Electrical system fault management system of unmanned aerial vehicle and management method thereof

Abstract

The invention discloses an electrical system fault management system of an unmanned aerial vehicle and a management method thereof. The system comprises a power supply and distribution management center. The power supply and distribution management center is configured to control the electrical system, the flight control system sends an instruction to the power supply and distribution management center, and the power supply and distribution management center feeds back state information of the current electrical system to the flight control system in real time; the power supply and distribution management center comprises a power load management module and a fault management module; the power supply load management module is configured to judge whether abnormal parameters exist or not by receiving and analyzing electrical parameter information and total state information transmitted by an electrical system; and the fault management module is configured to judge a fault type based on the abnormal parameters, determine a fault level based on the current working state and the fault type, and execute a corresponding fault processing strategy based on the fault type and the fault level. The problems that when an electrical system faces complex fault logic, manual troubleshooting needs to be carried out manually, the troubleshooting time is long, and problems are not solved in time are solved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to an electrical system fault management system and a management method thereof for unmanned aerial vehicles. Background Art

[0002] The electrical system of a drone is a critical infrastructure for achieving flight missions and control functions. The electrical system is not only responsible for providing power to various components of the drone, but also ensures stable and efficient operation under various flight conditions.

[0003] In the existing UAV electrical system management, the management mode of manned aircraft is mainly adopted. In this mode, all parameters of the electrical system are directly transmitted to the flight control system, and managed and recorded by the flight control system. In addition, some literatures have proposed the concept of a power supply manager, which aims to classify and manage electrical parameters and compare them with the data received by the flight control system. The original intention of the power supply manager is to reduce the processing burden of the flight control system and avoid occupying its processing resources for a long time. In this architecture, the power supply manager acts as the middleware between the electrical system and the flight control system, playing the role of data filtering and preliminary processing.

[0004] Although the power supply manager optimizes the management of the electrical system to a certain extent, when the electrical system faces complex fault logic, it needs to rely on manual troubleshooting, resulting in long troubleshooting time and untimely problem solving. Summary of the invention

[0005] In an embodiment of the present application, by providing an electrical system fault management system for a drone, the problem of relying on manual troubleshooting when the electrical system faces complex fault logic is solved, resulting in a long troubleshooting time and untimely problem solving.

[0006] In the first aspect, the application embodiment provides an electrical system fault management system for an unmanned aerial vehicle, including a power supply and distribution management center; the power supply and distribution management center is configured to control the electrical system, the flight control system sends instructions to the power supply and distribution management center, and the power supply and distribution management center provides real-time feedback of the current electrical system status information to the flight control system; the power supply and distribution management center includes a power load management module and a fault management module; the power load management module is configured to determine whether there are abnormal parameters by receiving and analyzing electrical parameter information and total status information transmitted by the electrical system; wherein the total status information includes power supply management status information and distribution load status information; the fault management module is configured to judge the fault type based on the abnormal parameters, determine the fault level based on the current working status and the fault type, and execute corresponding fault handling strategies based on the fault type and fault level.

[0007] In one possible implementation, the electrical system includes a power supply system and a power distribution system; the power supply system includes a first generator, a second generator, a first battery, a second battery and a ground power supply; the first generator serves as a main power supply, the second generator serves as a backup power supply, the first battery serves as an emergency power supply, and the second battery serves as a starting battery and a backup emergency battery.

[0008] In one possible implementation, the power distribution system includes a primary power distribution module and a secondary power distribution module; the primary power distribution module includes a DC distribution box and a power distribution management box, which are used to control the switching between different power sources, realize the start, ignition or shutdown functions of the UAV, and transmit the power supply management status information to the power load management module; the secondary power distribution module includes a load management center and a power supply module, which are used to realize load overcurrent protection, control the connection or disconnection of the load on the UAV by receiving instructions from the power supply and distribution management center, and transmit the distribution load status information to the power load management module.

[0009] In the second aspect, an embodiment of the present application provides a method for managing electrical system faults of an unmanned aerial vehicle, including: in automatic mode, the power supply and distribution management center continuously monitors the electrical parameter information and overall status information transmitted by the power system; if the value of the monitored parameter exceeds a preset parameter range, the parameter is treated as an abnormal parameter; in the fault management module, the fault type is judged based on the abnormal parameter, and the fault level is determined based on the current working state and the fault type, and a corresponding fault handling strategy is executed based on the fault type and the fault level.

[0010] In a possible implementation, it also includes: a power supply and distribution management center receives a mode selection instruction sent by the flight control system; when the mode selection instruction is an automatic mode, the power load management module controls the grid connection or disconnection of the power supply and the connection or disconnection of the load; when all parameters are normal, the power supply and distribution management center enters a parameter monitoring mode and reports the monitoring results to the flight control system.

[0011] In a possible implementation, the fault type is determined as follows: the fault type is determined based on the monitored abnormal parameters; the current working status includes ground status, air status and maintenance status; the load type includes flight load, mission load and other loads; the fault level includes general fault and major fault.

[0012] In one possible implementation, the fault level is determined as follows: when the current working state is on the ground or in maintenance, any fault type that occurs is considered a general fault; when the current working state is in the air, when the fault source is a power distribution fault and a power supply fault, all corresponding fault types are considered major faults; when the fault source is a load fault, all fault types corresponding to the flight load are considered major faults, and short-circuit faults of mission loads and other loads are also considered major faults.

[0013] In one possible implementation, the fault handling strategy for the general fault includes: if it is determined to be a general fault, the power supply and distribution management center performs fault location and performs a preset number of self-recovery operations to try to repair the fault; if the general fault is eliminated, enter the parameter monitoring mode; if the general fault is not eliminated, isolate the fault, and report the fault location and fault type to the flight control system.

[0014] In one possible implementation, the fault handling strategy for the major fault includes: if it is determined to be a major fault, the power supply and distribution management center immediately performs a self-correcting operation, isolates the fault, and reports the fault type to the flight control system at the same time; in the process of handling major faults, the power supply and distribution management center responds to the instructions of the flight control system, and takes the instructions of the flight control system as the highest priority; after the major fault is handled, the power supply and distribution management center uploads the fault handling process and fault location, fault type and fault handling results to the flight control system.

[0015] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects: The embodiment of the present application provides an electrical system fault management system for a drone. The power supply and distribution management center can receive the instructions of the flight control system in real time and immediately feedback the status information of the electrical system. This real-time performance ensures that the flight control system can quickly grasp the operating status of the electrical system and take timely countermeasures. The power load management module determines whether there are abnormal parameters by receiving and analyzing the electrical parameters and total status information transmitted by the electrical system. The fault management module is configured to determine the fault type based on the abnormal parameters, determine the fault level based on the current working state and fault type, and execute the corresponding fault handling strategy based on the fault type and fault level. This automated process greatly reduces the time and cost of manual troubleshooting and improves the efficiency and accuracy of troubleshooting. Through the centralized control and management of the power supply and distribution management center, the various modules of the electrical system can work together more efficiently. This management method not only improves the overall performance of the electrical system, but also enhances its adaptability to different models and mission requirements, which helps to shorten the modification cycle and reduce development costs. The automated fault handling strategy and real-time status monitoring and feedback enable the electrical system to respond quickly and take measures when facing potential faults or safety hazards, effectively avoiding the expansion of faults or causing safety accidents, thereby improving the overall reliability and safety of the drone. It solves the problem that when the electrical system faces complex fault logic, it needs to rely on manual troubleshooting, resulting in long troubleshooting time and untimely problem solving. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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 of the present application or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A schematic diagram of the composition of an electrical system fault management system for a drone provided in an embodiment of the present application; Figure 2 A flowchart of a method for managing electrical system faults of a drone provided in an embodiment of the present application; Figure 3 A schematic diagram of an electrical system fault management server for a drone provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than 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.

[0019] The following describes some of the techniques involved in the embodiments of the present application to facilitate understanding, and they should be considered as merely exemplary. Therefore, it should be appreciated by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, some descriptions of well-known functions and structures are omitted in the following description.

[0020] The present application embodiment provides an electrical system fault management system for a drone, such as Figure 1 As shown, it includes a power supply and distribution management center. The power supply and distribution management center is configured to control the electrical system. The flight control system sends instructions to the power supply and distribution management center, and the power supply and distribution management center feeds back the current electrical system status information to the flight control system in real time. The power supply and distribution management center includes a power load management module and a fault management module. The power load management module is configured to determine whether there are abnormal parameters by receiving and analyzing the electrical parameter information and total status information transmitted by the electrical system. Among them, the total status information includes power supply management status information and distribution load status information. The fault management module is configured to judge the fault type based on the abnormal parameters, determine the fault level based on the current working state and the fault type, and execute the corresponding fault handling strategy based on the fault type and fault level.

[0021] Specifically, the power supply and distribution management center in the embodiment of the present application is a comprehensive electrical system management center, which integrates various data of the power supply system and the power distribution system through a centralized platform. These data are collected through bus or analog quantity, data volume, ensuring the accuracy and real-time nature of the data. The power supply and distribution management center not only receives the aircraft status instructions issued by the flight control system for its own control of the flight status of the unmanned aerial vehicle and fault self-correction analysis and management, but also feeds back the execution results and status to the flight control system in real time. In addition, the flight control system, as the highest command center of the entire unmanned aerial vehicle system, can intervene in any state and issue control instructions to the power supply and distribution management center. This design ensures the safety and reliability of the unmanned aerial vehicle during flight, and also improves the flexibility and response speed of the system. The power supply and distribution management center has complete self-detection, status acquisition, control and feedback functions, which together constitute the core of electrical system management and monitoring. At the same time, the power supply and distribution management center also has modular and universal interfaces with the flight control system, power supply system and power distribution system, which can easily integrate and communicate with these systems. The power supply and distribution management center contains complete electrical system control logic and fault handling strategies, and can provide real-time feedback of the current status to the flight control system via the bus.

[0022] Furthermore, the power supply and distribution management center is responsible for the overall management and monitoring of the electrical system, including ground power-on self-test of equipment and grid-connected control of the power supply system. By real-time monitoring of the power consumption of loads on the ground or in the air, the power supply and distribution management center can autonomously manage the connection or disconnection of loads to ensure the stable operation of the electrical system. When a fault occurs in the electrical system, the power supply and distribution management center can proactively implement the fault handling strategy. At the same time, the power supply and distribution management center will also report the fault location and fault type to the flight control system so that the flight control system can respond and handle it in a timely manner.

[0023] Specifically, when the electrical system architecture of different aircraft models changes, it is only necessary to directly change the electrical parameter settings of the power supply and distribution management center without changing the interface with the flight control system and the ground command and control system. The power supply and distribution management center takes the flight control system as the highest command center and receives the instructions of the flight control system as the input of its own instructions. At the same time, the power supply and distribution management center also constantly feeds back the current status information to the flight control system to ensure that the flight control system can understand the operation of the electrical system in real time.

[0024] The electrical system includes a power supply system and a power distribution system. The power supply system includes a first generator, a second generator, a first storage battery, a second storage battery and a ground power supply. The first generator is used as the main power supply, the second generator is used as the backup power supply, the first storage battery is used as the emergency power supply, and the second storage battery is used as the starting battery and the backup emergency battery.

[0025] Specifically, the first generator is a generator assembly and controller, which serves as the main power source and is responsible for providing stable and continuous electrical energy for the entire machine load. The second generator is also a generator assembly and controller, but it serves as a backup power source for the main power source and provides power to the engine equipment when necessary. The first battery is the main battery, which serves as an emergency power source to cope with emergencies and ensure the power supply of the drone at critical moments. The second battery serves as a starting battery, responsible for starting the drone. At the same time, it is also regarded as a backup emergency battery to provide additional power guarantee. The ground power supply is an independent ground power supply device, which is connected to the primary power distribution module through a maintenance panel. After the voltage detection of the primary power distribution module is qualified, the ground power supply can be connected to the power supply system to provide power for the drone during ground maintenance.

[0026] The power distribution system includes a primary power distribution module and a secondary power distribution module. The primary power distribution module includes a DC power distribution box and a power distribution management box, which are used to control the switching between different power sources, realize the start, ignition or shutdown functions of the UAV, and transmit the power supply management status information to the power load management module. The secondary power distribution module includes a load management center and a power module, which are used to realize load overcurrent protection, control the connection or disconnection of the load on the UAV by receiving instructions from the power distribution management center, and transmit the distribution load status information to the power load management module.

[0027] The present application embodiment provides a method for managing electrical system faults of a drone, such as Figure 2 As shown, the method includes steps S101 to S103. Among them, Figure 2 This is only an execution sequence shown in the embodiment of the present application, and does not represent the only execution sequence of a method for managing electrical system faults of a drone. If the final result can be achieved, Figure 2 The steps shown may be performed in parallel or reversed.

[0028] S101: In the automatic mode, the power supply and distribution management center continuously monitors the electrical parameter information and overall status information transmitted by the power system.

[0029] Specifically, the electrical parameter information includes voltage, current, etc.

[0030] S102: If the value of the monitored parameter exceeds a preset parameter range, the parameter is regarded as an abnormal parameter.

[0031] S103: In the fault management module, the fault type is determined based on the abnormal parameters, and the fault level is determined based on the current working state and the fault type, and a corresponding fault handling strategy is executed based on the fault type and the fault level.

[0032] The present application also includes: the power supply and distribution management center receives the mode selection instruction sent by the flight control system. When the mode selection instruction is the automatic mode, the power load management module controls the grid connection or disconnection of the power supply and the connection or disconnection of the load. When all parameters are normal, the power supply and distribution management center enters the parameter monitoring mode and reports the monitoring results to the flight control system.

[0033] Specifically, after the ground power supply or the first battery of the unmanned aerial vehicle is connected, the entire power supply and distribution management center, the primary power distribution module and the secondary power distribution immediately enter the self-test state. After the self-test process confirms that everything is normal, the power supply and distribution management center communicates with the flight control system through the RS422 bus and receives the mode selection instruction sent by the flight control system. When the mode selection instruction is automatic mode, the power supply and distribution management center uses the power load management module to control the grid connection or disconnection of the power supply, as well as the connection or disconnection of the load. Once all relevant parameters are normal, the power supply and distribution management center will continue to enter the parameter monitoring mode to monitor and record the operating status of the system in real time. And report the monitoring results to the flight control system.

[0034] The fault type is determined by: determining the fault type based on the abnormal parameters monitored. The current working status includes ground status, air status and maintenance status. The load type includes flight load, mission load and other loads. The fault level includes general fault and major fault.

[0035] Specifically, when the value of a parameter monitored by the power supply and distribution management center exceeds the preset parameter range, the parameter is regarded as an abnormal parameter. According to the characteristics of this abnormal parameter, combined with the operating principle and system design of the drone, the specific fault type is determined. Load fault refers to the fault of one or more load devices on the drone, which include sensors, communication equipment, etc. Distribution fault refers to the fault that occurs during the power distribution process, involving components such as distribution lines, distribution boxes, and distribution switches. Power supply fault refers to the fault of the drone power system, such as batteries and generators. When determining the fault level, the power supply and distribution management center will also fully consider the current working state. The current working state includes ground state, air state, and maintenance state. When the current working state is in the ground state, the impact of the fault is relatively small, but it also needs to be eliminated in time to ensure the safety of subsequent flights. When the current working state is in the air state, any fault may pose a threat to its flight safety. When the current working state is in the maintenance state, the power supply and distribution management center will cooperate with the maintenance personnel to conduct a more in-depth analysis and diagnosis of the fault in order to formulate a more accurate maintenance plan. In addition, when determining the fault level, the power supply and distribution management center will also consider the load type of the drone. The types of loads include flight loads, mission loads, and other loads. Flight loads refer to the loads required to maintain the flight of the drone, such as engines and propellers. Mission loads refer to the loads required for the drone to perform specific tasks, such as cameras and sensors. Other loads include other load devices on the drone that may affect its operation.

[0036] Furthermore, the power supply and distribution management center will classify the fault level into general faults and major faults according to the severity of the fault and the possible impact. General faults refer to faults that have little impact on the operation of the drone and can usually be solved by simple repairs or replacement of parts. Major faults refer to faults that pose a serious threat to the operation of the drone and require immediate measures to eliminate them to ensure the flight safety and mission execution of the drone.

[0037] Table 1 is a fault level classification table provided in an embodiment of the present application. As shown in Table 1, the fault level determination method includes: when the current working state is in the ground state or the maintenance state, any fault type that occurs is regarded as a general fault. When the current working state is in the air, when the fault source is a power distribution fault and a power supply fault, all corresponding fault types are regarded as important faults. When the fault source is a load fault, all fault types corresponding to the flight load are regarded as important faults, and short-circuit faults of mission loads and other loads are also regarded as important faults.

[0038] The fault types of power supply faults include battery overcurrent, battery overtemperature, battery overvoltage, battery undervoltage, generator overcurrent, generator overtemperature, generator overvoltage, and generator undervoltage. The fault types of power distribution faults include communication faults and control faults. The fault types of load faults include flight load overcurrent, flight load internal, mission load overcurrent, mission load internal, mission load short circuit, other load overcurrent, other load internal, and other load short circuit.

[0039] Table 1

[0040] Furthermore, the power load management module configures and adjusts the working state of the power supply and load according to the different working mode instructions issued by the flight control system. This process involves the coordinated work of the power supply and distribution management center, the primary power distribution module and the secondary power distribution module, as well as real-time voltage and current parameter monitoring and feedback.

[0041] Taking a UAV that uses a piston engine and a generator as a power source as an example, the control logic of its power load management module is as follows. When the flight control system selects the ground mode, the power supply and distribution management center first detects whether the voltage parameters of the ground power supply or the first battery transmitted by the primary power distribution module are normal. If the voltage parameters are normal, the power supply and distribution management center sends a load-connection instruction to the secondary power distribution module according to the load type. In this process, the flight loads other than the starter motor are first connected in sequence, such as the steering gear system, the landing gear system, etc. After the load is connected, the power supply and distribution management center feeds back the load power-on status to the flight control system to ensure that all connected loads are working normally. If the power is normal, the power supply and distribution management center waits to receive the starter motor instruction issued by the flight control system. Once the instruction is received, the power supply and distribution management center immediately sends an ignition instruction and a start instruction to the primary power distribution module to start the engine. After the engine starts successfully, the power supply and distribution management center sends a start disconnection instruction to the primary power distribution module to stop the starter motor, and at the same time feeds back the information that the start is completed to the flight control system. During the whole process, the power supply and distribution management center continuously monitors key parameters such as voltage and current. Once an abnormal parameter is found, the fault handling strategy is immediately implemented to locate and handle the fault.

[0042] The fault handling strategy for general faults includes: If it is determined to be a general fault, the power supply and distribution management center performs fault location and performs a preset number of self-recovery operations to try to repair the fault. If the general fault is eliminated, enter the parameter monitoring mode. If the general fault is not eliminated, isolate the fault and report the fault location and fault type to the flight control system.

[0043] The fault handling strategy for major faults includes: If it is determined to be a major fault, the power supply and distribution management center immediately performs self-correction operations to isolate the fault and report the fault type to the flight control system at the same time. In the process of handling major faults, the power supply and distribution management center responds to the instructions of the flight control system and takes the instructions of the flight control system as the highest priority. After the major fault is handled, the power supply and distribution management center uploads the fault handling process and fault location, fault type and fault handling results to the flight control system.

[0044] Specifically, when it is determined to be a general fault, the power supply and distribution management center will perform fault location and perform a preset number of self-recovery operations. This process is intended to try to repair the fault through automated means and reduce manual intervention. If the fault is successfully eliminated in the preset number of attempts, the system will automatically enter the parameter monitoring mode. If the fault is not eliminated, the power supply and distribution management center will take further measures to isolate the fault to prevent its impact from expanding, and at the same time report the fault location and fault type to the flight control system so that the flight control system can understand the fault situation in a timely manner and make corresponding decisions. It should be noted that in this application, the preset number of times can be one, two or three times. Of course, the preset number of times can also be other times, and this application is not limited to the above number of times.

[0045] In contrast, when a major fault is identified, the power supply and distribution management center responds more quickly and directly. It will immediately perform self-correction operations based on the type of fault, isolate the fault as quickly as possible, and prevent it from having a greater impact on the overall operation of the drone. At the same time, the power supply and distribution management center will report the type of fault to the flight control system so that the flight control system can quickly understand the nature and severity of the fault. After the fault is handled, the power supply and distribution management center will also upload the fault handling process and fault location, fault type and fault handling results to the flight control system, providing the flight control system with a complete fault handling record. It is worth noting that in the process of handling major faults, the power supply and distribution management center can respond to the instructions of the flight control system at the same time, and give the instructions of the flight control system the highest priority, ensuring that in an emergency, it can be quickly adjusted and handled according to the requirements of the flight control system.

[0046] In summary, the power supply and distribution management center adopts different strategies when dealing with general faults and major faults. For general faults, it focuses more on trying to repair them through automated means. For major faults, it focuses more on quickly isolating the faults and reporting them to the flight control system, while ensuring that it can respond to the instructions of the flight control system during the handling process. This differentiated processing strategy helps drones to make more reasonable and effective responses when facing different faults.

[0047] The following is a specific example to further illustrate the load fault handling strategy.

[0048] Load types include flight load, mission load, and other loads. The fault types of load faults include flight load overcurrent, flight load internal, mission load overcurrent, mission load internal, mission load short circuit, other load overcurrent, other load internal, and other load short circuit. When handling these faults, the power supply and distribution management center will comprehensively consider the ground status, air status, and maintenance status of the drone. For load faults that affect flight safety, regardless of their type, the power supply and distribution management center will first report them to the flight control system to ensure that flight safety receives timely attention. The power supply and distribution management center will perform self-correction operations to try to repair the faults. For other non-critical load faults, the power supply and distribution management center will perform a preset number of self-recovery operations and report the disposal results to the flight control system. When the current working state is in the ground state or maintenance state, the fault types of load faults are all considered general faults. When the current working state is in the air state, short circuit faults of mission loads and other loads are also considered important faults.

[0049] Example 1: When the power supply and distribution management center receives a report from the secondary power distribution module that a certain load has an overcurrent or internal fault, it will report the fault type to the flight control system. At the same time, according to the current working state and load type, the power supply and distribution management center will perform self-correction operations. If the current working state is in the air when the fault occurs, and this load is determined to be a flight load, the power supply and distribution management center will send a connection and disconnection instruction to the secondary power distribution module, and repeat it three times to try to repair the fault. If the fault still exists, the power supply and distribution management center will report the load overcurrent or internal fault to the flight control system again, and the flight control system will decide whether to cut off the power.

[0050] Example 2: If the load is the same as in Example 1 and the current working state is also the same, but the power supply and distribution management center receives a load short circuit fault reported by the secondary power distribution module, where the load includes all types of load short circuit faults, then the power supply and distribution management center will perform self-correction operations and report to the flight control system at the same time. Then, the power supply and distribution management center will send a connect and disconnect command to the secondary power distribution module once to try to repair the short circuit fault. If the fault still exists, the power supply and distribution management center will report the load short circuit fault to the flight control system.

[0051] The following is a specific example to further illustrate the fault handling strategy for power distribution faults.

[0052] Example 3: The fault types of power distribution failure include communication failure and control failure. When the current working state is in the air, if a communication failure or a control failure occurs, these two faults are regarded as important faults. At this time, the power supply and distribution management center will immediately report the type of flight control system fault, indicating that it is a communication failure or a control failure of the primary power distribution module. In order to ensure the safety of the drone, the original power distribution status is kept unchanged in both the primary power distribution module and the secondary power distribution module to avoid greater risks caused by fault handling. The power supply and distribution management center will issue three consecutive instructions to perform self-correction operations and try to repair the fault. If the fault is not eliminated after these three attempts, the power supply and distribution management center will immediately isolate the fault and report the type of flight control system fault again.

[0053] The following is a specific example to further illustrate the power failure handling strategy.

[0054] Power sources include batteries and generators. Power failure types include battery overcurrent, battery overtemperature, battery overvoltage, battery undervoltage, generator overcurrent, generator overtemperature, generator overvoltage, and generator undervoltage. If a power failure occurs when the current working state is in the air state, it is considered a major failure regardless of the power source type.

[0055] Embodiment 4: After the power supply and distribution management center receives the overcurrent fault of the first generator reported by the primary power distribution module, if the current working state is in the air state, the overcurrent fault report of the first generator is immediately sent to the flight control system, and the power supply and distribution management center sends an instruction to the primary power distribution module to start the second generator grid-connected operation. Wait for two seconds. If the overcurrent fault of the first generator is still received after two seconds, the power supply and distribution management center sends a request to the flight control system to ask whether to disconnect the task load. If the flight control system replies with a "no" instruction, the power supply and distribution management center sends the overcurrent fault report of the first generator to the flight control system again and ends the current processing flow. If the flight control system replies with a "yes" instruction, the power supply and distribution management center sends an instruction to the secondary power distribution module to disconnect the task load. After disconnecting the task load, if the overcurrent fault report of the first generator is still received, the power supply and distribution management center sends a first generator reset instruction to the primary power distribution module. If the overcurrent fault of the first generator is still not eliminated after the reset, the power supply and distribution management center sends a first generator disconnection instruction to the primary power distribution module, and at the same time sends a final report on the first generator fault to the flight control system.

[0056] Example 5: After the power supply and distribution management center receives the first battery over-temperature fault reported by the primary power distribution module, if the current working state is in the air state, the power supply and distribution management center immediately sends the first battery over-temperature fault report to the flight control system. The power supply and distribution management center sends an instruction to the primary power distribution module to start the grid-connected operation of the second battery. If the first battery over-temperature fault persists, the power supply and distribution management center sends a request to the flight control system to inquire whether to disconnect the task load. If the flight control system replies with a "no" instruction, the power supply and distribution management center sends the first battery over-temperature fault report to the flight control system again and ends the current processing flow. If the flight control system replies with a "yes" instruction, the power supply and distribution management center sends an instruction to the secondary power distribution module to disconnect the task load. After disconnecting the task load, if the first battery over-temperature fault is still not eliminated, the power supply and distribution management center sends a final report on the first battery over-temperature fault to the flight control system.

[0057] Some modules in the apparatus described in the present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0058] The devices or modules described in the above application embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described in various modules according to their functions. When implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0059] The methods, devices or modules described in this application can be implemented in the form of computer-readable program codes. The controller can be implemented in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program codes (such as software or firmware) that can be executed by the (micro)processor, logic gates, switches, application-specific integrated circuits (English: Application Specific Integrated Circuit, referred to as: ASIC), programmable logic controllers and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program codes, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included in it for implementing various functions can also be regarded as structures within the hardware component. Or even, the means for realizing various functions may be regarded as both a software module for realizing the method and a structure within a hardware component.

[0060] like Figure 3 As shown, an embodiment of the present application also provides an electrical system fault management server for an unmanned aerial vehicle, including a memory 301 and a processor 302; the memory 301 is used to store computer executable instructions; the processor 302 is used to execute computer executable instructions to implement an electrical system fault management method for an unmanned aerial vehicle described above in an embodiment of the present application.

[0061] An embodiment of the present application also provides a computer-readable storage medium, which stores executable instructions. When a computer executes the executable instructions, it can implement the electrical system fault management method of a drone described above in the embodiment of the present application.

[0062] It can be seen from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary hardware. Based on this understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, or it can be reflected in the implementation process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the method described in the embodiment of the present application.

[0063] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. All or part of this application can be used in many general or special computer system environments or configurations.

[0064] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. An electrical system fault management system for an unmanned aerial vehicle, characterized in that: Including power supply and distribution management center; The power supply and distribution management center is configured to control the electrical system, the flight control system sends instructions to the power supply and distribution management center, and the power supply and distribution management center feeds back the current state information of the electrical system to the flight control system in real time; The power supply and distribution management center includes a power load management module and a fault management module; The power load management module is configured to determine whether there are abnormal parameters by receiving and analyzing electrical parameter information and total status information transmitted by the electrical system; wherein the total status information includes power supply management status information and distribution load status information; The fault management module is configured to determine the fault type based on the abnormal parameters, determine the fault level based on the current working state and the fault type, and execute a corresponding fault handling strategy based on the fault type and the fault level.

2. The electrical system fault management system of a drone according to claim 1, characterized in that: The electrical system includes a power supply system and a power distribution system; The power supply system includes a first generator, a second generator, a first storage battery, a second storage battery and a ground power supply; The first generator is used as a main power source, the second generator is used as a backup power source, the first storage battery is used as an emergency power source, and the second storage battery is used as a starting battery and a backup emergency battery.

3. The electrical system fault management system of a drone according to claim 2, characterized in that: The power distribution system includes a primary power distribution module and a secondary power distribution module; The primary power distribution module includes a DC power distribution box and a power distribution management box, which are used to control the switching between different power sources, realize the start, ignition or shutdown functions of the UAV, and transmit power supply management status information to the power load management module; The secondary power distribution module includes a load management center and a power supply module, which is used to implement load overcurrent protection, control the connection or disconnection of the load on the drone by receiving instructions from the power supply and distribution management center, and transmit the distribution load status information to the power supply load management module.

4. A method for managing electrical system faults of a drone, characterized in that: An electrical system fault management system for a drone using any one of claims 1 to 3, comprising: In automatic mode, the power supply and distribution management center continuously monitors the electrical parameter information and overall status information transmitted by the power supply and distribution system; If the value of the monitored parameter exceeds the preset parameter range, the parameter is regarded as an abnormal parameter; In the fault management module, the fault type is judged based on the abnormal parameters, the fault level is determined based on the current working state and the fault type, and the corresponding fault handling strategy is executed based on the fault type and the fault level.

5. The method for managing electrical system faults of a drone according to claim 4, characterized in that: Also includes: The power supply and distribution management center receives the mode selection instruction sent by the flight control system; When the mode selection instruction is the automatic mode, the power load management module controls the grid connection or disconnection of the power supply and the connection or disconnection of the load; When all parameters are normal, the power supply and distribution management center enters the parameter monitoring mode and reports the monitoring results to the flight control system.

6. The method for managing electrical system faults of a drone according to claim 4, characterized in that: The method of determining the fault type is: determining the fault type according to the monitored abnormal parameters; The current working status includes ground status, air status and maintenance status; The load types include flight load, mission load and other loads; Fault levels include general faults and major faults.

7. The method for managing electrical system faults of a drone according to claim 6, characterized in that: The determination method of the fault level includes: When the current working status is in the ground state or maintenance state, any fault type that occurs is considered a general fault; When the current working state is in the air, when the fault source is power distribution fault and power supply fault, all corresponding fault types are regarded as important faults; when the fault source is load fault, all fault types corresponding to the flight load are regarded as important faults, and short-circuit faults of mission loads and other loads are also regarded as important faults.

8. The method for managing electrical system faults of a drone according to claim 7, characterized in that: The troubleshooting strategies for the general faults include: If it is determined to be a general fault, the power supply and distribution management center will perform fault location and perform a preset number of self-recovery operations to try to repair the fault; If the general fault is eliminated, enter the parameter monitoring mode; If the general fault is not eliminated, isolate the fault and report the fault location and type to the flight control system.

9. The method for managing electrical system faults of a drone according to claim 8, characterized in that: The fault handling strategy for the important faults includes: If it is determined to be a major fault, the power supply and distribution management center will immediately perform self-correction operations to isolate the fault and report the type of flight control system fault at the same time; In the process of handling important faults, the power supply and distribution management center responds to the instructions of the flight control system and gives the highest priority to the instructions of the flight control system; After the important fault handling is completed, the power supply and distribution management center uploads the fault handling process and fault location, fault type and fault handling results to the flight control system.

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