CN112379694A - Emergency processing method and system for flight fault - Google Patents
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Abstract
The invention discloses an emergency processing method and system for flight faults, which relate to the field of flight fault processing, and the method comprises the steps of S1 monitoring and acquiring flight state parameters in real time; s2, analyzing the flight state parameters to confirm the flight fault condition; s3, judging the priority of the flight fault condition, forming an execution strategy and issuing the strategy to the unmanned aerial vehicle; s4 controlling the flight according to the execution strategy; the device comprises a data acquisition module, a data analysis module, a fault strategy module and a flight control module; the fault types are subjected to priority sequencing, an execution strategy is formed to control the unmanned aerial vehicle to fly, the single-flight application value of the unmanned aerial vehicle is maximized, the corresponding measures of the fault types are refined, the judgment processing of fault recovery is added, the unmanned aerial vehicle is safer and more reliable in flying, and personal and property safety can be guaranteed; the added fault priority discrimination module sequences multiple fault types of the unmanned aerial vehicle and generates a corresponding execution strategy, so that the single-flight application value of the unmanned aerial vehicle is maximized.
Description
Technical Field
The invention relates to the field of flight fault processing, in particular to an emergency processing method and system for flight faults.
Background
Unmanned aerial vehicle is at the air flight in-process, probably because internal factor or external environment factor cause the sudden condition such as airborne electronic equipment trouble or information interruption, the personal safety and the property potential safety hazard of ground personnel have been brought in the emergence of this kind of condition, especially unmanned aerial vehicle is greater when being in outside ground monitoring personnel stadia distance, most unmanned aerial vehicle is when dealing with this kind of condition, often adopt more single processing mechanism, like returning to the air or parachute-opening descending etc. in order to ensure unmanned aerial vehicle's flight safety, but this processing mode does not take measures to the possibility of fault recovery, make unmanned aerial vehicle's cost effectiveness ratio reduce.
Disclosure of Invention
The invention aims to solve the problems and designs an emergency treatment method and system for flight faults.
The invention realizes the purpose through the following technical scheme:
an emergency processing method of flight faults is used for processing the flight faults of an unmanned aerial vehicle and comprises the following steps:
s1, monitoring and acquiring flight state parameters of the unmanned aerial vehicle in the flight process in real time;
s2, analyzing the acquired flight state parameters and confirming the flight fault condition of the unmanned aerial vehicle;
s3, judging the priority among fault types in the flight fault condition, forming an execution strategy according to logic judgment, and issuing the execution strategy to the unmanned aerial vehicle;
and S4, controlling the flight by the unmanned aerial vehicle according to the execution strategy.
An emergency flight fault handling system for unmanned aerial vehicle flight fault handling, comprising:
the data acquisition module is used for acquiring flight state parameters of the unmanned aerial vehicle in real time;
a data analysis module; the data analysis module is used for analyzing and processing flight state parameters of the unmanned aerial vehicle and determining the flight fault condition of the unmanned aerial vehicle, and the signal output end of the data acquisition module is connected with the signal input end of the data analysis module;
a fault policy module; the fault strategy module is used for judging the flight fault level and generating an execution strategy, and the signal output end of the data analysis module is connected with the signal input end of the fault strategy module;
the flight control module is used for controlling the flight of the unmanned aerial vehicle according to an execution strategy; and the signal output end of the fault strategy module is connected with the signal input end of the flight control module.
The invention has the beneficial effects that: through addding of trouble strategy module, carry out the sequencing of priority to the multiple fault type that unmanned aerial vehicle took place, judge the formation according to predetermineeing or logic again and correspond the execution strategy to transmit the execution strategy to flight control module in order to control unmanned aerial vehicle's flight, make unmanned aerial vehicle single flight application value maximize, add fault recovery's judgement processing, make unmanned aerial vehicle flight safety more reliable, more can guarantee personal and property safety.
Drawings
FIG. 1 is a schematic flow diagram of a method for emergency handling of flight faults in accordance with the present invention;
FIG. 2 is a flow chart of an execution strategy of a GPS fault in the emergency processing method of flight faults of the present invention;
FIG. 3 is a flow chart of an execution strategy of an energy alarm in the emergency processing method of flight faults according to the present invention;
FIG. 4 is a flow chart of a link failure execution strategy in the emergency handling method for flight faults according to the present invention;
FIG. 5 is a flowchart of the load fault execution strategy in the emergency treatment method for flight faults according to the present invention
FIG. 6 is a schematic diagram of logic modeling in an emergency system for flight faults in accordance with the present invention;
FIG. 7 is a schematic diagram of the logic processing in an emergency system for flight faults according to the present invention;
FIG. 8 is a schematic diagram of an emergency system for flight fault handling according to the present invention;
FIG. 9 is a schematic diagram of an implementation strategy for emergency full occurrence in an emergency system for flight faults according to the present invention;
FIG. 10 is a schematic diagram of a link failure occurring in an emergency system for flight faults in accordance with the present invention;
FIG. 11 is a schematic diagram of an implementation strategy for a link failure in an emergency system for flight faults according to the present invention;
FIG. 12 is a schematic diagram of a load fault occurrence in an emergency system for flight faults in accordance with the present invention;
FIG. 13 is a schematic diagram of an implementation strategy for a link failure in an emergency system for flight failure according to 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. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "inside", "outside", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the products of the present invention are conventionally placed in use, or the orientations or positional relationships that are conventionally understood by those skilled in the art, and are used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is also to be noted that, unless otherwise explicitly stated or limited, the terms "disposed" and "connected" are to be interpreted broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following detailed description of embodiments of the invention refers to the accompanying drawings.
As shown in fig. 1, an emergency processing method for flight faults is used for processing flight faults of an unmanned aerial vehicle, and includes the following steps:
s1, monitoring and acquiring flight state parameters of the unmanned aerial vehicle in the flight process in real time;
s2, analyzing the acquired flight state parameters and confirming the flight fault condition of the unmanned aerial vehicle, wherein the priority of the flight fault type is a first-stage energy alarm, a GPS fault, a second-stage energy alarm, a link fault and a load fault from high to low in sequence, and the lower the sequence number is, the higher the priority is; the condition that the second-level energy alarm occurs is that the current energy of the unmanned aerial vehicle is lower than a threshold value at the moment, the threshold value is obtained by automatic calculation of the unmanned aerial vehicle according to the position relation between the current position and the return point and the energy consumed in unit time, the threshold value is periodically updated, and the threshold value is slightly larger than the energy required by the unmanned aerial vehicle to fly to the return point at the current position;
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1 | 2 | 3 | 4 | 5 |
| Emergency situation | First level energy alert | GPS failure | Second level energy alert | Link failure | Load fault |
S3, judging the priority among fault types in the flight fault condition, forming an execution strategy according to the preset countermeasure and logic judgment of each fault type, and issuing the execution strategy to the unmanned aerial vehicle;
the countermeasures of each fault type are respectively as follows:
first-level energy warning: the unmanned plane is instantly forced to land;
and (3) GPS fault: as shown in fig. 2, the unmanned aerial vehicle waits for constant roll hovering, simultaneously records flight information when a fault occurs, and after the GPS fault is recovered, the unmanned aerial vehicle returns to the position where the GPS fault occurs and continues to execute the original flight plan;
and (4) second-level energy alarm: as shown in fig. 3, the unmanned aerial vehicle is controlled to fly according to the preset second-level energy warning countermeasure of the unmanned aerial vehicle before the warning occurs, wherein the preset countermeasure comprises return voyage and continuous execution of the original flight plan until the first energy warning occurs and forced landing is performed;
and (3) link failure: as shown in fig. 4, the unmanned aerial vehicle is controlled to fly according to the preset link fault countermeasure of the unmanned aerial vehicle before the link fault occurs, wherein the preset countermeasure comprises immediate return flight, continuous execution of the original flight plan and fixed-point circling waiting for link fault recovery within a preset time; when presetting that 'the point-coiling waits for the link failure to recover within preset time', if the link failure recovers within preset time, the original flight plan is continuously executed, otherwise, the return flight is carried out;
and (3) load failure: as shown in fig. 5, the load failure may be due to a failure in communication with the drone, and then such a failure is a possibility of recovery, so the load failure is consistent with a link failure, and a processing mechanism for fault recovery needs to be considered, so the preset countermeasures for the load failure include immediate return flight and a scheduled circling waiting for the load failure to recover within a predetermined time; when the preset condition is 'the point is coiled and waits for the load fault to recover within the preset time', if the load fault is recovered within the preset time, the original flight plan is continuously executed, otherwise, the fly back is carried out.
And S4, controlling the flight by the unmanned aerial vehicle according to the execution strategy.
Assuming that the unmanned aerial vehicle has the first-level energy alarm, the GPS fault, the link fault and the load fault all occurring at a certain moment and continuously, because the first-level energy alarm has the highest priority level, the execution strategy is that the unmanned aerial vehicle is forced to land immediately.
The unmanned aerial vehicle is supposed to be in full occurrence of GPS fault, second-level energy alarm, link fault and load fault at a certain moment and to be continuous all the time; the execution strategy of the drone is as follows:
when the GPS fails, although accurate position information does not exist, the unmanned aerial vehicle can acquire the attitude angle and the course angle of the unmanned aerial vehicle by depending on a navigation attitude measurement system, so that the unmanned aerial vehicle can rotate on the 'original place' (different from fixed-point rotation, and can drift away from the current position along with the wind) through a fixed-rolling rotating disc to wait, meanwhile, the flight information (position, course, task and the like) when the failure occurs is recorded, and the unmanned aerial vehicle returns to the original place to continuously execute the original flight plan after the failure is recovered;
after the GPS fault is recovered, continuing to control the unmanned aerial vehicle to fly according to a second-level energy warning countermeasure preset by the unmanned aerial vehicle before the second-level energy warning occurs, wherein the preset countermeasure comprises return voyage and continuous execution of an original flight plan until the first energy warning occurs to force landing;
after the GPS fault is recovered, if no second-level energy alarm occurs, controlling the unmanned aerial vehicle to fly according to a preset link fault countermeasure of the unmanned aerial vehicle before the link fault occurs;
after the link failure is recovered, the unmanned aerial vehicle is controlled to fly according to the preset load failure coping measure set by the unmanned aerial vehicle before the load failure occurs.
The method has the advantages that various fault types are subjected to priority sequencing, and then the flight of the unmanned aerial vehicle is controlled by the execution strategy according to the preset countermeasures and logic judgment of each fault type, so that the single-flight application value of the unmanned aerial vehicle is maximized, the countermeasures of various fault types are refined, the judgment processing of fault recovery is added, the flight safety of the unmanned aerial vehicle is more reliable, and the personal and property safety can be better guaranteed.
An emergency flight fault handling system for unmanned aerial vehicle flight fault handling, comprising:
the data acquisition module is used for acquiring flight state parameters of the unmanned aerial vehicle in real time;
a data analysis module; the data analysis module is used for analyzing and processing flight state parameters of the unmanned aerial vehicle and determining the flight fault condition of the unmanned aerial vehicle, the signal output end of the data acquisition module is connected with the signal input end of the data analysis module, and the types of the flight faults comprise a primary energy alarm, a GPS fault, a secondary energy alarm, a link fault and a load fault;
a fault policy module; the fault strategy module is used for judging the flight fault level and generating an execution strategy, the signal output end of the data analysis module is connected with the signal input end of the fault strategy module, and the priority is a first-stage energy alarm, a GPS fault, a second-stage energy alarm, a link fault and a load fault in sequence from high to low;
the flight control module is used for controlling the flight of the unmanned aerial vehicle according to an execution strategy; and the signal output end of the fault strategy module is connected with the signal input end of the flight control module.
The flight state parameters of the unmanned aerial vehicle are collected in real time through the data collection module, the collected flight state parameters are transmitted to the data analysis module, the flight state parameters of the unmanned aerial vehicle are analyzed and processed by the data analysis module, the flight fault condition of the unmanned aerial vehicle is determined, the flight fault condition of the unmanned aerial vehicle is transmitted to the fault strategy module, the fault strategy module sequences the levels of various flight faults, an execution strategy is formed according to preset countermeasures and logic judgment of each fault type, the execution strategy is sent to the flight control module, the flight control module controls the unmanned aerial vehicle to fly according to the execution strategy, the single-flight application value of the unmanned aerial vehicle is maximized, judgment processing of fault recovery is added, the flight safety of the unmanned aerial vehicle is more reliable, and personal and property safety can be better guaranteed.
As shown in fig. 6, a logic system model based on Stateflow is established, the left side in fig. 4 is an emergency generator, 5 types of emergency are output, each 1 type of state is represented by 1 or 0, 1 represents that a fault occurs, 0 represents that no fault occurs, and 5 types of faults are independent of each other, can occur simultaneously or cannot occur; the middle part is logic processing, and the judgment is performed according to the specific content of the emergency, so as to execute the corresponding strategy shown in fig. 7, and the observer for executing the strategy is arranged on the right side in fig. 6, so as to visually display the executed specific strategy.
As shown in fig. 8, assuming that the unmanned aerial vehicle fails at the first level energy alarm energy, the GPS fault, the link fault, and the load fault all at a certain time (here, the time is replaced with 0), and the first level energy alarm energy, the GPS fault, the link fault, and the load fault continue all the time, the unmanned aerial vehicle executes the policy after the logic processing as shown in fig. 9.
As shown in fig. 10, it is assumed that the link of the unmanned aerial vehicle is interrupted from the ground due to occlusion or the like at a certain time, and a preset countermeasure before the link failure occurs is to perform fixed-point hovering to wait for recovery of the link failure within a predetermined time, and the allowable failure time is set to 60s, so that the unmanned aerial vehicle performs fixed-point hovering, if the occlusion factor is eliminated after 30s, the unmanned aerial vehicle and the ground recover communication and continue to be normal, the unmanned aerial vehicle changes from fixed-point hovering to continue to perform the original flight plan, and after logic processing, the unmanned aerial vehicle performs a strategy shown in fig. 11.
As shown in fig. 12, it is assumed that the unmanned aerial vehicle does not have a fault at a certain time, but only the load has a fault after 20s, the fault continues all the time, and the preset countermeasure before the load fault occurs is to wait for the recovery of the load fault by point-based circling within a predetermined time, and the allowable fault time is set to 50s, so that the unmanned aerial vehicle performs the point-based circling, but since the fault continues to exist and the time exceeds the allowable fault time by 50s, 50s after the fault occurs (i.e. at the 70 th time in fig. 13), the unmanned aerial vehicle changes from the point-based circling to the return flight, and the unmanned aerial vehicle performs the strategy after the logic processing as shown in fig..
The technical solution of the present invention is not limited to the limitations of the above specific embodiments, and all technical modifications made according to the technical solution of the present invention fall within the protection scope of the present invention.
Claims (6)
1. An emergency processing method for flight faults of an unmanned aerial vehicle is used for processing the flight faults of the unmanned aerial vehicle, and is characterized by comprising the following steps:
s1, monitoring and acquiring flight state parameters of the unmanned aerial vehicle in the flight process in real time;
s2, analyzing the acquired flight state parameters and confirming the flight fault condition of the unmanned aerial vehicle;
s3, judging the priority among fault types in the flight fault condition, forming an execution strategy according to logic judgment, and issuing the execution strategy to the unmanned aerial vehicle;
and S4, controlling the flight by the unmanned aerial vehicle according to the execution strategy.
2. The emergency processing method for flight fault as claimed in claim 1, wherein in S2, the flight fault types include a first level energy alarm, a GPS fault, a second level energy alarm, a link fault and a load fault, and the priority is from high to low for the first level energy alarm, the GPS fault, the second level energy alarm, the link fault and the load fault.
3. An emergency handling method for flight faults according to claim 2, wherein the countermeasures for each fault type are respectively:
first-level energy warning: the unmanned plane is instantly forced to land;
and (3) GPS fault: the unmanned aerial vehicle is in constant-roll hovering waiting, meanwhile, the flight information when the fault occurs is recorded, and after the GPS fault is recovered, the unmanned aerial vehicle returns to the position where the GPS fault occurs and continues to execute the original flight plan;
and (4) second-level energy alarm: controlling the unmanned aerial vehicle to fly according to a second-level energy alarm countermeasure preset by the unmanned aerial vehicle before the alarm occurs, wherein the preset countermeasure comprises return flight and continuous execution of an original flight plan until the first energy alarm occurs to force landing;
and (3) link failure: controlling the unmanned aerial vehicle to fly according to a preset link fault response measure of the unmanned aerial vehicle before the link fault occurs, wherein the preset response measure comprises the steps of returning to the air immediately, continuing to execute an original flight plan and waiting for the link fault to recover in a fixed-point rotating mode within preset time; when presetting that 'the point-coiling waits for the link failure to recover within preset time', if the link failure recovers within preset time, the original flight plan is continuously executed, otherwise, the return flight is carried out;
and (3) load failure: controlling the unmanned aerial vehicle to fly according to a preset load fault response measure of the unmanned aerial vehicle before the load fault occurs, wherein the preset response measure comprises immediate return flight and fixed-point coiling waiting for load fault recovery within a preset time; when the preset condition is 'the point is coiled and waits for the load fault to recover within the preset time', if the load fault is recovered within the preset time, the original flight plan is continuously executed, otherwise, the fly back is carried out.
4. The method as claimed in claim 2 or 3, wherein the periodically updated threshold is automatically calculated according to the position relationship between the current position of the drone and the return point and the energy consumed per unit time, and if the energy of the drone is lower than the threshold at the time, a secondary energy alarm occurs.
5. The utility model provides an emergency processing system of flight trouble for unmanned aerial vehicle's flight trouble is handled, a serial communication port, includes:
the data acquisition module is used for acquiring flight state parameters of the unmanned aerial vehicle in real time;
a data analysis module; the data analysis module is used for analyzing and processing flight state parameters of the unmanned aerial vehicle and determining the flight fault condition of the unmanned aerial vehicle, and the signal output end of the data acquisition module is connected with the signal input end of the data analysis module;
a fault policy module; the fault strategy module is used for judging the flight fault level and generating an execution strategy, and the signal output end of the data analysis module is connected with the signal input end of the fault strategy module;
the flight control module is used for controlling the flight of the unmanned aerial vehicle according to an execution strategy; and the signal output end of the fault strategy module is connected with the signal input end of the flight control module.
6. The emergency processing system for flight faults as claimed in claim 5, wherein the flight fault types include a first level energy alarm, a GPS fault, a second level energy alarm, a link fault and a load fault, and the priority is from high to low for the first level energy alarm, the GPS fault, the second level energy alarm, the link fault and the load fault.
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Application publication date: 20210219 |