CN109878715A - The malfunction monitoring method for early warning and unmanned vehicle of unmanned vehicle - Google Patents
The malfunction monitoring method for early warning and unmanned vehicle of unmanned vehicle Download PDFInfo
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- CN109878715A CN109878715A CN201910165395.3A CN201910165395A CN109878715A CN 109878715 A CN109878715 A CN 109878715A CN 201910165395 A CN201910165395 A CN 201910165395A CN 109878715 A CN109878715 A CN 109878715A
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Abstract
Embodiment of the present invention provides malfunction monitoring method for early warning, unmanned vehicle and the storage medium of a kind of unmanned vehicle, belongs to unmanned vehicle field.The described method includes: obtaining the power output percentage of each spindle motor of the unmanned vehicle；Whether it is more than that given threshold determines whether to generate early warning according to the power output percentage, additionally provides a kind of unmanned vehicle using above-mentioned malfunction monitoring method for early warning.The present invention has found loosened screw, the security risks such as horn loosens, motor bearings damages, to improve the flight safety of unmanned vehicle by the exception of the power output percentage of the spindle motor of monitoring unmanned vehicle in time.
Description
Technical field
The present invention relates to unmanned vehicle fields, a kind of malfunction monitoring method for early warning more particularly to unmanned vehicle and
A kind of unmanned vehicle.
Background technique
Multi-rotor unmanned aerial vehicle is common a kind of unmanned vehicle on the market at present, generally by three and the above propeller group
At.Electron speed regulator, motor and paddle constitute the dynamical system of unmanned vehicle, and electron speed regulator receives flight controller and provides
Control instruction, the revolving speed for controlling motor and paddle reaches the maintenance and adjustment of flight attitude.In industrial application, since nobody flies
The reasons such as the activity duration of row device is long, operating environment is severe, maintenance deficiency, often will appear unmanned vehicle loosened screw, machine
The exceptions such as arm loosens, motor bearings damages, and these situations operator is not noticeable, eventually leads to unmanned flight over time
Situations such as device exception or even aircraft bombing.
Summary of the invention
The purpose of embodiment of the present invention is to carry out malfunction monitoring to unmanned vehicle in unmanned vehicle flight course,
And early warning is determined whether according to malfunction monitoring result, remind operator to carry out plant maintenance by fault pre-alarming, at least up to
To security risk is reduced, the purpose of unmanned vehicle flight safety is promoted.
To achieve the goals above, in first aspect present invention, a kind of pre- police of malfunction monitoring of unmanned vehicle are provided
Method, the unmanned vehicle include one or more spindle motors, which comprises
Obtain the power output percentage of each spindle motor of the unmanned vehicle；According to the power output percentage
It whether is more than that given threshold determines whether to generate early warning.
Optionally, it is described according to the power output percentage whether be more than given threshold determine whether generate early warning, packet
It includes:
Calculate the mean value of the power output percentage of the single spindle motor in the selected period；By the mean value and the setting
Threshold value comparison, it is determined whether generate early warning；Wherein the given threshold is the axis of the unmanned vehicle in the selected period
The mean value that motor power exports percentage mean value adds tolerance range.
Optionally, the selected period is the single flight period of the unmanned vehicle.
Optionally, the tolerance range can be updated.
Optionally, the mean value of the power output percentage for calculating the single spindle motor in the selected period, comprising:
When the selected period starts, the first power output percentage for the spindle motor that will acquire is as the spindle motor
The mean value of power output percentage；
When getting newest power output percentage, the mean value is updated using following formula:
Avgnew=Avgold+(New-Avgold)/(M+1)；
Wherein, New is newest power output percentage, i.e. the M+1 power output percentage；AvgoldBefore updating
Mean value, AvgnewFor updated mean value；
At the end of the selected period, AvgnewThe as mean value of the power output percentage of the spindle motor.
Optionally, the mean value of the spindle motor power output percentage mean value are as follows: all axis electricity of the unmanned vehicle
The arithmetic mean of instantaneous value or weighted average of the mean value of the power output percentage of machine.
Optionally, it is described according to the power output percentage whether be more than given threshold determine whether generate early warning, packet
It includes:
Obtain the power output percentage of the single spindle motor at two moment；
The variation of the power output percentage is calculated according to the power output percentage of the single spindle motor at two moment
Rate；
According to the change rate compared with the given threshold, it is determined whether generate early warning；
Wherein the given threshold is setting change rate deviation range.
Optionally, the setting change rate deviation range can be updated.
Optionally, the power output percentage of the single spindle motor according to two moment calculates the power output hundred
The change rate for dividing ratio, using following formula:
Vc=(P1- P2)/T；
Wherein, VcFor the change rate；P1、P2The power output percentage of the single spindle motor at respectively described two moment
Than；Time difference of the T between described two moment.
Optionally, the method also includes: the early warning is transmitted to the flight controller of the unmanned vehicle.
In the second aspect of the present invention, a kind of unmanned vehicle is also provided, the unmanned vehicle includes:
One or more spindle motors；And flight controller, the flight controller be configured to obtain it is described nobody fly
The power output percentage of each spindle motor of row device, and according to the power output percentage whether be more than that given threshold is true
It is fixed whether to generate early warning.
Or a kind of unmanned vehicle is provided, the unmanned vehicle includes:
One or more spindle motors；And controller, the controller are configured to obtain the every of the unmanned vehicle
The power output percentage of a spindle motor, and according to the power output percentage whether be more than that given threshold determines whether to produce
Raw early warning；And flight controller, the flight controller are configured to export the power output percentage of each spindle motor, with
And receive the early warning.
Optionally, the unmanned vehicle further includes communication device, and the communication device is configured to the controller
The early warning of generation is transmitted to the opposite end of the communication device.
Optionally, the unmanned vehicle further includes storage device, and the storage device is configured to:
Store the early warning, and or time for generating of the storage early warning, and or the storage spindle motor power it is defeated
Percentage and its mean value out.
Optionally, the unmanned vehicle further include audio unit and or light emitting device and or display device, the nothing
People's aircraft further include audio unit and or light emitting device and or display device be configured to be reminded according to the early warning.
In the third aspect of the present invention, a kind of machine readable storage medium is also provided, on the machine readable storage medium
It is stored with instruction, which enables to the controller to execute the pre- police of malfunction monitoring above-mentioned when being executed by a controller
Method.
Using malfunction monitoring method for early warning provided by the invention, to unmanned vehicle in unmanned vehicle flight course
The power output percentage of spindle motor is monitored, and analyzes the abnormal feelings of the power output percentage of flight course central-shaft motor
Condition, the timely early warning under the power output percent data abnormal conditions of spindle motor, thus, it is possible to find unmanned vehicle in time
Existing security risk reminds operator to carry out plant maintenance, improves the flight safety of unmanned vehicle.
The other feature and advantage of embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to embodiment of the present invention, and constitute part of specification, with
Following specific embodiment is used to explain the present invention embodiment together, but does not constitute the limit to embodiment of the present invention
System.In the accompanying drawings:
Fig. 1 is the step flow chart of the fault early warning method for the unmanned vehicle that one embodiment of the present invention provides；
Fig. 2 is the specific implementation stream of the fault early warning method for the unmanned vehicle that a kind of optional embodiment of the present invention provides
Cheng Tu；
Fig. 3 is the structural schematic diagram for the unmanned vehicle that a kind of optional embodiment of the present invention provides.
Description of symbols
10 spindle motor, 20 controller
30 flight controllers
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In embodiments of the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, top, bottom "
Usually for direction shown in the drawings either for it is vertical, vertically or on gravity direction for each component it is mutual
Positional relationship describes word.
Fig. 1 is the step flow chart of the fault early warning method for the unmanned vehicle that one embodiment of the present invention provides.Such as
Shown in Fig. 1, a kind of malfunction monitoring method for early warning of unmanned vehicle is provided, the unmanned vehicle includes one or more axis electricity
Machine, which comprises obtain the power output percentage of each spindle motor of the unmanned vehicle；It is defeated according to the power
Whether percentage is more than that given threshold determines whether to generate early warning out.
In this way, by the power output percentage for each spindle motor for obtaining the unmanned vehicle, and judge acquisition
Whether power output percentage, which exceeds given threshold, determines whether early warning, so that unmanned plane operator or maintenance personnel are by moving
Power exports the exception of percentage, the security risk in flight course can be found in time, to improve the flight of unmanned vehicle
Safety reduces significant trouble.
Specifically, the mainstream of the spindle motor of unmanned vehicle is brushless motor at present, the effect of motor is exactly to pass through rotation
The rotation for driving propeller, to provide the lift of unmanned vehicle.Multiple spindle motors of multiaxis unmanned vehicle cooperate,
Change variable rotor speed by adjusting the revolving speed of each spindle motor, realizes the variation of lift, unmanned vehicle can be made to make respectively
Kind flare maneuver keeps various flight attitudes, and realization (is translated and rotated along three reference axis respectively in six-freedom degree
Movement) on control.
A kind of embodiment according to the present invention passes through unmanned vehicle in unmanned vehicle flight course first
Flight controller or Attached Processor acquire the power output percentage of each spindle motor of unmanned vehicle, this place in real time
The power output percentage of finger refers to that the power output of the single spindle motor accounts for the specific gravity of entire unmanned vehicle power output, and
Power output percentage collected is compared with the given threshold being previously set, the case where it exceeds given threshold
Under, it determines and generates early warning.
When the flight condition of unmanned vehicle occurs abnormal, power output percentage will receive significant impact, i.e.,
When power output failure occurs in single spindle motor, it will affect the output power of other spindle motors, cause the fluctuation of globality, because
Other spindle motors lose at this time in order to share the output power of some spindle motor, and the output that also can correspondingly increase itself is dynamic
When some of power or some spindle motor components loosen, in order to keep the balance and flight attitude of entire unmanned vehicle,
Flight controller can adjust the power output of spindle motor accordingly.Therefore, when some spindle motor occur output power variation or
When failure, the percentage of the power output of its own or other spindle motors will appear apparent variation.It is this by monitoring
Abnormal variation can find the security risk that unmanned plane occurs in time, such as: when loosened screw, machine occurs in unmanned vehicle
When the failures such as arm loosens, motor bearings damages, it will lead to unmanned vehicle and the exception of power output, power output hundred occur
Divide than will appear apparent fluctuation, while influencing the stationarity of power output percentage, and can result in power output percentage
It significantly increases or reduces, and then exceed given threshold.
A kind of embodiment according to the present invention exceeds the feelings of given threshold in the power output percentage of a certain spindle motor
It under condition, determines and generates early warning, and generated early warning is transmitted to the flight controller of unmanned vehicle, the behaviour of unmanned vehicle
Make that abnormal power can be passed through after personnel or maintenance personnel get abnormal power output percentage by flight controller
Output percentage finds the hidden danger that unmanned vehicle occurs in time, additionally it is possible to according to the abnormal to failure of power output percentage
Reason and appearance position are further positioned, by operate in time adjustment with debug (such as adjustment flight attitude, in
Only flight carries out maintenance or troubleshooting etc.), to avoid the generation of the major accidents such as the hidden danger or abnormal caused aircraft bombing.
Due to the output power of motor be in real time it is changed, the power output percentage of each of which spindle motor is also in reality
Shi Bianhua, therefore the power output percentage of single spindle motor is monitored herein there are two methods, first method is to take one section
Mean value in time, calculates mean value in a period of time of its single spindle motor and multiple spindle motors are equal in same amount of time
The deviation of the mean value of value, judges whether the deviation of its mean value exceeds the threshold range of setting；Second method takes to be monitored
The instant power output percentage at two moment of spindle motor, calculates its deviation section, judges whether the deviation of its mean value exceeds
The threshold range of setting.Two kinds of monitoring methods respectively have the advantage and disadvantage and the scope of application of itself, below can respectively to two ways into
Row description.
In a kind of optional embodiment of the present invention, i.e., the above first method is described according to the power output percentage
Than whether being more than that given threshold determines whether to generate early warning, comprising: calculate the power output of the single spindle motor in the selected period
The mean value of percentage；By the mean value compared with the given threshold, it is determined whether generate early warning；Wherein the given threshold is
The mean value of the spindle motor power output percentage mean value of the unmanned vehicle adds tolerance range in the selected period.
Specifically, being that collection value and given threshold are compared judgement briefly.Collection value herein is using choosing
The mean value of the power output percentage of single spindle motor in timing section.The selected period herein can carry out according to actual scene
The period that flexible choice, operator or maintenance personnel can be acquired with sets itself, for example focus more on unmanned vehicle
Takeoff phase or landing phases.Herein preferably be the single flight period, i.e., unmanned vehicle flown to from landing it is complete when
Section.Upon selection after section, the average value of power output percentage of each spindle motor within the selected period can be all obtained.When
When two or more spindle motors of unmanned flight's utensil, need to calculate the average value of these spindle motor average values, which is
The mean value of spindle motor power output percentage mean value, the reference as level threshold value.When unmanned vehicle only has a spindle motor
When, it can be using the spindle motor power output percentage mean value in history flying quality as the reference of level threshold value.Herein equal
The mean value of value can according to field condition or statistics needs, select the common processing mode of data statistics, including but not limited to
Arithmetic average or weighted average.
Arithmetic average is to obtain described equal after being directly added the mean value of each spindle motor again divided by the number of spindle motor
The mean value of value, it may be assumed that
Wherein, AvgnFor the mean value of n-th of spindle motor.
Herein can also using weighted average, i.e., to being averaged after the corresponding weight of the mean set of each spindle motor,
The setting of weight herein can be flexibly set or adjusted based on current demand.
Algorithm above is the algorithms most in use in mathematical statistics, is just not described here in detail.It should be noted that here with normal
Mathematical statistics method carries out the simple replacement of processing mode to related data, belongs to the protection model of embodiment of the present invention
It encloses.
In abovementioned steps: each spindle motor can obtain the average value of the power output percentage within the selected period, should
Value is obtained by calculation.In this optional embodiment, the calculating of the average value of the power output percentage use with
Lower method: when the selected period starts, the first power output percentage for the spindle motor that will acquire is as the spindle motor
The mean value of power output percentage；When getting newest power output percentage, the mean value is updated using following formula:
Avgnew=Avgold+(New—Avgold)/(M+1)；
Wherein, New is that the newest mean value exports percentage, i.e. the M+1 power output percentage；AvgoldFor more
Mean value before new, AvgnewFor updated mean value；At the end of the selected period, AvgnewThe as power output of the spindle motor
The mean value of percentage；When getting second power output percentage, the value of M corresponds to 1, Avg at this timeoldIt corresponds to first
Power output percentage, calculating mean value at this time is Avgnew=Avgold+(New—Avgold)/2。
In actual scene, the power output of unmanned vehicle is that endlessly, that is, have continuity, therefore to reality
When power output needs sampled with certain sample frequency, to obtain the sampled value of power output, i.e., it is a series of from
Value is dissipated, subsequent calculating and judgement are used for.Sample frequency herein is chosen according to the actual situation.If sample frequency
It is higher, although can guarantee sampling precision, the data volume that need to be handled is also increased simultaneously, and the processing for increasing processor is negative
Load.If sample frequency is lower, biggish sampling error will lead to, not can guarantee the effect and accuracy of early warning.Adopting herein
Sample process is that the value to output power becomes discrete value, and the mean value for enabling power to input carries out in real time according to formula above
It calculates, and at the end of the selected period, the mean value can be obtained in time.Single spindle motor herein is flat within the selected period
The calculation method of mean value does not need to cache a large amount of history mean value, avoid the data acquired within the selected period occupy it is biggish
Memory space also ensures the real-time of calculated power output percentage mean value.
Further, aforementioned tolerance range can be updated.The selection and determination of tolerance range are determined herein
Determined the accuracy of unmanned vehicle alarm, at the same be also required to fully consider the deviation range to the safety of unmanned vehicle and
The influence of reliability.The operator or maintenance personnel of unmanned vehicle can fly according to live meteorological condition and in different
The deviation range is adjusted under row state.The historical data of same unmanned vehicle can also be summarized and be analyzed,
The data distribution rule of the unmanned vehicle is obtained, so that the setting of the deviation range is more bonded the reality of each unmanned vehicle
Condition obtains more accurate early warning.Simultaneously, moreover it is possible to the data distribution of some type be counted and be summarized, the type is obtained
The deviation range data data distribution rule, in order to the type improvement provide data on support.
In another optional embodiment of the invention, i.e., second method above-mentioned is described defeated according to the power
Whether percentage is more than that given threshold determines whether to generate early warning out, comprising: obtains the power of the single spindle motor at two moment
Export percentage；The change of the power output percentage is calculated according to the power output percentage of the single spindle motor at two moment
Rate；According to the change rate compared with the given threshold, it is determined whether generate early warning；Wherein the given threshold is setting
Change rate deviation range.Wherein, the power output percentage for obtaining the single spindle motor at two moment is also required to first method
In sampling process, the details of sampling process as previously mentioned, the difference is that, first method be calculate mean value, and this
Method is to calculate change rate.Discrete point after aforementioned sampling method obtains, it can be understood as it is distributed in the time as X
Axis, output percentage is in the coordinate system of Y-axis, and change rate herein can be understood as the slope between certain two o'clock line.When not having
When occurring potential faults, power output percentage should be that gentle broken line although there is upper and lower fluctuating does not have play
Strong fluctuation, the fluctuation for the slope discounted are not apparent.When the potential faults for occurring that power output percentage is caused to change,
The broken line becomes less gentle, has and significantly rises or falls, is embodied in the fluctuation of the slope of the broken line, therefore herein
Change slope by real-time monitoring broken line, can also play the effect of monitoring power output percentage, monitor potential faults.Into
One step, specific formula for calculation is as follows:
Vc=(P1- P2)/T；
Wherein, VcFor the change rate；P1、P2The power output percentage of the single spindle motor at respectively described two moment
Than；Time difference of the T between described two moment.Change rate V hereincThe state of unmanned vehicle can be characterized, such as: Vc
The jitter conditions that horn can be characterized, when there is horn loosening, when paddle folder loosens, the power output percentage of motor
The case where will appear concussion, at this moment change rate VcUnderstand significantly and continues to increase.The operator or maintenance personnel of unmanned vehicle
After getting abnormal change rate by flight controller, it can find that in time nobody flies by abnormal power output percentage
Row device occur hidden danger and fault location, by operate in time adjustment with debug (such as adjustment flight attitude, stop
Flight carries out maintenance or troubleshooting etc.), to avoid the generation of the major accidents such as the hidden danger or abnormal caused aircraft bombing.
Setting change rate deviation range herein is also sets itself, and importance is with it for the data of flight safety
Reference significance is equal to tolerance range above-mentioned, and details are not described herein.
In another optional embodiment provided by the present invention, this method for early warning further includes being transmitted to the early warning
The flight controller of unmanned vehicle.In this optional embodiment, the early warning is transferred to the flight control of unmanned vehicle
Device processed receive by flight controller and further be handled.It, will be pre- if the early warning is directly generated by flight controller
Alert the step of being transmitted to the flight controller of unmanned vehicle is unwanted.The transmitting step of the early warning mainly guarantees nobody
The flight controller of aircraft can receive the warning information.The warning information can further be located by flight controller
Reason, processing herein includes the respective operations being previously set according to the warning information, and is stored to early warning, furthermore
Early warning can also be further transmitted to distal end by the communications link that flight controller is established, distal end herein includes
Control centre, data center or be the display interface on the operator on ground or the monitor terminal of maintenance personnel, so as to
In carrying out record and further monitoring analysis, the archive of history flying quality is provided, and establish data base for big data analysis
Plinth.
It, can root after the power output percentage of above-mentioned technical proposal through the invention, unmanned vehicle is collected and monitors
The power output percent data obtained when factually judges the exception in the working condition of current unmanned vehicle, moreover it is possible to according to
The power output percentage of acquisition is further processed in the needs of different scenes.Unmanned vehicle is occurring influencing to fly
In the case where row state, such as when the failures such as body loosens, screw loosens, fixed bad, the motor bearings damage of horn, it may appear that
Prolonged vibration, these vibrations can be such that the value of power output percentage obviously fluctuates and be more than given threshold.
According to the technique and scheme of the present invention, power output percentage after treatment is opened beyond in the case where given threshold
Abnormality is informed that operator, operator can carry out unmanned vehicle maintenance according to the early warning by dynamic fault pre-alarming,
It eliminates the hidden trouble in time, to avoid aircraft bombing caused by above-mentioned reason.
Fig. 3 is the structural schematic diagram for the unmanned vehicle that a kind of optional embodiment of the present invention provides.As shown in figure 3, this
Invention embodiment also provides a kind of unmanned vehicle, which includes one or more spindle motors 10, and flight control
Device 30 processed.Wherein flight controller 30 is configured to obtain the power output percentage of each spindle motor of the unmanned vehicle
Than, and according to the power output percentage whether be more than given threshold determine whether generate early warning.
The present invention also provides another unmanned vehicle, which includes one or more spindle motors 10, is also wrapped
Include controller 20 and flight controller 30.Wherein controller 20 is configured to obtain each spindle motor of the unmanned vehicle
Power output percentage, and according to the power output percentage whether be more than given threshold determine whether generate early warning；With
And flight controller 30, it is configured to export the power output percentage of each spindle motor, and receive the early warning.
Meanwhile the controller 20 has the function of numerical value calculating and logical operation, at least has data-handling capacity
Central processor CPU, random access memory ram, read only memory ROM, a variety of I/O mouthfuls and interruption systems etc..The controller 20
It can be, for example, the usual hardwares such as single-chip microcontroller, chip or processor.Unmanned vehicle described in previous paragraph, i.e. controller 20
Merge setting with flight controller 30, i.e., realize the function of controller 20 by the processor in flight controller 30, to realize this
The invention technical effect.In other words, the flight controller 30 of the unmanned vehicle is controller 20 above-mentioned, that is, is controlled
This hardware configuration of device 20 processed is not required, and common scene of the invention is the existing hardware knot using former unmanned vehicle
Structure, by flight controller 30 obtain power output percent data, while in flight controller 30 increase a software into
The data that journey generates flight controller 30 are monitored and handle, and the function which is realized is failure above-mentioned
Monitoring and pre-alarming method, wherein the selection of the parameter in software process and determination are also according to the step in aforementioned malfunction monitoring method for early warning
Rapid description.In this scenario, method above-mentioned is run dependent on the hardware device of flight controller 30 in of the invention, i.e.,
Increase by one section of program code in flight controller 30 to be implemented, the storage which has shared flight controller 30 is empty
Between, running environment and running memory, flight controller 30 at this time increase only the additional function on a software, for realizing
The power output percent data of the unmanned vehicle is obtained, and is set according to whether the power output percent data exceeds
Determine threshold value and determines whether early warning；The additional resource that optional embodiment described herein does not require nothing more than is less, and completely dispenses with
Increase and transformation on hardware is carried out to unmanned vehicle, so that the program is more simple and easy.
Above controller 20 (being provided separately) or flight controller 30 (merging setting) are configured as monitoring single axis
The power output percentage of motor, and outputting alarm when abnormal is deposited in power output percentage.There are two kinds for its monitoring method
Method, as it was noted above, first method is the mean value taken in a period of time, in a period of time for calculating its single spindle motor
The deviation of the mean value of the mean value of mean value and multiple spindle motors in same amount of time, judges whether the deviation of its mean value exceeds setting
Threshold range；Second method is the instant power output percentage for taking two moment, calculates its deviation section, judges it
Whether the deviation of value exceeds the threshold range of setting.Both the above monitoring method can select a selection or use simultaneously.
Wherein, the setting change rate deviation range in the deviation range and second method in first method be can be by more
New.The selection of tolerance range or setting change rate deviation range herein and the determining standard for determining unmanned vehicle alarm
True property, while being also required to fully consider influence of the numerical value selection to the safety and reliability of unmanned vehicle.Unmanned flight
The operator or maintenance personnel of device can be according to live meteorological conditions and under different state of flights to the tolerance model
It encloses or sets change rate deviation range and be adjusted.The historical data of same unmanned vehicle can also be summarized and be divided
Analysis obtains the data distribution rule of the unmanned vehicle, so that the tolerance range or setting change rate deviation range are set
The fixed current conditions for being more bonded each unmanned vehicle, obtain more accurate early warning.Simultaneously, moreover it is possible to the data point of some type
Cloth is counted and is summarized, and is obtained the tolerance range of the type or is set the data distribution rule of change rate deviation range data
Rule provides the support in data in order to the improvement to the type.
In a kind of optional embodiment of the present invention, unmanned vehicle above-mentioned further includes communication device (not shown), institute
State the opposite end that communication device is configured to for the early warning of generation being transmitted to the communication device.Communication device herein is also apolegamy
, as previously mentioned, flying if present invention method above-mentioned is run dependent on the hardware device of flight controller 30
One process of increase, which can be realized, in controller 30 monitors and processes power output percentage, i.e., in flight controller 30
One section of program code of middle increase is implemented, the program code and 30 common storage space of flight controller, running environment and fortune
Row memory can pass through flight controller then its communication link can share the communication link of flight controller 30 completely
The 30 communications links established by early warning be further transmitted to distal end (distal end herein include control centre, data center,
Either display interface on the operator on ground or the monitor terminal of maintenance personnel), in order to carry out record and into one
The monitoring analysis of step provides the archive of history flying quality, and establishes data basis for big data analysis.Therefore, herein logical
T unit is more applicable in the case where controller 20 and separately positioned flight controller 30, is independently filled to the communication
The early warning that the opposite end transmission set generates.
In a kind of optional embodiment of the present invention, the unmanned vehicle further includes storage device (not shown), described
Storage device can be flash storage, be also possible to other nonvolatile memories, be also possible to removable SD card, TF
The additional memory devices such as card, the storage device are mainly used for storing the information in monitoring process involved in preceding method, this
The information that place refers to is primarily referred to as information related with power output percent data.The content that it is stored is including but not limited to pre-
Alert information, the time of warning information generation and whole power output percent datas in entire flight course etc., weight
Point is abnormal power output percent data.This storage device and communication device above-mentioned match, and can provide real-time biography
Defeated or timing transmission two ways, either which kind of mode require to cache the data of acquisition, only timing transmission
When need to provide bigger data buffer storage or memory space.When the bandwidth of communication device is obviously inadequate, can also according to setting,
Select key data to carry out real-time Transmission, and secondary data be stored in the storage device of unmanned vehicle, temporarily without
It sends, is uniformly read out after waiting flight courses.Meanwhile unmanned vehicle operator or maintenance personnel can basis
The actual conditions at scene, configure the data items stored, that is, need to acquire the data items paid close attention to.
The setting of storage device herein ensure that even if in the case where communications link condition is bad, can also save the power of acquisition
The early warning for exporting percentage information and generation is unlikely to lose information.The combination of storage device and aforementioned communication device makes herein
With, by reliable design, connection-oriented communication mechanism, can guarantee that information is efficiently transferred to opposite end, even if by
Under strongly disturbing extreme case, information preservation also can guarantee in the storage device, when external environment improves, again attempt to send out
It send；Or after flight course, the information in storage device is obtained by way of locally reading.
In a kind of optional embodiment of the present invention, unmanned vehicle above-mentioned further include audio unit and or the dress that shines
Set with or display device (not shown), apparatus above be mainly used for intuitively showing that preceding method monitors ground unmanned flight
The state of flight of device, or controller is prompted by warning information caused by preceding method.The operation of unmanned vehicle
Personnel or maintenance personnel can select one or more devices to carry out using or be applied in combination according to the actual situation on site.
In view of in unmanned vehicle flight course the distance of personnel from the ground farther out due to, the above suggestion device is not intuitive enough
With it is significant, therefore apparatus above is optional auxiliary device.Further, above suggestion device can combine unmanned flight
The other parameters of device are combined judgement, such as: after unmanned vehicle powers on, the produced early warning if it find that last time flies
Or alarm is also not read out or removes, and can be reminded by one of the above or a variety of devices, in order to unmanned plane operation
Personnel or maintenance personnel have found in time, analyze or handle the potential faults.Also such as: in unmanned vehicle normal flight,
The processing load of flight controller 30 or controller 20 significantly increases within certain time, can suspend at this time to power output hundred
Processing and early warning analysis than data is divided to make flight control to reduce the processing load of flight controller 30 or controller 20
Device 30 or controller 20 can guarantee the processing of core missions, at this point, the processing and early warning of power output percent data have
The missing of one or more periods, the monitoring period of missing and the early warning period of missing can also be by one of the above or a variety of
Device is reminded.
Above-mentioned technical proposal of the present invention is monitored by the power output percentage of the spindle motor to unmanned vehicle, is led to
The exception of detection power output percentage is crossed, finds that unmanned vehicle loosened screw, horn loosens, motor bearings damages in time
Security risk reminds operator to check corresponding hardware, to improve the flight safety of unmanned vehicle.
The present invention also provides a kind of machine readable storage medium, it is stored with instruction on the machine readable storage medium, this refers to
Order enables to the controller to execute malfunction monitoring method for early warning above-mentioned when being executed by a controller.
Optional embodiment of the invention, still, embodiment of the present invention and unlimited is described in detail in conjunction with attached drawing above
Detail in above embodiment can be implemented the present invention in the range of the technology design of embodiment of the present invention
The technical solution of mode carries out a variety of simple variants, these simple variants belong to the protection scope of embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, embodiment of the present invention
To various combinations of possible ways, no further explanation will be given.
It can be with it will be appreciated by those skilled in the art that realizing that all or part of the steps in the method for above embodiment is
Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions are to make
Obtain all or part of step that single-chip microcontroller, chip or processor (processor) execute each embodiment the method for the present invention
Suddenly.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), deposits at random
The various media that can store program code such as access to memory (RAM, Random Access Memory), magnetic or disk.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention embodiment equally should be considered as embodiment of the present invention disclosure of that.
Claims (16)
1. a kind of malfunction monitoring method for early warning of unmanned vehicle, the unmanned vehicle includes one or more spindle motors,
It is characterized in that, which comprises
Obtain the power output percentage of each spindle motor of the unmanned vehicle；
It whether is more than that given threshold determines whether to generate early warning according to the power output percentage.
2. according to the power output percentage whether being more than to set the method according to claim 1, wherein described
Determine threshold value to determine whether to generate early warning, comprising:
Calculate the mean value of the power output percentage of the single spindle motor in the selected period；
By the mean value compared with the given threshold, it is determined whether generate early warning；
Wherein the given threshold is the spindle motor power output percentage mean value of the unmanned vehicle in the selected period
Mean value add tolerance range.
3. according to the method described in claim 2, it is characterized in that, the single that the selected period is the unmanned vehicle flies
The row period.
4. according to the method described in claim 2, it is characterized in that, the tolerance range can be updated.
5. according to the method described in claim 2, it is characterized in that, the power for calculating the single spindle motor in the selected period
Export the mean value of percentage, comprising:
When the selected period starts, power of the first power output percentage for the spindle motor that will acquire as the spindle motor
Export the mean value of percentage；
When getting newest power output percentage, the mean value is updated using following formula:
Avgnew=Avgold+(New-Avgold)/(M+1)；
Wherein, New is newest power output percentage, i.e. the M+1 power output percentage；AvgoldIt is equal before update
Value, AvgnewFor updated mean value；
At the end of the selected period, AvgnewThe as mean value of the power output percentage of the spindle motor.
6. according to the method described in claim 2, it is characterized in that, the mean value of the spindle motor power output percentage mean value
Are as follows: the arithmetic mean of instantaneous value or weighted average of the mean value of the power output percentage of all spindle motors of the unmanned vehicle.
7. according to the power output percentage whether being more than to set the method according to claim 1, wherein described
Determine threshold value to determine whether to generate early warning, comprising:
Obtain the power output percentage of the single spindle motor at two moment；
The change rate of the power output percentage is calculated according to the power output percentage of the single spindle motor at two moment；
According to the change rate compared with the given threshold, it is determined whether generate early warning；
Wherein the given threshold is setting change rate deviation range.
8. the method according to the description of claim 7 is characterized in that the setting change rate deviation range can be updated.
9. the method according to the description of claim 7 is characterized in that the power of the single spindle motor according to two moment is defeated
Percentage calculates the change rate of the power output percentage out, using following formula:
Vc=(P1- P2)/T；
Wherein, VcFor the change rate；P1、P2The power output percentage of the single spindle motor at respectively described two moment；T
For the time difference between described two moment.
10. the method according to claim 1, wherein the method also includes: the early warning is transmitted to described
The flight controller of unmanned vehicle.
11. a kind of unmanned vehicle, which is characterized in that the unmanned vehicle includes:
One or more spindle motors；And
Flight controller, the flight controller are configured to obtain the power output of each spindle motor of the unmanned vehicle
Percentage, and according to the power output percentage whether be more than given threshold determine whether generate early warning.
12. a kind of unmanned vehicle, which is characterized in that the unmanned vehicle includes:
One or more spindle motors；And
Controller, the controller are configured to obtain the power output percentage of each spindle motor of the unmanned vehicle,
And according to the power output percentage whether be more than given threshold determine whether generate early warning；
Flight controller, the flight controller is configured to export the power output percentage of each spindle motor, and receives
The early warning.
13. unmanned vehicle according to claim 11 or 12, which is characterized in that the unmanned vehicle further includes communication
Device, the communication device are configured to for the early warning that the controller generates being transmitted to the opposite end of the communication device.
14. unmanned vehicle according to claim 11 or 12, which is characterized in that the unmanned vehicle further includes storage
Device, the storage device are configured to:
Store the early warning, and or
Store the time that the early warning generates, and or
Store the power output percentage and its mean value of the spindle motor.
15. unmanned vehicle according to claim 11 or 12, which is characterized in that the unmanned vehicle further includes sound
Device and or light emitting device and or display device, the unmanned vehicle further include audio unit and or light emitting device and or
Display device is configured to be reminded according to the early warning.
16. a kind of machine readable storage medium, which is characterized in that be stored with instruction on the machine readable storage medium, this refers to
It enables and enables to malfunction monitoring described in any one of described controller perform claim requirement 1 to 10 when being executed by a controller
Method for early warning.
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