CN112947538B - Unmanned aerial vehicle fault detection method and device - Google Patents
Unmanned aerial vehicle fault detection method and device Download PDFInfo
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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-height mode or not; if the judgment result indicates that the GPS height is lower than the first target height and the numerical value is larger than the first threshold, determining the cause of the unmanned aerial vehicle fault based on the GPS vertical speed; if the judging result indicates no, determining the change information of the ground imitation height in the first preset time period, and determining the cause of the unmanned aerial vehicle fault based on the change information. The unmanned aerial vehicle fault analysis method and the unmanned aerial vehicle fault analysis system solve the technical problems that in the prior art, the unmanned aerial vehicle fault cause is analyzed manually according to the flight log, the consumed time is long, and the efficiency is low.
Description
Technical Field
The application relates to the field of intelligent control, in particular to a fault detection method and device of an unmanned aerial vehicle.
Background
In the prior art, when unmanned aerial vehicle has flight faults, a guarantee sheet submitted by a client contains flight logs and a fryer environment photo, so that the cause of the fryer can be judged only by the flight logs for most of flight faults, and a small part of flight faults also need to be judged by combining the fryer 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 logs manually through software and discrimination is carried out by combining with environmental photographs and descriptions of a frying machine, the analysis method has higher requirements on knowledge skills of analysis personnel, the analysis timeliness is low, seventy-eight or hundreds of flight accident data are frequently generated in a busy season and need to be manually analyzed and processed, the analysis mode has larger task amount for the analysis personnel, 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 that in the prior art, the fault cause of the unmanned aerial vehicle is manually analyzed according to a flight log, the consumed time is long, and the efficiency is low.
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-height mode or not; if the judgment result indicates yes, and the value of the GPS height lower than the first target height is larger than a first threshold value, determining the cause of the unmanned aerial vehicle fault based on the GPS vertical speed; if the judging result indicates no, determining the change information of the ground imitation height in the first preset time period, and determining the cause of the unmanned aerial vehicle fault based on the change information.
Optionally, determining the cause of the unmanned aerial vehicle failure based on the GPS vertical velocity includes: if the GPS vertical speed is continuously smaller than a second threshold value in a second preset time period, judging whether the power of the unmanned aerial vehicle is insufficient due to the fact that the motor response value does not belong to the appointed value range, if so, determining that the power of the unmanned aerial vehicle is insufficient due to abnormal motor response to cause a fault, and if not, determining the reason of the fault based on the battery voltage of the unmanned aerial vehicle.
Optionally, determining the cause of the fault based on the battery voltage of the drone includes: if the battery voltage of the unmanned aerial vehicle is lower than a third threshold value, determining that the unmanned aerial vehicle is insufficient in power caused by the fact that the battery voltage of the unmanned aerial vehicle is too low, and if the battery voltage of the unmanned aerial vehicle is not lower than the third threshold value, determining the cause of the fault based on the altitude of the unmanned aerial vehicle.
Optionally, determining the cause of the fault based on the altitude of the drone includes: if the altitude of the unmanned aerial vehicle is higher than the preset altitude, determining a fault caused by insufficient power of the aircraft due to the over-high flight altitude of the unmanned aerial vehicle, and if the altitude of the unmanned aerial vehicle is not higher than the preset altitude, determining a fault caused by the insufficient power of the unmanned aerial vehicle to lower the aircraft.
Optionally, determining the cause of the unmanned aerial vehicle failure based on the change information includes: determining a cause of the unmanned aerial vehicle failure based on a rate of change of the GPS vertical velocity when the terrain following conditions are not satisfied: the ground imitation height is kept unchanged; mutations occur at a pseudo-height.
Optionally, determining the cause of the unmanned aerial vehicle failure based on the rate of change of the GPS vertical velocity includes: if the change rate is greater than the fourth threshold value and the level of the ground-imitation sensitivity of the unmanned aerial vehicle exceeds the preset level, determining a fault caused by unreasonable ground-imitation sensitivity setting of the unmanned aerial vehicle.
Optionally, if the rate of change is not greater than the fourth threshold, the difference between the second target height and the ground-like height is greater than the fifth threshold, and the GPS vertical speed is not greater than the sixth threshold, determining a cause of the fault based on the response value of the motor.
According to another aspect of the embodiments of the present application, there is also provided a fault detection device of an unmanned aerial vehicle, the device 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 determining module is used for determining the cause of the unmanned aerial vehicle fault based on the GPS vertical speed when the judging result indicates yes and the value of the GPS height lower than the first target height is larger than a first threshold value; if the judging result indicates no, determining the change information of the ground imitation height in the first preset time period, and determining the cause of the unmanned aerial vehicle fault based on the change information.
According to an aspect of the embodiments of the present application, there is provided a non-volatile storage medium, where the non-volatile storage medium includes a stored program, and when the program runs, a device on which the non-volatile storage medium is controlled to execute the above-mentioned fault detection method of the unmanned aerial vehicle.
According to an aspect of the embodiments of the present application, a processor is provided, where the processor is configured to execute a program stored in a memory, and the fault detection method of the unmanned aerial vehicle is executed when the program runs.
In the embodiment of the application, when the flight mode of the unmanned aerial vehicle is judged to be a fixed-height mode and the value of the GPS height lower than the first target height is larger than a first threshold value, determining the cause of the unmanned aerial vehicle fault based on the GPS vertical speed; and when the flight mode of the unmanned aerial vehicle is not the fixed-height mode, determining the change information of the ground-imitating height in a first preset time period, and determining the cause of the unmanned aerial vehicle fault based on the change information. Based on the scheme, the fault reasons can be automatically analyzed based on the state information of the unmanned aerial vehicle in the fixed-height mode and the non-fixed-height mode, so that the fault analysis efficiency is improved, and the technical problems that the unmanned aerial vehicle fault reasons are manually analyzed according to the flight logs, the consumed time is long, and the efficiency is low in the prior art 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 diagram of an alternative fault detection method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an alternative fault detection 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.
For a better understanding of the embodiments of the present application, the following description will explain the related terms involved in the embodiments of the present application as follows:
GPS altitude: the altitude of the unmanned aerial vehicle from the flying spot can be specifically the altitude of the unmanned aerial vehicle, which is reduced by the altitude of the flying spot.
GPS vertical speed is the speed of the unmanned plane in the vertical direction.
And (3) a fixed height mode: the flying height is kept to be fixed for the unmanned aerial vehicle from the flying spot.
Target height: the altitude of the unmanned aerial vehicle from the flying spot is preset.
Height of ground imitation: is the height of the unmanned aerial vehicle from the ground during actual flight.
According to embodiments of the present application, there is provided a method embodiment of fault detection for a drone, it being noted that the steps shown in the flowcharts 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 flowcharts, in some cases the steps shown or described may be performed in an order different from that shown here.
Fig. 1 is a method for fault detection according to an embodiment of the present application, as shown in fig. 1, the method includes the following steps:
step S102, judging whether the flight mode of the unmanned aerial vehicle is a fixed high mode.
Specifically, the unmanned aerial vehicle can fly in a fixed-height mode and also fly in an imitation mode. In the GPS altitude setting mode, the unmanned aerial vehicle controls the GPS altitude to reach the target altitude. The GPS height is the height of the unmanned aerial vehicle from the flying spot, specifically can be the altitude of the unmanned aerial vehicle, the altitude of the flying spot is reduced, and the target height is the preset altitude of the unmanned aerial vehicle from the flying spot. In the flight process of the unmanned aerial vehicle, the judgment equipment in the unmanned aerial vehicle judges whether the GPS height of the unmanned aerial vehicle reaches the target height by comparing the GPS height of the unmanned aerial vehicle in flight with the target height. Under the simulation mode, the unmanned aerial vehicle controls the height of the unmanned aerial vehicle from the ground to be a preset fixed height.
In this application optional embodiment, when unmanned aerial vehicle's GPS height is less than the target height, represent unmanned aerial vehicle and need climb in order to reach the target GPS height, and if detect the GPS vertical velocity of aircraft and be less than 0 continually, represent unmanned aerial vehicle's height and fall high, demonstrate unmanned aerial vehicle's phenomenon that the power is insufficient has appeared at the during operation.
Step S104, if the judgment result indicates yes, and the value of the GPS height lower than the first target height is larger than the first threshold value, determining the cause of the unmanned aerial vehicle fault based on the GPS vertical speed.
Specifically, the first target height is a preset height of the unmanned aerial vehicle from the flying spot, the first threshold value can be set by a user, and the GPS vertical speed is a speed of the unmanned aerial vehicle in the vertical direction. And when the value is larger than a first threshold value, analyzing the cause of the unmanned aerial vehicle fault according to the speed of the unmanned aerial vehicle in the vertical direction. For example: assuming that the flight mode of the unmanned aerial vehicle is determined to be a fixed-height mode, the set first target height is 7 m, the first threshold value is 1, and at the moment, the GPS height of the unmanned aerial vehicle is 5 m, the value that the GPS height is lower than the first target height is 2, and the reason of the unmanned aerial vehicle fault can be determined based on the GPS vertical speed because 2 is larger than 1.
And step S106, if the judging result indicates no, determining the change information of the ground imitation height in the first preset time period, and determining the cause of the unmanned aerial vehicle fault based on the change information.
Specifically, the ground-imitating height is the height of the unmanned aerial vehicle from the ground during actual flight, the first preset time can be set by a user, and the change information can be the quantity and the change amount of the ground-imitating height measured during the flight of the unmanned aerial vehicle within the preset time.
According to an alternative embodiment of the present application, the cause of the unmanned aerial vehicle fault is determined according to the GPS vertical velocity, and the determination may be performed by the following steps: if the GPS vertical speed is continuously smaller than the second threshold value in the second preset time period, judging whether the power shortage of the unmanned aerial vehicle is caused by the fact that the motor response value does not belong to the appointed value range. If the motor response value is not in the specified value range, the fault caused by insufficient power of the unmanned aerial vehicle due to abnormal motor response can be determined, and if the motor response value is in the specified range, the cause of the fault can be determined based on the battery voltage of the unmanned aerial vehicle.
Specifically, the second threshold is a speed value that the GPS vertical speed should maintain when the motor response value of the unmanned aerial vehicle is within the normal range. In the embodiment of the application, the GPS vertical speed of the current frame and the first three frames may be compared with the second threshold. The length of the preset time is determined according to specific conditions such as the flight environment, the flight height and the like of the unmanned aerial vehicle. The motor response value may be obtained from a flight log of the unmanned aerial vehicle, wherein the motor response value is used to reflect a rotational speed to which the control state quantity of the motor is responsive.
Specifically, the value range may be a rotation speed interval, after the motor response value is obtained to reflect the rotation speed responded by the control state quantity of the motor, the rotation speed interval where the rotation speed is located needs to be judged, and whether the motor is abnormal is determined according to the motor state corresponding to the rotation speed interval.
Specifically, when data is acquired from the flight log, the flight log needs to be analyzed, and the specific thinking of analyzing the flight log is as follows: 1. taking out a flight log of the unmanned aerial vehicle under the condition that the unmanned aerial vehicle has an accident; 2. analyzing the content of the flight log, and outputting the reason of the faults generated by the unmanned aerial vehicle; 3. automatically checking the components of the unmanned aerial vehicle based on the analyzed fault reasons, and storing the checking results into a database; 4. controlling the robot to replace the damaged part based on the inspection result; 5. testing the replaced unmanned aerial vehicle and acquiring a new flight log; 6. and sending the flight log to a flight log analysis system for analysis, and verifying whether the updated unmanned aerial vehicle has faults.
In an alternative embodiment of the present application, the cause of the fault may be determined according to the battery voltage of the unmanned aerial vehicle, including the following steps: if the battery voltage of the unmanned aerial vehicle is lower than the third threshold value, the fault caused by insufficient power of the unmanned aerial vehicle due to the fact that the battery voltage of the unmanned aerial vehicle is too low can be determined, and if the battery voltage of the unmanned aerial vehicle is not lower than the third threshold value, the cause of the fault can be determined based on the altitude of the unmanned aerial vehicle.
Specifically, the third threshold is a value capable of guaranteeing the battery voltage when the unmanned aerial vehicle is in normal flight, and the threshold can be set to different values according to batteries with different performance parameters.
In an alternative embodiment of the present application, the cause of the fault may be determined according to the altitude of the unmanned aerial vehicle, including the steps of: if the altitude of the unmanned aerial vehicle is higher than the preset altitude, the fault caused by insufficient power of the airplane due to the over-high flight altitude of the unmanned aerial vehicle can be determined, and if the altitude of the unmanned aerial vehicle is not higher than the preset altitude, the fault caused by the low power of the unmanned aerial vehicle can be determined.
In an alternative embodiment of the present application, determining a cause of a failure of the unmanned aerial vehicle according to the change information includes the following steps: when the ground-imitating height does not meet at least one of the following conditions, the cause of the unmanned aerial vehicle fault can be determined according to the change rate of the GPS vertical speed: the pseudo-land height remains unchanged or mutations occur.
Specifically, before the judgment according to the above steps, it is required to determine that the unmanned aerial vehicle flies in the simulation mode. According to the actual flight condition of the unmanned aerial vehicle, the preset time range can be 1-3s.
Specifically, the specific value of the ground-like height being smaller than the target ground-like height may be 0.5 meter smaller than the target ground-like height. The target terrain-imitating height is a target terrain-imitating height generated according to terrain information to be leaped by a user or an administrator, or according to the unmanned aerial vehicle.
In an alternative embodiment of the present application, determining the cause of the unmanned aerial vehicle failure according to the rate of change of the GPS vertical velocity may include the steps of: if the change rate of the GPS vertical speed is greater than the fourth threshold value and the level of the ground-imitation sensitivity of the unmanned aerial vehicle exceeds a preset level, determining a fault caused by unreasonable ground-imitation sensitivity setting of the unmanned aerial vehicle. Here, the difference between the simulation mode and the GPS height determining mode is that the GPS height is not greatly changed, and the unmanned aerial vehicle is hardly greatly adjusted after reaching the target height, and the simulation ground height is affected by the topography fluctuation, and may be greatly adjusted at any time to reach the target height.
Specifically, when the unmanned aerial vehicle flies, if the fluctuation of the topography exceeds the reaction speed of the aircraft, the situation that the vertical speed of the GPS is excessively changed may be caused, and in order for the vertical speed of the GPS to keep up with the change of the topography, high sensitivity is required to be set. When the unmanned aerial vehicle flies in the simulated land, the situation that the fluctuation of the flying height is overlarge sometimes occurs, when the vertical speed change rate of the airplane is larger, the situation that the fluctuation of the height of the airplane is larger is judged, and the situation that the fluctuation of the height of the airplane is overlarge in the simulated land mode is possibly caused by unreasonable setting of the simulated land sensitivity is required to be judged, so that whether the simulated land sensitivity is reasonable or not is required to be judged when the altitude fluctuation of the airplane occurs in the simulated land mode. The ground-like sensitivity may include: the higher the sensitivity, the faster the reaction speed of the aircraft. For example, in the case of a lift, the lift speed is increased by 0.1m/s in one second for the aircraft at low sensitivity, and by 0.3m/s in one second for the aircraft at high sensitivity.
In an alternative embodiment of the present application, if the rate of change is not greater than the fourth threshold, the difference between the second target height and the ground-like height is greater than the fifth threshold, and the GPS vertical speed is not greater than the sixth threshold, the cause of the fault may be determined from the response value of the motor.
Specifically, the motor response value may be obtained from the log of the unmanned aerial vehicle, and the motor response value may be a range of values. The motor response value is used for reflecting the rotating speed responded by the control state quantity based on the motor, judging whether the motor response of the unmanned aerial vehicle is abnormal or not according to the motor response value, the value range can be a rotating speed interval, after the motor response value is obtained and used for reflecting the rotating speed responded by the control state quantity based on the motor, the rotating speed interval where the rotating speed is located is needed to be judged, and whether the motor is abnormal or not is determined according to the motor state corresponding to the rotating speed interval.
In the embodiment of the application, when the flight mode of the unmanned aerial vehicle is judged to be a fixed-height mode and the value of the GPS height lower than the first target height is larger than a first threshold value, determining the cause of the unmanned aerial vehicle fault based on the GPS vertical speed; and when the flight mode of the unmanned aerial vehicle is not the fixed-height mode, determining the change information of the ground-imitating height in a first preset time period, and determining the cause of the unmanned aerial vehicle fault based on the change information. Based on the scheme, the fault reasons can be automatically analyzed based on the state information of the unmanned aerial vehicle in the fixed-height mode and the non-fixed-height mode, so that the fault analysis efficiency is improved, and the technical problems that the unmanned aerial vehicle fault reasons are manually analyzed according to the flight logs, the consumed time is long, and the efficiency is low in the prior art are solved.
Fig. 2 is a fault detection device of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 2, the device includes the following structure:
the judging module 20 is configured to judge whether the flight mode of the unmanned aerial vehicle is a fixed-altitude mode.
Specifically, the unmanned aerial vehicle can fly in a fixed-height mode and also fly in an imitation mode. In the GPS altitude setting mode, the unmanned aerial vehicle controls the GPS altitude to reach the target altitude. The GPS height is the height of the unmanned aerial vehicle from the flying spot, specifically can be the altitude of the unmanned aerial vehicle, the altitude of the flying spot is reduced, and the target height is the preset altitude of the unmanned aerial vehicle from the flying spot. In the flight process of the unmanned aerial vehicle, the judgment equipment in the unmanned aerial vehicle judges whether the GPS height of the unmanned aerial vehicle reaches the target height by comparing the GPS height of the unmanned aerial vehicle in flight with the target height. Under the simulation mode, the unmanned aerial vehicle controls the height of the unmanned aerial vehicle from the ground to be a preset fixed height.
In this application optional embodiment, when unmanned aerial vehicle's GPS height is less than the target height, represent unmanned aerial vehicle and need climb in order to reach the target GPS height, and if detect the GPS vertical velocity of aircraft and be less than 0 continually, represent unmanned aerial vehicle's height and fall high, demonstrate unmanned aerial vehicle's phenomenon that the power is insufficient has appeared at the during operation.
A determining module 22, configured to determine a cause of the unmanned aerial vehicle fault based on the GPS vertical velocity when the determination result indicates yes and the value of the GPS height below the first target height is greater than the first threshold; if the judging result indicates no, determining the change information of the ground imitation height in the first preset time period, and determining the cause of the unmanned aerial vehicle fault based on the change information.
Specifically, the first target height is a preset height of the unmanned aerial vehicle from the flying spot, the first threshold value can be set by a user, and the GPS vertical speed is a speed of the unmanned aerial vehicle in the vertical direction. And when the value is larger than a first threshold value, analyzing the cause of the unmanned aerial vehicle fault according to the speed of the unmanned aerial vehicle in the vertical direction. For example: assuming that the flight mode of the unmanned aerial vehicle is determined to be a fixed-height mode, the set first target height is 7 m, the first threshold value is 1, and at the moment, the GPS height of the unmanned aerial vehicle is 5 m, the value that the GPS height is lower than the first target height is 2, and the reason of the unmanned aerial vehicle fault can be determined based on the GPS vertical speed because 2 is larger than 1.
Specifically, the ground-imitating height is the height of the unmanned aerial vehicle from the ground during actual flight, the first preset time can be set by a user, and the change information can be the quantity and the change amount of the ground-imitating height measured during the flight of the unmanned aerial vehicle within the preset time.
According to an alternative embodiment of the present application, the cause of the unmanned aerial vehicle fault is determined according to the GPS vertical velocity, and the determination may be performed by the following steps: if the GPS vertical speed is continuously smaller than the second threshold value in the second preset time period, judging whether the power shortage of the unmanned aerial vehicle is caused by the fact that the motor response value does not belong to the appointed value range. If the motor response value is not in the specified value range, the fault caused by insufficient power of the unmanned aerial vehicle due to abnormal motor response can be determined, and if the motor response value is in the specified range, the cause of the fault can be determined based on the battery voltage of the unmanned aerial vehicle.
In an alternative embodiment of the present application, the cause of the fault may be determined according to the battery voltage of the unmanned aerial vehicle, including the following steps: if the battery voltage of the unmanned aerial vehicle is lower than the third threshold value, the fault caused by insufficient power of the unmanned aerial vehicle due to the fact that the battery voltage of the unmanned aerial vehicle is too low can be determined, and if the battery voltage of the unmanned aerial vehicle is not lower than the third threshold value, the cause of the fault can be determined based on the altitude of the unmanned aerial vehicle.
In an alternative embodiment of the present application, the cause of the fault may be determined according to the altitude of the unmanned aerial vehicle, including the steps of: if the altitude of the unmanned aerial vehicle is higher than the preset altitude, the fault caused by insufficient power of the airplane due to the over-high flight altitude of the unmanned aerial vehicle can be determined, and if the altitude of the unmanned aerial vehicle is not higher than the preset altitude, the fault caused by the low power of the unmanned aerial vehicle can be determined.
In an alternative embodiment of the present application, determining a cause of a failure of the unmanned aerial vehicle according to the change information includes the following steps: when the ground-imitating height does not meet at least one of the following conditions, the cause of the unmanned aerial vehicle fault can be determined according to the change rate of the GPS vertical speed: the pseudo-land height remains unchanged or mutations occur.
In an alternative embodiment of the present application, determining the cause of the unmanned aerial vehicle failure according to the rate of change of the GPS vertical velocity may include the steps of: if the change rate of the GPS vertical speed is greater than the fourth threshold value and the level of the ground-imitation sensitivity of the unmanned aerial vehicle exceeds a preset level, determining a fault caused by unreasonable ground-imitation sensitivity setting of the unmanned aerial vehicle.
In an alternative embodiment of the present application, if the rate of change is not greater than the fourth threshold, the difference between the second target height and the ground-like height is greater than the fifth threshold, and the GPS vertical speed is not greater than the sixth threshold, the cause of the fault may be determined from the response value of the motor.
The preferred embodiment of the present embodiment may refer to the related description of the embodiment of fig. 1, and will not be described herein.
According to an aspect of the embodiments of the present application, there is provided a nonvolatile storage medium including a stored program, wherein a device in which the nonvolatile storage medium is located executes the program of the steps of: judging whether the flight mode of the unmanned aerial vehicle is a fixed-height mode or not; if the judgment result indicates yes, and the value of the GPS height lower than the first target height is larger than a first threshold value, determining the cause of the unmanned aerial vehicle fault based on the GPS vertical speed; if the judging result indicates no, determining the change information of the ground imitation height in the first preset time period, and determining the cause of the unmanned aerial vehicle fault based on the change information.
According to an aspect of the embodiments of the present application, there is provided a processor for executing a program stored in a memory, wherein the program when executed performs the following functions: judging whether the flight mode of the unmanned aerial vehicle is a fixed-height mode or not; if the judgment result indicates yes, and the value of the GPS height lower than the first target height is larger than a first threshold value, determining the cause of the unmanned aerial vehicle fault based on the GPS vertical speed; if the judging result indicates no, determining the change information of the ground imitation height in the first preset time period, and determining the cause of the unmanned aerial vehicle fault based on the 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 the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be 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 on 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 described in 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-height mode or not;
if the judgment result indicates yes, and the value of the GPS height lower than the first target height is larger than a first threshold value, determining the cause of the unmanned aerial vehicle fault based on the GPS vertical speed;
if the judging result indicates no, determining change information of the ground imitation height in a first preset time period, and determining a cause of the unmanned aerial vehicle fault based on the change information, wherein determining the unmanned aerial vehicle fault cause based on the change information comprises: determining a cause of the unmanned aerial vehicle failure based on a rate of change of the GPS vertical velocity when the terrain-imitating height does not satisfy the height to remain unchanged;
determining a cause of the unmanned aerial vehicle failure based on the rate of change of the GPS vertical velocity includes: and if the change rate is larger than a fourth threshold value and the level of the ground-imitating sensitivity of the unmanned aerial vehicle exceeds a preset level, determining the fault caused by unreasonable ground-imitating sensitivity setting of the unmanned aerial vehicle.
2. The method of claim 1, wherein determining a cause of the unmanned aerial vehicle failure based on GPS vertical velocity comprises:
if the GPS vertical speed is continuously smaller than a second threshold value in a second preset time period, judging whether the power shortage of the unmanned aerial vehicle is caused by the fact that the motor response value does not belong to a designated value range, if so, determining that the power shortage of the unmanned aerial vehicle is caused by abnormal motor response, and if not, determining the reason of the fault based on the battery voltage of the unmanned aerial vehicle.
3. The method of claim 2, wherein determining the cause of the fault based on the battery voltage of the drone comprises:
and if the battery voltage of the unmanned aerial vehicle is lower than a third threshold value, determining that the failure is caused by insufficient power of the unmanned aerial vehicle due to the fact that the battery voltage of the unmanned aerial vehicle is too low, and if the battery voltage of the unmanned aerial vehicle is not lower than the third threshold value, determining the cause of the failure based on the altitude of the unmanned aerial vehicle.
4. A method according to claim 3, wherein determining the cause of the fault based on the altitude of the drone comprises:
and if the altitude of the unmanned aerial vehicle is not higher than the preset altitude, determining the fault caused by the lack of power of the airplane due to the excessively high flight altitude of the unmanned aerial vehicle, and if the altitude of the unmanned aerial vehicle is not higher than the preset altitude, determining the fault caused by the lack of power of the unmanned aerial vehicle to lower the altitude of the airplane.
5. The method of claim 1, wherein the step of determining the position of the substrate comprises,
and if the change rate is not greater than the fourth threshold, determining the cause of the fault based on a response value of a motor in the unmanned aerial vehicle when the difference between the second target height and the ground-like height is greater than a fifth threshold and the GPS vertical speed is not greater than a sixth threshold.
6. 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 determining module is used for determining the cause of the unmanned aerial vehicle fault based on the GPS vertical speed when the judging result indicates yes and the value of the GPS height lower than the first target height is larger than a first threshold value; if the judging result indicates no, determining change information of the ground imitation height in a first preset time period, and determining a cause of the unmanned aerial vehicle fault based on the change information, wherein determining the unmanned aerial vehicle fault cause based on the change information comprises: determining a cause of the unmanned aerial vehicle failure based on a rate of change of the GPS vertical velocity when the terrain-imitating height does not satisfy the height to remain unchanged; determining a cause of the unmanned aerial vehicle failure based on the rate of change of the GPS vertical velocity includes: and if the change rate is larger than a fourth threshold value and the level of the ground-imitating sensitivity of the unmanned aerial vehicle exceeds a preset level, determining the fault caused by unreasonable ground-imitating sensitivity setting of the unmanned aerial vehicle.
7. A non-volatile 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 a drone according to any one of claims 1 to 5.
8. A processor for running a program stored in a memory, wherein the program is run to perform the method of fault detection of a drone according to any one of claims 1 to 5.
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