Unmanned aerial vehicle ground comprehensive one-key detection system and detection and record playback method

Abstract

The invention relates to an unmanned aerial vehicle ground comprehensive one-key detection system and a detection and record playback method. The system comprises a human-computer interaction interface, an instruction generation module, a data analysis module, a data monitoring alarm module and a data record playback module. A detection system automatically sends an instruction according to a configured equipment detection instruction time sequence, meanwhile, a sent instruction data frame is recorded into a binary file, and a software page is automatically switched to the equipment tab to be displayed; detected abnormal parameters and alarm information are displayed in a current equipment page and stored in a comprehensive detection report, the alarm information is independently recorded in a comprehensive detection fault list, and meanwhile, received data frames are recorded in a binary file; and step 4, according to the above steps, completing detection of all devices in sequence, and finally generating a ground comprehensive detection report. And 5, aiming at fault analysis, replaying a detection process by loading historical data to reproduce a fault. According to the method, the process is simplified, and a convenient means is provided for postmortem analysis and comprehensive troubleshooting of faults.

Description

Technical Field

[0001] The present invention relates to a comprehensive ground detection technology for unmanned aerial vehicles, and in particular to a comprehensive ground one-key detection system for unmanned aerial vehicles and a detection, recording and playback method. Background Art

[0002] At present, there are comprehensive detection systems and methods for the entire drone system, and the inspectors can inspect all the onboard equipment in turn. Chinese patents "A ground comprehensive detection system and method for drones" (CN 104803009A, 2015.07.29) and "A ground detection system and method for drones" (CN

[0003] 113650806A, 2021.11.16) provides a UAV ground comprehensive detection system and method for detecting aircraft, replacing multiple detection equipment for maintenance preparation before takeoff in the prior art, reducing maintenance equipment, reducing maintenance costs, avoiding cumbersome and complex operations of multiple devices, effectively shortening the preparation time before the aircraft takes off, and realizing information interaction with complex airborne systems. Another Chinese patent "A parallel detection system and method for airborne equipment based on a state machine" (CN 116957541 A, 2023.10.27) discloses a parallel detection system and method for airborne equipment based on a state machine, the system includes a main drive module, a project set module, a switch state module, and a single item detail module, the project set module is used to determine the set of detection items and generate a project execution list; the single item detail module is used to display and record the project execution process and results; the main drive module is used to obtain the project execution list from the project set module, execute each detection item based on state migration, and refresh the execution results to the single item detail module. The present invention solves the problem of complicated detection process of existing airborne equipment, and reduces the labor intensity of detection personnel by realizing one-key detection through state machine. Although this method solves the problem of automated one-key parallel detection, the design and use process is cumbersome, and the professional requirements of detection personnel are high. It is impossible to intuitively display the detection results and reproduce equipment failures.

[0004] The existing ground-based integrated detection system for UAVs relies on inspectors to manually inspect each airborne device one by one. If an equipment failure is encountered during the inspection, the inspection process must be interrupted for troubleshooting, which affects the inspection of other equipment and even the inspection of the entire system. At the same time, the one-click automated inspection method is too fast, and the inspectors do not have time to check the inspection results. Parallel inspection only gives the inspection conclusion, and lacks the reproduction of the inspection process, which is not conducive to analyzing the fault phenomenon. Thirdly, the existing inspection methods only record the data during the inspection process. If troubleshooting is required afterwards, the recorded data can only be analyzed, and the equipment failure cannot be intuitively reproduced through playback. Summary of the invention

[0005] The present invention solves the problem of complex processes in the design and use of existing comprehensive detection systems, and realizes one-click detection of airborne equipment through a parallel detection method based on time sequence arrangement. For equipment detection items that take a long time, multiple airborne devices can perform detection tasks simultaneously, which not only realizes automated detection, but also improves detection efficiency.

[0006] The present invention records the whole process information of the automated detection and generates a report to show the detection process. Meanwhile, the detection results can be seen in real time during the detection process.

[0007] The present invention is achieved by the following technical solutions:

[0008] A ground integrated one-key detection system for unmanned aerial vehicles, including a human-computer interaction interface, a command generation module, a data analysis module, a data monitoring and alarm module, and a data recording and playback module;

[0009] Human-computer interaction interface:

[0010] a) The main interface is divided into left and right functional areas. The left side is the device detection area, and the right side is the display control area. Each device has an independent function detection page, which is switched and displayed in the form of tabs;

[0011] b) In addition to the independent detection pages of each device on the left, there is also a comprehensive parameter page designed to meet the engine start and stop requirements. This page can observe the main parameters of the equipment including TCU, generator parameters, power distribution, battery, brake, throttle, propeller control, operate the engine start and stop and control the engine speed;

[0012] c) Each device page follows the design principle of displaying parameters and status information in the upper part and command operations in the lower part. The left and right layouts are adopted for two different types of devices; sub-page layouts are adopted for different servo pages;

[0013] d) The main monitored physical quantities are always displayed in the right area; there is an unlocking function for dangerous operating controls;

[0014] Instruction generation module:

[0015] Generate a detection command that complies with the protocol frame format based on the device's detection protocol and the input parameters on the device interface. Send the command in the form of double-clicking.

[0016] Data parsing module:

[0017] After receiving the device detection data source code, data parsing is performed according to the parameter parsing configuration file, and parameters are updated in real time on each device page. The data parsing module determines the validity of the data frame header, data length and checksum according to the device ID;

[0018] Data monitoring and alarm module:

[0019] According to the data protocol of each device, each parameter is compared with the constraint conditions to automatically complete the monitoring alarm; the alarm mode is divided into the following three types:

[0020] a) Value over-limit alarm, with a red border indicating that the value is out of limit;

[0021] b) Equipment failure alarm, the alarm information is indicated by a red indicator light;

[0022] c) Alarm on the page tab: when a device has an alarm, it will be prompted in red font on the page tab;

[0023] Data recording and playback module:

[0024] The received telemetry data is recorded in real time, and a fixed frame header and timestamp are added to each frame of data, and saved as a *.data file in binary format.

[0025] When locating and analyzing the specific fault phenomenon based on the test results, you can load the test record data and replay the test process. The replay function mainly includes: loading historical record data, playback control (start / end, pause / continue), and viewing software page parameters.

[0026] A method for ground integrated one-key detection and recording and playback of unmanned aerial vehicles, comprising the following steps:

[0027] Step 1: Enter the ground inspection mode, observe the device communication status in the constant display area on the right side of the human-computer interaction interface, confirm that the device communication status is normal, and click the one-key detection button to enter the one-key detection process;

[0028] Step 2: The UAV ground integrated one-key detection system automatically sends instructions according to the configured device detection instruction timing, and records the sent instruction data frame into a binary file. The software page automatically switches to the device tab display;

[0029] Step 3: When the device responds to the command, the detected abnormal parameters and alarm information are displayed on the current device page. The page screenshot is captured through the snapshot and saved in the comprehensive detection report. The alarm information is recorded separately in the comprehensive detection fault list, and the received data frame is recorded in the binary file;

[0030] Step 4: According to the above steps, complete all equipment inspections in sequence and finally generate a comprehensive ground inspection report;

[0031] Step 5: For fault analysis, replay the detection process by loading historical data to reproduce the fault. The operation steps of the data recording and playback function are as follows:

[0032] 1) Select the data playback mode, enter the data playback control page, and select the historical data file to be played back in the recorded data list;

[0033] 2) Load the selected recording file, and click the Start Playback button after completion. All device tabs will update the display information at the same time. You can observe the device parameters and status information by switching tabs;

[0034] 3) Control the playback progress by pressing the pause button or dragging the progress bar, and comprehensively analyze the fault phenomenon;

[0035] 4) After the fault analysis is completed, click the End button to stop playback, close the playback control page, exit the playback mode, and automatically enter the normal detection mode.

[0036] In step three, you can also record the detection process by recording the screen.

[0037] The present invention effectively simplifies the comprehensive detection operation process, reduces the workload of detection personnel, and improves detection efficiency; the entire detection process can be reproduced by means of data recording and playback, providing a convenient means for post-fault analysis and comprehensive troubleshooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a cross-linking relationship diagram of the ground comprehensive detection system of the present invention;

[0039] Figure 2 This is a business flow chart of the ground comprehensive detection system of the present invention;

[0040] Figure 3 This is a schematic diagram of the interface of the ground comprehensive detection system of the present invention;

[0041] Figure 4 This is a one-key detection flow chart of the present invention;

[0042] Figure 5 This is the comprehensive ground detection report of the present invention. DETAILED DESCRIPTION

[0043] The ground integrated detection system of the present invention mainly realizes the detection function of each airborne device of the UAV. The ground integrated detection computer is connected to the flight control computer through a serial port, and the flight control computer is connected to each airborne device through a serial port or IO. The cross-linking relationship between the systems is as follows: Figure 1 shown.

[0044] The ground integrated detection system runs on the ground integrated detection computer, and sends device detection instructions to the flight control system through the user interface. The flight control system identifies the device ID and then transparently transmits each device detection instruction to the corresponding device; after the device responds to the detection instruction, it returns the device parameters, status, channel and other data to the flight control system, and the flight control system forwards the data to the ground integrated detection system. After the ground integrated detection system parses the received data, it displays the parameter or status information on the corresponding device sub-page. Its business processes and functions are as follows Figure 2 shown.

[0045] The ground comprehensive detection system includes the following functional modules:

[0046] 1) Human-computer interaction interface (such as Figure 3 (shown)

[0047] a) The main interface is divided into left and right functional areas. The left side is the equipment detection area, and the right side is the display control area.

[0048] In order to meet the plug-in requirements of airborne equipment that can be replaced at any time and plug-and-play, each device has an independent function detection page, which is switched and displayed in the form of tabs;

[0049] b) In addition to the independent detection pages of each device on the left, a comprehensive parameter page (displayed by default) is designed to meet the engine start and stop requirements. This page can observe the main parameters of TCU, engine parameters, power distribution, battery, brake, throttle, propeller control and other devices, operate engine start and stop and control engine speed, etc.;

[0050] c) Each device page follows the design principle that the upper part displays parameters and status information, and the lower part performs command operations. For two different types of equipment (such as atmospheric engine and altimeter), the left and right layouts are adopted; for different servo pages, the sub-page layout design is adopted;

[0051] The main monitored physical quantities are always displayed in the right area; an unlocking function is added to dangerous operating controls (such as landing gear retraction and extension, etc.).

[0052] 2) Instruction generation

[0053] The command generation module generates a detection command that conforms to the protocol frame format according to the device's detection protocol and the input parameters on the device interface. The command is sent in the form of double-clicking.

[0054] 3) Data analysis

[0055] After receiving the device detection data source code, the data analysis module performs data analysis according to the parameter analysis configuration file, and updates the parameters of each device page in real time. The data analysis module determines the validity of the data frame header, data length and checksum according to the device ID.

[0056] 4) Data monitoring alarm

[0057] The data monitoring and alarm module compares and determines each parameter with the constraint conditions according to the data protocol of each device, and automatically completes the monitoring and alarm. The alarm methods are divided into the following three types:

[0058] The value exceeds the limit alarm, and a red border is used to indicate that the value exceeds the limit;

[0059] a) Equipment failure alarm, with red indicator light indicating the alarm information;

[0060] b) Alarm on the page tab: When a device has an alarm, it will be prompted in red font on the page tab.

[0061] 5) Data recording and playback

[0062] The data recording and playback module records the received telemetry data in real time, adds a fixed frame header and timestamp to each frame of data, and saves it as a *.data file in binary format.

[0063] When locating and analyzing the specific fault phenomenon based on the test results, you can load the test record data and replay the test process. The replay function mainly includes: loading historical record data, playback control (start / end, pause / continue), and viewing software page parameters.

[0064] The present invention implements the one-key detection function through the following operation steps. Figure 4 shown.

[0065] Step 1: Enter the ground inspection mode, observe the device communication status in the right display area, confirm that the device communication status is normal, and click the one-key detection button to enter the one-key detection process.

[0066] Step 2: The automatic detection module automatically sends instructions according to the configured device detection instruction timing, and records the sent instruction data frame into a binary file. The software page automatically switches to the device tab display.

[0067] Step 3: When the device responds to the command, the detected abnormal parameters and alarm information are displayed on the current device page. The page screenshot is captured through the snapshot and saved in the comprehensive detection report (see Figure 5 ), the alarm information is recorded separately in the comprehensive detection fault list (see Figure 5 ), and record the received data frames into a binary file.

[0068] Step 4: According to the above steps, complete all equipment inspections in sequence and finally generate a comprehensive ground inspection report.

[0069] For fault analysis, you can replay the fault by loading historical data and replaying the detection process. The operation steps of the data record and playback function are as follows.

[0070] Step 5. Select the data playback mode, enter the data playback control page, and select the historical data file to be played back in the recorded data list.

[0071] Step 6. Load the selected recording file. After completion, click the Start Playback button. All device tabs will update the display information at the same time. You can observe the device parameters and status information by switching tabs.

[0072] Step 7. Control the playback progress by pressing the pause button or dragging the progress bar, and comprehensively analyze the fault phenomenon.

[0073] Step 8. After the fault analysis is completed, click the End button to stop playback, close the playback control page, exit the playback mode, and automatically enter the normal detection mode.

[0074] The present invention obtains all information in the device detection process by designing independent tabs for independent devices combined with snapshots. There is no need for complex system design. All the detection equipment and detection instructions need to be arranged in time sequence to complete the rapid detection of all airborne devices. Automated detection is completed in time sequence based on the existing independent detection of equipment, and no additional management module is required to maintain the detection items. The detection equipment is arranged in time sequence through the configuration file, and delayed snapshots are used for detection items that take a long time. The detection information of all devices in the one-click detection process can be obtained by viewing the comprehensive detection report.

[0075] The present invention has the following characteristics:

[0076] 1. Design of independent tabs for independent devices;

[0077] 2. One-click comprehensive detection based on timing arrangement;

[0078] 3. Capture snapshots to record device detection parameters and status;

[0079] 4. All faults that occur during the detection process are uniformly recorded in the fault list;

[0080] 5. Combine the test instructions with the snapshot to generate a test report;

[0081] 6. Comprehensive test report covers all observable information during one-click testing;

[0082] 7. Fault reproduction can be achieved through data recording and playback.

Claims

1. A UAV ground integrated one-key detection system, characterized by: It includes human-computer interaction interface, instruction generation module, data analysis module, data monitoring and alarm module and data recording and playback module; Human-computer interaction interface: a) The main interface is divided into left and right functional areas. The left side is the device detection area, and the right side is the display control area. Each device has an independent function detection page, which is switched and displayed in the form of tabs; b) In addition to the independent detection pages of each device on the left, there is also a comprehensive parameter page designed to meet the engine start and stop requirements. This page can observe the main parameters including TCU, engine parameters, power distribution, battery, brake, throttle, propeller control equipment, operate the engine start and stop and control the engine speed; c) Each device page follows the design principle of displaying parameters and status information in the upper part and command operations in the lower part. The left and right layouts are adopted for two different types of devices; sub-page layouts are adopted for different servo pages; d) The main monitored physical quantities are always displayed in the right area; there is an unlocking function for dangerous operating controls; Instruction generation module: Generate a detection instruction that complies with the protocol frame format according to the detection protocol of the device and the input parameters on the device interface; Data parsing module: After receiving the device detection data source code, data parsing is performed according to the parameter parsing configuration file, and parameters are updated in real time on each device page. The data parsing module determines the validity of the data frame header, data length and checksum according to the device ID; Data monitoring and alarm module: According to the data protocol of each device, each parameter is compared and judged with the constraint conditions, and the monitoring alarm is automatically completed; Data recording and playback module: The received telemetry data is recorded in real time, and a fixed frame header and timestamp are added to each frame of data, and saved as a *.data file in binary format.

2. The UAV ground integrated one-key detection system according to claim 1 is characterized by: The instruction generation module sends instructions in the form of double-click.

3. The UAV ground integrated one-key detection system according to claim 1 is characterized by: The data monitoring and alarm module has three monitoring and alarm modes: a) Value over-limit alarm, with a red border indicating that the value is out of limit; b) Equipment failure alarm, the alarm information is indicated by a red indicator light; c) Alarm on the page tab: When a device has an alarm, it will be prompted in red font on the page tab.

4. The UAV ground integrated one-key detection system according to claim 1 is characterized by: The data recording and playback module can load the detection record data and playback the detection process when locating and analyzing the specific fault phenomenon based on the detection results.

5. The UAV ground integrated one-key detection system according to claim 4 is characterized by: The playback functions of the data recording and playback module mainly include: loading historical record data, playback control, and viewing software page parameters.

6. A method for integrated one-key detection and recording and playback of unmanned aerial vehicles on the ground, characterized by: The following steps are involved: Step 1: Enter the ground inspection mode, observe the device communication status in the constant display area on the right side of the human-computer interaction interface, confirm that the device communication status is normal, and click the one-key detection button to enter the one-key detection process; Step 2: The UAV ground integrated one-key detection system automatically sends instructions according to the configured device detection instruction timing, and records the sent instruction data frame into a binary file. The software page automatically switches to the device tab display; Step 3: When the device responds to the command, the detected abnormal parameters and alarm information are displayed on the current device page. The page screenshot is captured through the snapshot and saved in the comprehensive detection report. The alarm information is recorded separately in the comprehensive detection fault list, and the received data frame is recorded in the binary file; Step 4: According to the above steps, complete all equipment inspections in sequence and finally generate a comprehensive ground inspection report; Step 5: For fault analysis, replay the detection process by loading historical data to reproduce the fault. The operation steps of the data recording and playback function are as follows: 1) Select the data playback mode, enter the data playback control page, and select the historical data file to be played back in the recorded data list; 2) Load the selected recording file, and click the Start Playback button after completion. All device tabs will update the display information at the same time. You can observe the device parameters and status information by switching tabs; 3) Control the playback progress by pressing the pause button or dragging the progress bar, and comprehensively analyze the fault phenomenon; 4) After the fault analysis is completed, click the End button to stop playback, close the playback control page, exit the playback mode, and automatically enter the normal detection mode.

7. The UAV ground integrated one-key detection system according to claim 6 is characterized by: In step three, you can record the detection process by recording the screen.

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