CN112834168A - System and method for detecting faults of aerial camera - Google Patents
System and method for detecting faults of aerial camera Download PDFInfo
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- CN112834168A CN112834168A CN202011619293.3A CN202011619293A CN112834168A CN 112834168 A CN112834168 A CN 112834168A CN 202011619293 A CN202011619293 A CN 202011619293A CN 112834168 A CN112834168 A CN 112834168A
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Abstract
The invention provides a system and a method for detecting faults of an aerial camera, which utilize two layers of switches to realize one-to-many Ethernet communication between each device to be detected and a fault detection controller, each device to be detected can transmit device data to the fault detection controller in an Ethernet communication mode, and the fault detection controller carries out fault judgment, fault file generation and data recording, thereby providing possibility for the working condition of each device to be detected at the time point of fault recurrence and fault restoration, solving the problems of difficult fault recurrence and complex multi-device fault coupling troubleshooting process of the existing aerial camera, improving the fault diagnosis efficiency and greatly reducing the fault troubleshooting time and personnel configuration.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a system and a method for detecting faults of an aerial camera.
Background
In the process of taking pictures of the aerial camera along with the flight of an aircraft, the temperature environment and the space environment of the aerial camera are complex, in the traditional mode, the fault detection and diagnosis are mostly carried out by following the flight of workers, imaging experiment details are closely concerned in the whole process to detect the working state of the aerial camera, or the current working state of the aerial camera is analyzed according to ground real-time communication, and the fault position or fault data is displayed in real time by adopting an upper computer to carry out fault detection on the aerial camera. Its disadvantages are mainly reflected in several aspects: firstly, when a specific fault occurs, an aerial camera is not always a single fault, and the state of other important parameters of a system before or after the fault or the data values of sensors are usually important reference or determining factors for fault diagnosis; secondly, the on-line tracking and diagnosis of the personnel are influenced by human factors, and the fault diagnosis of different personnel can not be completely ensured to be in the highest level and the best state; thirdly, a large amount of fault transient information is lost in the short term, some information cannot be accurately captured in the current state or cannot be accurately processed in the future, common ground tests are difficult to reproduce or extremely difficult to reproduce due to huge differences of environmental factors, and ground simulation reproduction of some faults even consumes a large number of tests recorded in months. The three defects seriously affect the diagnosis efficiency and the diagnosis accuracy of the aerial camera, further affect the working state of the aerial camera, and particularly in some projects with huge consumption of single flight expenses, the defects of the traditional real-time online diagnosis and detection are more obvious.
Disclosure of Invention
The invention aims to provide a system and a method for detecting faults of an aerial camera, and aims to solve the problem that the efficiency and the accuracy of fault diagnosis of the aerial camera are low in the prior art.
In order to achieve the purpose, the invention provides an aviation camera fault detection system which is used for carrying out fault detection on each device to be detected of an aviation camera and comprises a fault detection controller and a two-layer switch;
the two-layer switch is used for carrying out Ethernet signal connection between each device to be detected and the fault detection controller so as to transmit device data acquired by each device to be detected in real time to the fault detection controller for caching; and the fault detection controller judges whether each device to be detected generates a fault and a fault type according to the device data, generates a fault file in an electronic disk of the aerial camera according to the fault type, and stores the device data cached in the device to be detected in set time before and after a fault time point in the fault file.
Optionally, the aerial camera includes a camera controller and an image processor, and when a fault occurs, the fault detection controller extracts encoded information of the image processor at the fault time point, and forms picture-fault encoded information to send to the camera controller.
Optionally, the method further includes:
and the upper computer is in communication connection with the camera controller, downloads the fault file in the aerial camera electronic disk in an off-line or on-line mode, and converts the fault file into a graph and/or a character for display.
Optionally, the fault detection controller has a communication thread, a data recording thread and a plurality of fault threads, the communication thread is used for processing a communication task between the communication thread and the upper computer, the data recording thread is used for processing a data recording task between the communication thread and the electronic disk of the aerial camera, the fault threads are used for processing data retrieval tasks of the devices to be detected corresponding to the fault threads, and the communication thread, the data recording thread and the plurality of fault threads work in parallel.
Optionally, the device data includes a fault flag, and the fault detection controller determines whether each device to be detected has a fault and a fault type according to the fault flag.
Optionally, the fault types include a system fault and a subsystem fault; when the fault type is a system fault, the fault file is a system fault file, and the system fault file stores equipment data cached by all the equipment to be detected in set time before and after the fault time point; and when the fault type is a subsystem fault, the fault file is a subsystem fault file, and the subsystem fault file stores the equipment data cached by the single equipment to be detected generating the fault within the set time before and after the fault time point.
Optionally, the device data further includes working state variables, voltage, current, communication state variables, and control process state variables of each device to be tested.
Optionally, each device to be detected includes a servo controller, a focusing controller, a dimming controller, a power supply power stage, a camera controller, and an image processor.
Optionally, the fault type includes one or more of a servo fault, a focusing fault, a dimming fault, a focus detection fault, and a master control fault.
The invention also provides a method for detecting faults by using the aviation camera fault detection system, which comprises the following steps:
the two layers of switches are used for carrying out Ethernet signal connection between each equipment to be detected and the fault detection controller;
each device to be detected acquires device data in real time and transmits the device data to the fault detection controller for caching;
the fault detection controller judges whether each device to be detected generates a fault and a fault type according to the device data;
the fault detection controller generates a fault file according to the fault type;
and the equipment data cached by each equipment to be detected in the set time before and after the fault time point is stored in the electronic disk of the aerial camera by the fault detection controller.
The system and the method for detecting the faults of the aerial camera have the following beneficial effects:
the two-layer switch is utilized to realize one-to-many Ethernet communication between each device to be detected and the fault detection controller, each device to be detected can transmit device data to the fault detection controller in an Ethernet communication mode, and the fault detection controller performs fault judgment, fault file generation and data recording, so that the possibility is provided for the working condition of each device to be detected at the time point of fault recurrence and fault reduction, the problems of difficulty in fault recurrence and complex multi-device fault coupling troubleshooting process of the existing aerial camera are solved, the fault diagnosis efficiency is improved, and the fault troubleshooting time and personnel configuration are greatly reduced.
Drawings
FIG. 1 is a system block diagram of an aerial camera fault detection system provided by an embodiment of the invention;
FIG. 2 is a thread configuration diagram of a fault detection controller according to an embodiment of the present invention;
fig. 3 is a flowchart of the operation of the system for detecting a fault of an aerial camera according to an embodiment of the present invention.
Wherein the reference numerals are:
100-equipment to be detected; 200-two-tier switches; 300-a fault detection controller; 400-electronic disk; 500-an image processor; 600-a camera controller; 700-flight control; 800-an upper computer.
Detailed Description
The following describes in more detail embodiments of the present invention with reference to the schematic drawings. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Fig. 1 is a system block diagram of an aerial camera fault detection system according to an embodiment of the present invention. As shown in fig. 1, the aerial camera fault detection system is used for performing fault detection on each device to be detected 100 of an aerial camera, and the aerial camera fault detection system includes a fault detection controller 300, a two-layer switch 200, a camera controller 600, an image processor 500, a flight control 700/upper computer 800 and an electronic disk 400. Each of the devices 100 to be detected includes a servo controller, a focusing controller, a dimming controller, a power stage, a camera controller 600, and an image processor 500, and thus, the types of faults generated by each of the devices 100 to be detected may include one or more of a servo fault, a focusing fault, a dimming fault, a focus detection fault, and a master control fault.
Specifically, the fault detection controller 300 may be an ARM chip, the operating system adopts linux, an ethernet module, a serial communication module, and a hard disk interface are built on the periphery, and the fault detection controller may be configured as two network protocols, namely TCP and UDP.
The communication types of the aerial camera fault detection system are Ethernet communication and RS422 serial port communication, wherein the RS422 serial ports are used as inter-board information interaction between the camera controller 600 and other equipment to be detected 100, the RS422 is also applied to information acquisition channels of specific encoders, gyros, IMUs, detectors and the like of the equipment to be detected 100, and the aerial camera fault detection system has the characteristics of high module integration level, convenience in design, convenience in time sequence control and the like, the Ethernet module adopts a design mode that the fault detection controller 300 is used as a server, the camera controller 600 and other equipment to be detected 100 are used as clients, and the fault detection controller 300 adopts a multi-thread program design, so that one-to-many Ethernet communication fault storage of the fault detection controller 300 is realized.
It should be understood that the camera controller 600, other devices 100 to be detected, and the image processor 500 are also provided with ethernet modules for implementing corresponding ethernet communications. Because the relative quantity of parameters or signals of the power supply power level is small, each power level circuit board and each power supply circuit board can share one group of Ethernet module, and each circuit module is acquired through the SPI master-slave mode of each power level circuit board and each power supply circuit board, so that the consumption of hardware resources is effectively reduced, an OSC data link layer and a network layer of the Ethernet hardware circuit of each device 100 to be detected meet hardware filtering, and the device to be detected can be configured into two network protocols of TCP and UDP.
Further, the two-layer switch 200 is configured to perform ethernet signal connection between each of the devices to be detected 100 and the fault detection controller 300, so as to complete a one-to-many ethernet communication mode. The devices 100 to be detected collect information of their respective sensors in real time and combine the information into device data, and transmit the device data to the fault detection controller 300 for caching through the two-layer switch 200. The device data includes one or more of a fault flag, a working state variable, a voltage, a current, a communication state variable, and a control process state variable of each device 100 to be detected, and when each device 100 to be detected fails, each device 100 to be detected can set a corresponding bit of the fault flag according to a fault type, so that whether each device 100 to be detected fails or not and the fault type can be obtained through the fault flag.
Further, when a failure occurs, the failure detection controller 300 generates a failure file in the electronic disk 400 according to the failure type, the failure file being a file recorded in the file form of the Ext3 file system of linux; meanwhile, the fault detection controller 300 stores the device data cached by each device 100 to be detected in the set time before and after the fault time point in the fault file, so as to implement data monitoring before and after the fault time. The set time can be one minute, two minutes or three minutes, and the like, and can be customized according to the test requirement.
In this embodiment, the fault types include a system fault and a subsystem fault; when the fault type is a system fault, the fault file is a system fault file, and the system fault file stores device data cached by all the devices to be detected 100 in a set time before and after the fault time point; when the fault type is a subsystem fault, the fault file is a subsystem fault file, and the subsystem fault file stores the device data cached by the single device to be detected 100 with the fault in the set time before and after the fault time point.
The upper computer 800 is in communication connection with the camera controller 600, downloads the fault files in the aerial camera electronic disk 400 in an off-line or on-line mode, converts the fault files into graphs and/or characters to be displayed in a man-machine interaction interface of the aerial camera electronic disk, and can rely on a fault indication mode of the man-machine interaction interface and a troubleshooting strategy of real-time monitoring of maintenance personnel.
Further, the socket programming of the fault detection controller 300 can realize the automatic cycle recording and deleting function, that is, when the space of the electronic disk 400 of the aerial camera is full, the fault detection controller 300 can automatically delete the fault file at the earliest time for automatic deletion processing, display the space of the electronic disk 400 through the human-computer interaction interface of the upper computer 800, and delete, delete in batch and format the fault which can be operated through the human-computer interaction interface of the upper computer 800.
When a fault occurs, the fault detection controller 300 further extracts encoded information of the image processor 500 at the fault time point, such as picture time information, IMU time information, height information, and attitude information during photographing time, and forms picture-fault encoded information to be sent to the camera controller 600. The camera controller 600 sends the picture-fault coding information to the flight control 700, and information transmission is completed. When the aerial camera is in the ground maintenance stage, the flight control 700 is replaced by the upper computer 800, the fault file can be downloaded, the fault file and the picture-fault coding information can be visually displayed, and therefore the specific fault file can be called in the ground off-line state, system-level troubleshooting on difficult-to-duplicate or accidental faults is facilitated, the fault troubleshooting accuracy is improved, and the time for later-stage fault troubleshooting and optimal design is greatly shortened.
As shown in fig. 2, the fault detection controller 300 has a communication thread, a data recording thread and a plurality of fault threads, the communication thread is used for processing a communication task with the upper computer 800, the data recording thread is used for processing a data recording task with the aerial camera electronic disk 400, the fault threads are used for processing data retrieval tasks corresponding to the devices 100 to be detected, and the communication thread, the data recording thread and the plurality of fault threads work in parallel.
The fault thread is a Server thread which performs TCP and UDP with each device 100 to be detected, the communication thread is a TCP and UDP client thread which performs communication with the upper computer 800, and the data recording thread is a data recording thread which performs fault file processing on the electronic disk 400 of the aerial camera.
In the operation process of the aerial camera, the DSP peripheral modules of the communication parts of the equipment to be detected 100 adopt the same RS422 communication circuit hardware design and embedded Ethernet hardware design, a servo controller is taken as an example, and the servo controller acquires IMU, an encoder, a fiber-optic gyroscope and power level data at millisecond fixed frequency through RS 422; in addition, equipment data such as intermediate variables of the servo system, control algorithm variables, state variables/motor control and the like are put into a cache; then the servo system main control chip DSP packs the data into TCP/UDP Ethernet data packet, and finally sends the data packet to the two-layer exchanger 200 in real time.
Based on this, as shown in fig. 3, the present embodiment further provides a method for performing fault detection by using the system for detecting a fault of an aerial camera, including:
step S1: the two-layer switch 200 connects each ethernet module with the fault detection controller 300 through ethernet signals;
step S2: each device 100 to be detected acquires device data in real time and transmits the device data to the fault detection controller 300 for caching;
step S3: the fault detection controller 300 determines whether each of the devices 100 to be detected has a fault and a fault type according to the device data;
step S4: the fault detection controller 300 generates a fault file according to the fault type;
step S5: the device data cached by each device 100 to be detected before and after the failure time point in the failure detection controller 300 in the set time is stored in the electronic disk 400 of the aerial camera.
As shown in fig. 1 and fig. 2, specifically, the fault detection controller 300 is connected to the two-layer switch 200 by an ethernet signal, each device to be detected 100 is connected to the fault detection controller 300 through the two-layer switch 200, and the fault detection controller 300 establishes a plurality of fault threads for communicating with each device to be detected 100. The fault detection controller 300 is used as a socket server (server) in the process, and cyclically receives the device data sent by each device to be detected 100 and cyclically stores the device data in a cache, when a corresponding position of a fault flag bit in a data packet sent by each device to be detected 100 is in a set state, the fault detection controller 300 starts a fault recording process, in the process, the fault detection controller 300 records two fault files according to fault types, wherein the first fault file is a system fault file and records the device data of all the devices to be detected 100; the second is subsystem failure, that is, if a subsystem failure occurs in a servo system in the device 100 to be tested, only device data of the servo system is recorded. The two fault files are recorded in the electronic disk 400 in an EXT3 file system format, the recording process is that the fault detection controller 300 records through a data recording thread, and the data recording thread record is not mixed with the fault thread, so that the system is ensured to have no occupation on the fault thread in the data recording process. The fault detection controller 300 communicates with the camera controller 600 through an RS422 communication circuit, and the camera controller 600 controls the recording mode of the fault detection controller 300 through RS422 serial port communication.
In this embodiment, the fault of each device 100 to be detected adopts a general fault bit triggering mode, that is, each device 100 to be detected is provided with 2 64-bit subsystem fault triggering words and 1 64-bit system fault triggering word, each bit corresponds to a fault of the device 100 to be detected, and the faults mainly include four types: a) a communication failure; b) a sensor fault class; c) running intermediate variable and state variable faults inside the system; d) multiple system failures. When each equipment 100 to be detected generates a) to c) type faults, setting a corresponding fault position of a subsystem fault trigger word in a period of 1 ms; in addition, for multiple system faults, that is, faults related to multiple or all fault types in each of the devices 100 to be detected, each of the devices 100 to be detected sets its own "system fault trigger word" respectively; the "subsystem failure trigger word" and the "system failure trigger word" of each device 100 to be detected are directly loaded in the device data sent to the two-layer switch 200 (in a full 0 state when no failure occurs), after the failure detection controller 300 receives the failure packet of the TCP or UDP converted and stored as described above, data verification correctly loads the data of the data packet into an internal cache (in this process, only whether the data is valid is judged, and the data is stored if the data is valid, and the data is cached when no failure occurs, so that the data before the failure time is retrieved when the failure occurs); on the other hand, by judging the states of the "subsystem fault trigger word" and the "system fault trigger word", it is possible to find out whether a fault exists, what kind of fault exists, fault trigger time, and fault time data number, and then call from the cache of the fault detection controller 300, and start the recording function of the data recording thread, and store the device data in the cache in the corresponding fault file format in the electronic disk 400.
The aviation camera fault detection system is compatible with a flight control 700 and an aviation camera ground detector (an upper computer 800) during design, so that the functions of flight online display and ground offline fault reproduction of the aviation camera are completed. During the photographing process of the camera controller 600, the start and stop of the fault record can be determined according to the fault information statistics in the RS422 data packet sent by the fault detection controller 300, and the fault record of each device 100 to be detected does not stop: for faults easy to be checked, the camera controller 600 sends a multi-system fault instruction to the fault detection controller 300 to stop recording, so that the space of the electronic disk 400 is saved. This process is implemented through the RS422 communication link of the camera controller 600 and the failure detection controller 300.
The data packet returned to the camera controller 600 by the fault detection controller 300 through the RS422 communication link includes picture-fault coding information, and the fault detection controller 300 receives the height information, the posture information, and the time information of the picture recorded by the image processor 500 and generates a file by: the fault detection controller 300 and the image processor 500 communicate with each other in real time through an RS422 serial port, the period is 1ms, when the fault detection controller 300 judges that a fault occurs, image annotation information of the image processor 500 is taken out through a communication data packet of the image processor 500, time information of the fault and the image annotation information of the image processor 500 are correspondingly encoded, and picture-fault encoding information is sent to the camera controller 600, a fault information communication channel of the fault detection controller 300 and the camera controller 600 is in RS422 serial port communication, the camera controller 600 forwards the information to the upper computer 800 after receiving the fault image annotation information of the fault detection controller 300, and corresponding display of fault-image parameters of the upper computer 800 can be carried out.
In summary, in the system and method for detecting faults of an aerial camera provided by the invention, two-layer switches are used for realizing one-to-many ethernet communication between each device to be detected and a fault detection controller, each device to be detected can transmit device data to the fault detection controller in an ethernet communication mode, and the fault detection controller performs fault judgment, fault file generation and data recording, so that the possibility is provided for the fault recurrence and fault recovery of the working condition of each device to be detected at the fault time point, the problems of difficulty in the fault recurrence of the aerial camera and complex multi-device fault coupling troubleshooting process at present are solved, the fault diagnosis efficiency is improved, and the fault elimination time and personnel configuration are greatly reduced.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A fault detection system of an aerial camera is used for carrying out fault detection on each device to be detected of the aerial camera and is characterized by comprising a fault detection controller and a two-layer switch;
the two-layer switch is used for carrying out Ethernet signal connection between each device to be detected and the fault detection controller so as to transmit device data acquired by each device to be detected in real time to the fault detection controller for caching; and the fault detection controller judges whether each device to be detected generates a fault and a fault type according to the device data, generates a fault file in an electronic disk of the aerial camera according to the fault type, and stores the device data cached in the device to be detected in set time before and after a fault time point in the fault file.
2. The system of claim 1, wherein the aerial camera comprises a camera controller and an image processor, and when a fault occurs, the fault detection controller extracts attitude and time information of the image processor at the fault time point and forms picture-fault coding information to be sent to the camera controller.
3. The aerial camera fault detection system of claim 2, further comprising:
and the upper computer is in communication connection with the camera controller, downloads the fault file in the aerial camera electronic disk in an off-line or on-line mode, and converts the fault file into a graph and/or a character for display.
4. The aerial camera fault detection system of claim 3, wherein the fault detection controller has a communication thread, a data recording thread and a plurality of fault threads, the communication thread is used for processing communication tasks with the upper computer, the data recording thread is used for processing data recording tasks with the aerial camera electronic disk, the fault threads are used for processing data retrieval tasks with corresponding devices to be detected, and the communication thread, the data recording thread and the plurality of fault threads work in parallel.
5. The aerial camera fault detection system of claim 1, wherein the device data includes a fault flag, and the fault detection controller determines whether each of the devices to be detected has a fault and a fault type based on the fault flag.
6. The aerial camera fault detection system of any one of claims 1-5, wherein the fault types include a system fault and a subsystem fault; when the fault type is a system fault, the fault file is a system fault file, and the system fault file stores equipment data cached by all the equipment to be detected in set time before and after the fault time point; and when the fault type is a subsystem fault, the fault file is a subsystem fault file, and the subsystem fault file stores the equipment data cached by the single equipment to be detected generating the fault within the set time before and after the fault time point.
7. The aerial camera fault detection system of any one of claims 1 to 5, characterized in that the device data further comprises operating state variables, voltages, currents, communication state variables and control process state variables of the respective devices under test.
8. The aerial camera fault detection system of claim 2, wherein each of the devices under test comprises a servo controller, a focus controller, a dimming controller, a power supply power stage, a camera controller, and an image processor.
9. The aerial camera fault detection system of any one of claims 1-5, wherein the fault types include one or more of a servo fault, a focus fault, a dimming fault, a focus detection fault, and a master control fault.
10. A method of fault detection using the aerial camera fault detection system of any one of claims 1-9, comprising:
the two layers of switches are used for carrying out Ethernet signal connection between each equipment to be detected and the fault detection controller;
each device to be detected acquires device data in real time and transmits the device data to the fault detection controller for caching;
the fault detection controller judges whether each device to be detected generates a fault and a fault type according to the device data;
the fault detection controller generates a fault file according to the fault type;
and the equipment data cached by each equipment to be detected in the set time before and after the fault time point is stored in the electronic disk of the aerial camera by the fault detection controller.
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