CN112947353B - Method and device for determining fault reason of unmanned equipment - Google Patents
Method and device for determining fault reason of unmanned equipment Download PDFInfo
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Abstract
The application discloses a method and a device for determining a fault reason of unmanned equipment. Wherein, the method comprises the following steps: judging whether the unmanned equipment vibrates or not under the condition that the motor response of the unmanned equipment is judged to be abnormal and the attitude data of the unmanned equipment is abnormal, and obtaining a first judgment result; if the first judgment result is yes, judging whether the height from the ground when the unmanned equipment vibrates is larger than a first preset threshold value or not to obtain a second judgment result; and determining the reason of the failure of the unmanned equipment according to the second judgment result. This application has been solved owing to adopt artifical analysis unmanned aerial vehicle's flight control log data, judges unmanned aerial vehicle's accident reason, and the great accident reason that causes of unable timely rapid analysis play unmanned aerial vehicle of task volume greatly influences customer's operating efficiency's technical problem.
Description
Technical Field
The application relates to the field of unmanned equipment, in particular to a method and a device for determining a fault reason of the unmanned equipment.
Background
In the current stage, the unmanned aerial vehicle flight accident analysis method is to manually analyze data recorded in a flight control log of the unmanned aerial vehicle through software so as to judge the reason of the failure of the unmanned aerial vehicle. The analysis method has high requirement on knowledge and skills of an analyst, is low in analysis timeliness, and can cause that seventy or nearly hundreds of flight accident data often appear in busy farming seasons and need manual processing.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a method and a device for determining failure reasons of unmanned aerial vehicle equipment, and the technical problem that due to the fact that flight control log data of an unmanned aerial vehicle are analyzed manually, accident reasons of the unmanned aerial vehicle are judged, the accident reasons of the unmanned aerial vehicle cannot be analyzed rapidly in time due to the fact that the task quantity is large, and the operation efficiency of customers is greatly influenced is solved.
According to an aspect of an embodiment of the present application, there is provided a method for determining a cause of a failure of an unmanned aerial vehicle, including: judging whether the unmanned equipment vibrates or not under the condition that the motor response of the unmanned equipment is judged to be abnormal and the attitude data of the unmanned equipment is abnormal, and obtaining a first judgment result; if the first judgment result is yes, judging whether the height from the ground when the unmanned equipment vibrates is larger than a first preset threshold value or not, and obtaining a second judgment result; and determining the reason of the failure of the unmanned equipment according to the second judgment result.
Optionally, before determining whether the drone is vibrating, the method further comprises determining whether a motor response of the drone is abnormal by: respectively calculating motor response values of all motors of the unmanned equipment through the motor power control quantity and the motor rotating speed; selecting one motor in the unmanned equipment as a target motor; determining the average value of the motor response values of the two motors closest to the motor response value of the target motor; and comparing the difference value between the motor response value of the target motor and the average value, and determining that the motor response of the target motor is abnormal if the difference value is greater than or equal to a second preset threshold value.
Optionally, the unmanned device has abnormality in attitude data, including: the actual operating attitude of the drone does not fit the control attitude.
Optionally, before determining whether the height from the ground when the unmanned aerial vehicle vibrates is greater than a first preset threshold, the method further includes: judging whether the running state of a terrain detection module of the unmanned equipment is normal or not, wherein the terrain detection module is used for measuring the height of the unmanned equipment from the ground; under the condition that the running state of the terrain detection module is normal, whether the height from the ground is larger than a first preset threshold value when the unmanned equipment vibrates is triggered and judged.
Optionally, determining the cause of the failure of the unmanned aerial vehicle according to the second determination result includes: if the second determination result is yes, determining whether an obstacle is detected by an obstacle sensing device provided on the unmanned device; if the obstacle sensing equipment detects an obstacle, determining that the cause of the fault is that the unmanned equipment collides with the obstacle to cause abnormal response of a motor of the unmanned equipment and abnormal attitude data; and if the obstacle sensing equipment does not detect the obstacle, acquiring the field image information when the unmanned equipment fails, and determining the reason of the failure according to the field image information.
Optionally, determining the cause of the failure of the unmanned aerial vehicle according to the second determination result includes: under the condition that the second judgment result is negative, judging whether the actual operation posture of the unmanned equipment is fitted with the control posture in the previous frame data at the moment when the unmanned equipment vibrates, and obtaining a third judgment result; under the condition that the third judgment result is negative, determining that the cause of the fault is the abnormal response of the motor of the unmanned equipment; in a case where the third determination result is yes, it is determined that the cause of the failure is collision of the unmanned aerial vehicle with the ground.
Optionally, in a case that the operation state of the terrain detection module is abnormal, the method further includes: judging whether the obstacle sensing equipment detects an obstacle or not; if the obstacle sensing equipment detects the obstacle, determining that the cause of the fault is that the unmanned equipment collides with the obstacle to cause abnormal response of a motor of the unmanned equipment; and if the obstacle sensing equipment does not detect the obstacle, acquiring the field image information when the unmanned equipment fails, and determining the reason of the failure according to the field image information.
Optionally, the unmanned device comprises: an unmanned aerial vehicle; when the attitude data of unmanned equipment takes place unusually, judge that unmanned equipment whether takes place vibrations, include: acquiring a flight control log of the unmanned aerial vehicle; determining the time when the unmanned aerial vehicle is abnormal from the flight control log, and determining the state of the unmanned aerial vehicle at the time, wherein the state comprises the following steps: a vibrating state and a non-vibrating state.
According to another aspect of the embodiments of the present application, there is also provided a method of predicting failure of an unmanned aerial vehicle, including: judging whether the motor response value of the unmanned equipment is abnormal or not; if the motor response value is judged to be abnormal, judging whether the attitude data of the unmanned equipment is abnormal; and if the attitude data is judged to be abnormal, sending first warning information, wherein the first warning information is used for representing that the motor of the unmanned equipment responds to the abnormal attitude data abnormality.
Optionally, if the posture data is determined to be normal, the method further includes: judging whether the duration time of the motor response value exceeds a preset time length or not; if the duration of the motor response value exceeds the preset duration, sending second alarm information; and if the duration time of the motor response value is judged not to exceed the preset duration, outputting motor response abnormal information.
According to another aspect of the embodiments of the present application, there is also provided an apparatus for determining a cause of a failure of an unmanned aerial vehicle, including: the first judgment module is used for judging whether the unmanned equipment vibrates or not under the condition that the motor response of the unmanned equipment is judged to be abnormal and the attitude data of the unmanned equipment is abnormal to obtain a first judgment result; the second judgment module is used for judging whether the height from the ground when the unmanned equipment vibrates is larger than a first preset threshold value or not under the condition that the first judgment result is yes, and obtaining a second judgment result; and the determining module is used for determining the reason of the failure of the unmanned equipment according to the second judgment result.
According to another aspect of the embodiments of the present application, there is also provided an apparatus for predicting failure of an unmanned aerial vehicle, including: the third judgment module is used for judging whether the motor response value of the unmanned equipment is abnormal or not; the fourth judgment module is used for judging whether the attitude data of the unmanned equipment is abnormal or not under the condition that the motor response value is judged to be abnormal; and the control module is used for sending out first warning information under the condition that the attitude data is judged to be abnormal, wherein the first warning information is used for representing that the attitude data is abnormal due to the abnormal response of a motor of the unmanned equipment.
According to still another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program, where the program is run to control an apparatus on which the storage medium is located to perform the above method of determining a cause of failure of an unmanned aerial vehicle or the above method of predicting failure of an unmanned aerial vehicle.
According to yet another aspect of the embodiments of the present application, there is also provided a processor for executing a program, where the program executes the above method for determining a cause of malfunction of an unmanned aerial device or the above method for predicting malfunction of an unmanned aerial device when the program runs.
According to yet another aspect of the embodiments of the present application, there is also provided a computer apparatus, including a memory and a processor, wherein the memory stores a computer program; the processor, when executing the computer program, implements the above method of determining the cause of a malfunction of an unmanned aerial vehicle or the above method of predicting a malfunction of an unmanned aerial vehicle.
In the embodiment of the application, whether the unmanned equipment vibrates or not is judged under the condition that the motor response of the unmanned equipment is judged to be abnormal and the attitude data of the unmanned equipment is abnormal, so that a first judgment result is obtained; if the first judgment result is yes, judging whether the height from the ground when the unmanned equipment vibrates is larger than a first preset threshold value or not, and obtaining a second judgment result; the mode of the reason that the unmanned aerial vehicle equipment broke down is confirmed according to the second judgement result, data through utilizing software to flight control log record of unmanned aerial vehicle carry out automatic analysis, judge the reason that unmanned aerial vehicle broke down, thereby unmanned aerial vehicle's accident reason has been realized analyzing out fast in time, user's operating efficiency's technological effect has been guaranteed, and then solved because adopt the flight control log data of artifical analysis unmanned aerial vehicle, judge unmanned aerial vehicle's accident reason, the unable accident reason who analyzes out unmanned aerial vehicle fast in time that the task load is great causes, the very big technical problem who influences customer's operating efficiency.
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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 embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart of a method of determining a cause of a malfunction in an unmanned aerial vehicle according to an embodiment of the application;
FIG. 2 is a flow chart of a method of predicting failure of an unmanned aerial device according to an embodiment of the present application;
FIG. 3 is a block diagram of an apparatus for determining a cause of a malfunction of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 4 is a block diagram of an apparatus for predicting failure of an unmanned aerial device according to an embodiment of the present application;
fig. 5 is a block diagram of a computer apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or 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.
In accordance with an embodiment of the present application, there is provided an embodiment of a method for determining a cause of a malfunction in an unmanned aerial vehicle, wherein the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer-executable instructions, and wherein although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a method for determining a cause of a failure of an unmanned aerial vehicle according to an embodiment of the application, as shown in fig. 1, the method including the steps of:
and step S102, judging whether the unmanned equipment vibrates or not under the condition that the motor response of the unmanned equipment is abnormal and the attitude data of the unmanned equipment is abnormal, and obtaining a first judgment result.
According to an optional embodiment of the present application, the above-mentioned unmanned device may be an unmanned aerial vehicle, an unmanned vehicle or other unmanned devices, and the unmanned aerial vehicle is taken as an example for description below.
The flight control log of the unmanned aerial vehicle records all flight related data of the unmanned aerial vehicle once every a preset period of time, and one frame of data is obtained once every recording, so that the automatic analysis software analyzes the flight log by adopting a frame-by-frame analysis method from the first frame to the last frame of the log until the accident reason is analyzed.
According to an alternative embodiment of the present application, before executing step S102, it is further necessary to determine whether the motor response of the unmanned aerial vehicle is abnormal by: respectively calculating motor response values of all motors of the unmanned equipment through the motor power control quantity and the motor rotating speed; selecting one motor in the unmanned equipment as a target motor; determining an average value of the motor response values of the two motors closest to the motor response value of the target motor; and comparing the difference value between the motor response value of the target motor and the average value, and determining that the motor response of the target motor is abnormal if the difference value is greater than or equal to a second preset threshold value.
The meaning of the motor response value is the rotating speed responded by the control state quantity of the motor unit, the motor response value is an important parameter for judging whether the motor works normally, when the motor is in abnormal states such as restart, no signal and locked rotor, the motor response value of the airplane is inevitably abnormal, and therefore the judgment of the motor response value is judged on the basis of the normal state of the motor.
In the embodiment of the application, whether the unmanned aerial vehicle has motor response abnormity is judged through a motor response abnormity judgment formula. In particular, the response value of the motor
Where RPM represents the rotational speed of the motor, PWM is the power control amount of the motor (ranging from 1100 to 1900), and M represents M1，M2，M3，M4An electric motor. When the response value X of the motor subtracts the average of the response values of two motors which are close to the value X in the rest three motors
Is not normal, wherein X represents the motor response is abnormal1For the currently determined response value, X, of the motor2And X3Is equal to X1And taking two most similar motor response values.
According to an alternative embodiment of the application, the unmanned device has abnormality in attitude data, including: the actual operating attitude of the drone does not fit the control attitude.
According to an optional embodiment of the present application, the control attitude refers to a control attitude automatically generated by a control system of the unmanned aerial vehicle according to an algorithm, and the unmanned aerial vehicle operates according to the automatically generated control attitude during normal flight. Judging whether the actual operation attitude and the control attitude are fitted or not mainly comprises the following steps: and judging whether the actual pitch angle and roll angle of the unmanned aerial vehicle are fitted with the target pitch angle and target roll angle automatically generated by the control system.
Specifically, whether the actual pitch angle and the roll angle of the unmanned aerial vehicle are fitted with the target pitch angle and the target roll angle automatically generated by the control system is judged by judging whether the difference value between the actual pitch angle and the target pitch angle is within a preset range and whether the difference value between the actual roll angle and the target roll angle is within the preset range. If the difference value is within the preset range, fitting the actual pitch angle and roll angle of the unmanned aerial vehicle with the target pitch angle and target roll angle automatically generated by the control system; otherwise, no fit is made. It should be noted that the preset range is generally set to be within a range of-3.6 degrees to 3.6 degrees, wherein the value of 3.6 can be set to any number within a range of 3 to 4.
And step S104, under the condition that the first judgment result is yes, judging whether the height from the ground when the unmanned equipment vibrates is larger than a first preset threshold value or not, and obtaining a second judgment result.
In an optional embodiment of the present application, after determining that the body of the unmanned aerial vehicle vibrates in step S102, it is further required to determine whether the body of the unmanned aerial vehicle vibrates in the air. Because there are objects such as vegetation, crops on the ground, or ground has the fluctuation, and the sensor has measuring error, at the in-process that unmanned aerial vehicle actually flies, highly if being less than 0.5m from ground very big probably touch to the earth, consequently, judge whether the fuselage of unmanned aerial vehicle takes place vibrations in the air and need judge whether the fuselage of unmanned aerial vehicle shakes the height from ground is greater than 0.5 m.
And step S106, determining the reason of the failure of the unmanned equipment according to the second judgment result.
Through the steps, the data recorded in the flight control log of the unmanned aerial vehicle is automatically analyzed by software, and the reason that the unmanned aerial vehicle breaks down is judged, so that the accident reason of the unmanned aerial vehicle is quickly and timely analyzed, and the technical effect of the operation efficiency of a user is ensured.
According to an alternative embodiment of the present application, before step S104 is executed, it is further required to determine whether an operation state of a terrain detection module of the unmanned aerial vehicle is normal, where the terrain detection module is configured to measure a height of the unmanned aerial vehicle from the ground; under the condition that the running state of the terrain detection module is normal, whether the height from the ground is larger than a first preset threshold value when the unmanned equipment vibrates is judged in a triggering mode.
Before executing step S104, whether a terrain judgment module of the unmanned aerial vehicle works normally needs to be judged, the terrain detection module is used for collecting flight height data of the unmanned aerial vehicle, if the error between the flight height data of the unmanned aerial vehicle collected by the terrain detection module and preset flight height data is within 0.5m, the operation state of the terrain detection module is normal, namely the unmanned aerial vehicle flies normally, and then whether the body vibration of the unmanned aerial vehicle occurs in the air is triggered and judged; on the contrary, if the topography detection module does not normally work or unmanned aerial vehicle does not install the topography detection module, then can't judge whether unmanned aerial vehicle fuselage vibrations take place aloft, just need not carry out the judgement step of judging whether unmanned aerial vehicle's fuselage vibrations take place aloft this moment, can accelerate the positioning speed of unmanned aerial vehicle trouble reason, further ensure user's operating efficiency.
In some optional embodiments of the present application, step S106 is implemented by: if the second determination result is yes, determining whether an obstacle is detected by an obstacle sensing device provided on the unmanned device; if the obstacle sensing equipment detects the obstacle, determining that the cause of the fault is that the unmanned equipment collides with the obstacle to cause abnormal response of a motor of the unmanned equipment; and if the obstacle sensing equipment does not detect the image of the obstacle, acquiring field image information when the unmanned equipment fails, and determining the reason of the failure according to the field image information.
After the fuselage vibrations of judging unmanned aerial vehicle take place in the air, judge whether barrier sensing equipment on the unmanned aerial vehicle detects the barrier, if barrier sensing equipment of installation detects the barrier on the unmanned aerial vehicle, confirm that unmanned aerial vehicle breaks down the reason that unmanned aerial vehicle collides with the barrier at the in-process of flight and leads to unmanned aerial vehicle's motor response unusual, and then lead to unmanned aerial vehicle's operation gesture curve and predetermine gesture curve and take place to separate, take place faults such as crash or explode. If the obstacle sensing equipment installed on the unmanned aerial vehicle does not detect the obstacle, a scene photo of the unmanned aerial vehicle which breaks down needs to be acquired, and the reason of the unmanned aerial vehicle which breaks down is judged by combining the scene photo. It should be noted that the obstacle sensing device may specifically be an image capturing device, and determines whether an obstacle exists through a captured image or photo; the distance between the radar and the obstacle can be measured by a millimeter wave radar and an ultrasonic radar, and whether the obstacle exists or not can be judged.
According to an alternative embodiment of the present application, executing step S106 further comprises the steps of: under the condition that the second judgment result is negative, judging whether the actual operation posture of the unmanned equipment is fitted with the control posture data in the previous frame data at the moment when the unmanned equipment vibrates, and obtaining a third judgment result; under the condition that the third judgment result is negative, determining that the cause of the fault is the abnormal response of the motor of the unmanned equipment; in a case where the third determination result is yes, it is determined that the cause of the failure is a collision of the unmanned aerial vehicle with the ground.
According to an optional embodiment of the application, if the fuselage vibrations of the unmanned aerial vehicle are judged not to occur in the air, whether the actual operation attitude and the control attitude of the unmanned aerial vehicle recorded in the previous frame of log data at the moment of the fuselage vibrations of the unmanned aerial vehicle are fitted or not is judged, and if the actual operation attitude and the control attitude of the unmanned aerial vehicle are fitted, the reason that the unmanned aerial vehicle breaks down is determined to be that the actual operation attitude and the attitude of the unmanned aerial vehicle are not fitted after the motor response of the unmanned aerial vehicle is abnormal, so that the unmanned aerial vehicle breaks down, even breaks down and the like. And if the actual operation attitude of the unmanned aerial vehicle recorded in the previous frame of log data of the moment when the fuselage of the unmanned aerial vehicle vibrates is fitted with the control attitude, determining that the reason of the failure of the unmanned aerial vehicle is that the unmanned aerial vehicle flies in the process of grounding the explosion machine.
According to an optional embodiment of the present application, in a case that a working state of the terrain detection module is abnormal, it is determined whether the obstacle sensing device detects an obstacle; if the obstacle sensing equipment detects the obstacle, determining that the fault causes abnormal response of a motor of the unmanned equipment and abnormal attitude data caused by collision of the unmanned equipment and the obstacle; and if the obstacle sensing equipment does not detect the obstacle, acquiring the field image information when the unmanned equipment fails, and determining the reason of the failure according to the field image information.
Before step S104 is executed, if the terrain detection module of the unmanned aerial vehicle is judged to work abnormally or the unmanned aerial vehicle is not provided with the terrain detection module, whether image information of an obstacle is collected by a camera on the unmanned aerial vehicle is judged directly, if the obstacle sensing equipment arranged on the unmanned aerial vehicle detects the obstacle, the reason that the unmanned aerial vehicle breaks down is determined to be that the unmanned aerial vehicle collides with the obstacle in the flying process to cause abnormal response of a motor of the unmanned aerial vehicle, so that the actual operation posture and the control posture of the unmanned aerial vehicle are not fitted, crash occurs, and even faults such as explosion occur. If the obstacle sensing equipment installed on the unmanned aerial vehicle does not detect the obstacle, the photo of the scene where the unmanned aerial vehicle breaks down needs to be acquired, and the reason why the unmanned aerial vehicle breaks down is judged by combining the scene photo.
In some optional embodiments of the present application, the unmanned device comprises: an unmanned aerial vehicle; when the attitude data of unmanned equipment takes place unusually, judge that unmanned equipment whether takes place vibrations, include: acquiring a flight control log of the unmanned aerial vehicle; determining the time when the unmanned aerial vehicle is abnormal from the flight control log, and determining the state of the unmanned aerial vehicle at the time, wherein the state comprises the following steps: a vibrating state and a non-vibrating state.
Fig. 2 is a flow chart of a method of predicting failure of an unmanned aerial device according to an embodiment of the application, as shown in fig. 2, the method comprising the steps of:
step S202, judging whether the motor response value of the unmanned device is abnormal.
And step S204, if the motor response value is judged to be abnormal, judging whether the attitude data of the unmanned equipment is abnormal.
And step S206, if the attitude data is judged to be abnormal, sending first warning information, wherein the first warning information is used for representing that the motor of the unmanned equipment responds to the abnormality to cause the abnormal attitude data.
Step S202 to step S206 provide a method for predicting a failure of an unmanned aerial vehicle, which first determines whether a motor response value of the unmanned aerial vehicle is abnormal, and determines whether operation attitude data of the unmanned aerial vehicle is abnormal when it is determined that the motor response of the unmanned aerial vehicle is abnormal. If the actual operation attitude data of the unmanned aerial vehicle is fitted with the control attitude data, determining that the actual operation attitude data of the unmanned aerial vehicle is normal; and if the actual operation attitude data is not matched with the control attitude data, determining that the actual operation attitude data of the unmanned equipment is abnormal. When judging that unmanned aerial vehicle's actual motion gesture data exist unusually, send alarm information, suggestion control unmanned aerial vehicle hovers, compels to land or return a journey to cause the bigger accident of loss such as unmanned aerial vehicle crash.
According to an optional embodiment of the present application, the control attitude refers to a control attitude automatically generated by a control system of the unmanned aerial vehicle according to an algorithm, and the unmanned aerial vehicle operates according to the automatically generated control attitude during normal flight. Judging whether the actual operation attitude and the control attitude are fitted or not mainly comprises the following steps: and judging whether the actual pitch angle and roll angle of the unmanned aerial vehicle are fitted with the target pitch angle and target roll angle automatically generated by the control system.
Specifically, whether the actual pitch angle and the roll angle of the unmanned aerial vehicle are fitted with the target pitch angle and the target roll angle automatically generated by the control system is judged by judging whether the difference value between the actual pitch angle and the target pitch angle is within a preset range and whether the difference value between the actual roll angle and the target roll angle is within the preset range. If the difference value is within the preset range, fitting the actual pitch angle and roll angle of the unmanned aerial vehicle with the target pitch angle and target roll angle automatically generated by the control system; otherwise, no fit is made. It should be noted that the preset range is generally set to be within a range of-3.6 degrees to 3.6 degrees, wherein the value of 3.6 can be set to any number within a range of 3 to 4.
According to an optional embodiment of the present application, if the attitude data is determined to be normal, it is further determined whether the duration of the motor response value exceeds a preset duration; if the duration time of the motor response value is judged to exceed the preset duration time, sending second alarm information; and if the duration time of the motor response value is judged not to exceed the preset duration, outputting motor response abnormal information.
If the operation posture of the unmanned aerial vehicle is not abnormal, the duration time of abnormal motor response needs to be judged, if the duration time exceeds preset time (for example, the duration time of abnormal motor response exceeds 3 seconds), alarm information is sent out to prompt that the motor of the unmanned aerial vehicle responds abnormally, the unmanned aerial vehicle is possibly insufficient in power, and the unmanned aerial vehicle is crashed to remind a user to control the unmanned aerial vehicle to hover as soon as possible or control the unmanned aerial vehicle to land stably in place. If judge that unmanned aerial vehicle's motor response duration does not exceed preset time, explain that the motor response resumes normally, nevertheless the information that the motor response took place need be taken notes this moment to this unmanned aerial vehicle back of navigating, relevant maintenance personal inspects the maintenance to corresponding motor, gets rid of the potential safety hazard as early as possible, the economic loss of minimizing.
Fig. 3 is a block diagram of an apparatus for determining a cause of a malfunction of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 3, the apparatus including:
the first judging module 30 is configured to judge whether the unmanned aerial vehicle vibrates or not to obtain a first judgment result when it is judged that the response of the motor of the unmanned aerial vehicle is abnormal and the attitude data of the unmanned aerial vehicle is abnormal.
According to an optional embodiment of the present application, the above-mentioned unmanned device may be a drone, a drone vehicle or other unmanned device, and the drone is taken as an example for description below.
The flight control log of the unmanned aerial vehicle records all flight related data of the unmanned aerial vehicle once every a preset period of time, and one frame of data is obtained once every recording, so that the automatic analysis software analyzes the flight log by adopting a frame-by-frame analysis method from the first frame to the last frame of the log until the accident reason is analyzed.
The meaning of the motor response value is the rotating speed responded by the control state quantity of the motor unit, the motor response value is an important parameter for judging whether the motor works normally, when the motor is in abnormal states such as restart, no signal and locked rotor, the motor response value of the airplane is inevitably abnormal, and therefore the judgment of the motor response value is judged on the basis of the normal state of the motor.
According to an alternative embodiment of the application, the unmanned device has abnormality in attitude data, including: the actual operating attitude of the drone does not fit the control attitude.
According to an optional embodiment of the present application, the control attitude refers to a control attitude automatically generated by a control system of the unmanned aerial vehicle according to an algorithm, and the unmanned aerial vehicle operates according to the automatically generated control attitude during normal flight. Judging whether the actual operation attitude and the control attitude are fitted or not mainly comprises the following steps: and judging whether the actual pitch angle and roll angle of the unmanned aerial vehicle are fitted with the target pitch angle and target roll angle automatically generated by the control system.
Specifically, whether the actual pitch angle and the roll angle of the unmanned aerial vehicle are fitted with the target pitch angle and the target roll angle automatically generated by the control system is judged by judging whether the difference value between the actual pitch angle and the target pitch angle is within a preset range and whether the difference value between the actual roll angle and the target roll angle is within the preset range. If the difference value is within the preset range, fitting the actual pitch angle and roll angle of the unmanned aerial vehicle with the target pitch angle and target roll angle automatically generated by the control system; otherwise, no fit is made. It should be noted that the preset range is generally set to be within a range of-3.6 degrees to 3.6 degrees, wherein the value of 3.6 can be set to any number within a range of 3 to 4.
And the second judging module 32 is configured to, if the first judging result is yes, judge whether the height from the ground when the unmanned aerial vehicle vibrates is greater than a first preset threshold value, and obtain a second judging result.
In an optional embodiment of the present application, after determining that the fuselage of the unmanned aerial vehicle vibrates, it is further necessary to determine whether the fuselage of the unmanned aerial vehicle vibrates in the air. Because there are objects such as vegetation, crops on the ground, or ground has the fluctuation, and the sensor has measuring error, at the in-process that unmanned aerial vehicle actually flies, highly if being less than 0.5m from ground very big probably touch to the earth, consequently, judge whether the fuselage of unmanned aerial vehicle takes place vibrations in the air and need judge whether the fuselage of unmanned aerial vehicle shakes the height from ground is greater than 0.5 m.
And the determining module 34 is used for determining the reason of the failure of the unmanned equipment according to the second judgment result.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 3, and details are not described here again.
Fig. 4 is a block diagram of an apparatus for predicting failure of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 4, the apparatus including:
and the third judgment module 40 is used for judging whether the motor response value of the unmanned equipment is abnormal or not.
And a fourth judging module 42, configured to judge whether the attitude data of the unmanned aerial vehicle is abnormal or not when the motor response value is judged.
And the control module 44 is configured to send first warning information when the attitude data is judged to be abnormal, where the first warning information is used to indicate that the motor of the unmanned aerial vehicle has abnormal response, which results in abnormal attitude data.
At the in-process of unmanned aerial vehicle flight, at first judge whether unmanned aerial vehicle's motor response value is unusual, when judging that unmanned aerial vehicle's motor response value is unusual, judge whether unmanned aerial vehicle's operation attitude data is unusual. If the actual operation attitude data of the unmanned aerial vehicle is fitted with the control attitude data, determining that the actual operation attitude data of the unmanned aerial vehicle is normal; and if the actual operation attitude data is not matched with the control attitude data, determining that the actual operation attitude data of the unmanned equipment is abnormal. When judging that unmanned aerial vehicle's actual motion gesture data exist unusually, send alarm information, suggestion control unmanned aerial vehicle hovers or forces to land to cause the bigger accident of loss such as unmanned aerial vehicle crash.
According to an optional embodiment of the present application, the control attitude refers to a control attitude automatically generated by a control system of the unmanned aerial vehicle according to an algorithm, and the unmanned aerial vehicle operates according to the automatically generated control attitude during normal flight. Judging whether the actual operation attitude and the control attitude are fitted or not mainly comprises the following steps: and judging whether the actual pitch angle and roll angle of the unmanned aerial vehicle are fitted with the target pitch angle and target roll angle automatically generated by the control system.
Specifically, whether the actual pitch angle and the roll angle of the unmanned aerial vehicle are fitted with the target pitch angle and the target roll angle automatically generated by the control system is judged by judging whether the difference value between the actual pitch angle and the target pitch angle is within a preset range and whether the difference value between the actual roll angle and the target roll angle is within the preset range. If the difference value is within the preset range, fitting the actual pitch angle and roll angle of the unmanned aerial vehicle with the target pitch angle and target roll angle automatically generated by the control system; otherwise, no fit is made. It should be noted that the preset range is generally set to be within a range of-3.6 degrees to 3.6 degrees, wherein the value of 3.6 can be set to any number within a range of 3 to 4.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 2 for a preferred implementation of the embodiment shown in fig. 4, and details are not described here again.
In another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program, where the program is run to control a device on which the storage medium is located to perform the above method for determining a cause of a failure of an unmanned aerial vehicle or the above method for predicting a failure of an unmanned aerial vehicle.
The storage medium stores a program for executing the following functions: judging whether the unmanned equipment vibrates or not under the condition that the motor response value of the unmanned equipment is judged to be abnormal and the attitude data of the unmanned equipment is abnormal, and obtaining a first judgment result; if the first judgment result is yes, judging whether the height from the ground when the unmanned equipment vibrates is larger than a first preset threshold value or not, and obtaining a second judgment result; and determining the reason of the failure of the unmanned equipment according to the second judgment result. Or
Judging whether the motor response value of the unmanned equipment is abnormal or not; if the response value is judged to be abnormal, judging whether the attitude data of the unmanned equipment is abnormal; and if the attitude data is judged to be abnormal, sending first warning information, wherein the first warning information is used for representing that the motor of the unmanned equipment responds abnormally to cause the abnormal attitude data.
The embodiment of the application also provides a processor which is used for running the program, wherein the program runs to execute the above method for determining the cause of the failure of the unmanned equipment or the above method for predicting the failure of the unmanned equipment.
The processor is used for running a program for executing the following functions: judging whether the unmanned equipment vibrates or not under the condition that the motor response value of the unmanned equipment is judged to be abnormal and the attitude data of the unmanned equipment is abnormal to obtain a first judgment result; if the first judgment result is yes, judging whether the height from the ground when the unmanned equipment vibrates is larger than a first preset threshold value or not, and obtaining a second judgment result; and determining the reason of the failure of the unmanned equipment according to the second judgment result. Or alternatively
Judging whether the motor response value of the unmanned equipment is abnormal or not; if the response value is judged to be abnormal, judging whether the attitude data of the unmanned equipment is abnormal; and if the attitude data is judged to be abnormal, sending first warning information, wherein the first warning information is used for representing that the motor of the unmanned equipment responds abnormally to cause the abnormal attitude data.
Fig. 5 is a block diagram of a computer apparatus according to an embodiment of the present invention. As shown in fig. 5, the computer device 50 may include: one or more (only one shown) processors 502, memory 504, and a radio frequency module, audio module, and display screen.
The memory 504 stores a computer program; the processor 502, when executing the computer program, implements the above method of determining the cause of an unmanned equipment failure or the above method of predicting an unmanned equipment failure.
The processor is configured to execute a computer program that implements the following functions: judging whether the unmanned equipment vibrates or not under the condition that the motor response value of the unmanned equipment is judged to be abnormal and the attitude data of the unmanned equipment is abnormal, and obtaining a first judgment result; if the first judgment result is yes, judging whether the height from the ground when the unmanned equipment vibrates is larger than a first preset threshold value or not to obtain a second judgment result; and determining the reason of the failure of the unmanned equipment according to the second judgment result. Or
Judging whether the motor response value of the unmanned equipment is abnormal or not; if the response value is judged to be abnormal, judging whether the attitude data of the unmanned equipment is abnormal or not; and if the attitude data is judged to be abnormal, sending first warning information, wherein the first warning information is used for representing that the motor of the unmanned equipment responds abnormally to cause the abnormal attitude data.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
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 can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to 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), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (14)
1. A method of determining a cause of a malfunction in an unmanned aerial vehicle, comprising:
judging whether the unmanned equipment vibrates or not under the condition that the motor response of the unmanned equipment is judged to be abnormal and the attitude data of the unmanned equipment is abnormal, and obtaining a first judgment result;
if the first judgment result is yes, judging whether the height from the ground when the unmanned equipment vibrates is larger than a first preset threshold value or not, and obtaining a second judgment result;
determining the reason for the failure of the unmanned equipment according to the second judgment result;
before determining whether the drone is jarred, the method further includes determining whether a motor response of the drone is abnormal by: respectively calculating motor response values of all motors of the unmanned equipment through the motor power control quantity and the motor rotating speed; determining an average value of motor response values of two motors closest to the motor response value of the target motor; and comparing the difference value between the motor response value of the target motor and the average value, and determining that the motor response value of the target motor is abnormal if the difference value is greater than or equal to a second preset threshold value.
2. The method of claim 1, wherein the existence of anomalies in the pose data of the unmanned aerial device comprises:
the actual operating attitude of the unmanned device is not fitted to the control attitude.
3. The method of claim 1, wherein prior to determining whether the height from the ground at which the drone is jarred is greater than a first preset threshold, the method further comprises:
judging whether the running state of a terrain detection module of the unmanned equipment is normal or not, wherein the terrain detection module is used for measuring the height of the unmanned equipment from the ground;
and under the condition that the running state of the terrain detection module is normal, triggering and judging whether the height from the ground is greater than a first preset threshold value when the unmanned equipment vibrates.
4. The method according to claim 3, wherein determining a cause of the unmanned aerial device to malfunction as a function of the second determination comprises:
if the second judgment result is yes, judging whether an obstacle sensing device arranged on the unmanned device detects an obstacle;
if the obstacle sensing device detects an obstacle, determining that the cause of the fault is that the unmanned equipment collides with the obstacle to cause abnormal response of a motor of the unmanned equipment;
and if the obstacle sensing equipment does not detect the obstacle, acquiring field image information when the unmanned equipment fails, and determining the reason of the failure according to the field image information.
5. The method of claim 1, wherein determining a cause of the unmanned aerial device failure based on the second determination comprises:
under the condition that the second judgment result is negative, judging whether the actual operation posture of the unmanned equipment is fitted with the control posture in the previous frame data at the moment when the unmanned equipment vibrates, so as to obtain a third judgment result;
determining that the cause of the fault is abnormal response of the motor of the unmanned equipment under the condition that the third judgment result is negative;
and if the third judgment result is yes, determining that the cause of the fault is the collision of the unmanned equipment and the ground.
6. The method according to claim 4, wherein in case of an abnormal operating state of the terrain determination module, the method further comprises:
judging whether the obstacle sensing equipment detects an obstacle or not;
if the obstacle sensing device detects an obstacle, determining that the reason of the fault is that the unmanned equipment collides with the obstacle to cause abnormal response of a motor of the unmanned equipment;
and if the obstacle sensing equipment does not detect the obstacle, acquiring field image information when the unmanned equipment fails, and determining the reason of the failure according to the field image information.
7. The method of claim 1, wherein the drone device comprises: an unmanned aerial vehicle; when the attitude data of the unmanned equipment is abnormal, whether the unmanned equipment vibrates or not is judged, and the method comprises the following steps:
acquiring a flight control log of the unmanned aerial vehicle; determining the time when the unmanned aerial vehicle is abnormal and the state of the unmanned aerial vehicle at the time from the flight control log, wherein the state comprises: a vibrating state and a non-vibrating state.
8. A method of predicting failure of an unmanned aerial device, comprising:
judging whether the motor response value of the unmanned equipment is abnormal or not;
if the motor response value is judged to be abnormal, judging whether the attitude data of the unmanned equipment is abnormal;
if the attitude data is judged to be abnormal, sending first warning information, wherein the first warning information is used for representing that the attitude data is abnormal due to abnormal response of a motor of the unmanned equipment;
judging whether the motor response value of the unmanned equipment is abnormal or not comprises the following steps: respectively calculating motor response values of all motors of the unmanned equipment through the motor power control quantity and the motor rotating speed; determining the average value of the motor response values of the two motors closest to the motor response value of the target motor; and comparing the difference value between the motor response value of the target motor and the average value, and determining that the motor response value of the target motor is abnormal if the difference value is greater than or equal to a second preset threshold value.
9. The method of claim 8, wherein if the pose data is determined to be normal, the method further comprises:
judging whether the duration time of the motor response value exceeds a preset time length or not;
if the duration of the motor response value exceeds the preset duration, sending second alarm information;
and if the duration time of the motor response value is judged not to exceed the preset duration time, outputting motor response abnormal information.
10. An apparatus for determining a cause of a malfunction in an unmanned aerial vehicle, comprising:
the first judgment module is used for judging whether the unmanned equipment vibrates or not under the condition that the motor response of the unmanned equipment is judged to be abnormal and the attitude data of the unmanned equipment is abnormal to obtain a first judgment result;
the second judgment module is used for judging whether the height from the ground when the unmanned equipment vibrates is larger than a first preset threshold value or not under the condition that the first judgment result is yes, and obtaining a second judgment result;
the determining module is used for determining the reason of the failure of the unmanned equipment according to the second judgment result;
the device is also used for judging whether the motor response of the unmanned equipment is abnormal or not by the following means before judging whether the unmanned equipment vibrates or not: respectively calculating motor response values of all motors of the unmanned equipment through the motor power control quantity and the motor rotating speed; determining an average value of motor response values of two motors closest to the motor response value of the target motor; and comparing the difference value between the motor response value of the target motor and the average value, and determining that the motor response value of the target motor is abnormal if the difference value is greater than or equal to a second preset threshold value.
11. An apparatus for predicting failure of an unmanned aerial device, comprising:
the third judgment module is used for judging whether the motor response value of the unmanned equipment is abnormal or not;
the fourth judging module is used for judging whether the attitude data of the unmanned equipment is abnormal or not under the condition that the motor response value is judged to be abnormal;
the control module is used for sending first warning information under the condition that the attitude data are judged to be abnormal, wherein the first warning information is used for representing that the attitude data are abnormal due to abnormal response of a motor of the unmanned equipment;
the third judging module is further used for respectively calculating motor response values of all motors of the unmanned equipment according to the motor power control quantity and the motor rotating speed; determining the average value of the motor response values of the two motors closest to the motor response value of the target motor; and comparing the difference value between the motor response value of the target motor and the average value, and determining that the motor response value of the target motor is abnormal if the difference value is greater than or equal to a second preset threshold value.
12. A storage medium comprising a stored program, wherein the program is operable to control a device on which the storage medium is located to perform the method of determining a cause of an unmanned aerial vehicle fault according to any one of claims 1 to 7 or the method of predicting an unmanned aerial vehicle fault according to claim 8 or 9.
13. A processor, characterized in that the processor is configured to run a program, wherein the program when run performs the method of determining the cause of an unmanned aerial device fault of any of claims 1 to 7 or the method of predicting an unmanned aerial device fault of claim 8 or 9.
14. A computer device comprising a memory and a processor, wherein the memory stores a computer program; the processor, when executing the computer program, implements the method of determining a cause of an unmanned device fault of any of claims 1 to 7 or the method of predicting an unmanned device fault of any of claims 8 or 9.
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