CN109878715B - Fault monitoring and early warning method for unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Fault monitoring and early warning method for unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
- Publication number
- CN109878715B CN109878715B CN201910165395.3A CN201910165395A CN109878715B CN 109878715 B CN109878715 B CN 109878715B CN 201910165395 A CN201910165395 A CN 201910165395A CN 109878715 B CN109878715 B CN 109878715B
- Authority
- CN
- China
- Prior art keywords
- power output
- unmanned aerial
- aerial vehicle
- percentage
- shaft motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 77
- 238000012544 monitoring process Methods 0.000 title claims abstract description 30
- 230000008859 change Effects 0.000 claims description 32
- 238000004891 communication Methods 0.000 claims description 18
- 230000008569 process Effects 0.000 description 18
- 238000012423 maintenance Methods 0.000 description 12
- 230000002159 abnormal effect Effects 0.000 description 10
- 238000012545 processing Methods 0.000 description 10
- 238000005070 sampling Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 7
- 230000005856 abnormality Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004880 explosion Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000007405 data analysis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The embodiment of the invention provides a fault monitoring and early warning method for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, and belongs to the field of unmanned aerial vehicles. The method comprises the following steps: acquiring the power output percentage of each shaft motor of the unmanned aerial vehicle; and determining whether to generate early warning according to whether the power output percentage exceeds a set threshold value, and providing the unmanned aerial vehicle adopting the fault monitoring early warning method. According to the invention, by monitoring the abnormity of the power output percentage of the shaft motor of the unmanned aerial vehicle, potential safety hazards such as screw loosening, arm loosening and motor bearing damage are discovered in time, so that the flight safety of the unmanned aerial vehicle is improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a fault monitoring and early warning method of an unmanned aerial vehicle and the unmanned aerial vehicle.
Background
Multi-rotor unmanned aerial vehicles are a common type of unmanned aerial vehicle on the market today, and generally consist of three or more propellers. The electronic speed regulator, the motor and the paddles form a power system of the unmanned aerial vehicle, and the electronic speed regulator receives a control instruction given by the flight controller and controls the rotating speed of the motor and the paddles to maintain and adjust the flight attitude. In industrial application, due to the reasons of long operation time, severe operation environment, insufficient maintenance and the like of the unmanned aerial vehicle, the situations that the screw of the unmanned aerial vehicle is loosened, the horn is loosened, the motor bearing is damaged and the like often occur, and operators are not easy to perceive under the situations, and finally the situations that the unmanned aerial vehicle is abnormal and even explodes exist in the long term and the like.
Disclosure of Invention
The method and the device aim to monitor the faults of the unmanned aerial vehicle in the flying process of the unmanned aerial vehicle, determine whether to give an early warning according to the fault monitoring result, and remind an operator to maintain equipment through the fault early warning, so that the aims of reducing potential safety hazards and improving the flying safety of the unmanned aerial vehicle are at least fulfilled.
In order to achieve the above object, in a first aspect of the present invention, there is provided a fault monitoring and warning method for an unmanned aerial vehicle including one or more shaft motors, the method including:
acquiring the power output percentage of each shaft motor of the unmanned aerial vehicle; and determining whether to generate early warning according to whether the power output percentage exceeds a set threshold value.
Optionally, the determining whether to generate an early warning according to whether the power output percentage exceeds a set threshold includes:
calculating the mean of the power output percentages of the single-shaft motors in the selected time period; comparing the mean value with the set threshold value to determine whether to generate early warning; wherein the set threshold is the mean value of the power output percentages of the shaft motors of the unmanned aerial vehicle in the selected time period plus an allowable deviation range.
Optionally, the selected time period is a single flight period of the unmanned aerial vehicle.
Optionally, the allowable deviation range may be updated.
Optionally, the calculating an average of the power output percentages of the single-shaft motors in the selected period includes:
when the selected time period begins, the obtained first power output percentage of the shaft motor is taken as the mean value of the power output percentages of the shaft motor;
when the latest power output percentage is obtained, the mean value is updated by adopting the following formula:
Avgnew＝Avgold+(New-Avgold)/(M+1)；
wherein New is the latest power output percentage, namely the M +1 th power output percentage; avgoldTo mean before update, AvgnewIs the updated mean value;
at the end of the selected period, AvgnewWhich is the average of the power output percentages of the shaft motor.
Optionally, the mean value of the power output percentage mean value of the shaft motor is as follows: an arithmetic mean or a weighted mean of the means of the power output percentages of all the shaft motors of the unmanned aerial vehicle.
Optionally, the determining whether to generate an early warning according to whether the power output percentage exceeds a set threshold includes:
acquiring the power output percentage of a single-shaft motor at two moments;
calculating the change rate of the power output percentage according to the power output percentage of the single-shaft motor at two moments;
comparing the change rate with the set threshold value to determine whether to generate early warning;
wherein the set threshold is a set rate of change deviation range.
Optionally, the set rate of change deviation range may be updated.
Optionally, the change rate of the power output percentage is calculated according to the power output percentages of the single-shaft motors at two moments, and the following formula is adopted:
Vc＝(P1－P2)/T；
wherein, VcIs the rate of change; p1、P2The power output percentages of the single-shaft motor at the two moments are respectively; t is the time difference between the two moments.
Optionally, the method further includes: transmitting the early warning to a flight controller of the UAV.
In a second aspect of the present invention, there is also provided an unmanned aerial vehicle comprising:
one or more shaft motors; and a flight controller configured to acquire a power output percentage of each shaft motor of the unmanned aerial vehicle, and determine whether to generate an early warning according to whether the power output percentage exceeds a set threshold value.
Or providing an unmanned aerial vehicle comprising:
one or more shaft motors; and a controller configured to acquire a power output percentage of each shaft motor of the unmanned aerial vehicle, and determine whether to generate an early warning according to whether the power output percentage exceeds a set threshold; and a flight controller configured to output a power output percentage of each shaft motor, and receive the warning.
Optionally, the unmanned aerial vehicle further comprises a communication device configured to transmit the warning generated by the controller to an opposite end of the communication device.
Optionally, the unmanned aerial vehicle further comprises a storage device configured to:
and storing the early warning, and/or storing the time generated by the early warning, and/or storing the power output percentage of the shaft motor and the mean value thereof.
Optionally, the unmanned aerial vehicle further comprises a sound device and/or a light-emitting device and/or a display device, and the unmanned aerial vehicle further comprises a sound device and/or a light-emitting device and/or a display device configured to remind according to the early warning.
In a third aspect of the present invention, there is also provided a machine-readable storage medium having stored thereon instructions, which when executed by a controller, can cause the controller to execute the aforementioned fault monitoring and warning method.
By adopting the fault monitoring and early warning method provided by the invention, the power output percentage of the shaft motor of the unmanned aerial vehicle is monitored in the flight process of the unmanned aerial vehicle, the abnormal condition of the power output percentage of the shaft motor in the flight process is analyzed, and early warning is timely carried out under the condition that the power output percentage data of the shaft motor is abnormal, so that the potential safety hazard existing in the unmanned aerial vehicle can be timely found, operators are reminded to carry out equipment maintenance, and the flight safety of the unmanned aerial vehicle is improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a flow chart illustrating steps of a method for providing fault warning for an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a detailed implementation of a method for early warning of a fault of an unmanned aerial vehicle according to an alternative embodiment of the present invention;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle according to an alternative embodiment of the present invention.
Description of the reference numerals
10-shaft motor 20 controller
30 flight controller
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the embodiments of the present invention, unless otherwise specified, the use of directional terms such as "upper, lower, top, and bottom" is generally used with respect to the orientation shown in the drawings or the positional relationship of the components with respect to each other in the vertical, or gravitational direction.
Fig. 1 is a flowchart illustrating steps of a method for early warning of a fault of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 1, there is provided a fault monitoring and warning method for an unmanned aerial vehicle including one or more shaft motors, the method including: acquiring the power output percentage of each shaft motor of the unmanned aerial vehicle; and determining whether to generate early warning according to whether the power output percentage exceeds a set threshold value.
Therefore, by acquiring the power output percentage of each shaft motor of the unmanned aerial vehicle and judging whether the acquired power output percentage exceeds a set threshold value or not, whether early warning is achieved or not is determined, so that unmanned aerial vehicle operators or maintenance personnel can find potential safety hazards in the flight process in time through abnormity of the power output percentage, the flight safety of the unmanned aerial vehicle is improved, and major faults are reduced.
Specifically, the mainstream of the shaft motor of the existing unmanned aerial vehicle is a brushless motor, and the motor is used for driving the propeller to rotate so as to provide the lifting force of the unmanned aerial vehicle. A plurality of shaft motors of the multi-shaft unmanned aerial vehicle are mutually matched, the rotating speed of a rotor wing is changed by adjusting the rotating speed of each shaft motor, the change of lift force is realized, the unmanned aerial vehicle can make various flight actions or keep various flight postures, and the control on six degrees of freedom (translation and rotation actions along three coordinate axes respectively) is realized.
According to one embodiment of the invention, during the flight process of the unmanned aerial vehicle, the power output percentage of each shaft motor of the unmanned aerial vehicle is firstly acquired in real time through a flight controller or an additional processor of the unmanned aerial vehicle, wherein the power output percentage refers to the proportion of the power output of the single shaft motor to the power output of the whole unmanned aerial vehicle, the acquired power output percentage is compared with a preset threshold value, and the generation of the early warning is determined when the acquired power output percentage exceeds the preset threshold value.
When the flight condition of the unmanned aerial vehicle is abnormal, the power output percentage of the unmanned aerial vehicle can be obviously influenced, namely when a single shaft motor has power output faults, the output power of other shaft motors can be influenced, and integral fluctuation is caused. Therefore, when a certain shaft motor has a change or malfunction in output power, the percentage of power output of itself or other shaft motors may significantly change. Through monitoring this kind of unusual change, can in time discover the potential safety hazard that unmanned aerial vehicle appears, for example: when the unmanned aerial vehicle has faults of screw loosening, arm loosening, motor bearing damage and the like, the unmanned aerial vehicle is caused to have power output abnormity, the power output percentage of the unmanned aerial vehicle can obviously fluctuate, meanwhile, the stability of the power output percentage is influenced, the power output percentage can be obviously increased or reduced, and then, the set threshold value is exceeded.
According to one embodiment of the invention, when the power output percentage of a certain shaft motor exceeds a set threshold, it is determined that an early warning is generated, and the generated early warning is transmitted to a flight controller of the unmanned aerial vehicle, after an operator or a maintainer of the unmanned aerial vehicle obtains the abnormal power output percentage through the flight controller, the hidden danger of the unmanned aerial vehicle can be found in time through the abnormal power output percentage, the cause and the position of the fault can be further positioned according to the abnormality of the power output percentage, and the fault can be eliminated through timely adjustment of operation (for example, the flight attitude is adjusted, the flight is stopped for overhaul or fault elimination, and the like), so that the occurrence of major accidents such as a machine explosion and the like caused by the hidden danger or the abnormality is avoided.
Because the output power of the motor changes in real time and the power output percentage of each shaft motor also changes in real time, two methods exist for monitoring the power output percentage of a single shaft motor, the first method is to take a mean value in a period of time, calculate the deviation between the mean value of the single shaft motor in the period of time and the mean value of the mean values of a plurality of shaft motors in the same period of time, and judge whether the deviation of the mean value exceeds the range of a set threshold value; the second method is to take the instant power output percentage of the shaft motor to be monitored at two moments, calculate the deviation interval and judge whether the deviation of the mean value exceeds the set threshold range. The two monitoring methods have advantages and disadvantages and application range, and the two methods will be described below.
In an alternative embodiment of the present invention, namely the above first method, the determining whether to generate the warning according to whether the percentage of power output exceeds a set threshold includes: calculating the mean of the power output percentages of the single-shaft motors in the selected time period; comparing the mean value with the set threshold value to determine whether to generate early warning; wherein the set threshold is the mean value of the power output percentages of the shaft motors of the unmanned aerial vehicle in the selected time period plus an allowable deviation range.
Specifically, simply, the collected value is compared with a set threshold value for determination. The collected values here are taken as the average of the power output percentages of the individual shaft motors over a selected period of time. The selected time period can be flexibly selected according to actual scenes, and an operator or maintenance personnel can set the acquisition time period by himself, such as focusing on the takeoff phase or the landing phase of the unmanned aerial vehicle. A single flight period, i.e. the complete period of the unmanned aerial vehicle from takeoff to landing, may be preferred here. After the selected time period is over, an average of the power output percentage of each shaft motor over the selected time period is obtained. When the unmanned aerial vehicle has two or more shaft motors, the average value of the average values of the shaft motors needs to be calculated, and the average value is the average value of the power output percentage average values of the shaft motors and is used as the reference of a standard threshold. When the unmanned aerial vehicle only has one shaft motor, the average value of the power output percentage of the shaft motor in the historical flight data can be used as the reference of the standard threshold value. The mean value herein may be selected according to the field situation or statistical needs, and includes but is not limited to arithmetic mean or weighted mean.
The arithmetic mean is obtained by directly adding the mean values of the shaft motors and then dividing the sum by the number of the shaft motors, and the mean value is obtained as follows:
wherein, AvgnIs the average of the nth shaft motor.
The weighted average can also be adopted, namely the average is carried out after corresponding weight is set for the average value of each shaft motor, and the setting of the weight is based on the real requirement and can be flexibly set or adjusted.
The above algorithms are all common algorithms in mathematical statistics and are not described in detail here. It should be noted that, here, simple substitution of the processing manner of the related data by using the commonly used mathematical statistics method is within the scope of the embodiments of the present invention.
In the foregoing steps: each shaft motor will have an average of the percentage of power output over a selected period of time, which is calculated. In this alternative embodiment, the average of the power output percentages is calculated using the following method: when the selected time period begins, the obtained first power output percentage of the shaft motor is taken as the mean value of the power output percentages of the shaft motor; when the latest power output percentage is obtained, the mean value is updated by adopting the following formula:
Avgnew＝Avgold+(New—Avgold)/(M+1)；
wherein New is the latest average output percentage, namely the M +1 th power output percentage; avgoldTo mean before update, AvgnewIs the updated mean value; at the end of the selected period, AvgnewThe average value of the power output percentage of the shaft motor is obtained; when a second power output percentage is obtained, the value of M at this time corresponds to 1, AvgoldCorresponding to the first power output percentage, the average value is Avgnew＝Avgold+(New—Avgold)/2。
In a practical scenario, the power output of the unmanned aerial vehicle is continuous, that is, continuous, so that the real-time power output needs to be sampled at a certain sampling frequency to obtain a sampled value of the power output, that is, a series of discrete values, for subsequent calculation and determination. The sampling frequency is selected according to the actual situation. If the sampling frequency is higher, although the sampling precision can be ensured, the data amount to be processed is increased, and the processing load of the processor is increased. If the sampling frequency is lower, a larger sampling error can be caused, and the early warning effect and accuracy can not be ensured. The sampling process here is to change the value of the power output into a discrete value, so that the mean value of the power input can be calculated in real time according to the above formula, and the mean value can be obtained in time at the end of the selected time period. According to the method for calculating the average value of the single-shaft motor in the selected time period, a large number of historical average values do not need to be cached, the situation that data collected in the selected time period occupies a large storage space is avoided, and the real-time performance of the calculated power output percentage average value is guaranteed.
Further, the aforementioned allowable deviation range may be updated. The selection and determination of the allowable deviation range determines the accuracy of the warning of the unmanned aerial vehicle, and the influence of the deviation range on the safety and reliability of the unmanned aerial vehicle needs to be fully considered. The deviation range can be adjusted by the operating personnel or maintenance personnel of the unmanned aerial vehicle according to the on-site meteorological conditions and under different flight conditions. Historical data of the same unmanned aerial vehicle can be summarized and analyzed to obtain a data distribution rule of the unmanned aerial vehicle, so that the setting of the deviation range is more suitable for the actual conditions of each unmanned aerial vehicle, and more accurate early warning is obtained. Meanwhile, the data distribution of a certain machine type can be counted and summarized to obtain the data distribution rule of the deviation range data of the machine type, so that the improvement of the machine type is conveniently supported on the data.
In another alternative embodiment of the present invention, namely the aforementioned second method, the determining whether to generate the warning according to whether the percentage of power output exceeds a set threshold includes: acquiring the power output percentage of a single-shaft motor at two moments; calculating the change rate of the power output percentage according to the power output percentage of the single-shaft motor at two moments; comparing the change rate with the set threshold value to determine whether to generate early warning; wherein the set threshold is a set rate of change deviation range. The sampling process in the first method is also required to obtain the power output percentage of the single-shaft motor at two moments, and the details of the sampling process are as described above, except that the first method is to calculate the average value, and the method is to calculate the change rate. The discrete points obtained by the sampling method can be understood as being distributed in a coordinate system taking time as an X axis and output percentage as a Y axis, and the change rate here can be understood as the slope between connecting lines of certain two points. When no fault is hidden, the power output percentage should be a gentle broken line, and although there is fluctuation up and down, there will be no sharp fluctuation, and the fluctuation of the broken slope is not obvious. When the hidden trouble of the power output percentage change occurs, the broken line becomes less gentle, and can obviously rise or fall, which is reflected in the fluctuation of the slope of the broken line, so that the effect of monitoring the power output percentage can be achieved by monitoring the change slope of the broken line in real time, and the hidden trouble of the power output percentage can be monitored. Further, the specific calculation formula is as follows:
Vc＝(P1－P2)/T；
wherein, VcIs the rate of change; p1、P2The power output percentages of the single-shaft motor at the two moments are respectively; t is the time difference between the two moments. Rate of change V herecThe state of the unmanned aerial vehicle can be characterized, for example: vcThe shaking condition of the horn can be represented, when the conditions of the horn loosening, the oar clamp loosening and the like occur, the power output percentage of the motor also can oscillate, and at the moment, the change rate V iscIt will increase significantly and continuously. After the operating personnel or the maintenance personnel of the unmanned aerial vehicle obtain the abnormal change rate through the flight controller, the hidden danger of the unmanned aerial vehicle can be found in time through the abnormal power output percentage, the fault location is realized, and the fault is eliminated through timely adjustment of operation (such as adjustment of flight attitude, suspension of flight for maintenance or fault elimination and the like) so as to avoid major accidents such as explosion and the like caused by the hidden danger or the abnormality.
The set variation rate deviation range is also set by itself, and the importance and the data reference meaning for flight safety of the set variation rate deviation range are equal to the allowable deviation range, and are not described in detail herein.
In another optional embodiment provided by the present invention, the warning method further comprises transmitting the warning to a flight controller of the unmanned aerial vehicle. In this alternative embodiment, the warning is transmitted to the flight controller of the unmanned aerial vehicle, received by the flight controller and further processed. If the warning is generated directly by the flight controller, the step of transmitting the warning to the flight controller of the unmanned aerial vehicle is not required. The early warning transmission step mainly ensures that the flight controller of the unmanned aerial vehicle can receive the early warning information. The early warning information can be further processed by the flight controller, the processing comprises the steps of carrying out preset corresponding operation according to the early warning information and storing the early warning, in addition, the early warning can be further transmitted to a far end through a communication transmission link established by the flight controller, and the far end comprises a control center, a data center or a display interface on a monitoring terminal of an operator or a maintenance person on the ground, so that the recording and the further monitoring and analysis are convenient, the archiving of historical flight data is provided, and a data base is established for the big data analysis.
According to the technical scheme, after the power output percentage of the unmanned aerial vehicle is collected and monitored, the abnormality of the current working state of the unmanned aerial vehicle can be judged according to the power output percentage data acquired in real time, and the collected power output percentage can be further processed according to the requirements of different scenes. Under the condition that the flight state of the unmanned aerial vehicle is influenced, for example, when faults such as loosening of a machine body, loosening of screws, poor fixation of a machine arm, damage of a motor bearing and the like occur, long-time vibration can occur, and the vibration can enable the value of the power output percentage to obviously fluctuate and exceed a set threshold value.
According to the technical scheme of the invention, under the condition that the processed power output percentage exceeds the set threshold value, the fault early warning is started, the abnormal state is informed to the operator, the operator can maintain the unmanned aerial vehicle according to the early warning prompt, and the fault hidden danger is timely eliminated, so that the situations of machine explosion and the like caused by the reasons are avoided.
Fig. 3 is a schematic structural diagram of an unmanned aerial vehicle according to an alternative embodiment of the present invention. As shown in fig. 3, the embodiment of the present invention also provides an unmanned aerial vehicle including one or more shaft motors 10, and a flight controller 30. Wherein the flight controller 30 is configured to acquire a power output percentage of each shaft motor of the unmanned aerial vehicle, and determine whether to generate an early warning according to whether the power output percentage exceeds a set threshold value.
The present invention also provides another unmanned aerial vehicle that includes one or more shaft motors 10, a controller 20, and a flight controller 30. Wherein the controller 20 is configured to obtain a power output percentage of each shaft motor of the unmanned aerial vehicle, and determine whether to generate an early warning according to whether the power output percentage exceeds a set threshold; and a flight controller 30 configured to output a power output percentage of each shaft motor, and receive the warning.
Meanwhile, the controller 20 has functions of numerical calculation and logical operation, and it has at least a central processing unit CPU having data processing capability, a random access memory RAM, a read only memory ROM, various I/O ports and interrupt systems, and the like. The controller 20 may be a common hardware such as a single chip, a chip, or a processor. The unmanned aerial vehicle described in the previous paragraph, that is, the controller 20 and the flight controller 30 are provided in a combined manner, that is, the processor in the flight controller 30 implements the functions of the controller 20 to achieve the technical effects described in the present invention. In other words, the flight controller 30 of the unmanned aerial vehicle is the aforementioned controller 20, that is, this hardware structure of the controller 20 is not necessary, and a common scenario of the present invention is to utilize the existing hardware structure of the original unmanned aerial vehicle, obtain power output percentage data through the flight controller 30, and add a software process in the flight controller 30 to monitor and process data generated by the flight controller 30, where the function implemented by the software process is the aforementioned fault monitoring and warning method, and where the selection and determination of parameters in the software process are also described according to the steps in the aforementioned fault monitoring and warning method. In this scenario, the method of the present invention depends on the hardware device of the flight controller 30 to operate, that is, a section of program code is added in the flight controller 30 for implementation, and the program code shares the storage space, the operating environment, and the operating memory of the flight controller 30, and at this time, the flight controller 30 only adds an additional function on software for obtaining the power output percentage data of the unmanned aerial vehicle, and determines whether to perform an early warning according to whether the power output percentage data exceeds a set threshold; the alternative embodiment described herein not only requires fewer additional resources, but also eliminates the need for hardware additions and modifications to the UAV altogether, making the solution simpler and easier to implement.
The above controller 20 (separately provided) or the flight controller 30 (incorporated provided) is configured to monitor the power output percentage of the single-shaft motor, and output a warning when there is an abnormality in the power output percentage. The monitoring method comprises two methods, as mentioned above, the first method is to take the mean value in a period of time, calculate the deviation between the mean value in a period of time of a single shaft motor and the mean value of the mean values of a plurality of shaft motors in the same period of time, and judge whether the deviation of the mean values exceeds the range of the set threshold; the second method is to take the instant power output percentage at two moments, calculate the deviation interval and judge whether the deviation of the mean value exceeds the set threshold range. The two monitoring methods can be selected alternatively or simultaneously used.
Wherein the deviation range in the first method and the set rate deviation range in the second method are updatable. Here, the selection and determination of the allowable deviation range or the set change rate deviation range determines the accuracy of the warning of the unmanned aerial vehicle, and the influence of the value selection on the safety and reliability of the unmanned aerial vehicle needs to be fully considered. The allowable deviation range or the set rate of change deviation range can be adjusted by the operating personnel or maintenance personnel of the unmanned aerial vehicle according to the field meteorological conditions and under different flight conditions. Historical data of the same unmanned aerial vehicle can be summarized and analyzed to obtain a data distribution rule of the unmanned aerial vehicle, so that the setting of the allowable deviation range or the set change rate deviation range is more suitable for the actual condition of each unmanned aerial vehicle, and more accurate early warning is obtained. Meanwhile, the data distribution of a certain model can be counted and summarized to obtain the allowable deviation range of the model or the data distribution rule of the data in the set change rate deviation range, so that the improvement of the model is facilitated to provide data support.
In an alternative embodiment of the present invention, the aforementioned unmanned aerial vehicle further comprises a communication device (not shown) configured to transmit the generated warning to an opposite end of the communication device. The communication device is also optional here, and as mentioned above, if the aforementioned method of the present invention is operated by relying on the hardware device of the flight controller 30, that is, if a process is added to the flight controller 30 to monitor and process the power output percentage, that is, a program code is added to the flight controller 30 for implementation, and the program code shares the storage space, the operating environment and the operating memory with the flight controller 30, the communication link can completely share the communication link of the flight controller 30, and the communication link established by the flight controller 30 can further transmit the warning to a remote end (where the remote end includes the control center, the data center, or a display interface on a monitoring terminal of an operator or maintenance personnel on the ground) for recording and further monitoring analysis, providing an archive of historical flight data, and establishes a data base for big data analysis. Therefore, the communication device herein is more suitable for transmitting the generated warning to the opposite end of the communication device independently in the case where the controller 20 and the flight controller 30 are separately provided.
In an optional embodiment of the present invention, the unmanned aerial vehicle further includes a storage device (not shown), the storage device may be a Flash memory, other nonvolatile memory, or an additional storage device such as a removable SD card or a removable TF card, and the storage device is mainly used for storing information in the monitoring process related to the foregoing method, where the information referred to herein mainly refers to information related to power output percentage data. The stored content of the method includes, but is not limited to, early warning information, time of generation of the early warning information, all power output percentage data in the whole flight process and the like, and the important point is abnormal power output percentage data. The storage device is matched with the communication device, and can provide two modes of real-time transmission or timing transmission, wherein the collected data needs to be cached in any mode, and only larger data caching or storage space needs to be provided during timing transmission. When the bandwidth of the communication device is obviously insufficient, the main data can be selected for real-time transmission according to the setting, the secondary data is stored in the storage device of the unmanned aerial vehicle and is not transmitted temporarily, and the secondary data is read uniformly after the flight process is finished. Meanwhile, an operator or a maintainer of the unmanned aerial vehicle can configure the data items to be stored according to the actual situation of the field, namely the data items which are focused on need to be acquired. The storage device is arranged, so that the collected power output percentage information and the generated early warning can be stored even if the communication link condition is not good, and the information is not lost. The storage device and the communication device are combined for use, a reliable and connection-oriented communication mechanism is designed, information can be effectively transmitted to the opposite end, even under the extreme condition of strong interference, the information can be guaranteed to be stored in the storage device, and when the external environment is improved, the transmission is tried again; or after the flight process is finished, the information in the storage device is obtained in a local reading mode.
In an optional embodiment of the present invention, the unmanned aerial vehicle further includes a sound device and/or a light emitting device and/or a display device (not shown), and the above devices are mainly used to visually display the flight state of the unmanned aerial vehicle monitored by the foregoing method, or to prompt the controller with the warning information generated by the foregoing method. The operator or maintenance personnel of the unmanned aerial vehicle can select one or more devices to use or combine the devices according to the actual situation on site. The above prompting device is not intuitive and significant enough to consider that the distance from ground personnel is long during flight of the unmanned aerial vehicle, and therefore the above device is only an optional auxiliary device. Further, the above prompting device may be combined with other parameters of the unmanned aerial vehicle to make a combined determination, such as: after the unmanned aerial vehicle is powered on, if early warning or alarm generated by last flight is found not to be read out or cleared, the unmanned aerial vehicle can be reminded through one or more devices, so that unmanned aerial vehicle operators or maintenance personnel can find, analyze or process the hidden trouble in time. Also for example: in the normal flight of the unmanned aerial vehicle, the processing load of the flight controller 30 or the controller 20 is significantly increased within a certain period of time, at this time, the processing and early warning analysis of the power output percentage data may be suspended, so as to reduce the processing load of the flight controller 30 or the controller 20, and enable the flight controller 30 or the controller 20 to ensure the processing of the core task, at this time, the processing and early warning of the power output percentage data may have one or more time periods missing, and the missing monitoring time period and the missing early warning time period may also be reminded by one or more of the above devices.
According to the technical scheme, the power output percentage of the shaft motor of the unmanned aerial vehicle is monitored, potential safety hazards such as screw loosening, arm loosening and motor bearing damage of the unmanned aerial vehicle are timely found by detecting the abnormity of the power output percentage, and an operator is reminded to check corresponding hardware, so that the flight safety of the unmanned aerial vehicle is improved.
The present invention also provides a machine-readable storage medium, which stores instructions that, when executed by a controller, can cause the controller to execute the aforementioned fault monitoring and warning method.
While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
Claims (14)
1. A fault monitoring and early warning method for an unmanned aerial vehicle, the unmanned aerial vehicle comprising a plurality of shaft motors, the method comprising:
acquiring the power output percentage of each shaft motor of the unmanned aerial vehicle; the power output percentage is from an output of a flight controller;
calculating the mean of the power output percentages of the single-shaft motors in the selected time period;
comparing the mean value with a set threshold value to determine whether to generate early warning;
wherein the set threshold is the mean value of the power output percentages of the shaft motors of the unmanned aerial vehicle in the selected time period plus an allowable deviation range.
2. The method of claim 1, wherein the selected period of time is a single flight period of the UAV.
3. The method of claim 1, wherein the allowable deviation range is updateable.
4. The method of claim 1, wherein said calculating an average of the power output percentages of the single shaft motors over the selected period of time comprises:
when the selected time period begins, the obtained first power output percentage of the shaft motor is taken as the mean value of the power output percentages of the shaft motor;
when the latest power output percentage is obtained, the mean value is updated by adopting the following formula:
Avgnew= Avgold+（New-Avgold）/（M+1）；
wherein New is the latest power output percentage, namely the M +1 th power output percentage; avgoldTo mean before update, AvgnewIs the updated mean value;
at the end of the selected period, AvgnewWhich is the average of the power output percentages of the shaft motor.
5. The method of claim 1, wherein the average of the shaft motor power output percentage averages is: an arithmetic mean or a weighted mean of the means of the power output percentages of all the shaft motors of the unmanned aerial vehicle.
6. The method of claim 1, wherein determining whether to generate an early warning based on whether the percentage of power output exceeds a set threshold comprises:
acquiring the power output percentage of a single-shaft motor at two moments;
calculating the change rate of the power output percentage according to the power output percentage of the single-shaft motor at two moments;
comparing the change rate with the set threshold value to determine whether to generate early warning;
wherein the set threshold is a set rate of change deviation range.
7. The method of claim 6, wherein the set rate of change deviation range is updateable.
8. The method of claim 6, wherein the calculating the rate of change of the percent power output from the percent power output of the single-shaft motor at two times uses the following equation:
Vc= (P1－P2)/T；
wherein, VcIs the rate of change; p1、P2The power output percentages of the single-shaft motor at the two moments are respectively; t is the time difference between the two moments.
9. The method of claim 1, further comprising: transmitting the early warning to a flight controller of the UAV.
10. An unmanned aerial vehicle, comprising:
a plurality of shaft motors; and
a controller configured to execute the method of fault monitoring and warning of an unmanned aerial vehicle of any of claims 1 to 9;
a flight controller configured to output a power output percentage of each axle motor, and receive the warning.
11. The UAV of claim 10 further comprising a communication device configured to transmit the warning generated by the controller to an opposite end of the communication device.
12. The UAV of claim 10 further comprising a storage device configured to:
store the warning, and/or
Storing the time of the warning generation, and/or
And storing the power output percentage of the shaft motor and the average value of the power output percentage.
13. The unmanned aerial vehicle of claim 11, further comprising a sound device and/or a light emitting device and/or a display device, wherein the unmanned aerial vehicle further comprises a sound device and/or a light emitting device and/or a display device configured to alert based on the warning.
14. A machine-readable storage medium having stored thereon instructions capable of causing a controller to execute the method of fault monitoring and warning of an unmanned aerial vehicle according to any one of claims 1 to 9 when executed by the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910165395.3A CN109878715B (en) | 2019-03-05 | 2019-03-05 | Fault monitoring and early warning method for unmanned aerial vehicle and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910165395.3A CN109878715B (en) | 2019-03-05 | 2019-03-05 | Fault monitoring and early warning method for unmanned aerial vehicle and unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109878715A CN109878715A (en) | 2019-06-14 |
| CN109878715B true CN109878715B (en) | 2021-10-08 |
Family
ID=66930767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910165395.3A Active CN109878715B (en) | 2019-03-05 | 2019-03-05 | Fault monitoring and early warning method for unmanned aerial vehicle and unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109878715B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112947509B (en) * | 2019-12-10 | 2024-04-12 | 广州极飞科技股份有限公司 | Method and device for determining fault cause of unmanned equipment |
| CN111746788B (en) * | 2019-12-25 | 2022-03-18 | 广州极飞科技股份有限公司 | Aircraft control method, aircraft control device, aircraft and computer-readable storage medium |
| WO2021212345A1 (en) * | 2020-04-21 | 2021-10-28 | 深圳市大疆创新科技有限公司 | Aircraft state management method, apparatus and system, and remote control terminal and storage medium |
| CN111977004A (en) * | 2020-08-31 | 2020-11-24 | 广州极飞科技有限公司 | Overload protection method and device and aircraft |
| CN114660248B (en) * | 2020-12-22 | 2024-08-09 | 中国石油化工股份有限公司 | COD early warning method and device based on multi-step prediction strategy |
| CN116848485A (en) * | 2021-03-15 | 2023-10-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium |
| CN116080903A (en) * | 2021-11-04 | 2023-05-09 | 北京三快在线科技有限公司 | Delivery unmanned aerial vehicle, and delivery unmanned aerial vehicle early warning method and device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105253301A (en) * | 2015-09-28 | 2016-01-20 | 深圳一电科技有限公司 | Flight control method and apparatus for multiaxial flight vehicle |
| CN105564634A (en) * | 2016-01-11 | 2016-05-11 | 北京中科遥数信息技术有限公司 | Apparatus for locking propeller of unmanned plane and control method thereof |
| CN106553767A (en) * | 2016-11-02 | 2017-04-05 | 重庆零度智控智能科技有限公司 | Unmanned plane beats decision method, device and the unmanned plane of oar |
| CN107074351A (en) * | 2016-09-30 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, device and the unmanned vehicle of unmanned plane |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120101776A1 (en) * | 2010-10-26 | 2012-04-26 | Brower Alfred N | Embedded prognostic health management system for aeronautical machines and devices and methods thereof |
-
2019
- 2019-03-05 CN CN201910165395.3A patent/CN109878715B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105253301A (en) * | 2015-09-28 | 2016-01-20 | 深圳一电科技有限公司 | Flight control method and apparatus for multiaxial flight vehicle |
| CN105564634A (en) * | 2016-01-11 | 2016-05-11 | 北京中科遥数信息技术有限公司 | Apparatus for locking propeller of unmanned plane and control method thereof |
| CN107074351A (en) * | 2016-09-30 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, device and the unmanned vehicle of unmanned plane |
| CN106553767A (en) * | 2016-11-02 | 2017-04-05 | 重庆零度智控智能科技有限公司 | Unmanned plane beats decision method, device and the unmanned plane of oar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109878715A (en) | 2019-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109878715B (en) | Fault monitoring and early warning method for unmanned aerial vehicle and unmanned aerial vehicle | |
| US10657735B2 (en) | System and method for adaptable trend detection for component condition indicator data | |
| CN108877757B (en) | System and method for acoustic radiation control | |
| JP6795197B2 (en) | aircraft | |
| US11208205B2 (en) | System and method for rotorcraft autorotation entry assist | |
| US20190061942A1 (en) | Method and system from controlling an unmanned aerial vehicle | |
| CN109765935A (en) | The malfunction monitoring method for early warning and unmanned vehicle of unmanned vehicle | |
| CN108502196B (en) | Reverse tactile cues for rotorcraft rotor overspeed protection | |
| EP4194684B1 (en) | Load control method and apparatus for wind turbine generator system | |
| EP3782908B1 (en) | Automated trend detection | |
| EP2905224B1 (en) | Rotor state sensor system | |
| US20190291883A1 (en) | Flying vehicle emergency procedures | |
| CN110244755B (en) | Unmanned aerial vehicle emergency control system and method and unmanned aerial vehicle | |
| EP2810872A1 (en) | System and method for maximizing aircraft safe landing capability during one engine inoperative operation | |
| CN112622931A (en) | Abnormity processing method in parallel driving, automatic driving vehicle and cloud driving cabin | |
| CN112947511A (en) | Method for inspecting fan blade by unmanned aerial vehicle | |
| WO2016148767A1 (en) | Power supply condition monitor | |
| US20210333368A1 (en) | Motor control method, laser radar, and mobile device | |
| US20230202651A1 (en) | Automatic rotor tilt control | |
| CN213904144U (en) | Unmanned aerial vehicle with automatic laser radar obstacle avoidance system | |
| CN109375649B (en) | Method and system for controlling an aircraft | |
| CN114645821B (en) | Remote control method, device, equipment and medium for wind power pitch system | |
| CN113359803B (en) | Bus control device of unmanned aerial vehicle actuating mechanism, unmanned aerial vehicle and control system | |
| CN117944912B (en) | Unmanned aerial vehicle double-power system, control method thereof, unmanned aerial vehicle system and related device | |
| EP4328137A1 (en) | Aircrafts, systems, and methods for providing constant torque on takeoff |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant after: XAG Co., Ltd. Address before: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Xaircraft Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |