WO2022100540A1 - Procédé et appareil de diagnostic de défaillance de système de véhicule aérien sans pilote, dispositif électronique et support de stockage - Google Patents

Procédé et appareil de diagnostic de défaillance de système de véhicule aérien sans pilote, dispositif électronique et support de stockage Download PDF

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Publication number
WO2022100540A1
WO2022100540A1 PCT/CN2021/129231 CN2021129231W WO2022100540A1 WO 2022100540 A1 WO2022100540 A1 WO 2022100540A1 CN 2021129231 W CN2021129231 W CN 2021129231W WO 2022100540 A1 WO2022100540 A1 WO 2022100540A1
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Prior art keywords
error code
linked list
fault diagnosis
reported
fault
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English (en)
Chinese (zh)
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张涛
夏孙志
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Shenzhen Lingfeng Intelligent Technology Co Ltd
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Shenzhen Lingfeng Intelligent Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, for example, to a fault diagnosis method, device, electronic device and storage medium of an unmanned aerial vehicle system.
  • Unmanned aerial vehicle (Unmanned Aerial Vehicle, UAV) is a kind of unmanned aircraft operated by radio remote control equipment and self-provided program control device. UAVs are widely used and can be used for aerial photography, plant protection, line patrol, surveying and mapping, firefighting, etc., which can bring great convenience to users.
  • UAV Unmanned Aerial Vehicle
  • Embodiments of the present application provide a method, device, electronic device, and storage medium for diagnosing a fault of an unmanned aerial vehicle system, so as to improve the efficiency of fault diagnosis of an unmanned aerial vehicle system.
  • an embodiment of the present application provides a method for diagnosing a fault of an unmanned aerial vehicle system.
  • the unmanned aerial vehicle system is provided with a fault diagnosis component, and the fault diagnosis component at least includes an external interface module and an error code management module, and the method includes:
  • the system error code corresponding to the fault is added to the error code management module by calling the error code setting interface provided by the external interface module;
  • the error code management module reports the system error code to the fault diagnosis application of the UAV system through the output reporting interface provided by the external interface module, so that the fault diagnosis application can upload the system error code to the upper computer.
  • an embodiment of the present application provides a fault diagnosis device for an unmanned aerial vehicle system, the device comprising:
  • the error code adding module is set to add the system error code corresponding to the fault to the error code management module by calling the error code setting interface provided by the external interface module when the application of the UAV system determines that there is a fault according to the operating data;
  • the error code management module is set to report the system error code to the fault diagnosis application of the UAV system through the output reporting interface provided by the external interface module, so that the fault diagnosis application can upload the system error code to the upper computer.
  • an embodiment of the present application also provides an electronic device, including:
  • storage means arranged to store at least one program
  • the at least one processor When the at least one program is executed by the at least one processor, the at least one processor implements the method for diagnosing an unmanned aerial vehicle system according to any embodiment of the present application.
  • an embodiment of the present application further provides a storage medium on which a computer program is stored, and when the program is executed by a processor, implements the method for diagnosing a UAV system fault according to any embodiment of the present application.
  • 1a is a schematic flowchart of a method for diagnosing a fault in an unmanned aerial vehicle system according to an embodiment of the present application
  • Fig. 1b is a logic flow chart of the fault diagnosis of the unmanned aerial vehicle system in an embodiment of the present application
  • FIG. 2a is a schematic flowchart of a method for diagnosing a fault in an unmanned aerial vehicle system according to another embodiment of the present application
  • Fig. 2b is a logic flow chart of fault diagnosis of an unmanned aerial vehicle system in another embodiment of the present application.
  • 3a is a schematic flowchart of a method for diagnosing a fault in an unmanned aerial vehicle system according to another embodiment of the present application
  • Fig. 3b is a logic flow chart of fault diagnosis of an unmanned aerial vehicle system in another embodiment of the present application.
  • FIG. 4a is a schematic flowchart of a method for diagnosing a fault in an unmanned aerial vehicle system according to another embodiment of the present application
  • Fig. 4b is a logic flow chart of fault diagnosis of an unmanned aerial vehicle system in another embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an unmanned aerial vehicle system fault diagnosis device in an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of an electronic device for implementing a method for diagnosing a fault in an unmanned aerial vehicle system according to an embodiment of the present application.
  • FIG. 1a is a schematic flowchart of a method for diagnosing a fault of an unmanned aerial vehicle system according to an embodiment of the present application. This embodiment can be applied to a situation in which the unmanned aerial vehicle system automatically diagnoses system faults during the operation of the unmanned aerial vehicle system by integrating a fault diagnosis component.
  • the method can be performed by a UAV fault diagnosis device, and the device can be implemented in software and/or hardware, and can be integrated on an electronic device, such as an UAV.
  • a lightweight fault diagnosis component ie OBD component
  • OBD On Board Diagnosis
  • OBD On Board Diagnosis
  • OBDC is the OBD COM port, that is, a communication serial port, which provides at least an error code setting interface and an output reporting interface
  • OBDM is the OBD Manager, which is a management tool for fault diagnosis, that is, the management system error code input and output module.
  • the UAV system fault diagnosis method includes the following processes:
  • the multiple application programs of the UAV system refer to programs that implement multiple functions on the UAV.
  • Each application program is internally provided with a fault judgment mechanism, and each application program can be based on its own fault judgment mechanism. And combined with the operation data of the UAV to determine whether there is an abnormality. If an application determines that a fault has occurred, the system error code corresponding to the fault is added to the error code management module by calling the error code setting interface provided by the external interface module, where the system error code can be represented by a general code.
  • the error code management module reports the system error code to the fault diagnosis application program of the UAV system through the output reporting interface provided by the external interface module, so that the fault diagnosis application program uploads the system error code to the upper computer.
  • the UAV system is also provided with a fault diagnosis application program for communicating with the upper computer, that is, reporting the system error code output by the error code management module through the output reporting interface to the upper computer, and also can Send the information fed back by the host computer to the error code management module.
  • the host computer may be a computer device (such as a computer, a mobile phone, etc.) in the ground station, and the software for controlling the drone is installed on the computer device, that is, the ground station software, such as QGC (Q Ground Control) software.
  • the fault diagnosis application program uploads the system error code to the upper computer, that is, the ground station software uploaded to the upper computer. It should be noted here that if the system error code has a user-configured reporting method, upload it according to the user-configured reporting method.
  • the SD card can also be other reporting methods, which are not specifically limited here.
  • the system error codes can be generated in the order of the time when the system error codes are generated.
  • a system error code is reported to the host computer.
  • the error code management module reports the existing system error code with the earliest generation time to the fault diagnosis application of the UAV through the output reporting interface, and the fault diagnosis application reports the system error code Upload to the upper computer; after receiving the feedback information from the upper computer, the error code management module executes reporting the next system error code to the fault diagnosis application program, so as to continue reporting to the upper computer, wherein the feedback information is exemplarily representing the ground
  • the station software has received a system error code message. It should be noted that if the error code management module reports a system error code, but never receives the feedback information from the host computer, it will not send other system error codes, but will enter the waiting state until the feedback information is received. Then send the next system error code.
  • FIG. 1b shows a logic flow diagram of the UAV system fault diagnosis.
  • PC refers to the host computer
  • PC App refers to the application programs installed on the host computer, such as ground station software; in the UAV system, App1, App2, App3, etc. are applications that implement various functions, and OBD App is fault diagnosis.
  • OBDC is the external interface module
  • OBDM is the error code management module
  • OBDT is the debugging interface module used by developers to debug the drone. OBDT allows developers to debug by printing, recording logs, etc.
  • the specific logic is: when the fault judgment mechanism inside the drone application (such as App1) determines that there is a fault according to the operating data, it calls the error code setting interface provided by OBDC, and adds the system error code corresponding to the fault to OBDM; and then OBDM Upload the saved system error code to the OBD App through the output reporting interface provided by the OBDC, so that the OBD App can upload the system error code to the host PC, for example, to the PC App of the host computer.
  • the fault judgment mechanism inside the drone application such as App1 determines that there is a fault according to the operating data, it calls the error code setting interface provided by OBDC, and adds the system error code corresponding to the fault to OBDM; and then OBDM Upload the saved system error code to the OBD App through the output reporting interface provided by the OBDC, so that the OBD App can upload the system error code to the host PC, for example, to the PC App of the host computer.
  • a fault diagnosis component is set on the UAV to automatically detect the failure of the UAV system during the operation of the UAV, and actively report the system failure in the form of an error code. It avoids the manual detection of UAV system failures, and improves the efficiency of UAV system failure diagnosis.
  • FIG. 2a is a schematic flowchart of a method for diagnosing a UAV fault according to another embodiment of the present application. This embodiment is refined on the basis of the above-mentioned embodiment.
  • the system error code is in the error code management module. It is managed in the form of a linked list; among them, the linked list includes the unreported linked list and the reported linked list; that is, the unreported linked list is used for system error codes that are newly set but not yet reported to the host computer, and the reported linked list is used to save the successfully reported Error code given to the host computer.
  • the method includes:
  • the unreported linked list may be a singly linked list, and each node in the linked list stores a system error code.
  • each node in the linked list stores a system error code.
  • system error code For example, according to the generation time of the system error code, multiple system error codes are stored in different nodes in the order of generation time from early to late, that is, the system error stored in the node that is closer to the unreported linked list header The earlier the code is generated.
  • the error code management module reports the system error code to the fault diagnosis application program of the UAV system through the output reporting interface provided by the external interface module, so that the fault diagnosis application program uploads the system error code to the upper computer.
  • the first system error code in the unreported list is generated earliest, the first system error code is reported to the fault diagnosis application first, so that the fault diagnosis application can upload the system error code to the host computer.
  • the error code management module transfers the system error code from the unreported linked list to the reported linked list.
  • the feedback information is exemplarily the information that the ground station software of the upper computer has received the system error code. If the feedback information from the host computer is received, it indicates that the system error code ranked first has been reported. At this time, the system error code ranked first in the unreported linked list will be transferred to the reported linked list, so that the unreported linked list can be passed through. The next system error code after the transferred system error code is reported to the upper computer.
  • FIG. 2b shows a logic flow diagram of the UAV system fault diagnosis.
  • PC App is the software on the host computer, such as ground station software; Running Codes means that the linked list has not been reported, Handled Codes means that the linked list has been reported, Other Apps means the application of the UAV system, and OBDM means the error code management module.
  • the drone application writes the system error code into the Running Codes through the error code setting interface, and the error code management module reports the system error code ranked first in the Running Codes to the PC App, and firstly outputs the system error code through the output
  • the reporting interface is reported to the fault diagnosis application, and the fault diagnosis application is reported to the PC App of the host computer.
  • the PC App executes the response operation after successfully receiving the system error code, that is, sending feedback information to the error code management module; the error code management module executes the move operation after receiving the feedback information, and transfers the system error code from Running Codes to Handled Codes middle.
  • the system error codes are managed in a linked list manner, which improves the management efficiency of the error codes.
  • the failure of the UAV system is reported and managed in the form of system error codes, which ensures the synchronization of the reported linked list and the system error codes in the host computer, thereby improving the efficiency of UAV system fault diagnosis.
  • FIG. 3 a is a schematic flowchart of a method for diagnosing a UAV fault according to another embodiment of the present application. This embodiment is refined on the basis of the above-mentioned embodiment.
  • the external interface module further includes an interface for clearing error codes.
  • the method further includes:
  • the error code management module judges whether the error code of the system to be deleted exists in the unreported linked list or the reported linked list.
  • the system error code corresponding to the fault can be set as pending by calling the error code setting interface. Delete the system error code, and then the error code management module judges whether the system error code to be deleted exists in the unreported linked list or the reported linked list, that is, judges whether the system error code to be deleted has been uploaded to the host computer.
  • the system error code to be deleted exists in the reported linked list, the system error code to be deleted is reported to the host computer to instruct the host computer to locally clear the system error code to be deleted.
  • the error code management module deletes the error code of the system to be deleted from the reported linked list after receiving the feedback from the host computer that the system to be deleted has been deleted by mistake, thus ensuring that the specified error code is deleted in the host computer and the UAV synchronously. System error code.
  • Fig. 3b shows a logic flow diagram of the UAV system fault diagnosis.
  • PC App is the software on the host computer, such as ground station software; Running Codes means that the linked list has not been reported, Handled Codes means that the linked list has been reported, other applications (Other Apps) means the application of the UAV system, and OBDM means the error code management module.
  • the drone application sets a system error code to be deleted through the error code clearing interface, and judges whether the system error code to be deleted exists in Running Codes or Handled Codes. delete. At the same time, the system error code to be deleted is reported to the upper computer, so that the upper computer can delete it synchronously.
  • system error code executed in the upper computer and the error code management module can be synchronously deleted through the error code removal interface, which improves the management efficiency of the error code.
  • Fig. 4a is a schematic flowchart of a UAV fault diagnosis method according to another embodiment of the present application. This embodiment is refined on the basis of the above-mentioned embodiment. Referring to Fig. 4a, the method further includes:
  • the error code management module When the error code management module receives a message sent by the host computer that requests that all system error codes in the linked list have been reported, it transfers all the system error codes in the reported linked list to the unreported linked list.
  • the upper computer may accidentally lose the set system error code, for example, the unmanned aerial vehicle and the upper computer are disconnected.
  • the upper computer needs to actively request the error code management module to request the set system error code.
  • the error code management module receives the message sent by the host computer requesting that all system error codes in the linked list have been reported, it will transfer all the system error codes in the reported linked list to the unreported linked list, so that it can be reported to the host computer through S402.
  • the error code management module reports the system error code to the fault diagnosis application program of the UAV system through the output reporting interface provided by the external interface module, so that the fault diagnosis application program uploads the system error code to the upper computer.
  • FIG. 4b shows a logic flow diagram of the UAV system fault diagnosis.
  • the specific process includes: Step 1, the upper computer PC Apps sends a request message to the OBDM (error code management module) to request the OBDM to upload the system error codes in the Handled Codes (reported linked list). Step 2, after receiving the request message, OBDM will send a feedback message to the host PC Apps. Step 3: Transfer all system error codes in Handled Codes to Running Codes. In order for OBDM to upload all the system error codes in Running Codes to the host computer, the specific uploading process can refer to the above-mentioned embodiment.
  • the host computer after the host computer is disconnected from the UAV system and reconnected again, it actively requests all the system error codes in the reported linked list of OBDM.
  • the error codes are transferred to the unreported linked list for re-uploading, thus ensuring the synchronization of the system error codes between the host computer and the UAV.
  • FIG. 5 is a schematic structural diagram of a UAV fault diagnosis device in another embodiment of the present application, the device is configured to automatically diagnose system failures during the operation of the UAV by integrating the fault diagnosis components in the UAV system , see Figure 5, the device includes:
  • the error code adding module 501 is set to add the system error code corresponding to the fault to the error code management module by calling the error code setting interface provided by the external interface module when the application program of the UAV system determines that a fault occurs according to the operation data. ;
  • the error code management module 502 is configured to report the system error code to the fault diagnosis application of the UAV system through the output reporting interface provided by the external interface module, so that the fault diagnosis application can upload the system error code to the upper computer.
  • the system error codes are managed in the form of a linked list in the error code management module; wherein, the linked list includes an unreported linked list and a reported linked list.
  • the error code adding module is set as:
  • the system error code is added to the unreported linked list.
  • the error code management module is also set to:
  • the system error code After reporting the system error code to the fault diagnosis application of the UAV system, if the feedback information from the host computer is received, the system error code will be transferred from the unreported list to the reported list.
  • the external interface module further includes an interface for clearing error codes
  • the error code management mode is also set to:
  • the error code management module determines whether the error code of the system to be deleted exists in the unreported or reported list
  • system error code to be deleted exists in the reported linked list, the system error code to be deleted will be reported to the host computer, and after receiving the message from the host computer that the error code of the system to be deleted has been deleted, the system error code to be deleted will be changed from Deleted from the reported linked list;
  • system error code to be deleted exists in the unreported list, the system error code to be deleted will be deleted from the unreported list.
  • the error code management module is also set to:
  • the error code management module When the error code management module receives the message sent by the host computer that all system error codes in the linked list have been reported, it will transfer all the system error codes in the reported linked list to the unreported linked list, so as to report the system error codes in the unreported linked list. to the host computer.
  • the fault diagnosis component also includes a debugging interface module for developers to use when debugging the drone.
  • the UAV system fault diagnosis apparatus provided by the embodiment of the present application can execute the UAV system fault diagnosis method provided by any embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method.
  • FIG. 6 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.
  • the electronic device provided in this embodiment of the present application includes: one or more processors 602 and a memory 601; the number of processors 602 in the electronic device may be one or more.
  • one processor is used to process Take the processor 602 as an example; the memory 601 is configured to store one or more programs; the one or more programs are executed by the one or more processors 602, so that the one or more processors 602 implement any one of the embodiments of the present application UAV system fault diagnosis method.
  • the electronic device may further include: an input device 603 and an output device 604 .
  • the processor 602 , the memory 601 , the input device 603 and the output device 604 in the electronic device may be connected by a bus or in other ways, and the connection by a bus is taken as an example in FIG. 6 .
  • the storage device 601 in the electronic device can be configured to store one or more programs, and the programs can be software programs, computer-executable programs, and modules, such as the applications provided in the embodiments of the present application.
  • the program instruction/module corresponding to the control method.
  • the processor 602 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the storage device 601 , that is, to implement the UAV system fault diagnosis method in the above method embodiments.
  • the computer-readable storage medium may be a non-transitory computer-readable storage medium.
  • the storage device 601 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the electronic device, and the like. Additionally, memory 601 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 601 may include memory located remotely from processor 602, which may be connected to the device through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the input device 603 may be configured to receive input numerical or character information, and to generate key signal input related to user settings and function control of the electronic device.
  • the output device 604 may include a display device such as a display screen.
  • the system error code corresponding to the fault is added to the error code management module by calling the error code setting interface provided by the external interface module;
  • the error code management module reports the system error code to the fault diagnosis application of the UAV system through the output reporting interface provided by the external interface module, so that the fault diagnosis application can upload the system error code to the upper computer.
  • An embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, is used to execute a method for diagnosing a fault in an unmanned aerial vehicle system, and the unmanned aerial vehicle system is provided with a fault diagnosis method.
  • the fault diagnosis component includes at least an external interface module and an error code management module, and the method includes:
  • the system error code corresponding to the fault is added to the error code management module by calling the error code setting interface provided by the external interface module;
  • the error code management module reports the system error code to the fault diagnosis application of the UAV system through the output reporting interface provided by the external interface module, so that the fault diagnosis application can upload the system error code to the upper computer.
  • the computer storage medium of the embodiments of the present application may adopt any combination of one or more computer-readable media.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above.
  • Computer readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (Read Only Memory, ROM), Erasable Programmable Read Only Memory (EPROM), flash memory, optical fiber, portable CD-ROM, optical storage device, magnetic storage device, or any suitable combination of the above .
  • a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .
  • Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • suitable medium including but not limited to: wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • Computer program code for performing the operations of the present application may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional A procedural programming language (such as the "C" language or similar programming language).
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network, including, for example, a local area network (LAN) or wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider via Internet connection).
  • LAN local area network
  • WAN wide area network
  • Internet service provider via Internet connection

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Abstract

Sont divulgués, selon des modes de réalisation de la présente demande, un procédé et un appareil de diagnostic de défaillance de système de véhicule aérien sans pilote, un dispositif électronique et un support de stockage. Le procédé consiste : lorsqu'un programme d'application d'un système de véhicule aérien sans pilote détermine, en fonction de données de fonctionnement, qu'une défaillance se produit, à appeler une interface de réglage de code d'erreur fournie par un module d'interface externe et à ajouter un code d'erreur de système correspondant à la défaillance à un module de gestion de code d'erreur ; et à notifier, par le module de gestion de code d'erreur, le code d'erreur de système à un programme d'application de diagnostic de défaillance du système de véhicule aérien sans pilote au moyen d'une interface de notification de sortie fournie par le module d'interface externe, de telle sorte que le programme d'application de diagnostic de défaillance télécharge le code d'erreur de système vers un ordinateur supérieur.
PCT/CN2021/129231 2020-11-13 2021-11-08 Procédé et appareil de diagnostic de défaillance de système de véhicule aérien sans pilote, dispositif électronique et support de stockage Ceased WO2022100540A1 (fr)

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CN202011270193.4A CN112407326B (zh) 2020-11-13 2020-11-13 无人机系统故障诊断方法、装置、电子设备和存储介质
CN202011270193.4 2020-11-13

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CN115499295A (zh) * 2022-07-29 2022-12-20 浪潮通信技术有限公司 服务器故障上报方法、装置、电子设备及存储介质

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WO2022198512A1 (fr) * 2021-03-24 2022-09-29 深圳市大疆创新科技有限公司 Procédé de gestion de codes d'erreur, procédé d'invite de défaut, dispositif, système et support de stockage
CN116107793B (zh) * 2023-04-03 2023-07-14 深圳市好盈科技股份有限公司 一种无人机动力系统故障的存储方法和装置

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