Fault monitoring method, device, equipment and medium for front wheel control system of unmanned aerial vehicle

Abstract

The present application discloses a method, device, equipment and medium for monitoring the fault of the front wheel control system of a drone, and relates to the technical field of drones, including: obtaining target fault information and target angle information of a preset angle sensor based on the front wheel control system of the target drone; the preset angle sensor is a dual-redundancy angle sensor; the target angle information includes first angle information and second angle information obtained by each angle sensor in the preset angle sensor monitoring the front wheel of the target drone respectively; judging whether there is a direct fault in the preset angle sensor based on the target fault information, and if there is no direct fault, determining whether there is a measurement distortion fault in the preset angle sensor based on the target angle information; if there is a measurement distortion fault, determining the corresponding fault control operation based on the preset fault judgment threshold and the target angle information. The present application monitors the front wheel of the drone through a dual-redundancy angle sensor, thereby improving the reliability of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method, device, equipment and medium for monitoring the failure of a front wheel control system of an unmanned aerial vehicle. Background Art

[0002] The accident rate of drones is the highest during the take-off and landing phases. The front wheel turning system is an important means for drones to control their direction on the ground, and the angle sensor is the eye of the front wheel steering system. Its feedback value will serve as an important input condition for the angle servo closed-loop control of the front wheel steering system. There are two main failure modes of angle sensors. The first is a direct failure, which can be directly monitored, such as failure of the angle sensor power supply module, failure of the angle sensor A / D (Analog to Digital Converter) acquisition chip, and sensor pin breakage. The second is an inaccuracy problem, that is, a measurement distortion failure, such as water ingress and other impurities in the transformer sensor, RVDT (Rotary Variable Differential Transformer) bearing breakage or electromagnetic interference, which will cause the detected front wheel angle to shift and is not easy to monitor. Among them, the direct failure of the sensor is easy to handle. The front wheel steering system can switch the front wheel of the drone to the reduced swing state in time by disconnecting the clutch, and the drone uses the rudder and differential brake to temporarily correct the deviation. When the sensor is inaccurate, the command will be to the left, but the front wheel will still be on the right, causing the aircraft to roll over or run off the runway. Currently, most drones use single-redundancy angle sensors to control the front wheel angle, which has the problems of insufficient redundancy and low reliability.

[0003] Therefore, how to avoid the low reliability of the system caused by using a single redundant angle sensor is a problem that needs to be solved. Summary of the invention

[0004] In view of this, the purpose of this application is to provide a method, device, equipment and medium for monitoring the failure of the front wheel control system of a drone, by using an independent dual-redundancy angle sensor to monitor the angle deflection of the front wheel of the target drone, so as to avoid the situation where the front wheel loses its correction ability or the aircraft runs off the runway when a single-redundancy angle sensor fails and fails to obtain the correct deflection angle of the drone's front wheel, thereby improving the reliability of the system. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a method for monitoring a front wheel control system failure of a drone, comprising:

[0006] Obtain target fault information and target angle information of a preset angle sensor based on the front wheel control system of the target UAV; the preset angle sensor is a dual-redundancy angle sensor constructed based on two angle sensors; the target angle information includes first angle information and second angle information obtained by each angle sensor in the preset angle sensor monitoring the front wheel of the target UAV respectively;

[0007] judging whether the preset angle sensor has a direct fault based on the target fault information, and if the preset angle sensor does not have the direct fault, determining whether the preset angle sensor has a measurement distortion fault based on the first angle information and the second angle information;

[0008] If the preset angle sensor has the measurement distortion fault, a corresponding fault control operation is determined based on the angle difference between the first angle information and the second angle information and a preset fault judgment threshold.

[0009] Optionally, the acquiring of target fault information and target angle information of a preset angle sensor by a front wheel control system of the target UAV includes:

[0010] Acquire device self-test information corresponding to each angle sensor in the preset angle sensors based on the front wheel control system of the target UAV, and determine target fault information corresponding to the preset angle sensors based on the device self-test information;

[0011] Two angle sensors among the preset angle sensors are used to monitor the angle deflection of the front wheels of the target UAV respectively to obtain corresponding first angle information and second angle information.

[0012] Optionally, after determining whether the preset angle sensor has a direct fault based on the target fault information, the method further includes:

[0013] If the target fault information indicates that the preset angle sensor has a dual redundancy fault, the target UAV is controlled by the front wheel control system to enter a direct fault handling state; the direct fault handling state includes disconnection of the front wheel clutch, conversion of the front wheel to a swing reduction mode, differential braking, and rudder correction.

[0014] Optionally, after determining whether the preset angle sensor has a direct fault based on the target fault information, the method further includes:

[0015] If the target fault information indicates that the preset angle sensor has a single redundant fault, the target UAV is monitored based on the angle information corresponding to the non-faulty angle sensor among the preset angle sensors.

[0016] Optionally, the determining a corresponding fault control operation based on an angle difference between the first angle information and the second angle information and a preset fault judgment threshold includes:

[0017] Determine a preset fault judgment threshold based on the maximum sustainable deflection angle of the front wheel corresponding to the flight speed of the target UAV, and determine the angle difference between the first angle information and the second angle information;

[0018] The angle difference is compared with the preset fault judgment threshold to obtain a corresponding comparison result, and a corresponding fault control operation is determined based on the comparison result.

[0019] Optionally, comparing the angle difference with the preset fault judgment threshold to obtain a corresponding comparison result, and determining a corresponding fault control operation based on the comparison result includes:

[0020] Determine whether the angle difference is greater than a first sub-threshold in the preset fault judgment threshold;

[0021] If the angle difference is greater than the first sub-threshold, a front wheel fault alarm is issued, and the front wheel of the target UAV is controlled to switch to a swing reduction mode;

[0022] If the angle difference is less than the first sub-threshold, the average of the first angle information and the second angle information is determined as the front wheel angle closed-loop control input value, so as to control the target UAV based on the front wheel angle closed-loop control input value.

[0023] Optionally, if the angle difference is less than the first sub-threshold, determining the average of the first angle information and the second angle information as a front wheel angle closed-loop control input value, so as to control the target UAV based on the front wheel angle closed-loop control input value, further comprising:

[0024] If the angle difference is less than the first sub-threshold, determining whether the angle difference is greater than a second sub-threshold in the preset fault judgment threshold;

[0025] If the angle difference is greater than the second sub-threshold, the average of the first angle information and the second angle information is determined as the front wheel angle closed-loop control input value, and a front wheel fault warning is performed through a preset front wheel warning system, so as to perform potential fault troubleshooting on the target UAV based on the front wheel fault warning.

[0026] In a second aspect, the present application provides a device for monitoring a failure of a front wheel control system of a drone, comprising:

[0027] An information acquisition module is used to acquire target fault information and target angle information of a preset angle sensor based on a front wheel control system of a target UAV; the preset angle sensor is a dual-redundancy angle sensor constructed based on two angle sensors; the target angle information includes first angle information and second angle information obtained by each angle sensor in the preset angle sensor monitoring the front wheel of the target UAV respectively;

[0028] a fault judgment module, configured to judge whether the preset angle sensor has a direct fault based on the target fault information, and if the preset angle sensor does not have the direct fault, determine whether the preset angle sensor has a measurement distortion fault based on the first angle information and the second angle information;

[0029] A fault control module is used to determine a corresponding fault control operation based on an angle difference between the first angle information and the second angle information and a preset fault judgment threshold if the preset angle sensor has the measurement distortion fault.

[0030] In a third aspect, the present application provides an electronic device, including:

[0031] Memory, used to store computer programs;

[0032] The processor is used to execute the computer program to implement the aforementioned method for monitoring the failure of the front wheel control system of the unmanned aerial vehicle.

[0033] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the aforementioned method for monitoring faults of a front wheel control system of a UAV.

[0034] In this application, the target fault information and target angle information of the preset angle sensor are obtained based on the front wheel control system of the target UAV; the preset angle sensor is a dual-redundancy angle sensor constructed based on two angle sensors; the target angle information includes the first angle information and the second angle information obtained by each angle sensor in the preset angle sensor monitoring the front wheel of the target UAV respectively; based on the target fault information, it is judged whether the preset angle sensor has a direct fault, if the preset angle sensor does not have the direct fault, then it is determined whether the preset angle sensor has a measurement distortion fault based on the first angle information and the second angle information; if the preset angle sensor has the measurement distortion fault, then the corresponding fault control operation is determined based on the angle difference between the first angle information and the second angle information and the preset fault judgment threshold. As can be seen from the above, this application uses an independent dual-redundancy angle sensor to monitor the angle deflection of the front wheel of the target UAV to obtain the first angle information and the second angle information corresponding to the above dual-redundancy angle sensor respectively. Then, in the case that there is no direct fault in the dual-redundancy angle sensor, it is judged whether the dual-redundancy angle sensor has a measurement distortion fault based on the angle difference between the first angle information and the second angle information, and the corresponding fault control operation is determined when there is a measurement distortion fault. In this way, when one of the angle sensors fails, it does not affect the normal use of the other angle sensor to correct the deviation of the front wheel of the target UAV. At the same time, the angle difference between the two angle sensors is used to determine whether the angle sensor has a measurement distortion failure and perform corresponding processing, thereby avoiding the situation where the target UAV runs off the runway due to the inability to obtain the correct deflection angle of the UAV front wheel when a single redundant angle sensor has a measurement distortion failure, thereby improving system reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0036] Figure 1 A flow chart of a method for monitoring a front wheel control system failure of a UAV disclosed in the present application;

[0037] Figure 2 A simplified schematic diagram of a drone disclosed in this application;

[0038] Figure 3 A schematic diagram of a fault judgment threshold value range disclosed in this application;

[0039] Figure 4 A schematic diagram of a monitoring process for angle feedback failure of a front wheel control system of a UAV disclosed in this application;

[0040] Figure 5 This is a schematic diagram of the structure of a fault monitoring device for a front wheel control system of a UAV disclosed in the present application;

[0041] Figure 6 This is a schematic diagram of the structure of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] At present, most drones use single redundant angle sensors for front wheel angle control. Regardless of whether the single redundant angle sensor has a direct fault or a measurement distortion fault, the drone cannot be corrected, which results in insufficient redundancy and low reliability. To this end, the present application provides a method for monitoring the fault of the drone front wheel control system. By using an independent dual redundant angle sensor, the angle deflection of the front wheel of the target drone is monitored to avoid the situation where the correct deflection angle of the drone front wheel cannot be obtained when a single redundant angle sensor fails, resulting in the front wheel losing its correction ability or the aircraft running off the runway, thereby improving system reliability.

[0044] See also Figure 1 As shown, the embodiment of the present application discloses a method for monitoring the failure of the front wheel control system of an unmanned aerial vehicle, comprising:

[0045] Step S11, obtaining target fault information and target angle information of a preset angle sensor based on the front wheel control system of the target UAV; the preset angle sensor is a dual-redundancy angle sensor constructed based on two angle sensors; the target angle information includes first angle information and second angle information obtained by each angle sensor in the preset angle sensor monitoring the front wheel of the target UAV respectively.

[0046] In this embodiment, the fault information of the preset angle sensor and the angle information obtained by monitoring the front wheels of the target UAV are first obtained to perform fault detection on the preset angle sensor, and corresponding control operations are performed on the target UAV based on the fault detection result and the above angle information.

[0047] It should be noted that the above-mentioned preset angle sensor is a dual-redundancy angle sensor constructed based on two angle sensors. The installation angles of the two angle sensors are kept consistent to ensure that the two angle sensors can measure the same or similar UAV front wheel offset angle. At the same time, the two angle sensors can work independently of each other. When one of the angle sensors fails, the other angle sensor can be used normally to provide accurate angle information.

[0048] Among them, obtaining target fault information and target angle information of a preset angle sensor based on the front wheel control system of the target UAV includes: obtaining device self-test information corresponding to each angle sensor in the preset angle sensor based on the front wheel control system of the target UAV, and determining the target fault information corresponding to the preset angle sensor based on the device self-test information; using two angle sensors in the preset angle sensor to monitor the angle deflection of the front wheels of the target UAV respectively to obtain corresponding first angle information and second angle information.

[0049] In this embodiment, both angle sensors are subjected to power self-test, signal over-threshold self-test and value monitoring to obtain device self-test information corresponding to the two angle sensors, and the fault information corresponding to the two angle sensors is determined based on the device self-test information. It should be noted that if any of the power self-test fault, signal over-threshold self-test fault and value monitoring fault is detected in the angle sensor, it is considered that the angle sensor has a fault, and the above fault is a direct fault. At the same time, the angle deflection of the front wheel of the target drone is monitored using the two selected angle sensors to obtain the first angle information and the second angle information provided by the two angle sensors.

[0050] Step S12: determining whether the preset angle sensor has a direct fault based on the target fault information; if the preset angle sensor does not have the direct fault, determining whether the preset angle sensor has a measurement distortion fault based on the first angle information and the second angle information.

[0051] In this embodiment, first determine whether the angle sensor has a direct fault. Analyze the fault information corresponding to the two angle sensors obtained by the front wheel control system of the drone. If the fault information corresponding to the two angle sensors both indicate that the angle sensors have at least one of the power self-test fault, signal over-threshold self-test fault and value monitoring fault, it is considered that both angle sensors have direct faults, that is, the target fault information indicates that the preset angle sensor has a double-redundant direct fault. At this time, the target drone can be controlled by the front wheel control system to enter a direct fault processing state, wherein the direct fault processing state includes the front wheel clutch disconnection, the front wheel conversion to the swing reduction mode, differential braking and rudder correction. Through these operations, the safety of the drone can be effectively ensured, and the impact of the fault on the drone's flight mission can be minimized.

[0052] If the fault information corresponding to the two angle sensors indicates that only one of the angle sensors has at least one of the power self-test fault, signal over-threshold self-test fault and value monitoring fault, it is considered that only one angle sensor has a direct fault, that is, the target fault information represents that the preset angle sensor has a single redundant direct fault. At this time, the angle sensor with the direct fault can be isolated, and the angle information corresponding to the angle sensor without the direct fault can be used to monitor the target UAV.

[0053] Furthermore, if there is no direct fault in the two angle sensors, it is necessary to determine whether there is a measurement distortion fault in the two angle sensors based on the first angle information and the second angle information, that is, the sensor has an inaccuracy problem. It should be noted that if there is a measurement distortion fault in the angle sensor, at this time one of the angle sensors has a measurement distortion fault, and the other angle sensor is normal, and there is no situation where both angle sensors have a measurement distortion fault. Specifically, this embodiment determines whether there is a measurement distortion fault in the two angle sensors by calculating the angle difference between the first angle information and the second angle information.

[0054] Step S13: If the preset angle sensor has the measurement distortion fault, a corresponding fault control operation is determined based on the angle difference between the first angle information and the second angle information and a preset fault judgment threshold.

[0055] In this embodiment, the angle difference between the first angle information and the second angle information is compared with a preset fault judgment threshold to obtain a corresponding comparison result to determine whether the angle sensor has a measurement distortion fault, and determine the corresponding fault control operation based on the comparison result. The angle difference between the first angle information and the second angle information is recorded as The maximum value among the preset fault judgment thresholds is recorded as the first sub-threshold 2; The minimum value among the preset fault judgment thresholds is recorded as the second sub-threshold 1.

[0056] Specifically, determine whether the angle difference is greater than the first sub-threshold in the preset fault judgment threshold. If the angle difference is greater than the first sub-threshold, it means that the error of the angle deflection information measured by one of the angle sensors is large, and the angle sensor has a measurement distortion fault. At this time, the UAV cannot be corrected according to the angle deflection information measured by the two angle sensors, and a front wheel fault alarm is issued, and the front wheels of the target UAV are controlled to turn to the swing reduction mode; if the angle difference is less than the first sub-threshold, determine whether the angle difference is greater than the second sub-threshold in the preset fault judgment threshold. If the angle difference is greater than the second sub-threshold, it means that the angle sensor has a measurement distortion fault, but the error of the angle deflection information measured by one of the angle sensors is small. At this time, the UAV can be corrected according to the angle deflection information measured by the two angle sensors, and the average of the first angle information and the second angle information is determined. While providing the input value for the front wheel angle closed-loop control, a front wheel fault warning is performed through a preset front wheel warning system, so as to perform potential fault troubleshooting on the target UAV based on the front wheel fault warning; if the angle difference is less than the second sub-threshold, it means that the angle sensor has a measurement distortion fault, but the angle deflection information measured by one of the angle sensors has a very small error and is basically accurate. At this time, the UAV can be corrected according to the angle deflection information measured by the two angle sensors, and the average of the first angle information and the second angle information is determined as the front wheel angle closed-loop control input value; if there is no angle difference between the first angle information and the second angle information, the angle sensor does not have a measurement distortion fault, and the angle deflection information measured by any one of the angle sensors can be selected as the front wheel angle closed-loop control input value, so as to control the target UAV based on the front wheel angle closed-loop control input value.

[0057] It should be noted that the above-mentioned preset fault judgment threshold is determined based on the maximum sustainable deflection angle of the front wheel corresponding to the flight speed of the target UAV. Figure 2 As shown, L1 is the approximate front main wheel track of the drone; L2 is 1 / 2 of the main wheel track; L3 is the vertical distance from the center of gravity of the drone to the main wheel; L4 is the vertical distance between the approximate front main wheel grounding line and the projection point of the center of gravity on the ground; L5 is the height of the center of gravity of the drone; Q is the front wheel deflection angle; Q2 is the angle between the center of gravity of the drone and the main wheel center with respect to the center of the turning radius of the drone; Q3 is the angle between the centripetal acceleration of the drone and the axis of the drone; Q4 is the angle between the rollover acceleration vector of the drone and the axis of the drone; Q7 is the rollover angle of the drone; R1 is the turning radius of the left and right main wheels; R2 is the turning radius of the center of gravity of the drone; a1 is the acceleration component of a2 in the rollover direction of the drone; a2 is the centrifugal acceleration under the conditions of the front wheel slip angle Q and the drone speed V. Because:

[0058] R1=L1 / tanQ;

[0059] Q2=arctan(L3 / R1);

[0060] a1=V 2 / (L3 2 +R1 2 ) 1 / 2 ;

[0061] Q4=artan(L1 / L2);

[0062] a2=a1×cos(Q3-Q4)= a1×cos(90°-Q2-Q4);

[0063] L4=(L2(L1-L3) / (L2 2 +L1 2 ) 1 / 2 );

[0064] a2 <G / tan(L5 / L4);

[0065] Combining the above, and taking into account that the maximum sustainable deflection angle of the front wheel of the drone is different at different speeds, but the greater the speed, the smaller the maximum sustainable deflection angle of the front wheel. In order to simplify the fault judgment logic, the maximum sustainable deflection angle of the front wheel is Qmax under the condition of the maximum speed Vmax of the aircraft in the front wheel control mode.

[0066] Further, determine the first sub-threshold 2 and the second sub-threshold 1. See Figure 3 shown.

[0067] If the front wheel has a deviation correction function, the deflection direction of the drone's front wheel detected by the two angle sensors must be the same. If the deflection directions of the drone's front wheel detected by the two angle sensors are two different directions, the system will not be able to determine the actual deflection direction of the drone, and thus cannot perform effective deviation correction. Therefore, the following conditions must be met:

[0068] Q- 2 / 2>0;

[0069] Assuming that the maximum speed Vmax of the UAV in the front wheel control mode, the maximum correction angle of the control law is q1, then:

[0070] q1=Q;

[0071] And then:

[0072] q1- 2 / 2>0; (1)

[0073] If q1- If 2 / 2<0, the actual deflection direction of the drone cannot be determined, and the drone cannot be corrected, causing the drone to continue to deviate to the side.

[0074] If the drone deflects too far, it may tip over.

[0075] Q+ 2 / 2 <Qmax;

[0076] And then:

[0077] q1+ 2 / 2 <Qmax;(2)

[0078] From equations (1) and (2), we can deduce: 2 <Qmax。

[0079] Further, determine the preset proportionality coefficient, such as B, and take 1=B× 2. For example, in this embodiment, B=0.5, then 1=Qmax / 2.

[0080] Thus, the threshold value in the preset fault judgment threshold can be determined 1 and The value of 2, where the equal sign in the above inequality is determined according to actual conditions.

[0081] As can be seen from the above, in this embodiment, by using an independent dual-redundancy angle sensor, in the case of a direct failure of one angle sensor, another angle sensor can still be used to correct the deviation of the drone. Then, the angle deflection of the front wheel of the target drone is monitored to obtain the first angle information and the second angle information corresponding to the above dual-redundancy angle sensor. In the case that there is no direct failure of the dual-redundancy angle sensor, it is judged whether the dual-redundancy angle sensor has a measurement distortion failure based on the angle difference between the first angle information and the second angle information and the preset fault judgment threshold, and the corresponding fault control operation is determined when there is a measurement distortion failure. In this way, when one of the angle sensors fails, it does not affect the normal use of the other angle sensor to correct the deviation of the front wheel of the target drone. At the same time, the angle difference between the two angle sensors is used to judge whether the angle sensor has a measurement distortion failure and perform corresponding processing, so as to avoid the situation where the correct deflection angle of the drone front wheel cannot be obtained when a single redundancy angle sensor has a measurement distortion failure, which causes the target drone to run off the runway, thereby improving the system reliability.

[0082] See also Figure 4 As shown, the technical solution in this application is explained below by taking the angle feedback fault monitoring process of the front wheel control system of a UAV as an example.

[0083] The central processor of the drone's front wheel control system first obtains the fault information and angle information of angle sensor A and angle sensor B. If any of the following faults occurs in the angle sensor, such as power supply self-test fault, signal over-threshold self-test fault, and sum value monitoring fault, the angle sensor is determined to be faulty. If the angle sensor has a double-redundancy fault, the central processor of the front wheel control system controls the front wheel clutch to disconnect, the front wheel to switch to the swing reduction mode, the use of differential braking, and the temporary rudder correction; if the angle sensor has a single-redundancy fault, the central processor of the front wheel control system isolates the angle sensor of the faulty path and uses the angle sensor of the normal path; if the angle sensor does not have a fault, the angle difference between angle sensor A and angle sensor B is calculated. , and compared with the preset fault judgment threshold. < 1, the input value of the closed-loop control of the front wheel angle is (A+B) / 2; if 1< < 2, the input value of the closed-loop control of the front wheel angle is (A+B) / 2 and a front wheel fault is reported, prompting subsequent troubleshooting; if 2< , then the front wheel fault is reported and the front wheel switches to the swing reduction mode.

[0084] See also Figure 5 As shown, the embodiment of the present application also discloses a fault monitoring device for a front wheel control system of a drone, comprising:

[0085] The information acquisition module 11 is used to acquire target fault information and target angle information of a preset angle sensor based on the front wheel control system of the target UAV; the preset angle sensor is a dual-redundancy angle sensor constructed based on two angle sensors; the target angle information includes first angle information and second angle information obtained by each angle sensor in the preset angle sensor monitoring the front wheel of the target UAV respectively;

[0086] a fault judgment module 12, configured to judge whether the preset angle sensor has a direct fault based on the target fault information, and if the preset angle sensor does not have the direct fault, determine whether the preset angle sensor has a measurement distortion fault based on the first angle information and the second angle information;

[0087] The fault control module 13 is configured to determine a corresponding fault control operation based on an angle difference between the first angle information and the second angle information and a preset fault judgment threshold if the preset angle sensor has the measurement distortion fault.

[0088] As can be seen from the above, the present application uses an independent dual-redundancy angle sensor, and in the case of a direct failure of one angle sensor, another angle sensor is used to correct the deviation of the drone. Then, the angle deflection of the front wheel of the target drone is monitored to obtain the first angle information and the second angle information corresponding to the above dual-redundancy angle sensor. Finally, in the case that there is no direct failure of the dual-redundancy angle sensor, it is judged whether the dual-redundancy angle sensor has a measurement distortion failure based on the angle difference between the first angle information and the second angle information and the preset fault judgment threshold, and the corresponding fault control operation is determined when there is a measurement distortion failure. In this way, when one of the angle sensors fails, it does not affect the normal use of the other angle sensor to correct the deviation of the front wheel of the target drone; at the same time, the angle difference between the two angle sensors is used to judge whether the angle sensor has a measurement distortion failure and perform corresponding processing, so as to avoid the situation where the correct deflection angle of the front wheel of the drone cannot be obtained when a single redundancy angle sensor has a measurement distortion failure, causing the target drone to run off the runway, thereby improving the system reliability.

[0089] In some specific implementations, the information acquisition module 11 may specifically include:

[0090] a fault information determination unit, configured to obtain device self-test information corresponding to each of the preset angle sensors based on the front wheel control system of the target UAV, and determine target fault information corresponding to the preset angle sensor based on the device self-test information;

[0091] The angle information determination unit is used to use two angle sensors in the preset angle sensors to respectively monitor the angle deflection of the front wheels of the target UAV to obtain corresponding first angle information and second angle information.

[0092] In some specific implementations, the fault judgment module 12 may further include:

[0093] The first fault processing unit is used to control the target UAV to enter a direct fault processing state through the front wheel control system if the target fault information indicates that the preset angle sensor has a dual redundancy fault; the direct fault processing state includes disconnection of the front wheel clutch, conversion of the front wheel to a swing reduction mode, differential braking, and rudder correction.

[0094] In some specific implementations, the fault judgment module 12 may further include:

[0095] The second fault processing unit is configured to monitor the target UAV based on angle information corresponding to a non-faulty angle sensor in the preset angle sensors if the target fault information indicates that the preset angle sensor has a single redundant fault.

[0096] In some specific implementations, the fault control module 13 may specifically include:

[0097] an angle difference determination unit, configured to determine a preset fault judgment threshold based on a maximum angle at which the front wheel can be continuously deflected corresponding to the flight speed of the target UAV, and to determine an angle difference between the first angle information and the second angle information;

[0098] A fault control unit is used to compare the angle difference with the preset fault judgment threshold to obtain a corresponding comparison result, and determine a corresponding fault control operation based on the comparison result.

[0099] In some specific implementations, the fault control module 13 may specifically include:

[0100] A first judgment unit, used to judge whether the angle difference is greater than a first sub-threshold in the preset fault judgment threshold;

[0101] a fault alarm unit, configured to issue a front wheel fault alarm if the angle difference is greater than the first sub-threshold value, and control the front wheel of the target UAV to switch to a swing reduction mode;

[0102] The third fault processing unit is used to determine the average of the first angle information and the second angle information as the front wheel angle closed-loop control input value if the angle difference is less than the first sub-threshold, so as to control the target UAV based on the front wheel angle closed-loop control input value.

[0103] In some specific implementations, the fault control module 13 may further include:

[0104] a second judgment unit, configured to judge whether the angle difference is greater than a second sub-threshold in the preset fault judgment threshold if the angle difference is less than the first sub-threshold;

[0105] The fourth fault processing unit is used to determine the average of the first angle information and the second angle information as the front wheel angle closed-loop control input value if the angle difference is greater than the second sub-threshold, and to perform a front wheel fault warning through a preset front wheel warning system, so as to perform potential fault troubleshooting on the target UAV based on the front wheel fault warning.

[0106] Furthermore, the present application also discloses an electronic device. Figure 6It is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the content in the figure cannot be regarded as any limitation on the scope of use of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the method for monitoring the fault of the front wheel control system of the unmanned aerial vehicle disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0107] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0108] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0109] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the method for monitoring the failure of the front wheel control system of the unmanned aerial vehicle executed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

[0110] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned disclosed method for monitoring the failure of the front wheel control system of a drone is implemented. The specific steps of the method can be referred to the corresponding contents disclosed in the aforementioned embodiments, and will not be repeated here.

[0111] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0112] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0113] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0114] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0115] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for monitoring the failure of the front wheel control system of an unmanned aerial vehicle, characterized in that: include: Acquiring target fault information and target angle information of a preset angle sensor based on the front wheel control system of the target UAV; The preset angle sensor is a dual-redundancy angle sensor constructed based on two angle sensors; the target angle information includes first angle information and second angle information obtained by each angle sensor in the preset angle sensor monitoring the front wheel of the target UAV respectively; judging whether the preset angle sensor has a direct fault based on the target fault information, and if the preset angle sensor does not have the direct fault, determining whether the preset angle sensor has a measurement distortion fault based on the first angle information and the second angle information; If the preset angle sensor has the measurement distortion fault, determining a corresponding fault control operation based on the angle difference between the first angle information and the second angle information and a preset fault judgment threshold; Wherein, the determining of the corresponding fault control operation based on the angle difference between the first angle information and the second angle information and a preset fault judgment threshold comprises: determining the preset fault judgment threshold based on the maximum angle of sustainable deflection of the front wheel corresponding to the flight speed of the target UAV, and determining the angle difference between the first angle information and the second angle information; comparing the angle difference with the preset fault judgment threshold to obtain a corresponding comparison result, and determining the corresponding fault control operation based on the comparison result; Wherein, the comparing the angle difference with the preset fault judgment threshold to obtain a corresponding comparison result, and determining a corresponding fault control operation based on the comparison result, includes: judging whether the angle difference is greater than a first sub-threshold in the preset fault judgment threshold; if the angle difference is greater than the first sub-threshold, a front wheel fault alarm is issued, and the front wheels of the target UAV are controlled to switch to a swing reduction mode; if the angle difference is less than the first sub-threshold, the average of the first angle information and the second angle information is determined as a front wheel angle closed-loop control input value, so as to control the target UAV based on the front wheel angle closed-loop control input value; Wherein, if the angle difference is less than the first sub-threshold, the average of the first angle information and the second angle information is determined as the front wheel angle closed-loop control input value, so as to control the target UAV based on the front wheel angle closed-loop control input value, and further includes: if the angle difference is less than the first sub-threshold, determining whether the angle difference is greater than the second sub-threshold in the preset fault judgment threshold; if the angle difference is greater than the second sub-threshold, determining the average of the first angle information and the second angle information as the front wheel angle closed-loop control input value, and performing a front wheel fault warning through a preset front wheel warning system, so as to perform potential fault troubleshooting on the target UAV based on the front wheel fault warning; The first sub-threshold and the second sub-threshold are determined based on the maximum correction angle of the control law at the maximum speed of the UAV in the front wheel control mode.

2. The method for monitoring the failure of the front wheel control system of a UAV according to claim 1, characterized in that: The method of obtaining target fault information and target angle information of a preset angle sensor based on the front wheel control system of the target UAV includes: Acquire device self-test information corresponding to each angle sensor in the preset angle sensors based on the front wheel control system of the target UAV, and determine target fault information corresponding to the preset angle sensors based on the device self-test information; Two angle sensors among the preset angle sensors are used to monitor the angle deflection of the front wheels of the target UAV respectively to obtain corresponding first angle information and second angle information.

3. The method for monitoring the failure of the front wheel control system of a UAV according to claim 1, characterized in that: After determining whether the preset angle sensor has a direct fault based on the target fault information, the method further includes: If the target fault information indicates that the preset angle sensor has a dual redundancy fault, the target UAV is controlled by the front wheel control system to enter a direct fault handling state; the direct fault handling state includes disconnection of the front wheel clutch, conversion of the front wheel to a swing reduction mode, differential braking, and rudder correction.

4. The method for monitoring the failure of the front wheel control system of a UAV according to claim 1, characterized in that: After determining whether the preset angle sensor has a direct fault based on the target fault information, the method further includes: If the target fault information indicates that the preset angle sensor has a single redundant fault, the target UAV is monitored based on the angle information corresponding to the non-faulty angle sensor among the preset angle sensors.

5. A UAV front wheel control system fault monitoring device, characterized in that: include: An information acquisition module, used for acquiring target fault information and target angle information of a preset angle sensor based on a front wheel control system of a target UAV; The preset angle sensor is a dual-redundancy angle sensor constructed based on two angle sensors; the target angle information includes first angle information and second angle information obtained by each angle sensor in the preset angle sensor monitoring the front wheel of the target UAV respectively; a fault judgment module, configured to judge whether the preset angle sensor has a direct fault based on the target fault information, and if the preset angle sensor does not have the direct fault, determine whether the preset angle sensor has a measurement distortion fault based on the first angle information and the second angle information; a fault control module, configured to determine a corresponding fault control operation based on an angle difference between the first angle information and the second angle information and a preset fault judgment threshold value if the preset angle sensor has the measurement distortion fault; Wherein, the determining of the corresponding fault control operation based on the angle difference between the first angle information and the second angle information and a preset fault judgment threshold comprises: determining the preset fault judgment threshold based on the maximum angle of sustainable deflection of the front wheel corresponding to the flight speed of the target UAV, and determining the angle difference between the first angle information and the second angle information; comparing the angle difference with the preset fault judgment threshold to obtain a corresponding comparison result, and determining the corresponding fault control operation based on the comparison result; Wherein, the comparing the angle difference with the preset fault judgment threshold to obtain a corresponding comparison result, and determining a corresponding fault control operation based on the comparison result, includes: judging whether the angle difference is greater than a first sub-threshold in the preset fault judgment threshold; if the angle difference is greater than the first sub-threshold, a front wheel fault alarm is issued, and the front wheels of the target UAV are controlled to switch to a swing reduction mode; if the angle difference is less than the first sub-threshold, the average of the first angle information and the second angle information is determined as a front wheel angle closed-loop control input value, so as to control the target UAV based on the front wheel angle closed-loop control input value; Wherein, if the angle difference is less than the first sub-threshold, the average of the first angle information and the second angle information is determined as the front wheel angle closed-loop control input value, so as to control the target UAV based on the front wheel angle closed-loop control input value, and further includes: if the angle difference is less than the first sub-threshold, determining whether the angle difference is greater than the second sub-threshold in the preset fault judgment threshold; if the angle difference is greater than the second sub-threshold, determining the average of the first angle information and the second angle information as the front wheel angle closed-loop control input value, and performing a front wheel fault warning through a preset front wheel warning system, so as to perform potential fault troubleshooting on the target UAV based on the front wheel fault warning; The first sub-threshold and the second sub-threshold are determined based on the maximum correction angle of the control law at the maximum speed of the UAV in the front wheel control mode.

6. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the method for monitoring the failure of the front wheel control system of a UAV as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: Used to store computer programs; wherein, when the computer program is executed by a processor, the method for monitoring the failure of the front wheel control system of a drone as described in any one of claims 1 to 4 is implemented.

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