CN112937886B - Unmanned aerial vehicle fault detection method and device - Google Patents
Unmanned aerial vehicle fault detection method and device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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Abstract
The application discloses a fault detection method and device for an unmanned aerial vehicle. Wherein the method comprises the following steps: judging whether the flight mode of the unmanned aerial vehicle is a fixed-altitude mode, if yes, determining the difference between the GPS height and a first target height, determining first change information of the ground-imitating height in a first preset time period when the difference meets a first preset condition, and determining the cause of the unmanned aerial vehicle fault based on the first change information, wherein the first target height is the target height of the unmanned aerial vehicle in the fixed-altitude mode; if the judging result indicates no, determining second change information of the ground imitation height in a second preset time period, and determining the cause of the unmanned aerial vehicle fault based on the second change information. The unmanned aerial vehicle fault cause determination method and device based on the flight control log solve the technical problems that in the prior art, the unmanned aerial vehicle fault cause is determined manually according to the flight control log, the consumed time is long, and the efficiency is low.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a fault detection method and device of an unmanned aerial vehicle.
Background
In the prior art, when an unmanned aerial vehicle has a flight fault, a guarantee sheet submitted by a client contains a flight log and a fault environment photo, and for most flight faults, the fault cause can be judged only by the flight log, and a small part of flight faults also need to be judged by combining the fault environment photo and manual description.
The traditional unmanned aerial vehicle flight accident analysis method is characterized in that data analysis is carried out on flight control logs manually through software, and discrimination is carried out by combining fault environment pictures and descriptions, the analysis method has higher requirements on knowledge skills of analysts, the analysis timeliness is low, seventy-eight or hundreds of flight accident data are frequently generated in the busy season of agriculture and need to be manually analyzed and processed, the analysis mode has larger task amount for the analysts, and unmanned aerial vehicle accident reasons cannot be timely and rapidly analyzed, and the analysis method has longer time consumption and lower efficiency.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides a fault detection method and device for an unmanned aerial vehicle, which are used for at least solving the technical problems of long time consumption and low efficiency in the prior art that the cause of the fault of the unmanned aerial vehicle is manually determined according to a flight control log.
According to an aspect of the embodiments of the present application, there is provided a method for detecting a fault of an unmanned aerial vehicle, including: judging whether the flight mode of the unmanned aerial vehicle is a fixed-altitude mode, if yes, determining the difference between the GPS height and a first target height, determining first change information of the ground-imitating height in a first preset time period when the difference meets a first preset condition, and determining the cause of the unmanned aerial vehicle fault based on the first change information, wherein the first target height is the target height of the unmanned aerial vehicle in the fixed-altitude mode; if the judging result indicates no, determining second change information of the ground imitation height in a second preset time period, and determining the cause of the unmanned aerial vehicle fault based on the second change information.
Optionally, the difference satisfies a first preset condition in one of the following cases: the absolute value of the difference indication is smaller than a first threshold value; the difference indicative of a difference greater than the first threshold.
Optionally, determining a cause of the unmanned aerial vehicle failure based on the first change information includes: determining the fault caused by the terrain module anomaly when the first variation information meets a third preset condition of one of the following: the ground imitation height is kept unchanged; the land-like height is mutated.
Optionally, when the first preset condition is that an absolute value of a difference value indicated by the difference is smaller than a first threshold, determining a cause of the unmanned aerial vehicle fault based on the first change information includes: and when the ground imitation height is smaller than a second threshold value, determining that the fault is caused by the fact that the set height of the unmanned aerial vehicle in the fixed-height mode is too low.
Optionally, when the first preset condition is that the difference indicated by the difference is greater than the first threshold, determining the cause of the unmanned aerial vehicle fault based on the first change information includes: and when the difference between the GPS height and the first target height is larger than the difference between the ground-imitating height and a third threshold value, determining the fault caused by unreasonable height setting of the unmanned aerial vehicle in a height setting mode.
Optionally, determining the fault caused by the terrain module anomaly when the second variation information meets one of the following fourth preset conditions: the ground imitation height is kept unchanged; the land-like height is mutated.
Optionally, after determining the fault caused by the terrain module anomaly, the method further comprises: comparing the ground-imitating height with a second target height, and if the deficiency degree is larger than a fourth threshold value, determining the fault caused by the continuous rise of the aircraft height caused by the terrain module, wherein the second target height is the target height of the unmanned aerial vehicle when the unmanned aerial vehicle flies in the high-imitating mode; if the degree of excess is greater than a fifth threshold, determining the fault caused by the continuous decrease in aircraft altitude caused by the terrain module.
According to an aspect of the embodiment of the application, there is provided a fault alarm method for an unmanned aerial vehicle, including: judging whether the flight mode of the unmanned aerial vehicle is a fixed-altitude mode, if the judgment result indicates yes, determining the difference between the GPS height and the target height, determining first change information of the ground-imitating height in a first preset time period when the difference meets a first preset condition, and sending alarm information based on the first change information, wherein the target height is the target height of the unmanned aerial vehicle when the unmanned aerial vehicle flies in the fixed-altitude mode; if the judging result indicates no, determining second change information of the ground imitation height in a second preset time period, and sending alarm information based on the second change information.
Optionally, sending the alarm information based on the first change information includes: when the first change information meets a third preset condition of one of the following, determining to send alarm information: the ground imitation height is kept unchanged; the land-like height is mutated.
Optionally, sending the alarm information based on the second change information includes: and when the second change information meets one of the following fourth preset conditions, determining to send alarm information: the ground-like height remains unchanged.
According to an aspect of the embodiments of the present application, there is provided a fault detection device of an unmanned aerial vehicle, including: the judging module is used for judging whether the flight mode of the unmanned aerial vehicle is a fixed-height mode or not; the first determining module is used for determining the difference between the GPS height and the first target height if the judging result indicates yes, determining first change information of the ground imitation height in a first preset time period when the difference meets a first preset condition, and determining the cause of the unmanned aerial vehicle fault based on the first change information, wherein the first target height is the target height of the unmanned aerial vehicle when the unmanned aerial vehicle flies in a fixed-height mode; and the second determining module is used for determining second change information of the ground imitation height in a second preset time period if the judging result indicates no, and determining the cause of the unmanned aerial vehicle fault based on the second change information.
According to an aspect of the embodiments of the present application, there is provided a storage medium, where the storage medium includes a stored program, and when the program runs, the device where the storage medium is controlled to execute the method for detecting a fault of the unmanned aerial vehicle described above.
According to an aspect of the embodiment of the application, a processor is provided, and the processor is used for running a program, wherein the program executes the fault detection method of the unmanned aerial vehicle when running.
According to an aspect of the embodiments of the present application, there is provided a computer device, including a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the method for detecting a fault of the unmanned aerial vehicle.
In the embodiment of the application, whether the flight mode of the unmanned aerial vehicle is a fixed-height mode is judged, if yes, the difference between the GPS height and the first target height is determined, when the difference meets a first preset condition, first change information of the ground-imitating height in a first preset time period is determined, and the cause of the unmanned aerial vehicle fault is determined based on the first change information, wherein the first target height is the target height of the unmanned aerial vehicle in the fixed-height mode; if the judging result indicates no, determining second change information of the ground-imitating height in a second preset time period, and determining the cause of the unmanned aerial vehicle fault based on the second change information, so that whether the terrain module of the unmanned aerial vehicle is normal or not is automatically determined based on the change information of the ground-imitating height, the technical effect of determining efficiency of the unmanned aerial vehicle fault cause is improved, and further the technical problems that in the prior art, the unmanned aerial vehicle fault cause is manually determined according to a flight control log, the consumed time is long, and the efficiency is low are solved.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a flow chart of an alternative method of fault detection for a drone according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an alternative unmanned aerial vehicle fault detection device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an alternative computer device according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to embodiments of the present application, a fault detection method embodiment for a drone is provided, it being noted that the steps shown in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order different from that shown or described herein.
Fig. 1 is a flow chart of a fault detection method of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 1, the method at least includes the following steps:
step S102, judging whether the flight mode of the unmanned aerial vehicle is a fixed-altitude mode;
in some optional embodiments of the present application, the fixed-height mode is a mode in which the unmanned aerial vehicle keeps flying at a fixed height from a ground plane, wherein the ground plane is a plane in which a start point of takeoff of the unmanned aerial vehicle is located.
Step S104, if the judgment result indicates yes, determining a difference between the GPS height and a first target height, determining first change information of the ground imitation height in a first preset time period when the difference meets a first preset condition, and determining a cause of the unmanned aerial vehicle fault based on the first change information, wherein the first target height is a target height of the unmanned aerial vehicle when the unmanned aerial vehicle is set to fly in a fixed-height mode; if the judging result indicates no, determining second change information of the ground imitation height in a second preset time period, and determining the cause of the unmanned aerial vehicle fault based on the second change information.
Alternatively, the GPS altitude may refer to the altitude of the unmanned aerial vehicle from the flying spot, and in particular, may be obtained by subtracting the altitude recorded by the unmanned aerial vehicle at the flying spot from the current altitude of the unmanned aerial vehicle. The ground-imitating height can be the height of the unmanned aerial vehicle from the ground. The user may set the first preset time period and the second preset time period.
Optionally, the difference satisfies a first preset condition in one of the following cases: the absolute value of the difference indication is smaller than a first threshold value; the difference indicative of a difference greater than the first threshold.
Alternatively, the difference is a difference between the GPS height and the first target height, and the user may set a first threshold value, specifically, the first threshold value may be 0.5m.
Optionally, determining the cause of the unmanned aerial vehicle failure based on the first change information may be implemented by: determining the fault caused by the terrain module anomaly when the first variation information meets a third preset condition of one of the following: the ground imitation height is kept unchanged; the land-like height is mutated.
Alternatively, the situation that the ground-like height is kept unchanged may be that the ground-like height is kept at 0, or the time that the ground-like height is kept unchanged exceeds a third preset time period, specifically, the user may set the third preset time period, and the third preset time period may be 2 seconds.
Alternatively, the case where the simulated land height is suddenly changed may be that the simulated land height is suddenly changed within a fourth preset time period, and the user may set the fourth preset time period, and specifically, the fourth preset time period may be 1.5 seconds.
Optionally, when the first preset condition is that the absolute value of the difference value indicated by the difference is smaller than a first threshold value, determining the cause of the unmanned aerial vehicle fault based on the first change information may be implemented by: and when the ground imitation height is smaller than a second threshold value, determining that the fault is caused by the fact that the set height of the unmanned aerial vehicle in the fixed-height mode is too low. Alternatively, the second threshold may be 0.6 meters.
Optionally, when the first preset condition is that the difference indicated by the difference is greater than the first threshold, determining the cause of the unmanned aerial vehicle fault based on the first change information includes: and when the difference between the GPS height and the first target height is larger than the difference between the ground-imitating height and a third threshold value, determining the fault caused by unreasonable height setting of the unmanned aerial vehicle in a height setting mode.
Optionally, determining the fault caused by the terrain module anomaly when the second variation information meets one of the following fourth preset conditions: the ground imitation height is kept unchanged; the land-like height is mutated.
Alternatively, the situation that the ground-like height is kept unchanged may be that the ground-like height is kept at 0, or the time that the ground-like height is kept unchanged exceeds a third preset time period, specifically, the user may set the third preset time period, and the third preset time period may be 2 seconds.
Alternatively, the case where the simulated land height is suddenly changed may be that the simulated land height is suddenly changed within a fourth preset time period, and the user may set the fourth preset time period, and specifically, the fourth preset time period may be 1.5 seconds.
Optionally, after determining the fault caused by the terrain module anomaly, the method further performs the steps of: comparing the ground-imitating height with a second target height, and if the deficiency degree is larger than a fourth threshold value, determining the fault caused by the continuous rise of the aircraft height caused by the terrain module, wherein the second target height is the target height of the unmanned aerial vehicle when the unmanned aerial vehicle flies in the high-imitating mode; if the degree of excess is greater than a fifth threshold, determining the fault caused by the continuous decrease in aircraft altitude caused by the terrain module.
Because the flight equipment adopts the simulated mode to fly when the judging result indicates no, the mode is a mode that the unmanned aerial vehicle keeps flying at a fixed height from the ground, and therefore, when the terrain module is abnormal, the measured height from the ground is wrong, the flight equipment is easy to fly abnormally and even the unmanned aerial vehicle is easy to fly.
Alternatively, the user may set the fourth threshold and the fifth threshold, both of which may be 0.5 meters.
In the embodiment of the application, whether the flight mode of the unmanned aerial vehicle is a fixed-height mode is judged, if yes, the difference between the GPS height and the first target height is determined, when the difference meets a first preset condition, first change information of the ground-imitating height in a first preset time period is determined, and the cause of the unmanned aerial vehicle fault is determined based on the first change information, wherein the first target height is the target height of the unmanned aerial vehicle in the fixed-height mode; if the judging result indicates no, determining second change information of the ground-imitating height in a second preset time period, and determining the cause of the unmanned aerial vehicle fault based on the second change information, so that whether the terrain module of the unmanned aerial vehicle is normal or not is automatically determined based on the change information of the ground-imitating height, the technical effect of determining efficiency of the unmanned aerial vehicle fault cause is improved, and further the technical problems that in the prior art, the unmanned aerial vehicle fault cause is manually determined according to a flight control log, the consumed time is long, and the efficiency is low are solved.
According to an aspect of the embodiment of the application, there is provided a fault alarm method for an unmanned aerial vehicle, the method at least comprising the following steps:
step S202, judging whether the flight mode of the unmanned aerial vehicle is a fixed-altitude mode;
in some optional embodiments of the present application, the fixed-height mode is a mode in which the unmanned aerial vehicle keeps flying at a fixed height from a ground plane, wherein the ground plane is a plane in which a start point of takeoff of the unmanned aerial vehicle is located.
Step S204, if the judgment result indicates yes, determining the difference between the GPS height and the target height, determining first change information of the ground imitation height in a first preset time period when the difference meets a first preset condition, and sending alarm information based on the first change information, wherein the target height is the target height of the set unmanned aerial vehicle in the fixed-height mode; if the judging result indicates no, determining second change information of the ground imitation height in a second preset time period, and sending alarm information based on the second change information, wherein the alarm information is used for prompting the unmanned aerial vehicle to fail.
Optionally, after sending the alarm information based on the first change information, the method further includes determining a cause of the unmanned aerial vehicle failure based on the first change information; after sending the alarm information based on the second change information, the method further includes determining a cause of the unmanned aerial vehicle failure based on the second change information.
In other alternative embodiments of the present application, the alarm information may also include the cause of the unmanned aerial vehicle failure. Alternatively, sending the alarm information based on the first change information may be achieved by: when the first change information meets a third preset condition of one of the following, determining to send alarm information: the ground imitation height is kept unchanged; the land-like height is mutated.
Optionally, sending the alarm information based on the second change information includes: and when the second change information meets one of the following fourth preset conditions, determining to send alarm information: the ground imitation height is kept unchanged; the land-like height is mutated.
Alternatively, the situation that the ground-like height is kept unchanged may be that the ground-like height is kept at 0, or the time that the ground-like height is kept unchanged exceeds a third preset time period, specifically, the user may set the third preset time period, and the third preset time period may be 2 seconds.
Alternatively, the case where the simulated land height is suddenly changed may be that the simulated land height is suddenly changed within a fourth preset time period, and the user may set the fourth preset time period, and specifically, the fourth preset time period may be 1.5 seconds.
Alternatively, the GPS altitude may refer to the altitude of the unmanned aerial vehicle from the flying spot, and in particular, may be obtained by subtracting the altitude recorded by the unmanned aerial vehicle at the flying spot from the current altitude of the unmanned aerial vehicle. The ground-imitating height can be the height of the unmanned aerial vehicle from the ground. The user may set the first preset time period and the second preset time period.
Optionally, the difference satisfies a first preset condition in one of the following cases: the absolute value of the difference indication is smaller than a first threshold value; the difference indicative of a difference greater than the first threshold.
Alternatively, the difference is a difference between the GPS height and the first target height, and the user may set a first threshold value, specifically, the first threshold value may be 0.5m.
Optionally, when the first preset condition is that the absolute value of the difference value indicated by the difference is smaller than a first threshold value, determining the cause of the unmanned aerial vehicle fault based on the first change information may be implemented by: and when the ground imitation height is smaller than a second threshold value, determining that the fault is caused by the fact that the set height of the unmanned aerial vehicle in the fixed-height mode is too low. Alternatively, the second threshold may be 0.6 meters.
Optionally, when the first preset condition is that the difference indicated by the difference is greater than the first threshold, determining the cause of the unmanned aerial vehicle fault based on the first change information includes: and when the difference between the GPS height and the first target height is larger than the difference between the ground-imitating height and a third threshold value, determining the fault caused by unreasonable height setting of the unmanned aerial vehicle in a height setting mode.
Optionally, after determining the fault caused by the terrain module anomaly, the method further performs the steps of: comparing the ground-imitating height with a second target height, and if the deficiency degree is larger than a fourth threshold value, determining the fault caused by the continuous rise of the aircraft height caused by the terrain module, wherein the second target height is the target height of the unmanned aerial vehicle when the unmanned aerial vehicle flies in the high-imitating mode; if the degree of excess is greater than a fifth threshold, determining the fault caused by the continuous decrease in aircraft altitude caused by the terrain module.
Because the flight equipment adopts the simulated mode to fly when the judging result indicates no, the mode is a mode that the unmanned aerial vehicle keeps flying at a fixed height from the ground, and therefore, when the terrain module is abnormal, the measured height from the ground is wrong, the flight equipment is easy to fly abnormally and even the unmanned aerial vehicle is easy to fly.
Alternatively, the user may set the fourth threshold and the fifth threshold, both of which may be 0.5 meters.
According to an embodiment of the present application, there is further provided a fault detection device of an unmanned aerial vehicle for implementing the fault detection method of an unmanned aerial vehicle, as shown in fig. 2, where the device includes: a judging module 22, a first determining module 24, a second determining module 26; wherein:
a judging module 22, configured to judge whether the flight mode of the unmanned aerial vehicle is a fixed-altitude mode;
a first determining module 24, configured to determine a difference between a GPS altitude and a first target altitude if the determination result indicates yes, determine first change information of an imitation ground altitude within a first preset time period when the difference meets a first preset condition, and determine a cause of the unmanned aerial vehicle failure based on the first change information, where the first target altitude is a target altitude of the unmanned aerial vehicle when the unmanned aerial vehicle is set to fly in a fixed-height mode;
and the second determining module 26 is configured to determine second change information of the ground-like height within a second preset time period if the determination result indicates no, and determine a cause of the unmanned aerial vehicle failure based on the second change information.
Optionally, the difference satisfies a first preset condition in one of the following cases: the absolute value of the difference indication is smaller than a first threshold value; the difference indicative of a difference greater than the first threshold.
Optionally, the first determining module 24 includes a first determining sub-module for determining the fault caused by the terrain module abnormality when the first variation information satisfies a third preset condition of one of: the ground imitation height is kept unchanged; the land-like height is mutated.
Optionally, the first determining module 24 further comprises a second determining sub-module for determining that the malfunction is caused by the set height of the drone in the fixed height mode being too low when the ground-like height is smaller than a second threshold.
Optionally, the first determining module 24 further comprises a third determining sub-module for determining the fault caused by the unmanned aerial vehicle not having a reasonable height setting in the altitude setting mode when the difference between the GPS altitude and the first target altitude is greater than the difference between the ground-like altitude and a third threshold.
Optionally, determining the fault caused by the terrain module anomaly when the second variation information meets one of the following fourth preset conditions: the ground-like height remains unchanged.
Optionally, after determining the fault caused by the terrain module abnormality, the device is further configured to compare the ground-imitating height with a second target height, and if the degree of deficiency is greater than a fourth threshold value, determine the fault caused by the aircraft height continuously increasing caused by the terrain module, where the second target height is a target height of the set unmanned aerial vehicle in the high-imitating mode of flight; if the degree of excess is greater than a fifth threshold, determining the fault caused by the continuous decrease in aircraft altitude caused by the terrain module.
It should be noted that, the preferred implementation manner of the embodiment shown in fig. 2 may refer to the related description of the embodiment shown in fig. 1, which is not repeated herein.
Fig. 3 is a block diagram of a computer device according to an embodiment of the present invention. As shown in fig. 3, the computer device 300 may include: one or more (only one is shown) processors 302, memory 304, and radio frequency modules, audio modules, and a display screen.
According to another aspect of the embodiments of the present application, there is also provided a storage medium comprising a stored program, optionally in this embodiment, the storage medium is arranged to store program code for performing the steps of: judging whether the flight mode of the unmanned aerial vehicle is a fixed-altitude mode, if yes, determining the difference between the GPS height and a first target height, determining first change information of the ground-imitating height in a first preset time period when the difference meets a first preset condition, and determining the cause of the unmanned aerial vehicle fault based on the first change information, wherein the first target height is the target height of the unmanned aerial vehicle in the fixed-altitude mode; if the judging result indicates no, determining second change information of the ground imitation height in a second preset time period, and determining the cause of the unmanned aerial vehicle fault based on the second change information.
According to another aspect of the embodiments of the present application, there is further provided a processor, configured to execute a program, where the program is executed, and the program code of the following steps in the method for detecting a fault of an unmanned aerial vehicle capable of executing an application program is provided:
judging whether the flight mode of the unmanned aerial vehicle is a fixed-altitude mode, if yes, determining the difference between the GPS height and a first target height, determining first change information of the ground-imitating height in a first preset time period when the difference meets a first preset condition, and determining the cause of the unmanned aerial vehicle fault based on the first change information, wherein the first target height is the target height of the unmanned aerial vehicle in the fixed-altitude mode; if the judging result indicates no, determining second change information of the ground imitation height in a second preset time period, and determining the cause of the unmanned aerial vehicle fault based on the second change information.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.
Claims (8)
1. The fault detection method of the unmanned aerial vehicle is characterized by comprising the following steps of:
judging whether the flight mode of the unmanned aerial vehicle is a fixed-altitude mode, if yes, determining the difference between the GPS height and a first target height, determining first change information of the ground-imitating height in a first preset time period when the difference meets a first preset condition, and determining the cause of the unmanned aerial vehicle fault based on the first change information, wherein the first target height is the target height of the unmanned aerial vehicle in the fixed-altitude mode;
the difference satisfies a first preset condition in one of the following cases: the absolute value of the difference indication is smaller than a first threshold value; the difference indicative of the difference being greater than the first threshold;
determining a cause of the unmanned aerial vehicle failure based on the first change information, including: determining the fault caused by the terrain module anomaly when the first variation information meets a third preset condition of one of the following: the ground imitation height is kept unchanged; the simulated land height is mutated;
if the judging result indicates no, determining second change information of the ground imitation height in a second preset time period, and determining the cause of the unmanned aerial vehicle fault based on the second change information;
determining the fault caused by the terrain module abnormality when the second variation information meets one of the following fourth preset conditions: the ground imitation height is kept unchanged; the simulated land height is mutated;
after determining the fault caused by the terrain module anomaly, the method further comprises: comparing the ground-imitating height with a second target height, and if the deficiency degree is larger than a fourth threshold value, determining the fault caused by the continuous rise of the aircraft height caused by the terrain module, wherein the second target height is the target height of the unmanned aerial vehicle when the unmanned aerial vehicle flies in the high-imitating mode; if the degree of excess is greater than a fifth threshold, determining the fault caused by the continuous decrease in aircraft altitude caused by the terrain module.
2. The method of claim 1, wherein determining the cause of the unmanned aerial vehicle failure based on the first change information when the first preset condition is that an absolute value of a difference value indicated by the difference is less than a first threshold value comprises:
and when the ground imitation height is smaller than a second threshold value, determining that the fault is caused by the fact that the set height of the unmanned aerial vehicle in the fixed-height mode is too low.
3. The method of claim 1, wherein determining a cause of the unmanned aerial vehicle failure based on the first change information when the first preset condition is that the difference indicated by the difference is greater than the first threshold comprises:
and when the difference between the GPS height and the first target height is larger than the difference between the ground-imitating height and a third threshold value, determining the fault caused by unreasonable height setting of the unmanned aerial vehicle in a height setting mode.
4. A method for warning of a malfunction of an unmanned aerial vehicle, comprising:
judging whether the flight mode of the unmanned aerial vehicle is a fixed-altitude mode, if the judgment result indicates yes, determining the difference between the GPS height and the target height, determining first change information of the ground-imitating height in a first preset time period when the difference meets a first preset condition, and sending alarm information based on the first change information, wherein the target height is the target height of the unmanned aerial vehicle when the unmanned aerial vehicle flies in the fixed-altitude mode;
the difference satisfies a first preset condition in one of the following cases: the absolute value of the difference indication is smaller than a first threshold value; the difference indicative of the difference being greater than the first threshold;
the sending alarm information based on the first change information includes: when the first change information meets a third preset condition of one of the following, determining to send alarm information: the ground imitation height is kept unchanged; the simulated land height is mutated;
if the judging result indicates no, determining second change information of the ground imitation height in a second preset time period, and sending alarm information based on the second change information;
the sending alarm information based on the second change information includes: and when the second change information meets one of the following fourth preset conditions, determining to send alarm information: the ground imitation height is kept unchanged;
after determining the fault caused by the terrain module anomaly, the method further comprises: comparing the ground-imitating height with a second target height, and if the deficiency degree is larger than a fourth threshold value, determining the fault caused by the continuous rise of the aircraft height caused by the terrain module, wherein the second target height is the target height of the unmanned aerial vehicle when the unmanned aerial vehicle flies in the high-imitating mode; if the degree of excess is greater than a fifth threshold, determining the fault caused by the continuous decrease in aircraft altitude caused by the terrain module.
5. The utility model provides a fault detection device of unmanned aerial vehicle which characterized in that includes:
the judging module is used for judging whether the flight mode of the unmanned aerial vehicle is a fixed-height mode or not;
the first determining module is used for determining the difference between the GPS height and the first target height if the judging result indicates yes, determining first change information of the ground imitation height in a first preset time period when the difference meets a first preset condition, and determining the cause of the unmanned aerial vehicle fault based on the first change information, wherein the first target height is the target height of the unmanned aerial vehicle when the unmanned aerial vehicle flies in a fixed-height mode;
the difference satisfies a first preset condition in one of the following cases: the absolute value of the difference indication is smaller than a first threshold value; the difference indicative of the difference being greater than the first threshold;
the first determining module is further configured to determine the fault caused by the terrain module abnormality when the first change information meets a third preset condition that is one of the following: the ground imitation height is kept unchanged; the simulated land height is mutated;
the second determining module is used for determining second change information of the ground imitation height in a second preset time period if the judging result indicates no, and determining the cause of the unmanned aerial vehicle fault based on the second change information;
the second determining module is further configured to determine the fault caused by the terrain module abnormality when the second change information meets one of the following fourth preset conditions: the ground imitation height is kept unchanged; the simulated land height is mutated;
the device is further used for comparing the ground-imitating height with a second target height after the fault caused by the abnormality of the terrain module is determined, and if the deficiency degree is larger than a fourth threshold value, the fault caused by the fact that the aircraft height caused by the terrain module is continuously increased is determined, wherein the second target height is the target height of the unmanned aerial vehicle when the unmanned aerial vehicle is in the high-imitating mode flight; if the degree of excess is greater than a fifth threshold, determining the fault caused by the continuous decrease in aircraft altitude caused by the terrain module.
6. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the method of fault detection of the unmanned aerial vehicle of any of claims 1 to 3.
7. A processor, characterized in that the processor is adapted to run a program, wherein the program when run performs the method of fault detection of the unmanned aerial vehicle of any of claims 1 to 3.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements a method of fault detection for executing the unmanned aerial vehicle of any of claims 1 to 3.
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