated herein.
Therefore, according to the detection method, the detection device 100 and the unmanned aerial vehicle 200 provided by the embodiment, the type information and the version information in the mounting module 10 are acquired to send the corresponding test instruction to the mounting module 10, so that the mounting module 10 runs the corresponding test instruction to obtain the feedback value, and whether the mounting module 10 passes the test is judged, and therefore the mounting module 10 mounted on the unmanned aerial vehicle 200 can be automatically and quickly detected, the detection is convenient, and the cost is low. The detection of the mounted module 10 can be achieved without the need for a skilled technician.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the terminal class embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant points, reference may be made to part of the description of the method embodiment.
Claims (9)
1. A detection method for detecting a mounting module in a drone, the detection method comprising:
acquiring type information and version information of the mounting module;
sending a test instruction to the mounting module according to the type information and the version information so that the mounting module operates according to the test instruction and returns a feedback value;
comparing the feedback value with a preset feedback value;
when the feedback value is consistent with a preset feedback value, displaying the inspection passing information of the mounting module;
wherein, the step of obtaining the type information and the version information of the mounted module further comprises the following steps:
judging whether a replacing signal of the mounting module is received or not;
if yes, executing the step of acquiring the type information and the version information of the mounting module;
if not, returning to the step of judging whether the replacement signal of the mounting module is received or not.
2. The method of claim 1, wherein the step of comparing the feedback value with a predetermined feedback value further comprises:
and when the feedback value is inconsistent with a preset feedback value, displaying that the mounting module fails to pass the inspection.
3. The detection method according to claim 2, wherein the step of showing that the mount module fails to check information further comprises:
obtaining a first control signal according to the inspection failure information;
and sending the first control signal to an automatic replacing device so as to control the automatic replacing device to replace the mounting module.
4. The detection method according to claim 1, wherein the type information comprises a mounted module type code, the mounted module type code comprising a poison gas detection module type code, a remote shouting module type code, a tossing module type code, a multiple visible light pod module type code, a highlight lamp illumination module type code, or a temperature detection module type code.
5. The detection method according to claim 1, wherein the version information includes mounted module hardware version information and mounted module software version information.
6. The method of claim 1, wherein the test command comprises a serial port communication test command, an LED test command, a CAN bus communication test command, a PWM signal interface test command, an AD temperature acquisition interface test command, an IIC interface test command, a USB interface test command, an SBUS interface test command, a FLASH unit test command, an SRAM unit test command, an EEPROM unit test command, a speaker unit test command, and an RS485 communication test command.
7. The utility model provides a detection device, its characterized in that, detection device includes the testing platform of device on unmanned aerial vehicle, testing platform includes:
a memory for storing executable program code; and
a processor for invoking said executable program code in said memory, the executing step comprising the detection method of any one of claims 1 to 6.
8. The inspection device of claim 7, further comprising an automatic exchange device and an output platform;
the automatic replacing device is used for replacing a mounting module in the unmanned aerial vehicle;
and the output platform is used for displaying the inspection passing information or the inspection failing information of the mounting module.
9. A drone, characterized in that it comprises a detection device according to claim 7.
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| CN108908402B (en) * | 2018-07-06 | 2023-03-21 | 浙江国自机器人技术股份有限公司 | Robot hardware detection method and system |
| CN111204474B (en) * | 2020-01-15 | 2022-11-08 | 广东中科瑞泰智能科技有限公司 | Unmanned aerial vehicle function module detection method, device, equipment and storage medium |
| CN111708282B (en) * | 2020-04-30 | 2023-08-18 | 浙江口碑网络技术有限公司 | Simulation test scheduling method, simulation test system, simulation test device and electronic equipment |
| CN113341775B (en) * | 2021-06-02 | 2022-04-12 | 天津云圣智能科技有限责任公司 | Pod dispatching method, device and system |
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