CN110612252A - Unmanned aerial vehicle fault detection method and device and movable platform - Google Patents

Unmanned aerial vehicle fault detection method and device and movable platform Download PDF

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Publication number
CN110612252A
CN110612252A CN201880031266.9A CN201880031266A CN110612252A CN 110612252 A CN110612252 A CN 110612252A CN 201880031266 A CN201880031266 A CN 201880031266A CN 110612252 A CN110612252 A CN 110612252A
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China
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unmanned aerial
aerial vehicle
preset
attitude angle
parameter information
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Chinese (zh)
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高翔
李进吉
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SZ DJI Technology Co Ltd
SZ DJI Innovations Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/18—Operating mechanisms
    • B64C25/26—Control or locking systems therefor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers

Abstract

A fault detection method, a fault detection device and a movable platform of an unmanned aerial vehicle are provided, and the method comprises the following steps: detecting current flight state parameter information of the unmanned aerial vehicle (S101); and determining that the unmanned aerial vehicle breaks down according to the current flight state parameter information and preset flight state parameter information (S102). According to the method, the fault of the unmanned aerial vehicle can be detected according to the current flight state parameter information and the preset flight state parameter information, so that the safety of the unmanned aerial vehicle is improved.

Description

Unmanned aerial vehicle fault detection method and device and movable platform Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a fault detection method and device for an unmanned aerial vehicle and a movable platform.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle operated by utilizing a radio remote control device and a self-contained program control device, and is widely applied in the fields of aerial photography, agriculture, disaster relief and the like, so that the detection of whether the unmanned aerial vehicle has faults or not is of great importance to ensure the safety of the unmanned aerial vehicle.
Use many rotor unmanned aerial vehicle as an example, when detecting whether this many rotor unmanned aerial vehicle has the trouble, be through the motor current feedback device and the motor speed feedback device detection among this many rotor unmanned aerial vehicle, if motor current increases, the rotational speed crosses low or too high excessively, then confirm that this many rotor unmanned aerial vehicle has the trouble to close the motor and carry out the locked rotor protection, with the security that improves this many rotor unmanned aerial vehicle.
However, motor current feedback device and motor speed feedback device can increase the cost, and do not set up motor current feedback device and motor speed feedback device in many multi-rotor unmanned aerial vehicle's the motor moreover, thereby can't detect multi-rotor unmanned aerial vehicle through motor current feedback device and motor speed feedback device and whether have the trouble, consequently, to these multi-rotor unmanned aerial vehicle, how to detect unmanned aerial vehicle's trouble, in order to improve this multi-rotor unmanned aerial vehicle's security, the problem that the skilled person in the art needs a lot of solution.
Disclosure of Invention
The invention provides a fault detection method and device of an unmanned aerial vehicle and a movable platform, which can detect the fault of the unmanned aerial vehicle, thereby improving the safety of the unmanned aerial vehicle.
In a first aspect, an embodiment of the present invention provides a method for detecting a fault of an unmanned aerial vehicle, including:
detecting current flight state parameter information of the unmanned aerial vehicle;
and determining that the unmanned aerial vehicle breaks down according to the current flight state parameter information and the preset flight state parameter information.
In a second aspect, an embodiment of the present invention provides a fault detection apparatus for an unmanned aerial vehicle, including:
the sensor is used for detecting the current flight state parameter information of the unmanned aerial vehicle;
and the processor is used for determining that the unmanned aerial vehicle breaks down according to the current flight state parameter information and the preset flight state parameter information.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for detecting a fault of a drone according to the first aspect is executed.
In a fourth aspect, an embodiment of the present invention provides a movable platform, which includes a power device and the fault detection device of the unmanned aerial vehicle according to the second aspect.
According to the fault detection method and device for the unmanned aerial vehicle and the movable platform, provided by the embodiment of the invention, the unmanned aerial vehicle is determined to have a fault by detecting the flight state parameter information of the unmanned aerial vehicle and according to the flight state parameter information and the flight mode of the unmanned aerial vehicle. Therefore, the fault detection method, the fault detection device and the movable platform of the unmanned aerial vehicle provided by the embodiment of the invention determine whether the unmanned aerial vehicle has a fault according to the flight state parameter information and the flight mode of the unmanned aerial vehicle, and after the unmanned aerial vehicle is determined to have the fault, the motor of the unmanned aerial vehicle is turned off to prevent the motor from stalling, so that the safety of the unmanned aerial vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of a method for detecting a fault of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a determination of whether an unmanned aerial vehicle has a fault in a takeoff mode according to an embodiment of the present invention;
fig. 3 is a schematic diagram of determining whether an unmanned aerial vehicle has a fault in another takeoff mode according to the embodiment of the present invention;
fig. 4 is a schematic diagram of determining whether the unmanned aerial vehicle is in a fault state in the cruise mode according to the embodiment of the present invention;
fig. 5 is a schematic diagram of determining whether the drone is out of order in another cruise mode according to an embodiment of the present invention;
fig. 6 is a schematic diagram of determining whether the unmanned aerial vehicle is in a failure mode in the cruise mode according to the embodiment of the present invention;
fig. 7 is a schematic diagram of determining whether the drone is out of order in another cruise mode according to an embodiment of the present invention;
fig. 8 is a schematic diagram of determining whether the unmanned aerial vehicle is in a failure mode in the cruise mode according to the embodiment of the present invention;
fig. 9 is a schematic diagram of determining whether the drone is malfunctioning in another cruise mode provided by the embodiment of the present invention;
fig. 10 is a schematic structural diagram of a fault detection device of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, belong to the scope of protection of the present invention, and the features in the following embodiments and implementations can be combined with each other without conflict.
The fault detection method, the fault detection device and the movable platform of the unmanned aerial vehicle provided by the embodiment of the invention can be applied to the unmanned aerial vehicle which cannot detect whether faults exist through the motor current feedback device and the motor rotating speed feedback device. For example, a subminiature multi-rotor drone. In the embodiment of the invention, in order to detect whether the ultra-small multi-rotor unmanned aerial vehicle has faults, the current flight state parameter information of the unmanned aerial vehicle is detected; make can confirm unmanned aerial vehicle according to current flight state parameter information and predetermine flight state parameter information and break down, when confirming the trouble, can close many rotor unmanned aerial vehicle's motor to prevent the motor stall, thereby improved many rotor unmanned aerial vehicle's security. It should be noted that, when detecting whether there is a fault in the multi-rotor drone, the fault may be a fault existing in the takeoff mode, or a fault existing in the cruise mode, and the detection modes are different for faults in different flight modes.
Fig. 1 is a schematic diagram of a fault detection method of an unmanned aerial vehicle according to an embodiment of the present invention, where the fault detection method of the unmanned aerial vehicle may be implemented by a fault detection device of the unmanned aerial vehicle, and the fault detection device of the unmanned aerial vehicle may be independently arranged or integrated in a processor. Referring to fig. 1, the method for detecting a fault of an unmanned aerial vehicle may include:
s101, detecting the current flight state parameter information of the unmanned aerial vehicle.
Optionally, the current flight state information may include current attitude angle or current velocity information.
When detecting unmanned aerial vehicle's current flight status parameter information, can real-time detection this unmanned aerial vehicle's current aircraft status parameter information, of course, also can detect unmanned aerial vehicle's current flight status parameter information a predetermined length of time apart.
S102, determining that the unmanned aerial vehicle breaks down according to the current flight state parameter information and the preset flight state parameter information.
The preset flight state parameter information is the maximum flight state parameter information allowed by the unmanned aerial vehicle in the normal state, namely within the range of the maximum flight state parameter information, the unmanned aerial vehicle is considered to be in the normal flight state.
After confirming current flight state parameter information respectively and presetting flight state parameter information, just can compare current flight state parameter information and flight state information under the normal condition to confirm whether unmanned aerial vehicle breaks down, and close unmanned aerial vehicle's motor when confirming this unmanned aerial vehicle breaks down, in order to prevent the motor stall, thereby improved unmanned aerial vehicle's security.
Optionally, the step S102 of determining that the unmanned aerial vehicle has a fault according to the current flight state parameter information and the preset flight state parameter information may include:
acquiring a current flight mode of the unmanned aerial vehicle; and determining that the unmanned aerial vehicle breaks down according to the flight state parameter information of the unmanned aerial vehicle in the current flight mode and the preset flight state parameter information.
Wherein the flight mode comprises a takeoff mode or a cruise mode.
It should be noted that, in the embodiment of the present invention, when it is determined that the unmanned aerial vehicle has a fault according to the flight state parameter information in the current flight mode of the unmanned aerial vehicle and the preset flight state parameter information, flight state parameter information corresponding to different flight modes is different. For example, if the flight mode is a takeoff mode, the corresponding first flight state information may be attitude angle or speed information; if the flight mode is the cruise mode, the corresponding second flight state information may be an attitude angle.
According to the fault detection method for the unmanned aerial vehicle, provided by the embodiment of the invention, the unmanned aerial vehicle is determined to have a fault according to the flight state parameter information of the unmanned aerial vehicle and the flight mode of the unmanned aerial vehicle by detecting the flight state parameter information of the unmanned aerial vehicle. Therefore, the fault detection method of the unmanned aerial vehicle provided by the embodiment of the invention determines whether the unmanned aerial vehicle has a fault according to the flight state parameter information and the flight mode of the unmanned aerial vehicle, and turns off the motor of the unmanned aerial vehicle after determining that the unmanned aerial vehicle has the fault so as to prevent the motor from stalling, thereby improving the safety of the unmanned aerial vehicle.
Based on the embodiment shown in fig. 1, when determining whether the unmanned aerial vehicle has a fault according to the flight state parameter information in the current flight mode of the unmanned aerial vehicle and the preset flight state parameter information, because the aircraft state parameter information corresponding to different flight modes is different, in different flight modes, the corresponding schemes for determining that the unmanned aerial vehicle has a fault according to the flight state parameter information and the preset flight state parameter information are also different. Under a first scene, when the flight mode of the unmanned aerial vehicle is a takeoff mode, the first flight parameter information comprises a first attitude angle or speed information, and whether the unmanned aerial vehicle breaks down or not can be determined according to the first attitude angle or speed information and preset flight state parameter information. Under a second scenario, when the flight mode of the unmanned aerial vehicle is the cruise mode, the second flight parameter information includes a second attitude angle, and whether the unmanned aerial vehicle breaks down or not can be determined according to the second attitude angle and the preset flight state parameter information.
In the following, how to determine whether the unmanned aerial vehicle fails according to the flight mode and the flight state parameter information corresponding to the flight mode in two different scenarios will be described in detail.
Under the first scene, namely in the takeoff mode, when determining whether the unmanned aerial vehicle breaks down according to the first attitude angle or the speed information and the preset flight parameter information, the method can comprise multiple possible implementation modes:
in a possible implementation manner, whether the unmanned aerial vehicle turns over can be judged according to the first attitude angle and preset flight parameter information, and if the unmanned aerial vehicle turns over, the unmanned aerial vehicle is determined to have a fault; specifically, referring to fig. 2, fig. 2 is a schematic diagram illustrating determining whether the unmanned aerial vehicle fails in a takeoff mode according to an embodiment of the present invention. In another possible implementation manner, whether the unmanned aerial vehicle is shielded or covered by foreign matters can be judged according to the speed information and the preset flight parameter information, if the unmanned aerial vehicle is shielded or covered by the foreign matters, the unmanned aerial vehicle cannot take off normally, and therefore the unmanned aerial vehicle is determined to be in fault; specifically, referring to fig. 3, fig. 3 is a schematic view illustrating determining whether the unmanned aerial vehicle fails in another takeoff mode according to an embodiment of the present invention.
Specifically, in a first possible implementation manner, when determining whether the unmanned aerial vehicle has a fault according to the first attitude angle and the preset flight state parameter, please refer to fig. 2, where the method may include:
s201, acquiring first flight state parameter information corresponding to the unmanned aerial vehicle in a takeoff mode.
Wherein the first flight state parameter information comprises a first attitude angle. When the first flight state parameter information includes the first attitude angle, the corresponding preset flight state parameter is a first preset threshold value, and the first preset threshold value is the maximum attitude angle allowed by the unmanned aerial vehicle in the normal takeoff mode.
S202, determining that the unmanned aerial vehicle breaks down according to the first attitude angle and a first preset threshold value.
It should be noted that, when the first preset threshold is determined, a change curve of the attitude angle of the unmanned aerial vehicle in the normal state along with time and a change curve of the attitude angle when the unmanned aerial vehicle rolls over along with time may be determined first, a preset curve may be determined according to compromise between the two change curves, and the first preset threshold is any point on the preset curve. For the first preset threshold, in the takeoff mode, the first preset thresholds corresponding to different moments are different. For example, with the time t equal to 0 at the start of takeoff, as t increases, when t is 0.1 seconds, the corresponding first preset threshold value on the preset curve may be 10 degrees, and when t is 0.2 seconds, the corresponding first preset threshold value on the preset curve may be 15 degrees, where the first attitude angle may be any one or a combination of a plurality of pitch angle, roll angle, and yaw angle.
After the first attitude angle and the first preset threshold are respectively determined, whether the unmanned aerial vehicle breaks down or not can be determined according to the first attitude angle and the first preset threshold. Optionally, in the embodiment of the present invention, when determining whether the unmanned aerial vehicle has a fault according to the first attitude angle and the first preset threshold, the method may be implemented in multiple possible manners:
in one embodiment, if the first attitude angle is greater than a first preset threshold, it is determined that the unmanned aerial vehicle is out of order.
Specifically, if a certain moment, unmanned aerial vehicle's first attitude angle is greater than the first predetermined threshold value that corresponds this moment, then explains that unmanned aerial vehicle has the possibility of taking place to turn on one's side this moment, and at this moment, can close the motor to prevent the motor stall, thereby improved unmanned aerial vehicle's security.
In one embodiment, a rate of change between the first attitude angle and a preset first attitude angle is determined; and if the change rate is greater than a second preset threshold value, determining that the unmanned aerial vehicle breaks down.
The preset first attitude angle is an attitude angle of the unmanned aerial vehicle in a normal takeoff mode. For the preset first attitude angle, the preset attitude angles corresponding to different moments are also different. For example, with the time t equal to 0 at the start of takeoff, the preset first attitude angle may be 10 degrees when t is 0.1 seconds and 15 degrees when t is 0.2 seconds as t increases.
The second preset threshold may be specifically set according to actual needs. For example, in the embodiment of the present invention, the second preset threshold may be 100 degrees/second, 50 degrees/second, or the like.
In mode 2, at a certain moment, after the first attitude angle and the preset first attitude angle of the unmanned aerial vehicle are determined, the change rate between the first attitude angle and the preset first attitude angle can be calculated first, and if the change rate is greater than the second preset threshold value, it is determined that the unmanned aerial vehicle has the possibility of rollover, and at the moment, the motor can be turned off to prevent the motor from stalling, so that the safety of the unmanned aerial vehicle is improved.
After describing in detail how to determine whether the unmanned aerial vehicle fails according to the first attitude angle and the preset flight state parameter in the first possible implementation manner, it will be described in detail below that, in the second possible implementation manner, when determining whether the unmanned aerial vehicle fails according to the speed information, please refer to fig. 3, where the method may include:
s301, acquiring first flight state parameter information corresponding to the unmanned aerial vehicle in the takeoff mode.
The first flight state parameter information comprises speed information, the speed information is acquired after the unmanned aerial vehicle outputs first pulling force in a first time period, and the value of the first pulling force is larger than the pulling force required by the unmanned aerial vehicle in a hovering state. For example, the first time period may be 0.1 seconds.
Optionally, the first velocity information includes a first vertical acceleration and a first velocity. When the first flight state parameter information includes a first vertical acceleration and a first speed, the corresponding preset flight state parameter is a first preset condition, and the first preset condition includes that the unmanned aerial vehicle outputs the corresponding acceleration and speed after the first pulling force in the first time period in the normal takeoff mode.
For example, in the normal takeoff mode, the corresponding acceleration of the unmanned aerial vehicle after the unmanned aerial vehicle outputs the first pulling force may be 2m/s2The corresponding speed may be 0.2m/s, and of course, the corresponding speed may be specifically set according to actual needs, and here, the embodiment of the present invention only uses the acceleration which may be 2m/s2And the velocity may be 0.2m/s for illustration, but it does not represent that the present invention is limited thereto.
S302, in a preset time period, if the speed information meets a first preset condition, determining that the unmanned aerial vehicle breaks down.
In order to judge whether the unmanned aerial vehicle is shielded or covered by foreign matters, a first pulling force can be output in a first time period at the initial stage of takeoff of the unmanned aerial vehicle, so that the pulling force is increased from 0% to a higher pulling force level (for example, 70%), and at the moment, if the first vertical acceleration of the unmanned aerial vehicle is greater than 2m/s2And the speed is more than 0.2m/s, which indicates that the unmanned aerial vehicle flies upwards in an accelerating way, and then the unmanned aerial vehicle is determined not to be shielded or covered by foreign matters, and the unmanned aerial vehicle is in a normal takeoff state. If the first vertical acceleration of the unmanned aerial vehicle is less than 2m/s2Or the speed is less than 0.2m/s, or the first vertical acceleration is less than 2m/s2And speed is less than being 0.2m/s, shows that unmanned aerial vehicle does not upwards accelerate flight (including not taking off and the unsatisfied default of take-off speed), then confirms that this unmanned aerial vehicle is sheltered from or covered by the foreign matter, can not normally take off, and at this moment, can close the motor to prevent the motor stall, thereby improved unmanned aerial vehicle's security.
The preset time period is determined by the acceleration being greater than 2m/s2And starting, ending with a preset time length, and judging whether the first vertical acceleration and the speed meet a first preset condition in the preset time period so as to determine whether the unmanned aerial vehicle has a fault.
The above-mentioned embodiments shown in fig. 2 and fig. 3 describe in detail how to determine whether the unmanned aerial vehicle fails according to the first attitude angle or speed information and the preset flight state parameter information in the takeoff state of the unmanned aerial vehicle, and below, how to determine whether the unmanned aerial vehicle fails according to the second attitude angle and the preset flight state parameter information in the second scenario, that is, in the cruise mode, will be described in detail. Wherein, the second attitude angle can be any one or combination of a pitch angle, a roll angle and a yaw angle. Optionally, in the cruise mode, determining whether the unmanned aerial vehicle fails according to the second attitude angle and the preset flight state parameter information may include two possible implementation manners, please refer to fig. 4 and 5, where fig. 4 is a schematic diagram of determining whether the unmanned aerial vehicle fails in one cruise mode provided by the embodiment of the present invention, and fig. 5 is a schematic diagram of determining whether the unmanned aerial vehicle fails in another cruise mode provided by the embodiment of the present invention.
In a first possible implementation manner, please refer to fig. 4, the method may include:
s401, acquiring corresponding second flight state parameter information of the unmanned aerial vehicle in the cruise mode.
Wherein the second flight state parameter information comprises a second attitude angle. When the second flight state parameter information includes the second attitude angle, the corresponding preset flight state parameter information is a fourth preset threshold value, and the fourth preset threshold value is the maximum attitude angle allowed by the unmanned aerial vehicle in the normal cruise mode. For example, the fourth preset threshold may be 75 degrees.
S402, if the second attitude angle is larger than a fourth preset threshold value, determining that the unmanned aerial vehicle breaks down.
After confirming second attitude angle and fourth preset threshold value respectively, just can confirm whether unmanned aerial vehicle breaks down according to this second attitude angle and fourth preset threshold value, if the second attitude angle is greater than the fourth preset threshold value, then confirm that unmanned aerial vehicle breaks down, this moment, can close the motor to prevent the motor stall, thereby improved unmanned aerial vehicle's security.
In a second possible implementation manner, please refer to fig. 5, the method may include:
s501, acquiring corresponding second flight state parameter information of the unmanned aerial vehicle in the cruise mode.
Wherein the second flight state parameter information comprises a second attitude angle. When the second flight state parameter information includes the second attitude angle, the corresponding preset flight state parameter information includes a fifth preset threshold value and a sixth preset threshold value, the fifth preset threshold value is the maximum error allowed by the attitude angle of the unmanned aerial vehicle in the normal cruise mode, and the sixth preset threshold value is the maximum duration allowed by the unmanned aerial vehicle in the second attitude angle state in the normal cruise mode. For example, in the embodiment of the present invention, the fifth preset threshold may be 15 degrees, and the sixth preset threshold may be 3 seconds.
S502, if the error between the second attitude angle and the preset second attitude angle is larger than a fifth preset threshold value, acquiring the duration of the unmanned aerial vehicle in the state corresponding to the second attitude angle.
And the preset second attitude angle is the attitude angle of the unmanned aerial vehicle in the normal cruise mode.
After the second attitude angle and the preset second attitude angle are respectively determined, the error between the second attitude angle and the preset second attitude angle can be compared with a fifth preset threshold, and if the error is greater than the fifth preset threshold, the duration of the unmanned aerial vehicle in the state corresponding to the second attitude angle is further determined.
S503, if the duration is larger than a sixth preset threshold, determining that the unmanned aerial vehicle breaks down.
If duration is greater than the sixth preset threshold value, it indicates that unmanned aerial vehicle has the possibility of turning on one's side in the process of cruising, at this moment, can close the motor to prevent the motor stall, thereby improved unmanned aerial vehicle's security.
Based on the embodiments shown in fig. 4 and fig. 5, it is described in detail how to determine whether the unmanned aerial vehicle is out of order according to the second attitude angle and the preset flight state parameter information in the cruise state when the flight state parameter information includes the second attitude angle, and of course, the flight state parameter information may further include an acceleration. Likewise, the second attitude angle may be any one or a combination of pitch angle, roll angle, and yaw angle. Optionally, in the cruise mode, determining whether the unmanned aerial vehicle fails according to the acceleration, the second attitude angle, and the preset flight state parameter information may include two possible implementation manners, please refer to fig. 6 and 7, where fig. 6 is a schematic diagram of determining whether the unmanned aerial vehicle fails in one cruise mode provided by the embodiment of the present invention, and fig. 7 is a schematic diagram of determining whether the unmanned aerial vehicle fails in another cruise mode provided by the embodiment of the present invention.
In a first possible implementation manner, please refer to fig. 6, the method may include:
s601, acquiring corresponding second flight state parameter information of the unmanned aerial vehicle in the cruise mode.
And the second flight state parameter information comprises acceleration and a second attitude angle. When the second flight state parameter information includes the acceleration and the second attitude angle, the corresponding preset flight state parameter information is a fourth preset threshold and a seventh preset threshold, the fourth preset threshold is the maximum attitude angle allowed by the unmanned aerial vehicle in the normal cruise mode, and the seventh preset threshold is the maximum acceleration allowed by the unmanned aerial vehicle in the normal cruise mode. For example, the fourth preset threshold may be 75 degrees, and the seventh preset threshold may be 6 g.
And S602, if the acceleration is larger than a seventh preset threshold value and the second attitude angle is larger than a fourth preset threshold value, determining that the unmanned aerial vehicle breaks down.
After acceleration and second attitude angle are determined respectively, whether the unmanned aerial vehicle breaks down or not can be determined according to the acceleration and the second attitude angle and a fourth preset threshold and a seventh preset threshold which correspond respectively, if the acceleration is greater than the seventh preset threshold and the second attitude angle is greater than the fourth preset threshold, the unmanned aerial vehicle is determined to break down, and at the moment, the motor can be turned off to prevent the motor from stalling, so that the safety of the unmanned aerial vehicle is improved.
In a second possible implementation manner, please refer to fig. 7, the method may include:
s701, acquiring corresponding second flight state parameter information of the unmanned aerial vehicle in the cruise mode.
Wherein the second flight state parameter information includes an acceleration and a second attitude angle. When the second flight state parameter information includes the acceleration and the second attitude angle, the corresponding preset flight state parameter information includes a fifth preset threshold, a sixth preset threshold and a seventh preset threshold, the fifth preset threshold is the maximum error allowed by the attitude angle of the unmanned aerial vehicle in the normal cruise mode, the sixth preset threshold is the maximum duration allowed by the unmanned aerial vehicle in the second attitude angle state in the normal cruise mode, and the seventh preset threshold is the maximum acceleration allowed by the unmanned aerial vehicle in the normal cruise mode. For example, in the embodiment of the present invention, the fifth preset threshold may be 15 degrees, the sixth preset threshold may be 3 seconds, and the seventh preset threshold may be 6 g.
S702, if the acceleration is larger than a seventh preset threshold value, and the error between the second attitude angle and the preset second attitude angle is larger than a fifth preset threshold value, acquiring the duration of the unmanned aerial vehicle in the state corresponding to the second attitude angle.
And the preset second attitude angle is the attitude angle of the unmanned aerial vehicle in the normal cruise mode.
After the second attitude angle and the preset second attitude angle are respectively determined, the error between the second attitude angle and the preset second attitude angle can be compared with a fifth preset threshold, and if the error is greater than the fifth preset threshold and the acceleration is greater than a seventh preset threshold, the duration of the unmanned aerial vehicle in the state corresponding to the second attitude angle is further determined.
And S703, if the duration time is greater than a sixth preset threshold value, determining that the unmanned aerial vehicle breaks down.
If duration is greater than the sixth preset threshold value, it indicates that unmanned aerial vehicle has the possibility of turning on one's side in the process of cruising, at this moment, can close the motor to prevent the motor stall, thereby improved unmanned aerial vehicle's security.
The above description describes in detail how to determine whether the unmanned aerial vehicle is in fault according to the acceleration and the second attitude angle and the preset flight state parameter information in the cruise state when the flight state parameter information includes the acceleration and the second attitude angle based on the embodiments shown in fig. 6 to 7, and of course, the flight state parameter information may also include the altitude. Similarly, the second attitude angle may be any one or a combination of a pitch angle, a roll angle, and a yaw angle, and in the cruise mode, determining whether the unmanned aerial vehicle has a fault according to the acceleration, the altitude, the second attitude angle, and the preset flight state parameter information may include two possible implementations, please refer to fig. 8 and 9, where fig. 8 is a schematic diagram of determining whether the unmanned aerial vehicle has a fault in one cruise mode provided by the embodiment of the present invention, and fig. 9 is a schematic diagram of determining whether the unmanned aerial vehicle has a fault in another cruise mode provided by the embodiment of the present invention.
In a first possible implementation manner, please refer to fig. 8, the method may include:
s801, acquiring corresponding second flight state parameter information of the unmanned aerial vehicle in the cruise mode.
And the second flight state parameter information comprises acceleration, height and a second attitude angle. When the second flight state parameter information includes acceleration, height and a second attitude angle, the corresponding preset flight state parameter information is a fourth preset threshold, a seventh preset threshold and an eighth preset threshold, the fourth preset threshold is a maximum attitude angle allowed by the unmanned aerial vehicle in the normal cruise mode, the seventh preset threshold is a maximum acceleration allowed by the unmanned aerial vehicle in the normal cruise mode, and the eighth preset threshold is a maximum height allowed by the unmanned aerial vehicle when falling. For example, the fourth preset threshold may be 75 degrees, the seventh preset threshold may be 6g, and the eighth preset threshold may be 6 meters.
S802, if the acceleration is larger than a seventh preset threshold, the height is smaller than an eighth preset threshold, and the second attitude angle is larger than a fourth preset threshold, it is determined that the unmanned aerial vehicle breaks down.
After respectively confirming acceleration, height and second attitude angle, just can be according to this acceleration, height, second attitude angle and the fourth that corresponds respectively predetermine the threshold value, the seventh predetermines threshold value and the eighth predetermines the threshold value and confirm whether unmanned aerial vehicle breaks down, if the acceleration is greater than the seventh predetermines the threshold value, highly be less than the eighth predetermines the threshold value, and second attitude angle is greater than the fourth and predetermines the threshold value, then confirm that unmanned aerial vehicle breaks down, at this moment, can close the motor to prevent the motor stall, thereby unmanned aerial vehicle's security has been improved.
In a second possible implementation manner, please refer to fig. 9, the method may include:
s901, acquiring corresponding second flight state parameter information of the unmanned aerial vehicle in the cruise mode.
The second flight state parameter information comprises acceleration, height and a second attitude angle. When the second flight state parameter information includes acceleration, altitude and a second attitude angle, the corresponding preset flight state parameter information includes a fifth preset threshold, a sixth preset threshold, a seventh preset threshold and an eighth preset threshold, the fifth preset threshold is a maximum error allowed by the attitude angle of the unmanned aerial vehicle in the normal cruise mode, the sixth preset threshold is a maximum duration allowed by the unmanned aerial vehicle in the second attitude angle state in the normal cruise mode, the seventh preset threshold is a maximum acceleration allowed by the unmanned aerial vehicle in the normal cruise mode, and the eighth preset threshold is a maximum altitude allowed by the unmanned aerial vehicle when the unmanned aerial vehicle falls. For example, in the embodiment of the present invention, the fifth preset threshold may be 15 degrees, the sixth preset threshold may be 3 seconds, the seventh preset threshold may be 6g, and the eighth preset threshold may be 6 meters.
S902, if the acceleration is larger than a seventh preset threshold, the height is smaller than an eighth preset threshold, and the error between the second attitude angle and the preset second attitude angle is larger than a fifth preset threshold, acquiring the duration of the unmanned aerial vehicle in the state corresponding to the second attitude angle.
And the preset second attitude angle is the attitude angle of the unmanned aerial vehicle in the normal cruise mode.
After the second attitude angle, the height and the preset second attitude angle are respectively determined, the error between the second attitude angle and the preset second attitude angle can be compared with a fifth preset threshold, if the error is greater than the fifth preset threshold, the acceleration is greater than a seventh preset threshold, and the height is less than an eighth preset threshold, the duration of the unmanned aerial vehicle in the state corresponding to the second attitude angle is further determined.
And S903, if the duration is longer than a sixth preset threshold, determining that the unmanned aerial vehicle breaks down.
If duration is greater than the sixth preset threshold value, it indicates that unmanned aerial vehicle has the possibility of turning on one's side in the process of cruising, at this moment, can close the motor to prevent the motor stall, thereby improved unmanned aerial vehicle's security.
It should be noted that, in the embodiment of the present invention, in the cruise mode, the second flight state parameter may also include only the altitude and the second attitude angle, that is, it may be determined whether the unmanned aerial vehicle has a fault in the cruise mode according to the altitude and the second attitude angle, and the specific implementation manner of the embodiment may be the embodiments shown in fig. 8 to 9, which is not described again in the embodiment of the present invention.
Fig. 10 is a schematic structural diagram of a fault detection device 10 of an unmanned aerial vehicle according to an embodiment of the present invention, please refer to fig. 10, where the fault detection device 10 of the unmanned aerial vehicle may include:
and the sensor 1001 is used for detecting the current flight state parameter information of the unmanned aerial vehicle.
And the processor 1002 is configured to determine that the unmanned aerial vehicle fails according to the current flight state parameter information and the preset flight state parameter information.
Optionally, the sensor 1001 is further configured to obtain a current flight mode of the unmanned aerial vehicle; wherein the flight mode comprises a takeoff mode or a cruise mode.
The processor 1002 is specifically configured to determine that the unmanned aerial vehicle has a fault according to flight state parameter information of the unmanned aerial vehicle in the current flight mode and preset flight state parameter information.
Optionally, the flight state parameter information includes attitude angle or velocity information.
Optionally, the processor 1002 is specifically configured to, if the current flight mode is a takeoff mode, obtain first flight state parameter information corresponding to the unmanned aerial vehicle in the takeoff mode; the first flight state parameter information comprises first attitude angle or velocity information; and determining that the unmanned aerial vehicle breaks down according to the first attitude angle or speed information and the preset flight state parameter information.
Optionally, the preset flight state parameter information includes a first preset threshold.
The processor 1002 is specifically configured to determine that the unmanned aerial vehicle is out of order if the first attitude angle is greater than a first preset threshold.
Optionally, the preset flight state parameter information includes a preset first attitude angle and a second preset threshold.
A processor 1002, specifically configured to determine a rate of change between the first attitude angle and a preset first attitude angle; presetting a first attitude angle as an attitude angle of the unmanned aerial vehicle in a normal takeoff mode; and if the change rate is greater than a second preset threshold value, determining that the unmanned aerial vehicle breaks down.
Optionally, the preset flight parameter includes a first preset condition.
The processor 1002 is specifically configured to determine that the unmanned aerial vehicle fails if the speed information meets a first preset condition within a preset time period; the speed information is acquired after the unmanned aerial vehicle outputs a first pulling force within a first time period; the first preset condition is used for indicating that the speed of the unmanned aerial vehicle is smaller than a third preset threshold value.
Optionally, the first velocity information includes a first vertical acceleration and a first velocity.
Optionally, the value of the first pulling force is greater than the pulling force required by the unmanned aerial vehicle in the hovering state.
Optionally, the processor 1002 is specifically configured to, if the current flight mode is the cruise mode, obtain second parameter information corresponding to the unmanned aerial vehicle in the cruise mode; the second parameter information includes a second attitude angle; and determining that the unmanned aerial vehicle breaks down according to the second attitude angle and the preset flight state parameter information.
Optionally, the preset flight state parameter information includes a fourth preset threshold.
The processor 1002 is specifically configured to determine that the unmanned aerial vehicle is out of order if the second attitude angle is greater than a fourth preset threshold.
Optionally, the preset flight state parameter information includes a fifth preset threshold and a sixth preset threshold.
The processor 1002 is specifically configured to, if an error between the second attitude angle and a preset second attitude angle is greater than a fifth preset threshold, obtain a duration of the unmanned aerial vehicle in a state corresponding to the second attitude angle; the preset second attitude angle is the attitude angle of the unmanned aerial vehicle in the normal cruise mode; and if the duration is greater than a sixth preset threshold, determining that the unmanned aerial vehicle breaks down.
Optionally, the second parameter information further includes acceleration.
The processor 1002 is specifically configured to determine that the unmanned aerial vehicle has a fault according to the acceleration, the second attitude angle, and the preset flight state parameter information.
Optionally, the preset flight state parameter information includes a fourth preset threshold and a seventh preset threshold.
The processor 1002 is specifically configured to determine that the unmanned aerial vehicle is out of order if the acceleration is greater than a seventh preset threshold and the second attitude angle is greater than a fourth preset threshold.
Optionally, the preset flight state parameter information includes a fifth preset threshold, a sixth preset threshold, and a seventh preset threshold.
The processor 1002 is specifically configured to, if the acceleration is greater than a seventh preset threshold, and an error between the second attitude angle and a preset second attitude angle is greater than a fifth preset threshold, obtain a duration of the unmanned aerial vehicle in a state corresponding to the second attitude angle; the preset second attitude angle is the attitude angle of the unmanned aerial vehicle in the normal cruise mode; and if the duration is greater than a sixth preset threshold, determining that the unmanned aerial vehicle breaks down.
Optionally, the second parameter information further includes a height.
The processor 1002 is specifically configured to determine that the unmanned aerial vehicle has a fault according to the acceleration, the height, the second attitude angle, and the preset flight state parameter information.
Optionally, the preset flight state parameter information includes a fourth preset threshold, a seventh preset threshold, and an eighth preset threshold.
The processor 1002 is specifically configured to determine that the unmanned aerial vehicle is out of order if the acceleration is greater than a seventh preset threshold, the height is less than an eighth preset threshold, and the second attitude angle is greater than a fourth preset threshold.
Optionally, the preset flight state parameter information includes a fifth preset threshold, a sixth preset threshold, a seventh preset threshold, and an eighth preset threshold.
The processor 1002 is specifically configured to, if the acceleration is greater than a seventh preset threshold, the height is less than an eighth preset threshold, and an error between the second attitude angle and a preset second attitude angle is greater than a fifth preset threshold, obtain a duration of the unmanned aerial vehicle in a state corresponding to the second attitude angle; the preset second attitude angle is the attitude angle of the unmanned aerial vehicle in the normal cruise mode; and if the duration is greater than a sixth preset threshold, determining that the unmanned aerial vehicle breaks down.
Above-mentioned unmanned aerial vehicle's fault detection device 10 can carry out the technical scheme of the unmanned aerial vehicle's fault detection method of any embodiment correspondingly, and its realization principle and technological effect are similar, no longer give consideration to here.
The embodiment of the invention also provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for detecting the fault of the unmanned aerial vehicle disclosed in any embodiment is executed.
The above computer-readable storage medium can correspondingly execute the technical solution of the fault detection method for the unmanned aerial vehicle according to any embodiment, and the implementation principle and the technical effect are similar, which are not described herein again.
The embodiment of the invention also provides a movable platform which comprises a power device and the fault detection device of the unmanned aerial vehicle shown in any one of the embodiments.
Above-mentioned movable platform can carry out the technical scheme of the fault detection method of unmanned aerial vehicle of any embodiment correspondingly, and its theory of realization and technological effect are similar, and no longer give unnecessary details here.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (38)

  1. A fault detection method of an unmanned aerial vehicle is characterized by comprising the following steps:
    detecting current flight state parameter information of the unmanned aerial vehicle;
    and determining that the unmanned aerial vehicle breaks down according to the current flight state parameter information and the preset flight state parameter information.
  2. The method of claim 1, wherein the determining that the drone is malfunctioning based on the current flight state parameter information and preset flight state parameter information comprises:
    acquiring a current flight mode of the unmanned aerial vehicle; wherein the flight mode comprises a takeoff mode or a cruise mode;
    and determining that the unmanned aerial vehicle breaks down according to the flight state parameter information of the unmanned aerial vehicle in the current flight mode and the preset flight state parameter information.
  3. The method according to claim 1 or 2,
    the flight state parameter information includes attitude angle or velocity information.
  4. The method of claim 2, wherein the determining that the unmanned aerial vehicle is out of order according to the flight status parameter information of the unmanned aerial vehicle in the current flight mode and the preset flight status parameter information comprises:
    if the current flight mode is a takeoff mode, acquiring corresponding first flight state parameter information of the unmanned aerial vehicle in the takeoff mode; the first flight state parameter information comprises first attitude angle or velocity information;
    and determining that the unmanned aerial vehicle breaks down according to the first attitude angle or the speed information and the preset flight state parameter information.
  5. The method of claim 4, wherein the preset flight state parameter information comprises a first preset threshold, and determining that the unmanned aerial vehicle is out of order according to the first attitude angle and the preset flight state parameter information comprises:
    and if the first attitude angle is larger than the first preset threshold value, determining that the unmanned aerial vehicle breaks down.
  6. The method of claim 4, wherein the preset flight state parameter information comprises a preset first attitude angle and a second preset threshold, and determining that the unmanned aerial vehicle is out of order according to the first attitude angle and the preset flight state parameter information comprises:
    determining a rate of change between the first attitude angle and the preset first attitude angle; the preset first attitude angle is an attitude angle of the unmanned aerial vehicle in a normal takeoff mode;
    and if the change rate is greater than the second preset threshold value, determining that the unmanned aerial vehicle breaks down.
  7. The method of claim 4, wherein the preset flight parameters include a first preset condition, and determining that the unmanned aerial vehicle is out of order according to the speed information and the preset flight status parameter information comprises:
    in a preset time period, if the speed information meets the first preset condition, determining that the unmanned aerial vehicle breaks down; the speed information is acquired after the unmanned aerial vehicle outputs a first pulling force within a first time period; the first preset condition is used for indicating that the speed of the unmanned aerial vehicle is smaller than a third preset threshold value.
  8. The method of claim 7, wherein the first velocity information comprises a first vertical acceleration and a first velocity.
  9. The method of claim 7 or 8, wherein the first pulling force has a value greater than a pulling force required by the drone in the hover state.
  10. The method of claim 2, wherein the determining that the unmanned aerial vehicle is out of order according to the flight status parameter information of the unmanned aerial vehicle in the current flight mode and the preset flight status parameter information comprises:
    if the current flight mode is the cruise mode, acquiring corresponding second parameter information of the unmanned aerial vehicle in the cruise mode; the second parameter information comprises a second attitude angle;
    and determining that the unmanned aerial vehicle breaks down according to the second attitude angle and the preset flight state parameter information.
  11. The method of claim 10, wherein the preset flight state parameter information comprises a fourth preset threshold, and the determining that the drone is malfunctioning according to the second attitude angle and the preset flight state parameter information comprises:
    and if the second attitude angle is larger than the fourth preset threshold value, determining that the unmanned aerial vehicle breaks down.
  12. The method of claim 10, wherein the preset flight state parameter information includes a fifth preset threshold and a sixth preset threshold, and the determining that the unmanned aerial vehicle is out of order according to the second attitude angle and the preset flight state parameter information includes:
    if the error between the second attitude angle and a preset second attitude angle is greater than a fifth preset threshold value, acquiring the duration of the unmanned aerial vehicle in a state corresponding to the second attitude angle; the preset second attitude angle is an attitude angle of the unmanned aerial vehicle in a normal cruise mode;
    and if the duration is greater than the sixth preset threshold, determining that the unmanned aerial vehicle breaks down.
  13. The method of claim 10, wherein the second parameter information further includes acceleration, and the determining that the drone is faulty according to the flight status parameter information in the current flight mode of the drone and the preset flight status parameter information includes:
    and determining that the unmanned aerial vehicle breaks down according to the acceleration, the second attitude angle and the preset flight state parameter information.
  14. The method of claim 13, wherein the preset flight state parameter information includes a fourth preset threshold and a seventh preset threshold, and the determining that the drone is out of order according to the second attitude angle and the preset flight state parameter information includes:
    and if the acceleration is greater than a seventh preset threshold value and the second attitude angle is greater than a fourth preset threshold value, determining that the unmanned aerial vehicle breaks down.
  15. The method of claim 13, wherein the predetermined flight state parameter information includes a fifth predetermined threshold, a sixth predetermined threshold, and a seventh predetermined threshold, and the determining that the drone is malfunctioning according to the acceleration, the second attitude angle, and the predetermined flight state parameter information includes:
    if the acceleration is greater than a seventh preset threshold value, and the error between the second attitude angle and a preset second attitude angle is greater than a fifth preset threshold value, acquiring the duration of the unmanned aerial vehicle in a state corresponding to the second attitude angle; the preset second attitude angle is an attitude angle of the unmanned aerial vehicle in a normal cruise mode;
    and if the duration is greater than the sixth preset threshold, determining that the unmanned aerial vehicle breaks down.
  16. The method of claim 13, wherein the second parameter information further includes an altitude, and wherein determining that the drone is malfunctioning based on the acceleration, the second attitude angle, and the preset flight status parameter information comprises:
    and determining that the unmanned aerial vehicle breaks down according to the acceleration, the height, the second attitude angle and the preset flight state parameter information.
  17. The method of claim 16, wherein the predetermined flight state parameter information includes a fourth predetermined threshold, a seventh predetermined threshold, and an eighth predetermined threshold, and the determining that the drone is malfunctioning based on the acceleration, the altitude, the second attitude angle, and the predetermined flight state parameter information includes:
    and if the acceleration is greater than a seventh preset threshold, the height is less than an eighth preset threshold, and the second attitude angle is greater than a fourth preset threshold, determining that the unmanned aerial vehicle breaks down.
  18. The method of claim 16, wherein the preset flight state parameter information includes a fifth preset threshold, a sixth preset threshold, a seventh preset threshold, and an eighth preset threshold, and the determining that the unmanned aerial vehicle is out of order according to the acceleration, the altitude, the second attitude angle, and the preset flight state parameter information includes:
    if the acceleration is greater than the seventh preset threshold, the height is less than the eighth preset threshold, and the error between the second attitude angle and the preset second attitude angle is greater than the fifth preset threshold, acquiring the duration of the unmanned aerial vehicle in the state corresponding to the second attitude angle; the preset second attitude angle is an attitude angle of the unmanned aerial vehicle in a normal cruise mode;
    and if the duration is greater than the sixth preset threshold, determining that the unmanned aerial vehicle breaks down.
  19. The utility model provides an unmanned aerial vehicle's fault detection device which characterized in that includes:
    the sensor is used for detecting the current flight state parameter information of the unmanned aerial vehicle;
    and the processor is used for determining that the unmanned aerial vehicle breaks down according to the current flight state parameter information and the preset flight state parameter information.
  20. The apparatus of claim 19,
    the sensor is also used for acquiring the current flight mode of the unmanned aerial vehicle; wherein the flight mode comprises a takeoff mode or a cruise mode;
    the processor is specifically configured to determine that the unmanned aerial vehicle breaks down according to flight state parameter information of the unmanned aerial vehicle in a current flight mode and preset flight state parameter information.
  21. The apparatus of claim 19 or 20,
    the flight state parameter information includes attitude angle or velocity information.
  22. The apparatus of claim 20,
    the processor is specifically configured to acquire first flight state parameter information corresponding to the unmanned aerial vehicle in a takeoff mode if the current flight mode is the takeoff mode; the first flight state parameter information comprises first attitude angle or velocity information; and determining that the unmanned aerial vehicle breaks down according to the first attitude angle or the speed information and the preset flight state parameter information.
  23. The apparatus of claim 22, wherein the preset flight state parameter information comprises a first preset threshold;
    the processor is specifically configured to determine that the unmanned aerial vehicle is faulty if the first attitude angle is greater than the first preset threshold.
  24. The apparatus of claim 22, wherein the preset flight state parameter information comprises a preset first attitude angle and a second preset threshold;
    the processor is specifically configured to determine a rate of change between the first attitude angle and the preset first attitude angle; the preset first attitude angle is an attitude angle of the unmanned aerial vehicle in a normal takeoff mode; and if the change rate is greater than the second preset threshold value, determining that the unmanned aerial vehicle breaks down.
  25. The apparatus of claim 22, wherein the preset flight parameter comprises a first preset condition;
    the processor is specifically configured to determine that the unmanned aerial vehicle fails if the speed information meets the first preset condition within a preset time period; the speed information is acquired after the unmanned aerial vehicle outputs a first pulling force within a first time period; the first preset condition is used for indicating that the speed of the unmanned aerial vehicle is smaller than a third preset threshold value.
  26. The apparatus of claim 25, wherein the first velocity information comprises a first vertical acceleration and a first velocity.
  27. The apparatus of claim 25 or 26, wherein the first pulling force has a value greater than a pulling force required by the drone in the hover state.
  28. The apparatus of claim 20,
    the processor is specifically configured to acquire second parameter information corresponding to the unmanned aerial vehicle in the cruise mode if the current flight mode is the cruise mode; the second parameter information comprises a second attitude angle; and determining that the unmanned aerial vehicle breaks down according to the second attitude angle and the preset flight state parameter information.
  29. The apparatus of claim 28, wherein the preset flight state parameter information comprises a fourth preset threshold;
    the processor is specifically configured to determine that the unmanned aerial vehicle has a fault if the second attitude angle is greater than the fourth preset threshold.
  30. The apparatus of claim 28, wherein the preset flight state parameter information comprises a fifth preset threshold and a sixth preset threshold;
    the processor is specifically configured to, if an error between the second attitude angle and a preset second attitude angle is greater than a fifth preset threshold, obtain a duration of the unmanned aerial vehicle in a state corresponding to the second attitude angle; the preset second attitude angle is an attitude angle of the unmanned aerial vehicle in a normal cruise mode; and if the duration is greater than the sixth preset threshold, determining that the unmanned aerial vehicle breaks down.
  31. The apparatus of claim 28, wherein the second parameter information further comprises acceleration;
    the processor is specifically configured to determine that the unmanned aerial vehicle breaks down according to the acceleration, the second attitude angle, and the preset flight state parameter information.
  32. The apparatus of claim 31, wherein the preset flight state parameter information comprises a fourth preset threshold and a seventh preset threshold;
    the processor is specifically configured to determine that the unmanned aerial vehicle has a fault if the acceleration is greater than a seventh preset threshold and the second attitude angle is greater than a fourth preset threshold.
  33. The apparatus according to claim 31, wherein the preset flight state parameter information includes a fifth preset threshold, a sixth preset threshold and a seventh preset threshold;
    the processor is specifically configured to, if the acceleration is greater than a seventh preset threshold and an error between the second attitude angle and a preset second attitude angle is greater than a fifth preset threshold, obtain a duration of the unmanned aerial vehicle in a state corresponding to the second attitude angle; the preset second attitude angle is an attitude angle of the unmanned aerial vehicle in a normal cruise mode; and if the duration is greater than the sixth preset threshold, determining that the unmanned aerial vehicle breaks down.
  34. The apparatus of claim 31, wherein the second parameter information further comprises an altitude;
    the processor is specifically configured to determine that the unmanned aerial vehicle breaks down according to the acceleration, the height, the second attitude angle, and the preset flight state parameter information.
  35. The apparatus according to claim 34, wherein the preset flight state parameter information includes a fourth preset threshold, a seventh preset threshold and an eighth preset threshold;
    the processor is specifically configured to determine that the unmanned aerial vehicle breaks down if the acceleration is greater than a seventh preset threshold, the height is less than an eighth preset threshold, and the second attitude angle is greater than a fourth preset threshold.
  36. The apparatus according to claim 34, wherein the preset flight state parameter information includes a fifth preset threshold, a sixth preset threshold, a seventh preset threshold and an eighth preset threshold;
    the processor is specifically configured to, if the acceleration is greater than a seventh preset threshold, the height is less than an eighth preset threshold, and an error between the second attitude angle and a preset second attitude angle is greater than a fifth preset threshold, obtain a duration of the unmanned aerial vehicle in a state corresponding to the second attitude angle; the preset second attitude angle is an attitude angle of the unmanned aerial vehicle in a normal cruise mode; and if the duration is greater than the sixth preset threshold, determining that the unmanned aerial vehicle breaks down.
  37. A computer-readable storage medium, characterized in that,
    the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the method of fault detection for a drone of any one of claims 1 to 18.
  38. A movable platform comprising a power plant and a fault detection device for a drone according to any one of claims 19 to 36.
CN201880031266.9A 2018-01-05 2018-01-05 Unmanned aerial vehicle fault detection method and device and movable platform Pending CN110612252A (en)

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