WO2020233606A1

WO2020233606A1 - Ultrasonic abnormality detection method and device, and electronic apparatus

Info

Publication number: WO2020233606A1
Application number: PCT/CN2020/091344
Authority: WO
Inventors: 张添保; 李颖杰
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2019-05-21
Filing date: 2020-05-20
Publication date: 2020-11-26
Also published as: CN110146055A

Abstract

The invention relates to the technical field of ultrasonic testing, and particularly relates to an ultrasonic abnormality detection method and device and an electronic apparatus. The ultrasonic abnormality detection method comprises: obtaining ultrasonic data and combined height data of an unmanned aerial vehicle (30) (101); obtaining an ultrasonic data update test result on the basis of the ultrasonic data (102); obtaining an ultrasonic reliability test result on the basis of the ultrasonic data and the combined height data (103); and performing ultrasonic abnormality detection on the basis of the ultrasonic data update test result and the ultrasonic reliability test result (104). The ultrasonic abnormality detection technique improves ultrasonic abnormality detection methods, reduces the probability of abnormal events such as the unmanned aerial vehicle breaking apart, being unable to descend, or crashing when landing, improves the reliability and stability of the unmanned aerial vehicle (30) when measuring height above ground via ultrasound, and improves the performance of the unmanned aerial vehicle (30) and user experience.

Description

Ultrasonic abnormality detection method, device and electronic equipment

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on May 21, 2019, the application number is 201910422871.5, and the application name is "An ultrasonic abnormality detection method, device and electronic equipment", the entire content of which is incorporated by reference In this application.

Technical field

This application relates to the technical field of ultrasonic detection, and in particular to an ultrasonic abnormality detection method, device and electronic equipment.

Background technique

For UAVs, the ground height is a key factor that affects whether the UAV can fly normally. If the ground height is not accurate, it will affect the UAV's take-off performance and landing performance. Currently, ultrasound is generally used to measure the height of the UAV to the ground. When there are abnormalities in the ultrasound, such as the damage of the ultrasound testing equipment, the delay of the ultrasound data, etc., at this time, these abnormal ultrasound conditions will cause the drone to explode at high altitude, cannot be pulled down at high altitude, and does not slow down and slam the ground when landing. This seriously affects the performance and user experience of the drone. Therefore, it is of great significance to perform ultrasonic abnormality detection on UAVs.

Summary of the invention

The invention provides an ultrasonic abnormality detection method, device and electronic equipment to solve the technical problem of low reliability and stability when the UAV ultrasonic detects the ground height.

In one aspect of the embodiments of the present invention, an ultrasonic abnormality detection method is provided, which is applied to a drone, and the method includes:

Acquiring ultrasound data and fusion height data of the drone;

Obtaining an ultrasound update detection result according to the ultrasound data;

Obtaining an ultrasound credibility test result according to the ultrasound data and the fusion height data;

Perform ultrasound abnormality detection according to the ultrasound update detection result and the ultrasound reliability detection result.

Optionally, the obtaining the ultrasound update detection result according to the ultrasound data includes:

Performing time stamp update detection, ultrasound value change detection, and ultrasound value abnormality detection according to the ultrasound data to obtain the time stamp update detection result, the ultrasound value change detection result, and the ultrasound value abnormality detection result;

Perform logical operations on the time stamp update detection result, the ultrasound value change detection result, and the ultrasound value abnormality detection result to obtain the ultrasound update detection result.

Optionally, the obtaining an ultrasound credibility detection result based on the ultrasound data and the fusion height data includes:

Acquiring ultrasound height data according to the ultrasound data;

Derivation of the ultrasound height data and the fusion height data respectively, and output differential information of the ultrasound height data and differential information of the fusion height data;

The ultrasonic credibility detection result is obtained according to the differential information of the ultrasonic height data and the differential information of the fused height data.

Optionally, the method further includes:

The differential information of the ultrasonic height data and the differential information of the fused height data are respectively filtered to obtain the filtered differential information of the ultrasonic height data and the differential information of the fused height data; then,

The acquiring the ultrasonic credibility detection result according to the differential information of the ultrasonic height data and the differential information of the fused height data includes:

The ultrasonic credibility detection result is acquired according to the differential information of the filtered ultrasonic height data and the differential information of the fused height data.

Optionally, the acquiring the ultrasonic credibility detection result according to the differential information of the ultrasonic height data and the differential information of the fused height data specifically includes:

The differential information of the ultrasonic height data and the differential information of the fused height data are compared with each other. When the result of the difference comparison is within a preset range, the ultrasonic credibility detection result is output as credible. When the result of the difference comparison is not within the preset range, the output of the ultrasound reliability test result is not credible.

Optionally, the performing ultrasonic abnormality detection according to the ultrasonic update detection result and the ultrasonic credibility detection result specifically includes:

Perform a logical AND operation on the ultrasound update detection result and the ultrasound credibility detection result, where when the result of the logical AND operation is output as 1, it means that the ultrasound is normal, and when the result of the logical AND operation is output as At 0, it means that the ultrasound is abnormal.

Optionally, the method further includes:

When the ultrasound is normal, output the ultrasound height data in the ultrasound data as the altitude of the drone;

When the ultrasound is abnormal, it is determined whether the drone is in the descending flight mode; if so, the ultrasound data corresponding to the next second at the current time is acquired and the ultrasound altitude data in the ultrasound data is used as the unmanned The ground height of the drone; if not, the ultrasonic height data in the ultrasound data corresponding to the normal ultrasound acquired last time is taken as the ground height of the UAV.

In another aspect of the embodiments of the present invention, there is provided an ultrasonic anomaly detection device applied to an unmanned aerial vehicle, characterized in that the device includes:

The first acquisition module is used to acquire ultrasound data and fusion height data of the UAV;

The second acquiring module is configured to acquire the ultrasonic update detection result according to the ultrasonic data;

The third acquisition module is configured to acquire the ultrasound credibility detection result according to the ultrasound data and the fusion height data;

The detection module is configured to perform ultrasonic abnormality detection according to the ultrasonic update detection result and the ultrasonic credibility detection result.

Optionally, the second acquisition module includes:

The detection unit is configured to perform timestamp update detection, ultrasonic value change detection, and ultrasonic value abnormality detection according to the ultrasound data to obtain the timestamp update detection result, the ultrasonic value change detection result, and the ultrasonic value abnormality detection result;

The first calculation unit is configured to perform logical operations on the time stamp update detection result, the ultrasonic value change detection result, and the ultrasonic value abnormal detection result to obtain the ultrasonic update detection result.

Optionally, the third acquisition module includes:

The first obtaining unit is configured to obtain ultrasound height data according to the ultrasound data;

A second calculation unit, configured to derivate the ultrasonic height data and the fused height data respectively to output differential information of the ultrasonic height data and differential information of the fused height data;

The second acquiring unit is configured to acquire the ultrasonic credibility detection result according to the differential information of the ultrasonic height data and the differential information of the fused height data.

Optionally, the third acquiring module further includes:

A filter processing unit, configured to filter the differential information of the ultrasonic height data and the differential information of the fused height data, respectively, to obtain filtered differential information of the ultrasonic height data and the differential information of the fused height data ;then,

The second acquiring unit is specifically configured to acquire the ultrasonic credibility detection result according to the differential information of the filtered ultrasonic height data and the differential information of the fused height data.

Optionally, the second acquiring unit is specifically configured to:

Optionally, the detection module is specifically configured to:

Optionally, the device further includes:

The first processing module is configured to output the ultrasound height data in the ultrasound data as the ground height of the drone when the ultrasound is normal;

The second processing module is used to determine whether the UAV is in the descending flight mode when the ultrasound is abnormal, and if so, obtain the ultrasound data corresponding to the next second at the current time and combine the ultrasound data in the ultrasound data. The height data is taken as the ground height of the drone. If not, the ultrasonic height data in the ultrasound data corresponding to the normal ultrasound acquired last time is taken as the ground height of the drone.

In yet another aspect of the embodiments of the present invention, there is provided an unmanned aerial vehicle, including: a fuselage; an arm connected to the fuselage; and a power device arranged on the arm to provide the drone with Flight power; at least one processor; and, a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are The processor executes, so that the at least one processor can execute the method as described above.

In yet another aspect of the embodiments of the present invention, a non-volatile computer-readable storage medium is provided, the non-volatile computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make a computer Perform the method described above.

In the embodiment of the present invention, whether the ultrasonic update detection is normal is determined by the ultrasonic data of the drone, the reliability of the ultrasonic data is detected by the ultrasonic data of the drone and the fusion height data, and then the reliability of the ultrasonic data is detected according to the ultrasonic update. The determination result and the detection result of ultrasound credibility are subjected to ultrasound abnormality detection. Only when the ultrasound update detection is normal and the ultrasound data is credible, the ultrasound of the UAV is normal, and the ultrasound is considered effective at this time. This implementation method enriches the ultrasonic anomaly detection methods, reduces the probability of occurrence of abnormal situations such as aircraft bombing, being unable to pull down from high altitude, and violently slamming the ground when the aircraft is landing, and improves the reliability of UAVs when measuring the ground height through ultrasound And stability, and improve the performance and user experience of the drone.

Description of the drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. Elements with the same reference numbers in the drawings are represented as similar elements. Unless otherwise stated, the figures in the attached drawings do not constitute a limitation of scale.

Figure 1 is a flowchart of an ultrasonic abnormality detection method provided by an embodiment of the present invention;

2 is a flowchart of a method for obtaining and updating detection results according to the ultrasonic data in an ultrasonic abnormality detection method provided by an embodiment of the present invention;

FIG. 3 is a flowchart of a method for obtaining an ultrasound credibility detection result based on the ultrasound data and the fusion height data in an ultrasound abnormality detection method provided by an embodiment of the present invention;

4 is a flowchart of an ultrasonic abnormality detection method provided by another embodiment of the present invention;

5 is a schematic structural diagram of an ultrasonic abnormality detection device provided by an embodiment of the present invention;

FIG. 6 is a schematic diagram of the hardware structure of a drone provided by an embodiment of the present invention;

Fig. 7 is a schematic diagram of the hardware structure of a drone provided by an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

It should be noted that if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, and all fall within the protection scope of the present invention. In addition, although the functional modules are divided in the schematic diagram of the device, and the logical sequence is shown in the flowchart, in some cases, the module division in the schematic diagram of the device may be different from the module division in the schematic diagram, or the sequence in the flowchart may be executed. Steps shown or described.

The ultrasonic abnormality detection method and device provided by the embodiments of the present invention can be applied to various types of drones. UAVs usually perceive the ground through down-looking ultrasonic radar. When the UAV takes off, landing and normal flight, the UAV uses its own ultrasonic radar to detect the altitude of the aircraft from the ground. If there is a problem with the ultrasonic radar, it will affect Aircraft take-off, landing, and normal flight and other related performance, therefore, the core of the embodiment of the present invention is to accurately detect and judge whether the UAV has ultrasonic abnormality through the ultrasonic anomaly detection method, so as to improve the safety and reliability of the UAV Sex and stability. In order to facilitate understanding, descriptions are given below in conjunction with specific embodiments.

Please refer to FIG. 1. FIG. 1 is a flowchart of an ultrasonic abnormality detection method provided by an embodiment of the present invention. The method includes:

Step 101: Obtain ultrasound data and fusion height data of the UAV;

Wherein, the ultrasonic data refers to the data detected by the ultrasonic radar of the drone, and the data includes the ultrasonic height data and the time stamp sequence of the ultrasonic returning to the flight control. The ultrasonic height data refers to the height of the drone from the ground detected by ultrasonic. The time stamp sequence of the ultrasound returning to the flight control refers to the time node sequence corresponding to the ultrasound data, and each ultrasound data corresponds to a time node, which is used to indicate when the ultrasound height data is measured. For example, the time stamp includes: 0.1 second, 0.2 second, 0.3 second; the ultrasonic altitude data includes: 0.5 m, 0.6 m, 0.9 m; where the UAV sends the ultrasonic altitude data 0.5 m to the flight controller must be attached A time stamp of 0.1 second means that the ultrasonic height measured at 0.1 second is 0.5 meters; when the ultrasonic height data is sent to 0.6 meters, a time stamp of 0.2 seconds must be attached, which means that the ultrasonic height measured at 0.2 seconds is 0.6 meters; When the ultrasonic height data is 0.9 meters, a time stamp of 0.3 seconds must be attached, which means that the ultrasonic height measured at 0.3 seconds is 0.9 meters. As a result, the flight controller can obtain the measured ultrasonic height at what time.

Wherein, the fusion altitude data is also called flight altitude data, which refers to the altitude data of the drone from the take-off point, and the fusion altitude data is detected by various sensors. The sensors include barometric altimeters, accelerometers, ultrasonic sensors, radar sensors, and so on.

Step 102: Obtain an ultrasound update detection result according to the ultrasound data;

The ultrasonic update detection result is used to identify whether the ultrasonic data of the drone is still being updated normally. In this embodiment, the ultrasonic data passes through the update detection module, and the update detection module obtains the ultrasonic update detection result according to the ultrasonic data, and the ultrasonic update detection result can be represented by a digital signal, for example, when the ultrasonic update detection result When it is "1", it indicates that the ultrasound data is being updated normally, and when the ultrasound update detection result is "0", it indicates that the ultrasound data is not being updated normally.

Wherein, referring to FIG. 2, the obtaining the ultrasound update detection result according to the ultrasound data includes:

Step 1021, according to the ultrasound data, perform time stamp update detection, ultrasound value change detection, and ultrasound value abnormality detection to obtain time stamp update detection results, ultrasound value change detection results, and ultrasound value abnormality detection results;

Wherein, the time stamp update detection result is obtained according to the time stamp update detection. The time stamp update detection specifically includes detecting the time difference between the current step and the previous step, and if the time difference and the preset time step value are within a preset range, the time stamp update detection result Output 1 indicates that the timestamp update is normal; if the difference between the time difference and the preset time step value is zero or the difference is not within the preset range, the timestamp update detection result outputs 0, indicating that the timestamp update unusual.

Wherein, the ultrasonic value change detection result is obtained according to the ultrasonic value change detection. The ultrasonic value change detection is specifically to take the ultrasonic data corresponding to the current time and the ultrasonic data corresponding to the preset number (such as 3 or 5) before the current time for judgment, if any three of the ultrasonic data are not If they are equal, the ultrasonic value change detection result is output as 1, indicating that the ultrasonic value change is normal; otherwise, the ultrasonic value change detection result is output as 0, which indicates that the ultrasonic value change is abnormal. It should be noted that the number of unequal ultrasound data can be 3 other than 3, which is not limited here.

Wherein, the ultrasonic value abnormality detection result is obtained according to the ultrasonic value abnormality detection. The ultrasound value abnormality detection specifically includes detecting the difference between the ultrasound value of the current step and the previous step, and the difference between the ultrasound value of the previous step and the previous step. If the difference between the ultrasound values of the last 5 steps is 0, then The output of the abnormal ultrasound value detection result is 0, indicating that the ultrasound is abnormal; otherwise, the output of the abnormal ultrasound value detection result is 1, which indicates that the ultrasound is normal. It should be noted that the number of ultrasonic steps is not only 5 steps, but can also be any number of steps between 3 and 10.

Step 1022: Perform logical operations on the timestamp update detection result, the ultrasound value change detection result, and the ultrasound value abnormality detection result to obtain the ultrasound update detection result.

Wherein, the logical operation of the time stamp update detection result, the ultrasound value change detection result, and the ultrasound value abnormal detection result is specifically to update the time stamp detection result, the ultrasound value change detection result, and the The ultrasonic value abnormality detection result performs logical AND operation, and only when the time stamp update detection result, the ultrasonic value change detection result, and the ultrasonic value abnormality detection result are all output as 1, that is, the three results are normal, the If the ultrasonic update detection result is normal, the ultrasonic normal update flag 1 is output; otherwise, the ultrasonic update detection result is abnormal, and the ultrasonic abnormal update flag 0 is output.

It should be noted that, in addition to the logical AND, the aforementioned logical operation may also be other logical operations, such as logical OR. In this embodiment, it is preferably a logical AND operation.

Step 103: Obtain an ultrasound credibility detection result according to the ultrasound data and the fusion height data;

The ultrasonic credibility test result is used to determine whether the value of the UAV’s ultrasonic output is available. In this embodiment, the ultrasonic credibility test result can also be represented by a digital signal, for example, when the When the ultrasonic credibility detection result is "1", it indicates that the ultrasonic output value is available, and when the ultrasonic credibility detection result is "0", it indicates that the ultrasonic output value is not available.

Wherein, referring to FIG. 3, the obtaining of the ultrasound credibility detection result according to the ultrasound data and the fusion height data includes:

Step 1031: Acquire ultrasonic height data according to the ultrasonic data; the ultrasonic height data is the height of the UAV from the ground detected by ultrasonic.

Step 1032: Derivate the ultrasound height data and the fused height data respectively, and output the differential information of the ultrasound height data and the differential information of the fused height data;

In this embodiment, when the aircraft is descending, the ultrasonic altitude data measured by ultrasound and the fusion altitude data may not be equal, but the ascent and descent speeds of the aircraft represented by their respective one-section differentials should be relatively close. Therefore, the The ascent and descent speed of the aircraft represented by the one-section differential is used as a judgment basis, and the fusion altitude data is derived by deriving the ultrasonic altitude data to output the differential information of the ultrasonic altitude data, In order to output the differential information of the fused height data, by comparing the difference between the two differential information, it is determined whether the value of the ultrasound output is available.

Step 1034: Obtain the ultrasonic credibility detection result according to the differential information of the ultrasonic height data and the differential information of the fused height data.

Wherein, said obtaining the ultrasound credibility detection result according to the differential information of the ultrasound height data and the differential information of the fused height data specifically includes: combining the differential information of the ultrasound height data with the value of the fused height data Differential information is used for difference comparison. When the result of the difference comparison is within a preset range, the ultrasound credibility detection result is credible, and when the result of the difference comparison is not within the preset range, the ultrasound is output. The credibility test result is not credible.

Wherein, the differential information of the ultrasonic height data and the differential information of the fused height data may be the same or different. When the differential information of the two is the same or the difference between the two differentials is within the preset range, then The ultrasonic credibility test result is credible, which means that the ultrasonic output value is available, otherwise the ultrasonic credibility test result is not credible, and the ultrasonic output value is not available. The preset range can be manually defined or set by the system.

In some embodiments, referring also to FIG. 3, before performing step 1034, the method further includes:

Step 1033: Filter the differential information of the ultrasonic height data and the differential information of the fused height data, respectively, to obtain the filtered differential information of the ultrasonic height data and the differential information of the fused height data;

At this time, the step 1034 is specifically: obtaining the ultrasonic credibility detection result according to the differential information of the filtered ultrasonic height data and the differential information of the fused height data.

Wherein, the differential information of the ultrasonic height data and the differential information of the fused height data can be filtered out through a filter. The filter may specifically be a differential filter. Since the signal in the project generally contains noise, the noise is filtered by the filter to obtain the approximate derivative of the ultrasonic height data and the fused height data more accurately.

The above-mentioned method of differential determination is used to determine the reliability of the ultrasonic output value to determine whether the ultrasonic output value is available. It should be noted that in some other embodiments, other methods may also be used to determine whether the ultrasonic output value is Available.

Step 104: Perform ultrasonic abnormality detection according to the ultrasonic update detection result and the ultrasonic credibility detection result.

Wherein, said performing ultrasonic abnormality detection based on said ultrasonic update detection result and said ultrasonic credibility detection result specifically includes: performing a logical AND operation on said ultrasonic update detection result and said ultrasonic credibility detection result, when When the result of the logical AND operation is output as 1, it indicates that the ultrasound is normal, and when the result of the logical AND operation is output as 0, it indicates that the ultrasound is abnormal. Wherein, the result output of the logical AND operation is 1, which means that when the ultrasound data is updated normally and the value of the ultrasound output is available, the ultrasound is normal. The result of the logical AND operation is 0, which means that the ultrasound data is normal and the ultrasound output value is not available, or the ultrasound data is abnormal and the ultrasound output value is available, or the ultrasound data When it is abnormal and the value of the ultrasound output is not available, the ultrasound is abnormal.

The above method is used to detect whether the UAV's ultrasound is normal, and further, the ground height of the UAV can also be obtained according to the detection result. Specifically, please refer to FIG. 4. The main difference between FIG. 4 and FIG. 1 is that the method further includes:

Step 105: When the ultrasound is normal, output the ultrasound height data in the ultrasound data as the altitude of the drone;

Wherein, when the ultrasound is normal, an enable signal containing the ultrasound normal flag 1 is output, the enable signal can be received through a latch module, and the ultrasound height data corresponding to the enable signal is stored. That is, output the current altitude of the drone.

Step 106: When the ultrasound is abnormal, determine whether the drone is in a descending flight mode;

Step 107: If yes, obtain the ultrasound data corresponding to one second after the current moment and use the ultrasound height data in the ultrasound data as the altitude of the drone;

Step 108: If not, take the ultrasound height data in the ultrasound data corresponding to the normal ultrasound last acquired as the altitude of the drone.

Wherein, when the ultrasound is abnormal, an enable signal including the ultrasound abnormality flag 0 can be output, and the latch module will determine whether the drone is in the descending flight mode after receiving the enable signal. In the descending flight mode, the falling edge is delayed by one second, the ultrasonic data of one second after the current moment is acquired, and the ultrasonic altitude data in the ultrasonic data is used as the current altitude of the UAV; if it is not the descending flight mode, Then, the ultrasound height data corresponding to the normal ultrasound obtained last time can be obtained from the latch module, and the ultrasound height data is the current height of the UAV to the ground.

Among them, the main purpose of using the ultrasonic height data corresponding to the next second time stamp as the ground height of the UAV is. First, in order to prevent misjudgment, the method provided by the embodiment of the present invention may have probabilistic errors. If the ultrasonic abnormality is misjudged, the misjudgement can only last for 0.5 seconds or less. Therefore, the ultrasonic returns to normal after a few tenths of a second, so you can avoid this few tenths by taking the detection data of one second later. False judgment of seconds. Among them, if the ultrasound fails, the ultrasound data corresponding to one second can be continued to be taken. If the ultrasound still fails, then the ultrasound is really invalid. Second, in order to ensure the experience of the aircraft landing on the ground, when the drone is generally landing, when the drone is about 0.5 meters away from the ground, the ultrasound is prone to abnormalities. At this time, the aircraft needs to land on the ground, so in order to maintain the aircraft Landing smoothly. During this period, if the ultrasound is abnormal, it can be forcibly considered that the ultrasound is normal, and the aircraft needs to land smoothly, so setting a time of 1 second can be enough to ensure that the aircraft landed on the ground. If the ultrasound data corresponding to the next second is not used, if the ultrasound is judged to be invalid, the drone will think that it is not suitable for landing, and it will not be able to land.

Wherein, to determine whether the UAV is in the descending flight mode, it can be specifically determined according to the ground height output when the ultrasound is detected for the last time. For example, when the ground height is less than 0.5 meters, it is determined that there is no The man-machine is in descending flight mode. Of course, the judgment of the ground height is not limited to 0.5 meters, and the value can be any value between 0.3 meters and 0.7 meters.

The embodiment of the present invention provides an ultrasonic abnormality detection method, which judges whether the ultrasonic update detection is normal through the ultrasonic data of the drone, and the reliability of the ultrasonic data by the ultrasonic height data of the drone and the fusion height data Perform detection, and then perform ultrasonic abnormality detection based on the determination result of the ultrasonic update detection and the detection result of the ultrasonic reliability. Only when the ultrasonic data is updated normally and the value of the ultrasonic output is available, the ultrasound of the UAV is normal. At this time, ultrasound is considered effective. This implementation method enriches the ultrasonic anomaly detection methods, reduces the probability of occurrence of abnormal situations such as aircraft bombing, being unable to pull down from high altitude, and violently slamming the ground when the aircraft is landing, and improves the reliability of UAVs when measuring the ground height through ultrasound And stability, and improve the performance and user experience of the drone. Further, the current height of the drone can also be obtained according to the result of the ultrasonic detection, especially when the ultrasound is abnormal, the height of the drone can be determined, thereby improving the safety of the drone.

Please refer to FIG. 5, which is a schematic structural diagram of an ultrasonic anomaly detection device provided by an embodiment of the present invention. The device 20 is applied to an unmanned aerial vehicle. The device 20 includes: a first acquisition module 21, a second acquisition module 22, The third acquisition module 23 and the detection module 24.

Among them, the first acquisition module 21 is used to acquire the ultrasonic data and fusion height data of the UAV; the second acquisition module 22 is used to acquire the ultrasonic update detection result according to the ultrasonic data; the third acquisition module 23 is used In order to obtain ultrasonic reliability detection results according to the ultrasonic data and the fusion height data; the detection module 24 is configured to perform ultrasonic abnormality detection based on the ultrasonic update detection results and the ultrasonic reliability detection results.

Here, referring also to FIG. 5, the second acquisition module 22 includes a detection unit 221 and a first calculation unit 222. The detection unit 221 is configured to perform timestamp update detection, ultrasonic value change detection, and ultrasonic value abnormality detection based on the ultrasound data to obtain the timestamp update detection result, the ultrasonic value change detection result, and the ultrasonic value abnormality detection result; The first calculation unit 222 is configured to perform logical operations on the time stamp update detection result, the ultrasound value change detection result, and the ultrasound value abnormality detection result to obtain the ultrasound update detection result.

Here, referring also to FIG. 5, the third obtaining module 23 includes a first obtaining unit 231, a second calculating unit 232, and a second obtaining unit 233. The first acquiring unit 231 is configured to acquire ultrasound height data according to the ultrasound data; the second calculating unit 232 is configured to derive the ultrasound height data and the fusion height data respectively to output The differential information of the ultrasound height data and the differential information of the fused height data; the second acquisition unit 233 is configured to acquire the ultrasound data according to the differential information of the ultrasound height data and the differential information of the fused height data Reliability test results.

Wherein, the second acquiring unit 233 is specifically configured to: compare the differential information of the ultrasonic height data with the differential information of the fused height data, and output when the result of the difference comparison is within a preset range The ultrasonic credibility detection result is credible, and when the result of the difference comparison is not within the preset range, the ultrasonic credibility detection result is output as unreliable.

In some embodiments, referring also to FIG. 5, the third acquiring module 23 further includes a filtering processing unit 234. The filter processing unit 234 obtains the differential information of the ultrasonic height data and the differential information of the fused height data from the second calculation unit 232, and performs the differential information of the ultrasonic height data and the differential information of the fused height data. The information is filtered separately to obtain the differential information of the ultrasonic height data and the differential information of the fused height data after filtering. At this time, the second acquisition unit 233 acquires the differential information of the filtered ultrasonic height data and the differential information of the fused height data from the filter processing unit 234, thereby according to the filtered ultrasonic height The differential information of the data and the differential information of the fused height data obtain the ultrasonic credibility detection result.

Wherein, the detection module 24 is specifically configured to: perform a logical AND operation on the ultrasonic update detection result and the ultrasonic credibility detection result, wherein when the output of the logical AND operation result is 1, it means that the ultrasonic is normal , When the output of the logical AND operation is 0, it means that the ultrasound is abnormal.

In some embodiments, referring also to FIG. 5, the device 20 further includes a first processing module 25 and a second processing module 26. The first processing module 25 is used to output the ultrasonic height data in the ultrasonic data as the altitude of the drone when the ultrasound is normal; the second processing module 26 is used to When the ultrasound is abnormal, determine whether the UAV is in the descending flight mode. If it is in the descending flight mode, obtain the ultrasound data corresponding to the next second at the current moment and use the ultrasound height in the ultrasound data as the unmanned aircraft. If the altitude of the aircraft is not in the descending flight mode, the ultrasonic altitude data in the ultrasound data corresponding to the normal ultrasound obtained last time is taken as the altitude of the drone.

It is worth noting that the information interaction between the modules and units in the above-mentioned device, the execution process, etc., are based on the same concept as the method embodiment of the present invention. For specific content, please refer to the description in the method embodiment of the present invention. No longer.

The embodiment of the present invention provides an ultrasonic abnormality detection device, which judges whether the ultrasonic update detection is normal through the ultrasonic data of the drone, and the reliability of the ultrasonic data through the ultrasonic height data of the drone and the fusion height data Perform detection, and then perform ultrasonic abnormality detection based on the determination result of the ultrasonic update detection and the detection result of the ultrasonic reliability. Only when the ultrasonic data is updated normally and the value of the ultrasonic output is available, the ultrasound of the UAV is normal. At this time, ultrasound is considered effective. This implementation method enriches the ultrasonic anomaly detection methods, reduces the probability of occurrence of abnormal situations such as aircraft bombing, being unable to pull down from high altitude, and violently slamming the ground when the aircraft is landing, and improves the reliability of UAVs when measuring the ground height through ultrasound And stability, and improve the performance and user experience of the drone. Further, the current height of the drone can also be obtained according to the results of the ultrasonic detection, especially when the ultrasound is abnormal, the height of the drone can be determined, thereby improving the safety of the drone.

Please refer to Figures 6 and 7. Figures 6 and 7 are schematic diagrams of the hardware structure of the drone provided by an embodiment of the present invention. As shown in Figures 6 and 7, the drone 30 includes: a fuselage 301, four An arm 302 extending from the body 301, a power device 303 respectively installed on each arm 301, at least one processor 304, and a memory 305 communicatively connected to the at least one processor 304.

The UAV 30 shown in FIG. 6 is a four-rotor unmanned aerial vehicle, and the number of power devices 303 is four. In other possible embodiments, the drone 30 may be any other type of unmanned aerial vehicle, such as a fixed-wing drone. When the power unit 303 is applied to other types of unmanned aerial vehicles, the number of the power unit 303 can be changed according to actual needs, which is not limited in the present invention.

In an embodiment of the invention, the arm 302 and the body 301 are fixedly connected, and preferably, the arm 302 and the body 301 are integrally formed. In other possible embodiments, the arm 302 may also be connected to the body 301 in a manner that can be expanded or folded relative to the body 301. For example, the arm 302 can be connected to the body 301 through a rotating shaft mechanism, so that the arm 302 can be expanded or folded relative to the body 301.

In an embodiment of the present invention, the power device 303 includes a driving device 3031 and a propeller assembly 3032 driven by the driving device 3031. The propeller assembly 3032 is installed on the output shaft of the driving device 3031. The propeller assembly 3032 is driven by the driving device 3031. Rotate downward to generate lift or thrust that makes the drone 30 fly. The driving device 3031 may be any suitable type of motor, such as a brushed motor, a brushless motor, a DC motor, a stepper motor, an AC induction motor, etc.

Please refer to FIG. 7. In FIG. 7, a processor 304 is taken as an example. The processor 304 and the memory 305 may be connected through a bus or in other ways. In FIG. 7, the connection through a bus is taken as an example.

The memory 305, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the programs corresponding to the ultrasonic abnormality detection method in the embodiment of the present invention Instructions/modules (for example, the first acquisition module 21, the second acquisition module 22, the third acquisition module 23, and the detection module 24 shown in FIG. 5). The processor 304 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions, and modules stored in the memory 305, that is, realizing the ultrasonic abnormality detection method of the foregoing method embodiment.

The memory 305 may include a storage program area and a storage data area. The storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the ultrasonic anomaly detection device. In addition, the memory 305 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 305 may optionally include a memory remotely provided with respect to the processor 304, and these remote memories may be connected to the ultrasonic abnormality detection device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 305, and when executed by the one or more processors 304, the ultrasonic abnormality detection method in any of the above method embodiments is executed, for example, the above-described FIG. 1 Step 101 to step 104 in the method, step 1021 to step 1022 in the method in Figure 2, step 1031 to step 1034 in the method in Figure 3, step 101 to step 108 in the method in Figure 4, implement module 21- in Figure 5 26, the functions of units 221-222, units 231-234.

The above-mentioned products can execute the methods provided in the embodiments of the present invention, and have corresponding functional modules and beneficial effects for executing the methods. For technical details not described in detail in this embodiment, refer to the method provided in the embodiment of the present invention.

The drones of the embodiments of the present invention exist in many forms, including but not limited to quadrotor drones.

The embodiment of the present invention provides a non-volatile computer-readable storage medium, the non-volatile computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by an electronic device. For example, the method steps 101 to 104 in FIG. 1 described above, the method steps 1021 to 1022 in FIG. 2, the method steps 1031 to 1034 in FIG. 3, and the method steps 1031 to 1034 in FIG. Steps 101 to 108 of the method implement the functions of modules 21-26, units 221-222, and units 231-234 in FIG. 5.

The embodiment of the present invention provides a computer program product, including a calculation program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, cause the The computer executes the ultrasonic abnormality detection method in any of the above method embodiments, for example, executes the method steps 101 to 104 in FIG. 1 described above, the method steps 1021 to 1022 in FIG. 2 and the method steps 1031 to 1031 in FIG. Step 1034, method steps 101 to 108 in FIG. 4, implement the functions of modules 21-26, units 221-222, and units 231-234 in FIG. 5.

The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

Through the description of the above implementation manners, those of ordinary skill in the art can clearly understand that each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. A person of ordinary skill in the art can understand that all or part of the processes in the method of the foregoing embodiments can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. When executed, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; under the idea of the present invention, the technical features of the above embodiments or different embodiments can also be combined. The steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above. For the sake of brevity, they are not provided in the details; although the present invention has been described in detail with reference to the foregoing embodiments, the ordinary The skilled person should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not divorce the essence of the corresponding technical solutions from the implementations of the present invention Examples of the scope of technical solutions.

Claims

An ultrasonic abnormality detection method applied to unmanned aerial vehicles, characterized in that the method includes:

Acquiring ultrasound data and fusion height data of the drone;

Obtaining an ultrasound update detection result according to the ultrasound data;

Obtaining an ultrasound credibility test result according to the ultrasound data and the fusion height data;

Perform ultrasound abnormality detection according to the ultrasound update detection result and the ultrasound reliability detection result.
The method according to claim 1, wherein the obtaining an ultrasound update detection result according to the ultrasound data comprises:

Performing time stamp update detection, ultrasound value change detection, and ultrasound value abnormality detection according to the ultrasound data to obtain the time stamp update detection result, the ultrasound value change detection result, and the ultrasound value abnormality detection result;

Perform logical operations on the time stamp update detection result, the ultrasound value change detection result, and the ultrasound value abnormality detection result to obtain the ultrasound update detection result.
The method according to claim 1, wherein the obtaining an ultrasound credibility detection result according to the ultrasound data and the fusion height data comprises:

Acquiring ultrasound height data according to the ultrasound data;

Derivation of the ultrasound height data and the fusion height data respectively to output differential information of the ultrasound height data and differential information of the fusion height data;

The ultrasonic credibility detection result is obtained according to the differential information of the ultrasonic height data and the differential information of the fused height data.
The method according to claim 3, wherein the method further comprises:

The differential information of the ultrasonic height data and the differential information of the fused height data are respectively filtered to obtain the filtered differential information of the ultrasonic height data and the differential information of the fused height data; then,

The acquiring the ultrasonic credibility detection result according to the differential information of the ultrasonic height data and the differential information of the fused height data includes:

The ultrasonic credibility detection result is acquired according to the differential information of the filtered ultrasonic height data and the differential information of the fused height data.
The method according to claim 3, wherein the acquiring the ultrasonic credibility detection result according to the differential information of the ultrasonic height data and the differential information of the fused height data specifically comprises:

The differential information of the ultrasonic height data and the differential information of the fused height data are compared with each other. When the result of the difference comparison is within a preset range, the ultrasonic credibility detection result is output as credible. When the result of the difference comparison is not within the preset range, the output of the ultrasound reliability test result is not credible.
The method according to any one of claims 1 to 5, wherein the performing ultrasonic abnormality detection according to the ultrasonic update detection result and the ultrasonic credibility detection result specifically includes:

Perform a logical AND operation on the ultrasound update detection result and the ultrasound credibility detection result, where when the result of the logical AND operation is output as 1, it means that the ultrasound is normal, and when the result of the logical AND operation is output as At 0, it means that the ultrasound is abnormal.
The method according to claim 6, wherein the method further comprises:

When the ultrasound is normal, output the ultrasound height data in the ultrasound data as the altitude of the drone;

When the ultrasound is abnormal, determining whether the drone is in a descending flight mode;

If yes, acquire the ultrasound data corresponding to the next second at the current moment and use the ultrasound height data in the ultrasound data as the altitude of the drone;

If not, the ultrasound height data in the ultrasound data corresponding to the normal ultrasound acquired last time is taken as the ground height of the drone.
An ultrasonic abnormality detection device applied to unmanned aerial vehicles, characterized in that the device includes:

The first acquisition module is used to acquire ultrasound data and fusion height data of the UAV;

The second acquiring module is configured to acquire the ultrasonic update detection result according to the ultrasonic data;

The third acquisition module is configured to acquire the ultrasound credibility detection result according to the ultrasound data and the fusion height data;

The detection module is configured to perform ultrasonic abnormality detection according to the ultrasonic update detection result and the ultrasonic credibility detection result.
The device according to claim 8, wherein the second acquisition module comprises:

The detection unit is configured to perform timestamp update detection, ultrasonic value change detection, and ultrasonic value abnormality detection according to the ultrasound data to obtain the timestamp update detection result, the ultrasonic value change detection result, and the ultrasonic value abnormality detection result;

The first calculation unit is configured to perform logical operations on the time stamp update detection result, the ultrasonic value change detection result, and the ultrasonic value abnormal detection result to obtain the ultrasonic update detection result.
The device according to claim 8, wherein the third acquisition module comprises:

The first obtaining unit is configured to obtain ultrasound height data according to the ultrasound data;

A second calculation unit, configured to derivate the ultrasonic height data and the fused height data respectively to output differential information of the ultrasonic height data and differential information of the fused height data;

The second acquiring unit is configured to acquire the ultrasonic credibility detection result according to the differential information of the ultrasonic height data and the differential information of the fused height data.
The device according to claim 10, wherein the third acquiring module further comprises:

A filter processing unit, configured to filter the differential information of the ultrasonic height data and the differential information of the fused height data, respectively, to obtain filtered differential information of the ultrasonic height data and the differential information of the fused height data ;then,

The second acquiring unit is specifically configured to acquire the ultrasonic credibility detection result according to the differential information of the filtered ultrasonic height data and the differential information of the fused height data.
The device according to claim 10, wherein the second acquiring unit is specifically configured to:

The differential information of the ultrasonic height data and the differential information of the fused height data are compared with each other. When the result of the difference comparison is within a preset range, the ultrasonic credibility detection result is output as credible. When the result of the difference comparison is not within the preset range, the output of the ultrasound reliability test result is not credible.
The device according to any one of claims 8 to 12, wherein the detection module is specifically configured to:

Perform a logical AND operation on the ultrasound update detection result and the ultrasound credibility detection result, where when the result of the logical AND operation is output as 1, it means that the ultrasound is normal, and when the result of the logical AND operation is output as At 0, it means that the ultrasound is abnormal.
The device according to claim 13, wherein the device further comprises:

The first processing module is configured to output the ultrasound height data in the ultrasound data as the ground height of the drone when the ultrasound is normal;

The second processing module is used to determine whether the UAV is in the descending flight mode when the ultrasound is abnormal, and if so, obtain the ultrasound data corresponding to the next second at the current time and combine the ultrasound data in the ultrasound data. The height data is taken as the ground height of the drone. If not, the ultrasonic height data in the ultrasound data corresponding to the normal ultrasound acquired last time is taken as the ground height of the drone.
An unmanned aerial vehicle, characterized in that it includes:

body;

An arm, connected to the fuselage;

The power device is arranged on the arm and used to provide power for the drone to fly;

At least one processor; and,

A memory communicatively connected with the at least one processor; wherein,

The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute any one of claims 1 to 7 Methods.
A non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make a computer execute claims 1 to 7 The method of any one of.