A method for unmanned aerial vehicle ground portable station device health management

Abstract

The application discloses a kind of unmanned aerial vehicle ground portable station equipment health management method, the present application can be according to the writing or reading condition of equipment data, real-time update data, and according to the working data of equipment, in turn, feature item real-time health degree attenuation ratio value evaluation, feature item health degree evaluation, cost proportion evaluation, the overall health degree evaluation of equipment, real-time output feature unit in equipment and the health degree evaluation result of overall equipment, and then according to health degree evaluation result real-time output corresponding maintenance strategy, it is helpful to guarantee the stable and safe operation of unmanned aerial vehicle ground portable equipment station, while in health evaluation process, health evaluation parameter can be real-time corrected, guarantee the accuracy of unmanned aerial vehicle ground portable equipment station health evaluation.

Description

Technical Field

[0001] This invention belongs to the technical field of unmanned aerial vehicle (UAV) ground portable station management, specifically relating to a method for health management of UAV ground portable station equipment. Background Technology

[0002] As the "command center" and "nerve endings" of the UAV system, the UAV ground control station undertakes core responsibilities throughout the entire process, including flight control, mission planning, data interaction, payload control, and system monitoring. It serves as a crucial bridge connecting operators and the UAV, and its operational status directly determines the safety, stability, and efficiency of UAV mission execution. In the entire operational chain of the UAV system, the health status of the ground station equipment is far more important than other components. It is the primary prerequisite for ensuring the smooth conduct of missions and a core line of defense for mitigating safety risks and reducing losses. Especially in high-end application scenarios such as beyond-visual-range flight, complex environment operations, and multi-UAV collaboration, the health of the ground station equipment determines the success or failure of the mission. Once equipment malfunctions, it will trigger a series of chain problems, causing irreparable losses. Traditional management methods wait until equipment in the portable UAV ground station malfunctions before taking action, resulting in delayed responses and an inability to promptly avoid safety hazards. Therefore, to address the aforementioned problems with existing UAV ground station equipment management methods, this invention discloses a method for health management of portable UAV ground station equipment. Summary of the Invention

[0003] This invention discloses a method for health management of portable UAV ground station equipment, which can detect the status of the equipment in real time, analyze the health of the equipment, and output corresponding maintenance measures in a timely manner to ensure the stable and safe operation of the UAV ground station.

[0004] This invention is achieved through the following technical solution: A method for health management of a portable ground station for unmanned aerial vehicles (UAVs), based on a health management system, includes an industrial control computer, a joystick, a throttle, a command panel, a local UPS, a remote UPS, and a data switch. The industrial control computer, joystick, throttle, command panel, local UPS, and remote UPS interact with each other via the data switch. The method includes the following steps: Step 1: Initialize the health management system. The initialization of the health management system includes initializing all device parameters in the health management system and initializing the data acquisition interfaces of all devices in the health management system. After the initialization is completed, proceed to Step 2. Step 2: Obtain data from the control stick, throttle, command panel, local UPS, and remote UPS in the health management system through the data acquisition interface, and update the data to the corresponding memory data blocks of each device in the industrial control computer, then proceed to Step 3; Step 3: The industrial control computer checks whether the built-in database has reached the update cycle. If the database has reached the update cycle, the industrial control computer sends a data write signal to the database through the signal and slot mechanism and proceeds to step 4; if the database has not reached the update cycle, it directly proceeds to step 4. Step 4: The industrial control computer monitors the database in real time to see if there is data to be read. If there is data to be read, the corresponding device status data is read from the database. If there is no data to be read, the industrial control computer monitors the database in real time to see if there is data to be written. If there is data to be written, the corresponding device status data is written to the database and the process proceeds to Step 6. If there is no data to be written, the process proceeds to Step 5. Step 5: The industrial control computer performs a health assessment on the equipment using status data, obtains the health assessment results, outputs a maintenance strategy based on the health assessment results, and then proceeds to step 6. Step 6: The industrial control computer determines whether the automatic health assessment of the equipment is turned on. If the automatic health assessment of the equipment is turned on, proceed to step 7; if the automatic health assessment of the equipment is not turned on, proceed to step 8. Step 7: The industrial control computer determines whether the automatic health assessment cycle of the equipment has been reached. If the automatic health assessment cycle has been reached, it sends a database read signal for the corresponding equipment and waits for the corresponding slot function to process it. If the automatic health assessment cycle has not been reached, it proceeds to step 8. Step 8: The industrial control computer determines whether there is a device health assessment request. If there is a device health assessment request, it sends a database read signal for the corresponding device, waits for the corresponding slot function to process it, and then returns to step 2. If there is no device health assessment request, it directly returns to step 2.

[0005] To better realize the present invention, step 5 further includes: Step 5.1: The industrial control computer calculates the real-time health decay ratio of the equipment's feature items and compares it with the pre-stored health decay ratio threshold. If the real-time health decay ratio of the feature item is greater than the health decay ratio threshold, the industrial control computer outputs the maintenance strategy for the corresponding equipment feature item; if the real-time health decay ratio of the feature item is less than or equal to the health decay ratio threshold, proceed to step 5.2. Step 5.2: The industrial control computer calculates the health status of the equipment's features and compares the health status of the equipment's features with the pre-stored health status threshold. If the health status of the equipment's features is greater than the health status threshold, proceed to step 5.4; if the health status of the equipment's features is less than or equal to the health status threshold, proceed to step 5.3. Step 5.3: The industrial control computer calculates the cost percentage of the equipment feature item in the current equipment and compares the cost percentage with the pre-stored cost percentage threshold. If the cost percentage is greater than the cost percentage threshold, proceed to step 5.4; if the cost percentage is less than or equal to the cost percentage threshold, output the maintenance strategy for the corresponding equipment feature item. Step 5.4: The industrial control computer calculates the overall health of the current equipment and compares the overall health with the pre-stored equipment health threshold. If the overall health is greater than the equipment health threshold, the conventional maintenance strategy for the current equipment is output; if the overall health is less than or equal to the equipment health threshold, the replacement maintenance strategy for the current equipment is output.

[0006] To better realize the present invention, the calculation formula for the real-time health decay ratio of the feature item is further as follows: ; Where: t represents the equipment usage time; This represents the actual failure deviation of the characteristic term at time t; This indicates the failure deviation of the characteristic term at the initial moment; Indicates the failure deviation threshold of the feature term; This indicates the percentage decrease in the real-time health status of a feature item.

[0007] To better realize the present invention, the calculation formula for the health status of the device's feature item is further as follows: ; Where: t represents the equipment usage time; Indicates the failure deviation threshold of the feature term; Indicates the health status of the feature item; Indicates the health decay coefficient; This represents the average failure deviation value of the current feature item in the database; Indicates the theoretical lifespan of the current feature term; This represents the failure deviation value of the i-th feature term.

[0008] To better realize the present invention, the formula for calculating the overall health of the device is further as follows: ; in: Indicates the overall health of the equipment; to This represents the health status of the 1st to Mth feature items; min{…} represents the minimum value operation.

[0009] To better realize the present invention, the formula for calculating the cost percentage is further as follows: ; in: This represents the cost percentage of the k-th equipment feature in the equipment. This represents the cost of the k-th equipment feature item; This indicates the total cost of the entire portable ground equipment station.

[0010] To better implement this invention, further, step 4, writing sequential self-test data to the device, specifically includes: Step A1: The industrial control computer extracts the feature identifiers of the current device; Step A2: The industrial control computer determines whether the current device is in throttle mode by using the feature identifier. If it is in throttle mode, it indexes the throttle data table in the database, writes data into the throttle data table, and then proceeds to step 6; if it is not in throttle mode, it proceeds to step A3. Step A3: The industrial control computer determines whether the current device is a control stick by using the feature identifier. If it is a control stick, it indexes the control stick data table in the database, writes data into the control stick data table, and then proceeds to step 6; if it is not a control stick, it proceeds to step A4. Step A4: The industrial control computer determines whether the current device is an instruction panel by using the feature identifier. If it is an instruction panel, it indexes the instruction panel data table in the database, writes data into the instruction panel data table, and then proceeds to step 6; if it is not an instruction panel, it proceeds to step A5. Step A5: The industrial control computer determines whether the current device is a local UPS by using the feature identifier. If it is a local UPS, it indexes the local UPS data table in the database, writes data into the local UPS data table, and then proceeds to step 6; if it is not a local UPS, it proceeds to step A6. Step A6: The industrial control computer determines whether the current device is a remote UPS by using the feature identifier. If it is a remote UPS, it indexes the remote UPS data table in the database, writes data into the remote UPS data table, and then proceeds to step 6. If it is not a remote UPS, it proceeds directly to step 6.

[0011] To better realize the present invention, further, step 4, which involves sequentially reading the self-test data of the device, specifically includes: Step B1: The industrial control computer extracts the feature identifiers of the current device; Step B2: The industrial control computer determines whether the current device is in throttle mode by using the feature identifier. If it is in throttle mode, it indexes the throttle data table in the database, reads the data from the throttle data table, and then proceeds to step 5; if it is not in throttle mode, it proceeds to step B3. Step B3: The industrial control computer determines whether the current device is a control stick by using the feature identifier. If it is a control stick, it indexes the control stick data table in the database, reads the data from the control stick data table, and then proceeds to step 5; if it is not a control stick, it proceeds to step B4. Step B4: The industrial control computer determines whether the current device is an instruction panel by using the feature identifier. If it is an instruction panel, it indexes the instruction panel data table in the database, reads the data from the instruction panel data table, and then proceeds to step 5; if it is not an instruction panel, it proceeds to step B5. Step B5: The industrial control computer determines whether the current device is a local UPS by using the feature identifier. If it is a local UPS, it indexes the local UPS data table in the database, reads the data from the local UPS data table, and then proceeds to step 5; if it is not a local UPS, it proceeds to step B6. Step B6: The industrial control computer determines whether the current device is a remote UPS by using the feature identifier. If it is a remote UPS, it indexes the remote UPS data table in the database, reads the data from the remote UPS data table, and then proceeds to step 5; if it is not a remote UPS, it proceeds to step 6.

[0012] To better realize the present invention, the industrial control computer further collects the working data of the equipment in the working state after maintaining the equipment feature items or the equipment according to the maintenance strategy, obtains the actual working state of the equipment based on the working data, outputs the expected working state of the equipment according to the maintenance strategy, compares the actual working state of the equipment with the expected working state of the equipment, and corrects the parameters in the health assessment process in step 5 according to the comparison results.

[0013] Compared with the prior art, the present invention has the following advantages and beneficial effects: This invention can update data in real time based on the writing or reading of device data, and sequentially perform real-time health degradation ratio assessment of feature items, health assessment of feature items, cost ratio assessment, and overall health assessment of the device based on the device's working data. It outputs the health assessment results of the feature units in the device and the overall device in real time, and then outputs the corresponding maintenance strategy in real time based on the health assessment results. This helps to ensure the stable and safe operation of the UAV ground portable equipment station. At the same time, it can correct the health assessment parameters in real time during the health assessment process to ensure the accuracy of the health assessment of the UAV ground portable equipment station. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the method flow of the present invention; Figure 2 A flowchart illustrating the health assessment process; Figure 3This is a flowchart illustrating the process of reading or writing sequential self-test data for the device. Detailed Implementation

[0015] Example 1: This embodiment provides a method for health management of a portable UAV ground station, which is based on a health management system. The health management system is built into the portable UAV ground station and is used to manage the health of the UAV ground station. The health management system includes equipment such as an industrial control computer, throttle, control stick, command panel, local UPS, remote UPS, and data switch.

[0016] The health management system comprises a status monitoring layer, a data acquisition layer, and a data processing layer. The status monitoring layer controls the display device to intuitively display information such as throttle status, control stick status, command panel status, local UPS status, remote UPS status, computer monitoring status, self-test status, and fault status. Simultaneously, the status monitoring layer also collects real-time status data from various devices.

[0017] The status monitoring layer includes a throttle status information module. This module collects and parses throttle serial port data to determine whether the throttle device is online. An online throttle indicates a normal throttle state, while an offline throttle indicates an abnormal state. The specific process for determining whether the throttle is normal is as follows: a1. The throttle status information module determines whether the throttle device is online by analyzing whether the throttle serial port data stream is interrupted. a2. The throttle status information module obtains the throttle manufacturing date and calculates the number of days the throttle has been running by combining it with the local date on the computer, which is used for throttle component failure time analysis. a3. After parsing the throttle button abnormality information, the throttle status information module uses a control container to intuitively visualize the specific button abnormality status, making it easier to pinpoint the specific button causing the device abnormality. a4. The throttle status information module obtains the throttle control value and displays it as a numerical value and a progress bar, which intuitively reflects the throttle operation stroke and facilitates the analysis of whether there are any abnormalities in the throttle output value.

[0018] The status monitoring layer includes a joystick status information module. This module determines whether the joystick device is functioning properly. The specific process for determining whether the joystick is functioning properly is as follows: b1. The control stick status information module determines whether the control stick device is online by analyzing whether the control stick serial port data stream is interrupted; b2. The control stick status information module obtains the control stick's manufacturing date and calculates the number of days the control stick has been in operation by combining it with the local date on the computer, which is used for control stick component failure time analysis. b3. After parsing the abnormal information of the joystick buttons, the joystick status information module visually displays the specific abnormal button status through the control container, making it easier to pinpoint the specific button causing the device malfunction. b4. The control stick status information module acquires the control stick control values ​​and displays them in numerical and attitude indicator interfaces respectively. The attitude indicator interface contains a green box and a yellow dot. The horizontal direction displays the roll control value, and the vertical direction displays the pitch control value. This intuitively reflects the control stick operation travel and facilitates the analysis of whether there are any abnormalities in the control stick output values.

[0019] The status monitoring layer includes a command panel status information module, which determines whether the command panel device is functioning properly. The specific process for determining whether the command panel is functioning properly is as follows: c1. The command panel status information module determines whether the command panel device is online by analyzing whether the serial port data stream of the command panel is interrupted. c2. The instruction panel status information module obtains the manufacturing date of the instruction panel and calculates the number of days the instruction panel has been running by combining it with the local date on the computer. This is used for instruction panel component failure time analysis. c3. The command panel status information module parses the button status of the command panel and visualizes the current status of the buttons intuitively through the space container.

[0020] The status monitoring layer includes a local UPS status information module. This module determines whether the local UPS device is functioning correctly. The specific process for determining whether the local UPS device is functioning correctly is as follows: d1. The local UPS status information module determines whether the local UPS device is online by parsing whether the local UPS data stream is interrupted; d2. The local UPS status information module obtains the manufacturing date of the local UPS device and calculates the number of days the UPS has been running by combining it with the local date on the computer, which is used for UPS component failure time analysis. d3. The local UPS status information module analyzes the local UPS channel status. The open and closed status of the channel is displayed intuitively and visually through the control container. By clicking the controls of channel 2 to channel 4, the remote shutdown function of the local UPS channel can be tested to see if the channel status is sent and switched.

[0021] The status monitoring layer includes a remote UPS status information module. This module determines whether the remote UPS equipment is functioning correctly. The specific process for determining whether the remote UPS equipment is functioning correctly is as follows: e1. The remote UPS status information module determines whether the remote UPS device is online by analyzing whether the remote UPS data stream is interrupted. e2. The remote UPS status information module obtains the manufacturing date of the remote UPS device and calculates the number of days the UPS has been running by combining it with the local date on the computer, which is used for UPS component failure time analysis. e3. The remote UPS status information module analyzes the remote UPS channel status. The open and closed status of the channel is displayed intuitively and visually through the control container. By clicking the controls of channel 2 to channel 4, the remote shutdown function of the remote UPS channel can be tested to see if the channel status is sent and switched.

[0022] The status monitoring layer includes a computer monitoring information module, which determines whether the computer equipment is functioning properly. The specific process for determining whether the computer equipment is functioning properly is as follows: f1. The computer monitoring information module obtains the computer chipset fan speed and displays it numerically, and obtains the computer core temperature and displays it numerically. Combining the fan speed and temperature values, it analyzes whether there are problems with the computer's heat dissipation system. f2. The computer monitoring information module obtains the screen brightness value, adjusts the screen brightness through a slider control, and observes the changes in screen brightness by sliding the slider to determine whether the screen brightness adjustment function is working properly.

[0023] The status monitoring layer includes a self-test status information module. This module determines whether the status monitoring layer itself is functioning correctly. The specific process for determining whether the status monitoring layer is functioning correctly is as follows: g1. Display log information through a text control. The log information provides a clear view of the device's status and allows for intuitive self-checking of device status information. The text control also displays monitored device fault information.

[0024] The data acquisition layer is used for real-time acquisition and visualization of the operating data of various devices at the ground portable station. The core acquisition objects include the control stick, throttle, command panel, local UPS and remote UPS. The acquired data is presented in real time in tabular form to ensure the intuitiveness of the data. At the same time, it supports exporting the real-time acquired equipment operating data to Excel spreadsheet files, which facilitates subsequent data archiving, offline analysis and review, and provides basic data support for equipment health status assessment.

[0025] The data processing layer is used for data processing, feature extraction, fault tracing, and equipment health measurement of the collected data. Its specific functions are as follows: Feature extraction query and configuration: Supports setting and querying feature value identifiers for control lever, throttle, command panel, local UPS, and remote UPS devices; Feature values ​​include device automatic storage and device status information. When the automatic data saving function is enabled, the software will store the operating data and feature value identifiers of each device to the database according to the preset period to achieve long-term data retention. Data export and analysis: It supports automatically filtering and displaying the equipment operation data stored in the database according to the set feature value identifiers, and can export it to an Excel spreadsheet, which is convenient for technicians to carry out equipment function analysis, health trend judgment and potential fault prediction, as well as for equipment health analysis model correction. Fault source management: All fault information detected during the equipment's operational lifecycle will be synchronously written to the database and can be exported to Excel spreadsheets, providing data support for fault review, cause analysis, and equipment optimization.

[0026] Equipment health calculation: By exporting data from the database and inputting health measurement indicators through the interface, the equipment health analysis model automatically analyzes the data to determine the current equipment health percentage and automatically outputs the maintenance items and measures required for the current equipment.

[0027] Based on a health management system, this embodiment discloses a method for health management of a portable ground station device for unmanned aerial vehicles (UAVs), such as... Figure 1 As shown, it includes the following steps: Step 1: Initialize the health management system. The initialization of the health management system includes initializing all device parameters in the health management system and initializing the data acquisition interfaces of all devices in the health management system. After the initialization is completed, proceed to Step 2. Step 2: Obtain data from the control stick, throttle, command panel, local UPS, and remote UPS in the health management system through the data acquisition interface, and update the data to the corresponding memory data blocks of each device in the industrial control computer, then proceed to Step 3; Data from each device is stored in the form of data tables. The joystick data table includes: roll, pitch, yaw, button status output values, device runtime, raw data values ​​from the roll, pitch, and yaw sensors, 5V and 3.3V power supply voltage acquisition values, and board temperature. The throttle data table includes: throttle position, button status output values, device runtime, raw throttle position sensor values, 5V and 3.3V power supply voltage acquisition values, and board temperature. The command panel data table includes: device runtime, button status output values, device runtime, 5V and 3.3V power supply voltage acquisition values, and board temperature. Local UPS data tables and remote UPS data tables include: device runtime, battery percentage, battery voltage acquisition values, input voltage acquisition values, output voltage acquisition values ​​for each channel, 5V and 3.3V power supply voltage acquisition values, board temperature, and output status for each channel.

[0028] Step 3: The industrial control computer checks whether the built-in database has reached the update cycle. If the database has reached the update cycle, the industrial control computer sends a data write signal to the database through the signal and slot mechanism and proceeds to step 4; if the database has not reached the update cycle, it directly proceeds to step 4. Step 4: The industrial control computer monitors the database in real time to see if there is data to be read. If there is data to be read, the corresponding device status data is read from the database. If there is no data to be read, the industrial control computer monitors the database in real time to see if there is data to be written. If there is data to be written, the corresponding device status data is written to the database and the process proceeds to Step 6. If there is no data to be written, the process proceeds to Step 5. Step 5: The industrial control computer performs a health assessment on the equipment using status data, obtains the health assessment results, outputs a maintenance strategy based on the health assessment results, and then proceeds to step 6. Step 6: The industrial control computer determines whether the automatic health assessment of the equipment is turned on. If the automatic health assessment of the equipment is turned on, proceed to step 7; if the automatic health assessment of the equipment is not turned on, proceed to step 8. Step 7: The industrial control computer determines whether the automatic health assessment cycle of the equipment has been reached. If the automatic health assessment cycle has been reached, it sends a database read signal for the corresponding equipment and waits for the corresponding slot function to process it. If the automatic health assessment cycle has not been reached, it proceeds to step 8. Step 8: The industrial control computer determines whether there is a device health assessment request. If there is a device health assessment request, it sends a database read signal for the corresponding device, waits for the corresponding slot function to process it, and then returns to step 2. If there is no device health assessment request, it directly returns to step 2.

[0029] Furthermore, such as Figure 2 As shown, step 5 includes: Step 5.1: The industrial control computer calculates the real-time health decay ratio of the equipment's feature items and compares it with the pre-stored health decay ratio threshold. If the real-time health decay ratio of the feature item is greater than the health decay ratio threshold, the industrial control computer outputs the maintenance strategy for the corresponding equipment feature item; if the real-time health decay ratio of the feature item is less than or equal to the health decay ratio threshold, proceed to step 5.2. Step 5.2: The industrial control computer calculates the health status of the equipment's features and compares the health status of the equipment's features with the pre-stored health status threshold. If the health status of the equipment's features is greater than the health status threshold, proceed to step 5.4; if the health status of the equipment's features is less than or equal to the health status threshold, proceed to step 5.3. Step 5.3: The industrial control computer calculates the cost percentage of the equipment feature item in the current equipment and compares the cost percentage with the pre-stored cost percentage threshold. If the cost percentage is greater than the cost percentage threshold, proceed to step 5.4; if the cost percentage is less than or equal to the cost percentage threshold, output the maintenance strategy for the corresponding equipment feature item. Step 5.4: The industrial control computer calculates the overall health of the current equipment and compares the overall health with the pre-stored equipment health threshold. If the overall health is greater than the equipment health threshold, the conventional maintenance strategy for the current equipment is output; if the overall health is less than or equal to the equipment health threshold, the replacement maintenance strategy for the current equipment is output.

[0030] Example 2: This embodiment discloses a method for health management of a portable ground station for unmanned aerial vehicles (UAVs), which is an improvement on embodiment 1. The calculation formula for the real-time health decay value of the feature item is as follows: ; Where: t represents the equipment usage time; This represents the actual failure deviation of the characteristic term at time t; This indicates the failure deviation of the characteristic term at the initial moment; Indicates the failure deviation threshold of the feature term; This indicates the percentage decrease in the real-time health status of a feature item.

[0031] when When the value is greater than 5β, the maintenance strategy for the corresponding device characteristic item is output, where β represents the health degradation coefficient; when... When ≤5β, the calculation proceeds to the health status of the equipment's characteristic items. The formula for calculating the health status of the equipment's characteristic items is: ; Where: t represents the equipment usage time; Indicates the failure deviation threshold of the feature term; Indicates the health status of the feature item; Indicates the health decay coefficient; This represents the average failure deviation value of the current feature item in the database; Indicates the theoretical lifespan of the current feature term; This represents the failure deviation value of the i-th feature term.

[0032] When the health threshold for the feature item is set to 30%, If the percentage is greater than 30%, then the calculation proceeds to assess the overall health of the current device; when... If the percentage is ≤30%, then the calculation will proceed to determine the cost percentage of the device's features in the entire ground-based portable device station.

[0033] The formula for calculating the cost percentage is: ; in: This represents the cost percentage of the k-th equipment feature in the equipment. This represents the cost of the k-th equipment feature item; This indicates the total cost of the equipment.

[0034] Taking the cost percentage threshold as 10%, when When ≤10%, the maintenance strategy for the corresponding device characteristic item is output; when If the percentage is greater than 10%, then the calculation of the overall health of the current device will proceed.

[0035] The formula for calculating the overall health of the equipment is: ; in: Indicates the overall health of the equipment; to This represents the health status of the 1st to Mth feature items; min{…} represents the minimum value operation.

[0036] Set the device health threshold to 30%, when When the percentage is ≤30%, output the current equipment replacement and maintenance strategy; when... If the percentage is greater than 30%, then the current routine maintenance strategy for the device will be output.

[0037] During the equipment health calculation process, the health is calculated sequentially in the order of throttle, control lever, command panel, local UPS, and remote UPS.

[0038] The rest of this embodiment is the same as that of Embodiment 1, so it will not be described again.

[0039] Example 3: This embodiment discloses a method for health management of a portable ground station device for unmanned aerial vehicles (UAVs), which is optimized based on embodiment 1 or 2, such as... Figure 3 As shown, step 4, writing sequential self-test data to the device, specifically includes: Step A1: The industrial control computer extracts the feature identifiers of the current device; Step A2: The industrial control computer determines whether the current device is in throttle mode by using the feature identifier. If it is in throttle mode, it indexes the throttle data table in the database, writes data into the throttle data table, and then proceeds to step 6; if it is not in throttle mode, it proceeds to step A3. Step A3: The industrial control computer determines whether the current device is a control stick by using the feature identifier. If it is a control stick, it indexes the control stick data table in the database, writes data into the control stick data table, and then proceeds to step 6; if it is not a control stick, it proceeds to step A4. Step A4: The industrial control computer determines whether the current device is an instruction panel by using the feature identifier. If it is an instruction panel, it indexes the instruction panel data table in the database, writes data into the instruction panel data table, and then proceeds to step 6; if it is not an instruction panel, it proceeds to step A5. Step A5: The industrial control computer determines whether the current device is a local UPS by using the feature identifier. If it is a local UPS, it indexes the local UPS data table in the database, writes data into the local UPS data table, and then proceeds to step 6; if it is not a local UPS, it proceeds to step A6. Step A6: The industrial control computer determines whether the current device is a remote UPS by using the feature identifier. If it is a remote UPS, it indexes the remote UPS data table in the database, writes data into the remote UPS data table, and then proceeds to step 6. If it is not a remote UPS, it proceeds directly to step 6.

[0040] like Figure 3 As shown, step 4, which involves sequentially reading self-test data from the device, specifically includes: Step B1: The industrial control computer extracts the feature identifiers of the current device; Step B2: The industrial control computer determines whether the current device is in throttle mode by using the feature identifier. If it is in throttle mode, it indexes the throttle data table in the database, reads the data from the throttle data table, and then proceeds to step 5; if it is not in throttle mode, it proceeds to step B3. Step B3: The industrial control computer determines whether the current device is a control stick by using the feature identifier. If it is a control stick, it indexes the control stick data table in the database, reads the data from the control stick data table, and then proceeds to step 5; if it is not a control stick, it proceeds to step B4. Step B4: The industrial control computer determines whether the current device is an instruction panel by using the feature identifier. If it is an instruction panel, it indexes the instruction panel data table in the database, reads the data from the instruction panel data table, and then proceeds to step 5; if it is not an instruction panel, it proceeds to step B5. Step B5: The industrial control computer determines whether the current device is a local UPS by using the feature identifier. If it is a local UPS, it indexes the local UPS data table in the database, reads the data from the local UPS data table, and then proceeds to step 5; if it is not a local UPS, it proceeds to step B6. Step B6: The industrial control computer determines whether the current device is a remote UPS by using the feature identifier. If it is a remote UPS, it indexes the remote UPS data table in the database, reads the data from the remote UPS data table, and then proceeds to step 5; if it is not a remote UPS, it proceeds to step 6.

[0041] The rest of this embodiment is the same as that of embodiment 1 or 2, so it will not be described again.

[0042] Example 4: This embodiment discloses a method for health management of a portable ground station for unmanned aerial vehicles (UAVs). It optimizes any one of embodiments 1-3. After the industrial control computer performs maintenance on the equipment's characteristic items or the equipment itself according to the maintenance strategy, it re-collects the equipment's working data under operating conditions. Based on the working data, it obtains the actual working state of the equipment and outputs the expected working state of the equipment according to the maintenance strategy. The actual working state of the equipment is compared with the expected working state, and the parameters in the health assessment process in step 5 are corrected based on the comparison result. The expected working state is the result of the health assessment. However, it is possible that the assessment result indicates the equipment is usable, but in reality, the equipment has failed. In such cases, it is necessary to revise the previously set thresholds to cover all failure scenarios.

[0043] The rest of this embodiment is the same as any one of embodiments 1-3, so it will not be described again.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for health management of a portable ground station for unmanned aerial vehicles (UAVs), based on a health management system, wherein the health management system includes an industrial control computer, a joystick, a throttle, a command panel, a local UPS, a remote UPS, and a data switch; the industrial control computer, joystick, throttle, command panel, local UPS, and remote UPS interact with each other via the data switch; the industrial control computer has a built-in management software module, which includes a status monitoring layer, a data acquisition layer, and a data processing layer; the status monitoring layer is used to monitor the status data of each device in the health management system in real time; the data acquisition layer is used to collect and visualize the operating data of each device in the health management system in real time; and the data processing layer calculates the health status of each device based on the data collected by the data acquisition layer; characterized in that... Includes the following steps: Step 1: Initialize the health management system. The initialization of the health management system includes initializing all device parameters in the health management system and initializing the data acquisition interfaces of all devices in the health management system. After the initialization is completed, proceed to Step 2. Step 2: Obtain data from the control stick, throttle, command panel, local UPS, and remote UPS in the health management system through the data acquisition interface, and update the data to the corresponding memory data blocks of each device in the industrial control computer, then proceed to Step 3; Step 3: The industrial control computer checks whether the built-in database has reached the update cycle. If the database has reached the update cycle, the industrial control computer sends a data write signal to the database through the signal and slot mechanism and proceeds to step 4; if the database has not reached the update cycle, it directly proceeds to step 4. Step 4: The industrial control computer monitors the database in real time to see if there is data to be read. If there is data to be read, the corresponding device status data is read from the database. If there is no data to be read, the industrial control computer monitors the database in real time to see if there is data to be written. If there is data to be written, the corresponding device status data is written to the database and the process proceeds to Step 6. If there is no data to be written, the process proceeds to Step 5. Step 5: The industrial control computer performs a health assessment on the equipment using status data, obtains the health assessment results, outputs a maintenance strategy based on the health assessment results, and then proceeds to step 6. Step 6: The industrial control computer determines whether the automatic health assessment of the equipment is turned on. If the automatic health assessment of the equipment is turned on, proceed to step 7; if the automatic health assessment of the equipment is not turned on, proceed to step 8. Step 7: The industrial control computer determines whether the automatic health assessment cycle of the equipment has been reached. If the automatic health assessment cycle has been reached, it sends a database read signal for the corresponding equipment and waits for the corresponding slot function to process it. If the automatic health assessment cycle has not been reached, it proceeds to step 8. Step 8: The industrial control computer determines whether there is a device health assessment request. If there is a device health assessment request, it sends a database read signal for the corresponding device, waits for the corresponding slot function to process it, and then returns to step 2. If there is no device health assessment request, it directly returns to step 2.

2. The method for health management of a portable ground station for unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, Step 5 includes: Step 5.1: The industrial control computer calculates the real-time health decay ratio of the equipment's feature items and compares it with the pre-stored health decay ratio threshold. If the real-time health decay ratio of the feature item is greater than the health decay ratio threshold, the industrial control computer outputs the maintenance strategy for the corresponding equipment feature item; if the real-time health decay ratio of the feature item is less than or equal to the health decay ratio threshold, proceed to step 5.

2. Step 5.2: The industrial control computer calculates the health status of the equipment's features and compares the health status of the equipment's features with the pre-stored health status threshold. If the health status of the equipment's features is greater than the health status threshold, proceed to step 5.4; if the health status of the equipment's features is less than or equal to the health status threshold, proceed to step 5.

3. Step 5.3: The industrial control computer calculates the cost percentage of the equipment feature item in the current equipment and compares the cost percentage with the pre-stored cost percentage threshold. If the cost percentage is greater than the cost percentage threshold, proceed to step 5.4; if the cost percentage is less than or equal to the cost percentage threshold, output the maintenance strategy for the corresponding equipment feature item. Step 5.4: The industrial control computer calculates the overall health of the current equipment and compares the overall health with the pre-stored equipment health threshold. If the overall health is greater than the equipment health threshold, the conventional maintenance strategy for the current equipment is output; if the overall health is less than or equal to the equipment health threshold, the replacement maintenance strategy for the current equipment is output.

3. The method for health management of a portable ground station for unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, The formula for calculating the real-time health decay ratio of the feature item is as follows: ； Where: t represents the equipment usage time; This represents the actual failure deviation of the characteristic term at time t; This indicates the failure deviation of the characteristic term at the initial moment; Indicates the failure deviation threshold of the feature term; This indicates the percentage decrease in the real-time health status of a feature item.

4. The method for health management of a portable ground station for unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, The formula for calculating the health status of the device's features is as follows: ； Where: t represents the equipment usage time; Indicates the failure deviation threshold of the feature term; Indicates the health status of the feature item; Indicates the health decay coefficient; This represents the average failure deviation value of the current feature item in the database; Indicates the theoretical lifespan of the current feature term; This represents the failure deviation value of the i-th feature term.

5. The method for health management of a portable ground station for unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, The formula for calculating the overall health of the device is as follows: ； in: Indicates the overall health of the equipment; to This represents the health status of the 1st to Mth feature items; min{…} represents the minimum value operation.

6. The method for health management of a portable ground station for unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, The formula for calculating the cost percentage is as follows: ； in: This represents the cost percentage of the k-th device feature in the current device. This represents the cost of the k-th equipment feature item; This indicates the total cost of the current equipment.

7. The method for health management of a portable ground station for unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, Step 4, specifically writing sequential self-test data to the device, includes: Step A1: The industrial control computer extracts the feature identifiers of the current device; Step A2: The industrial control computer determines whether the current device is in throttle mode by using the feature identifier. If it is in throttle mode, it indexes the throttle data table in the database, writes data into the throttle data table, and then proceeds to step 6; if it is not in throttle mode, it proceeds to step A3. Step A3: The industrial control computer determines whether the current device is a control stick by using the feature identifier. If it is a control stick, it indexes the control stick data table in the database, writes data into the control stick data table, and then proceeds to step 6; if it is not a control stick, it proceeds to step A4. Step A4: The industrial control computer determines whether the current device is an instruction panel by using the feature identifier. If it is an instruction panel, it indexes the instruction panel data table in the database, writes data into the instruction panel data table, and then proceeds to step 6; if it is not an instruction panel, it proceeds to step A5. Step A5: The industrial control computer determines whether the current device is a local UPS by using the feature identifier. If it is a local UPS, it indexes the local UPS data table in the database, writes data into the local UPS data table, and then proceeds to step 6; if it is not a local UPS, it proceeds to step A6. Step A6: The industrial control computer determines whether the current device is a remote UPS by using the feature identifier. If it is a remote UPS, it indexes the remote UPS data table in the database, writes data into the remote UPS data table, and then proceeds to step 6. If it is not a remote UPS, it proceeds directly to step 6.

8. A method for health management of a portable ground station for unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, Step 4, specifically the sequential self-test data reading of the device, includes: Step B1: The industrial control computer extracts the feature identifiers of the current device; Step B2: The industrial control computer determines whether the current device is in throttle mode by using the feature identifier. If it is in throttle mode, it indexes the throttle data table in the database, reads the data from the throttle data table, and then proceeds to step 5; if it is not in throttle mode, it proceeds to step B3. Step B3: The industrial control computer determines whether the current device is a control stick by using the feature identifier. If it is a control stick, it indexes the control stick data table in the database, reads the data from the control stick data table, and then proceeds to step 5; if it is not a control stick, it proceeds to step B4. Step B4: The industrial control computer determines whether the current device is an instruction panel by using the feature identifier. If it is an instruction panel, it indexes the instruction panel data table in the database, reads the data from the instruction panel data table, and then proceeds to step 5; if it is not an instruction panel, it proceeds to step B5. Step B5: The industrial control computer determines whether the current device is a local UPS by using the feature identifier. If it is a local UPS, it indexes the local UPS data table in the database, reads the data from the local UPS data table, and then proceeds to step 5; if it is not a local UPS, it proceeds to step B6. Step B6: The industrial control computer determines whether the current device is a remote UPS by using the feature identifier. If it is a remote UPS, it indexes the remote UPS data table in the database, reads the data from the remote UPS data table, and then proceeds to step 5; if it is not a remote UPS, it proceeds to step 6.

9. A method for health management of a portable ground station for unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, After the industrial control computer performs maintenance on the equipment features or the equipment according to the maintenance strategy, it re-collects the working data of the equipment in the working state, obtains the actual working state of the equipment based on the working data, outputs the expected working state of the equipment according to the maintenance strategy, compares the actual working state of the equipment with the expected working state of the equipment, and corrects the parameters in the health assessment process in step 5 according to the comparison results.

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