CN108750141B - Unmanned aerial vehicle landing state detection method and system - Google Patents
Unmanned aerial vehicle landing state detection method and system Download PDFInfo
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- CN108750141B CN108750141B CN201810354732.9A CN201810354732A CN108750141B CN 108750141 B CN108750141 B CN 108750141B CN 201810354732 A CN201810354732 A CN 201810354732A CN 108750141 B CN108750141 B CN 108750141B
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- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
- G01G19/07—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing aircraft
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Abstract
The application discloses a method and a system for detecting the landing state of an unmanned aerial vehicle, wherein the method comprises the following steps: measuring the weight value of the unmanned aerial vehicle through a pressure sensor at the bottom of a foot rest of the unmanned aerial vehicle; regularly acquiring a plurality of weight values within a preset time length, and constructing a weight value sequence according to the weight values; calculating the change rate of the generated weight value according to the weight value sequence and the preset time length; and determining the state of the unmanned aerial vehicle according to the change rate. The system and the method correspond. According to the invention, the weight value of the unmanned aerial vehicle is directly obtained by installing the pressure sensor on the foot rest to judge the rising and falling states of the unmanned aerial vehicle, so that the misjudgment caused by the difference of the vibration intensities of different models is solved, meanwhile, the influence of environmental factors is avoided, the system is simple to construct, the cost is low, and the judgment result is reliable.
Description
Technical Field
The utility model discloses general unmanned aerial vehicle technical field, especially relate to an unmanned aerial vehicle state of rising and falling detection method and system.
Background
The unmanned plane is called unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device. The machine has no cockpit, but is provided with an automatic pilot, a program control device and other equipment. Unmanned aerial vehicles have wide application in military and civil applications, such as air reconnaissance, surveillance, communication, anti-dive, electronic interference, and the like.
The personnel on the ground, the naval vessel or the mother aircraft remote control station can track, position, remotely control, telemeter and digitally transmit the personnel through equipment such as a radar. The aircraft can take off like a common airplane under the radio remote control or launch and lift off by a boosting rocket, and can also be thrown into the air by a mother aircraft for flying. During recovery, the aircraft can land automatically in the same way as the common aircraft landing process, and can also be recovered by a parachute or a barrier net for remote control. In order to control the stable flight and landing of the unmanned aerial vehicle, the flight state (landing state) of the unmanned aerial vehicle needs to be acquired at any time.
The existing unmanned aerial vehicle landing state detection method is roughly divided into three types, namely, a height measurement type, which is used for indirectly judging whether an unmanned aerial vehicle lands or not according to a height measurement module of the unmanned aerial vehicle, but the height measurement type is easy to cause misjudgment to a certain extent due to complex landing terrain; secondly, impact detection is realized by indirectly judging impact of landing according to the current acceleration and the angular acceleration of the posture detected by a sensor of the unmanned aerial vehicle, but the impact detection is easy to misjudge to a certain extent due to the complex climatic environment and the difference of the vibration intensity of different models; and thirdly, the visual perception class senses whether the unmanned aerial vehicle falls to the ground or not according to the visual image of the ground, but the visual perception class easily reduces the detection reliability due to complex design, increases the cost for constructing a detection system and the like.
Disclosure of Invention
In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a method and system for detecting landing state of an unmanned aerial vehicle.
In a first aspect, the present invention provides a method for detecting a landing state of an unmanned aerial vehicle, including:
measuring the weight value of the unmanned aerial vehicle through a pressure sensor at the bottom of a foot rest of the unmanned aerial vehicle;
regularly acquiring a plurality of weight values within a preset time length, and constructing a weight value sequence according to the weight values;
calculating the change rate of the generated weight value according to the weight value sequence and the preset time length;
comparing the change rate with a first preset change rate threshold value and a second preset change rate threshold value, and comparing each weight value in the weight value sequence with a first preset weight threshold value and a second preset weight threshold value, wherein the first preset change rate threshold value is smaller than the second preset change rate threshold value, and the first preset weight threshold value is larger than the second preset weight threshold value; and determining that the unmanned aerial vehicle is in a landing state, an air state or a stack state based on the comparison result.
Preferably, the determining that the unmanned aerial vehicle is in a landing state, an air state or a stack state based on the comparison result includes:
when the change rate does not exceed the first preset change rate threshold and each weight value in the weight value sequence is greater than the first preset weight threshold, determining that the unmanned aerial vehicle is in a landing state;
when the change rate does not exceed the second preset change rate threshold and each weight value in the weight value sequence does not exceed the second preset weight threshold, determining that the unmanned aerial vehicle is in an aerial state;
when the change rate exceeds the second preset change rate threshold, determining that the unmanned aerial vehicle is in a stomping state.
Preferably, the weight value that measures unmanned aerial vehicle through the pressure sensor of unmanned aerial vehicle foot rest bottom includes:
the method comprises the following steps that a pressure sensor at the bottom of a foot stand of the unmanned aerial vehicle is used for collecting a plurality of pressure values for each foot stand, and each foot stand corresponds to a pressure value set containing the plurality of pressure values;
taking the average value of a plurality of pressure values in the pressure value set as the pressure measurement value of the corresponding foot rest;
determining the pressure measurement value as a pressure sampling value;
and summing and averaging the pressure sampling values to obtain a weight average value, and calculating according to the weight average value and the number of foot rests to obtain a weight value of the unmanned aerial vehicle.
Preferably, before the step of taking an average value of a plurality of pressure values in the pressure value set as a pressure measurement value of a corresponding foot rest, the method further comprises: and screening out a normal pressure value set.
Preferably, the screening out the normal pressure value set includes:
judging whether a plurality of pressure values in the pressure value set are the same or not, if so, determining that the corresponding pressure sensor is abnormal and abandoning the pressure value set; if not, determining that the corresponding pressure sensor is normal and the pressure value set is normal.
Preferably, after the screening out the normal pressure value set, the method further includes:
and filtering a plurality of pressure values in the pressure value set, and filtering out the maximum value and the minimum value in the pressure value set.
Preferably, the determining that the pressure measurement value is a pressure sampling value includes: and screening out normal pressure measurement values, and taking the normal pressure measurement values as pressure sampling values.
Preferably, before screening out normal pressure measurement values, summing and averaging the pressure measurement values to obtain a pressure average value;
screening out normal pressure measurements includes: and taking half of the pressure average value as a first pressure threshold value, taking twice of the pressure average value as a second pressure threshold value, and if the pressure measurement value is between the first pressure threshold value and the second pressure threshold value, determining that the pressure measurement value is normal.
Preferably, the method for detecting landing state of the unmanned aerial vehicle further comprises:
counting the working time of each pressure sensor;
and judging whether the working time reaches a preset working time, if so, generating information for stopping the corresponding pressure sensor.
Preferably, the method for detecting landing state of the unmanned aerial vehicle further comprises:
storing the pressure value set, the state of the unmanned aerial vehicle, the number of pressure sensors participating in determining the state of the unmanned aerial vehicle and the working time of each pressure sensor;
receiving an instruction for reading the state of the unmanned aerial vehicle; and the number of the first and second groups,
in response to the instruction, uploading to a control unit of the drone a status of the drone, a number of pressure sensors participating in determining the status of the drone, and information to deactivate respective pressure sensors.
In a second aspect, the present invention provides a landing state detection system for an unmanned aerial vehicle, including:
the weight value acquisition unit is used for measuring the weight value of the unmanned aerial vehicle through a pressure sensor at the bottom of a foot rest of the unmanned aerial vehicle;
the sequence construction module is used for periodically acquiring a plurality of weight values in a preset time length through the weight value acquisition unit and constructing a weight value sequence according to the weight values;
the data processing module is used for calculating and generating the change rate of the weight value according to the weight value sequence and the preset time length;
and the state judgment module is used for comparing the change rate with a first preset change rate threshold value and a second preset change rate threshold value, comparing each weight value in the weight value sequence with a first preset weight threshold value and a second preset weight threshold value, wherein the first preset change rate threshold value is smaller than the second preset change rate threshold value, the first preset weight threshold value is larger than the second preset weight threshold value, and determining that the unmanned aerial vehicle is in a landing state, an air state or a stacking state based on the comparison result.
Preferably, the determining that the unmanned aerial vehicle is in a landing state, an air state or a stack state based on the comparison result includes:
when the change rate does not exceed the first preset change rate threshold and each weight value in the weight value sequence is greater than the first preset weight threshold, determining that the unmanned aerial vehicle is in a landing state;
when the change rate does not exceed the second preset change rate threshold and each weight value in the weight value sequence does not exceed the second preset weight threshold, determining that the unmanned aerial vehicle is in an aerial state;
when the change rate exceeds the second preset change rate threshold, determining that the unmanned aerial vehicle is in a stomping state.
Preferably, the weight value acquiring unit includes:
the pressure acquisition module is used for respectively acquiring a plurality of pressure values for each foot rest through a pressure sensor at the bottom of the foot rest of the unmanned aerial vehicle, and each foot rest corresponds to a pressure value set containing a plurality of pressure values;
the first calculation module is used for taking the average value of a plurality of pressure values in the pressure value set as the pressure measurement value of the corresponding foot rest;
the analysis module is used for determining the pressure measurement value as a pressure sampling value;
and the second calculation module is used for summing and averaging the pressure sampling values to obtain a weight average value, and calculating to obtain a weight value of the unmanned aerial vehicle according to the weight average value and the number of the foot rests.
Preferably, the weight value acquiring unit further includes: and the first judgment module is used for screening out a normal pressure value set and transmitting the normal pressure value set to the first calculation module.
Preferably, the screening out the normal pressure value set includes: judging whether a plurality of pressure values in the pressure value set are the same or not, if so, determining that the corresponding pressure sensor is abnormal and abandoning the pressure value set; if not, determining that the corresponding pressure sensor is normal and the pressure value set is normal.
Preferably, the weight value acquiring unit further includes: and the filtering module is used for filtering a plurality of pressure values in the normal pressure value set and filtering out the maximum value and the minimum value in the pressure value set.
Preferably, the analysis module is specifically configured to screen out a normal pressure measurement value, and use the normal pressure measurement value as a pressure sampling value.
Preferably, the first calculation module is further configured to sum and average the pressure measurement values to obtain a pressure average value;
screening out normal pressure measurements includes: and taking half of the pressure average value as a first pressure threshold value, taking twice of the pressure average value as a second pressure threshold value, and if the pressure measurement value is between the first pressure threshold value and the second pressure threshold value, determining that the pressure measurement value is normal.
Preferably, the unmanned aerial vehicle landing state detection system further comprises:
the timing module is used for counting the working time of each pressure sensor; and the number of the first and second groups,
and the second judgment module is used for judging whether the working time reaches the preset working time, and if so, generating information for stopping the corresponding pressure sensor.
Preferably, the unmanned aerial vehicle landing state detection system further comprises:
the storage module is used for storing the pressure value set, the state of the unmanned aerial vehicle, the number of pressure sensors participating in determining the state of the unmanned aerial vehicle and the working time of each pressure sensor;
the receiving module is used for receiving an instruction for reading the state of the unmanned aerial vehicle; and the number of the first and second groups,
a sending module for uploading the state of the drone, the number of pressure sensors participating in determining the state of the drone, and information to deactivate the corresponding pressure sensors to a control unit of the drone in response to the instruction.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the scheme for detecting the rising and falling state of the unmanned aerial vehicle, the weight value of the unmanned aerial vehicle is obtained by directly installing the pressure sensor on the foot stand, and the state (in the air, on the ground or in the stack ground) of the unmanned aerial vehicle is judged according to the change rate of the weight value within a period of time, so that the misjudgment caused by the difference of the vibration intensities of different types of the unmanned aerial vehicle is solved, meanwhile, the influence of environmental factors is avoided, the system is simple to construct, the cost is low, and the judgment result is high and reliable;
2. comparing and analyzing pressure values acquired by the pressure sensors on the foot rests to obtain highly reliable weight values for determining the change rate of the weight values;
3. the determined state of the unmanned aerial vehicle can be uploaded to a control unit of the unmanned aerial vehicle, and the control unit of the unmanned aerial vehicle is convenient to adjust and control the flight attitude according to the current state.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a flowchart of a method for detecting a landing state of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a weight value of the unmanned aerial vehicle measured by a pressure sensor at the bottom of a foot rest of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a landing state detection system of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a weight value acquiring unit in the system shown in fig. 3.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a flowchart of a method for detecting a landing state of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 1, the method for detecting the landing state of an unmanned aerial vehicle according to the embodiment of the present invention includes the following steps:
s1: measuring the weight value of the unmanned aerial vehicle through a pressure sensor at the bottom of a foot rest of the unmanned aerial vehicle;
s2: regularly acquiring a plurality of weight values within a preset time length, and constructing a weight value sequence according to the weight values;
s3: calculating the change rate of the generated weight value according to the weight value sequence and the acquisition time length;
s4: comparing the change rate with a first preset change rate threshold value and a second preset change rate threshold value, and comparing each weight value in the weight value sequence with the first preset weight threshold value and the second preset weight threshold value, wherein the first preset change rate threshold value is smaller than the second preset change rate threshold value, and the first preset weight threshold value is larger than the second preset weight threshold value; and determining that the unmanned aerial vehicle is in a landing state, an air state or a stack state based on the comparison result.
Further, determining that the drone is in a landing state, an airborne state, or a stomping state based on the comparison result includes:
when the change rate does not exceed a first preset change rate threshold value and each weight value in the weight value sequence is greater than a first preset weight threshold value, determining that the unmanned aerial vehicle is in a landing state;
when the change rate does not exceed a second preset change rate threshold value and each weight value in the weight value sequence does not exceed the second preset weight threshold value, determining that the unmanned aerial vehicle is in an aerial state;
and when the change rate exceeds a second preset change rate threshold value, determining that the unmanned aerial vehicle is in the stacking state.
As an alternative embodiment, as shown in fig. 2, step S1 includes:
s100: the method comprises the following steps that a pressure sensor at the bottom of a foot stand of the unmanned aerial vehicle is used for collecting a plurality of pressure values for each foot stand, and each foot stand corresponds to a pressure value set containing the plurality of pressure values;
s110: taking the average value of a plurality of pressure values in the pressure value set as the pressure measurement value of the corresponding foot rest;
s120: determining the pressure measurement value as a pressure sampling value;
s130: and summing and averaging the pressure sampling values to obtain a weight average value, and calculating according to the weight average value and the number of the foot rests to obtain a weight value of the unmanned aerial vehicle.
Further, before step S110, step S101 is further included: and screening out a normal pressure value set.
Step S101 specifically includes: judging whether a plurality of pressure values in the pressure value set are the same or not, if so, determining that the corresponding pressure sensor is abnormal and abandoning the pressure value set; if not, determining that the corresponding pressure sensor is normal and the pressure value set is normal. Through the step, the pressure value measured by the damaged pressure sensor is removed, and the accuracy of the subsequently calculated weight value is ensured.
Further, after step S101, step S102 is further included: and filtering a plurality of pressure values in the pressure value set, and filtering out the maximum value and the minimum value in the pressure value set.
Further, step S120 specifically includes: and screening out normal pressure measurement values, and taking the normal pressure measurement values as pressure sampling values.
Further, before screening out normal pressure measurement values, summing and averaging the pressure measurement values to obtain a pressure average value;
screening for normal pressure measurements includes: and taking half of the average value of the pressure as a first pressure threshold value, taking twice of the average value of the pressure as a second pressure threshold value, and determining that the pressure measurement value is normal if the pressure measurement value is between the first pressure threshold value and the second pressure threshold value.
To better understand how the weight values of the drone are obtained through S1, the following example is made:
for example: unmanned aerial vehicle includes 4 foot rests, and a pressure sensor is installed to every foot rest bottom. When weighing a pressure sensor, the pressure value is generally acquired a plurality of times (e.g. 8 times or 10 times) continuously in one second, here taking 10 times as an example, that is, when a single pressure sensor performs one measurement (10 times are acquired in 1 second), 10 pressure values are output.
Through step S100, each foot stand corresponds to a set of pressure values, which are exemplified by: the pressure value set of the first foot rest is E1＝{E10，E11，E12，……，E18，E19The pressure value set of the foot rest II is E2＝{E20，E21，E22，……，E28，E29The pressure values of the foot rest III are integrated into E3＝{E30，E31，E32，……，E38，E39The pressure value of foot rest four is set as E4＝{E40，E41，E42，……，E48，E49}。
Next, step S101 is performed to select a normal pressure value set. To E1、E2、E3、E4Performing a screening assay wherein E4＝{E40，E41，E42，……，E49E in (E) }40，E41，E42，……，E49All the same, determining that the pressure sensors arranged at the four bottoms of the foot rest are damaged, and removing E4；E1、E2、E3Absence of E4Problem (E) of1、E2、E3Is a normal set of pressure values.
Next, step S102 is performed to perform filtering processing on the normal pressure value set. For example, assume E1Minimum value of E10Maximum value of E19，E2Minimum value of E20Maximum value of E21，E3Minimum value of E30Max, ofValue of E39According to step S203, respectively for E1、E2、E3Filtering to remove maximum and minimum values in normal pressure value set to obtain E1’＝{E10，E11，E12，……，E19}、E2’＝{E21，E22，……，E28}、E3’＝{E31，E32，……，E38}。
Then, step S110 is performed for E1’、E2’、E3' the plurality of pressure values are summed and averaged, and the pressure measurement of foot set one is
The pressure measurement value of the second foot rest is
The pressure measurement of foot stool three is
Next, step S120 is executed to
Summing the average to obtain a pressure average
To be provided with
Is a first pressure threshold value, to
For the second pressure threshold, assume
In that
And
to (c) to (d);
is out of position
And
within a range of between, then determine
Discarding for normal pressure measurements
Determining
Are pressure samples.
Then, step S130 is performed to
And
summing the average to obtain a weight average value EavgThe number of pressure sensors involved in the calculation of the weight value is here 2, based on the weight measurement mean value EavgThe number n of the foot stands is 4, and the weight value G of the unmanned aerial vehicle is obtained by calculationavgX n to obtain a weight value G1. The weight value measured by the method has high accuracy. The number of pressure sensors involved in calculating the weight value is also the number of pressure sensors involved in determining the state of the drone.
Step S2 is implemented to periodically obtain a plurality of weight values within a preset time period, and construct a weight value sequence.
For example, the preset time is 1 minute, the collection time is 1 second per time, and the collection time is 10 times in 1 second; two adjacent stopesThe collection interval was 9 seconds, and 6 collections were collected within 1 minute. Accordingly, like G1Obtaining G2、G3、G4、G5And G6. The series of weight values is (G)1，G2，G3，G4，G5，G6)。
Step S3 is performed according to the weight value sequence as (G)1，G2，G3，G4，G5，G6) And the length of the acquisition (example 1 minute), the rate of change G in the weight value being calculatedΔ。
Step S4 is performed to determine the state of the drone.
For example, taking a certain type of unmanned aerial vehicle as an example, the first preset change rate threshold value is set to be 10%, the second preset change rate threshold value is set to be 20%, the first preset weight threshold value is set to be 10kg, and the second preset weight threshold value is set to be 5 kg.
When G isΔWhen the weight value is not more than 10 percent and each weight value in the weight value sequence is more than 10kg, determining that the unmanned aerial vehicle is in a landing state;
when G isΔWhen the weight value does not exceed 5kg in the weight value sequence and does not exceed 20 percent, determining that the unmanned aerial vehicle is in an air state;
when G isΔAbove 20%, it is determined that the drone is in a stomped state (i.e., touchdown).
Further, the method for detecting the landing state of the unmanned aerial vehicle further comprises the following steps:
counting the working time of each pressure sensor;
and judging whether the working time reaches the preset working time, if so, generating information for stopping the corresponding pressure sensor.
When the pressure sensors are powered on and enter a working state, counting the working time of each pressure sensor is needed to ensure the pressure sensors to be normal; and comparing the working time of each pressure sensor with the preset working time, and if the working time of the pressure sensor reaches the preset working time, generating information for stopping the corresponding pressure sensor to remind the pressure sensor to be replaced.
Further, the method for detecting the landing state of the unmanned aerial vehicle further comprises the following steps:
the method comprises the steps of storing a pressure value set, the state of the unmanned aerial vehicle, the number of pressure sensors participating in determining the state of the unmanned aerial vehicle and the working time of each pressure sensor. The unmanned aerial vehicle is internally provided with a certain storage space, and can store pressure value sets measured in a certain time period, states of the unmanned aerial vehicle, the number of pressure sensors for determining the states of the unmanned aerial vehicle and working time of each pressure sensor for maintenance;
receiving an instruction for reading the state of the unmanned aerial vehicle; and the number of the first and second groups,
in response to the instruction, uploading to a control unit of the drone a status of the drone, a number of pressure sensors participating in determining the status of the drone, and information to deactivate the respective pressure sensors. The control unit of the unmanned aerial vehicle can adjust and control the flight attitude conveniently according to the current state; in addition, the control unit of the unmanned aerial vehicle is in communication connection with the ground control station, and an operator can master the state of the unmanned aerial vehicle and the information of the pressure sensor to be maintained through the ground control station in communication with the control unit of the unmanned aerial vehicle.
Fig. 3 is a schematic structural diagram of a landing state detection system of an unmanned aerial vehicle according to an embodiment of the present invention. The unmanned aerial vehicle landing and landing state detection system provided by the embodiment comprises a weight value acquisition unit 1, a sequence construction module 2, a data processing module 3 and a state judgment module 4.
The weight value acquisition unit 1 is used for measuring the weight value of the unmanned aerial vehicle through a pressure sensor at the bottom of a foot rest of the unmanned aerial vehicle;
the sequence construction module 2 is used for periodically obtaining a plurality of weight values in a preset time length through a weight value obtaining unit, and constructing a weight value sequence according to the plurality of weight values;
the data processing module 3 is used for calculating the change rate of the generated weight value according to the weight value sequence and the preset time length;
the state judgment module 4 is configured to compare the change rate with a first preset change rate threshold and a second preset change rate threshold, and compare each weight value in the weight value sequence with a first preset weight threshold and a second preset weight threshold, where the first preset change rate threshold is smaller than the second preset change rate threshold, and the first preset weight threshold is larger than the second preset weight threshold; and determining that the unmanned aerial vehicle is in a landing state, an air state or a stack state based on the comparison result.
Further, determining that the drone is in a landing state, an airborne state, or a stomping state based on the comparison result includes:
when the change rate does not exceed a first preset change rate threshold value and each weight value in the weight value sequence is greater than a first preset weight threshold value, determining that the unmanned aerial vehicle is in a landing state;
when the change rate does not exceed a second preset change rate threshold value and each weight value in the weight value sequence does not exceed the second preset weight threshold value, determining that the unmanned aerial vehicle is in an aerial state;
and when the change rate exceeds a second preset change rate threshold value, determining that the unmanned aerial vehicle is in the stacking state.
As an alternative embodiment, as shown in fig. 4, the weight value obtaining unit 1 includes a pressure obtaining module 11, a first calculating module 12, an analyzing module 13, and a second calculating module 14.
The pressure acquisition module 11 is used for acquiring a plurality of pressure values for each foot rest through a pressure sensor at the bottom of the foot rest of the unmanned aerial vehicle, and each foot rest corresponds to a pressure value set containing a plurality of pressure values;
the first calculation module 12 is configured to use an average value of a plurality of pressure values in the pressure value set as a pressure measurement value of the corresponding foot rest;
the analysis module 13 is used for determining the pressure measurement value as a pressure sampling value;
the second calculation module 14 is used for summing the pressure sampling values to obtain a weight average value, and calculating the weight value of the unmanned aerial vehicle according to the weight average value and the number of the foot rests.
Further, the weight value acquisition unit 1 further includes:
the first judgment module 15 is configured to screen out a normal pressure value set, and transmit the normal pressure value set to the first calculation module 11, so as to ensure that the pressure value measured by the abnormal pressure sensor is removed.
Further, screening out the normal pressure value set comprises: judging whether a plurality of pressure values in the pressure value set are the same or not, if so, determining that the corresponding pressure sensor is abnormal and abandoning the pressure value set; if not, determining that the corresponding pressure sensor is normal and the pressure value set is normal.
Further, the weight value acquisition unit 1 further includes:
and the filtering module 16 is connected to the first judging module 15 and the first calculating module 12, and is configured to filter a plurality of pressure values in the normal pressure value set and filter a maximum value and a minimum value in the pressure value set.
Further, the analysis module 13 is specifically configured to screen out a normal pressure measurement value, and use the normal pressure measurement value as a pressure sampling value.
Further, the first calculating module 11 is further configured to sum and average the pressure measurement values to obtain a pressure average value;
screening for normal pressure measurements includes: and taking half of the average value of the pressure as a first pressure threshold value, taking twice of the average value of the pressure as a second pressure threshold value, and determining that the pressure measurement value is normal if the pressure measurement value is between the first pressure threshold value and the second pressure threshold value.
To better understand the function of the weight value acquisition unit 1, the following example is made:
for example: unmanned aerial vehicle includes 4 foot rests, and a pressure sensor is installed to every foot rest bottom. When weighing a pressure sensor, the pressure value is generally acquired a plurality of times (e.g. 8 times or 10 times) continuously in one second, here taking 10 times as an example, that is, when a single pressure sensor performs one measurement (10 times are acquired in 1 second), 10 pressure values are output.
A plurality of pressure values are collected for each foot rest through a pressure acquisition module, and each foot rest corresponds to a pressure value set, and the example is as follows: the pressure value set of the first foot rest is E1＝{E10，E11，E12，……，E18，E19The pressure value set of the foot rest II is E2＝{E20，E21，E22，……，E28，E29The pressure values of the foot rest III are integrated into E3＝{E30，E31，E32，……，E38，E39The pressure value of foot rest four is set as E4＝{E40，E41，E42，……，E48，E49}。
The normal pressure value set is selected by the first judgment module 15. To E1、E2、E3、E4Performing a screening assay wherein E4＝{E40，E41，E42，……，E49E in (E) }40，E41，E42，……，E49All the same, determining that the pressure sensors arranged at the four bottoms of the foot rest are damaged, and removing E4；E1、E2、E3Absence of E4Problem (E) of1、E2、E3Is a normal set of pressure values.
The normal set of pressure values is filtered by the filter module 16. For example, assume E1Minimum value of E10Maximum value of E19，E2Minimum value of E20Maximum value of E21，E3Minimum value of E30Maximum value of E39According to step S203, respectively for E1、E2、E3Filtering to remove maximum and minimum values in normal pressure value set to obtain E1’＝{E10，E11，E12，……，E19}、E2’＝{E21，E22，……，E28}、E3’＝{E31，E32，……，E38}。
By the first calculation module 12, respectively for E1’、E2’、E3' the plurality of pressure values are summed and averaged, and the pressure measurement of foot set one is
The pressure measurement value of the second foot rest is
The pressure measurement of foot stool three is
Will be calculated by the first calculation module 12
Summing the average to obtain a pressure average
By means of the analysis module 13, will
As a first pressure threshold, will
As a second pressure threshold, assume
In that
And
to (c) to (d);
is out of position
And
within a range of between, then determine
Discarding for normal pressure measurements
Determining
Are pressure samples.
By the second computing module 14 pair
And
summing the average to obtain a weight average value EavgThe number of pressure sensors involved in the calculation of the weight value is here 2, based on the weight measurement mean value EavgThe number n of the foot stands is 4, and the weight value G of the unmanned aerial vehicle is obtained by calculationavgX n to obtain a weight value G1. The weight value measured by the method has high accuracy. The number of pressure sensors involved in calculating the weight value is also the number of pressure sensors involved in determining the state of the drone.
Continuing with the example of the overall detection system module functionality.
And the sequence building module 2 is used for regularly obtaining a plurality of weight values within a preset time length and building a weight value sequence. For example, the preset time is 1 minute, the collection time is 1 second per time, and the collection time is 10 times in 1 second; the interval between two adjacent acquisition is 9 seconds, and 6 acquisition is carried out within 1 minute. Accordingly, like G1Obtaining G2、G3、G4、G5And G6. The series of weight values is (G)1，G2，G3，G4，G5，G6)。
The data processing module 3 calculates to obtain the change rate G of the weight value according to the weight value sequence and the preset time lengthΔ
The state judgment module 4 judges the state of the unmanned aerial vehicle. For example, taking a certain type of unmanned aerial vehicle as an example, the first preset change rate threshold value is set to be 10%, the second preset change rate threshold value is set to be 20%, the first preset weight threshold value is set to be 10kg, and the second preset weight threshold value is set to be 5 kg.
When G isΔWhen the weight value is not more than 10 percent and each weight value in the weight value sequence is more than 10kg, determining that the unmanned aerial vehicle is in a landing state;
when G isΔWhen the weight value does not exceed 5kg in the weight value sequence and does not exceed 20 percent, determining that the unmanned aerial vehicle is in an air state;
when G isΔAnd if the current time exceeds 20%, determining that the unmanned aerial vehicle is in a stomping state.
Further, unmanned aerial vehicle landing and landing state detection system still includes:
the timing module 5 is used for counting the working time of each pressure sensor; and the number of the first and second groups,
and the second judging module 6 is used for judging whether the working time reaches the preset working time, and if so, generating information for stopping the corresponding pressure sensor.
When the pressure sensors are powered on and enter a working state, counting the working time of each pressure sensor through a timing module in order to ensure that the pressure sensors are normal; and comparing the working time of each pressure sensor with the preset working time, and if the working time of the pressure sensor reaches the preset working time, generating information for stopping the corresponding pressure sensor to remind the pressure sensor to be replaced.
Further, unmanned aerial vehicle landing and landing state detection system still includes:
and the storage module 7 is used for storing the pressure value set, the state of the unmanned aerial vehicle, the number of the pressure sensors participating in determining the state of the unmanned aerial vehicle and the working time of each pressure sensor. The unmanned aerial vehicle is internally provided with a certain storage space, and can store pressure value sets measured in a certain time period, states of the unmanned aerial vehicle, the number of pressure sensors for determining the states of the unmanned aerial vehicle and working time of each pressure sensor for maintenance;
the receiving module 8 is used for receiving an instruction for reading the state of the unmanned aerial vehicle; and the number of the first and second groups,
and the sending module 9 is used for responding to the instruction, uploading the state of the unmanned aerial vehicle, the number of the pressure sensors participating in determining the state of the unmanned aerial vehicle and information of deactivating the corresponding pressure sensors to a control unit of the unmanned aerial vehicle. The control unit of the unmanned aerial vehicle can adjust and control the flight attitude conveniently according to the current state; in addition, the control unit of the unmanned aerial vehicle is in communication connection with the ground control station, and an operator can master the state of the unmanned aerial vehicle and the information of the pressure sensor to be maintained through the ground control station in communication with the control unit of the unmanned aerial vehicle.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (18)
1. A method for detecting the landing state of an unmanned aerial vehicle is characterized by comprising the following steps:
measuring the weight value of the unmanned aerial vehicle through a pressure sensor at the bottom of a foot rest of the unmanned aerial vehicle;
regularly acquiring a plurality of weight values within a preset time length, and constructing a weight value sequence according to the weight values;
calculating the change rate of the generated weight value according to the weight value sequence and the preset time length;
comparing the change rate with a first preset change rate threshold value and a second preset change rate threshold value, and comparing each weight value in the weight value sequence with the first preset weight threshold value and the second preset weight threshold value, wherein the first preset change rate threshold value is smaller than the second preset change rate threshold value, the first preset weight threshold value is larger than the second preset weight threshold value, when the change rate is not more than the first preset change rate threshold value and each weight value in the weight value sequence is larger than the first preset weight threshold value, the unmanned aerial vehicle is determined to be in a landing state, when the change rate is not more than the second preset change rate threshold value and each weight value in the weight value sequence is not more than the second preset weight threshold value, the unmanned aerial vehicle is determined to be in an aerial state, when the change rate is more than the second preset change rate threshold value, determining that the drone is in a stomping state.
2. The landing gear detection method for unmanned aerial vehicle of claim 1,
the weight value that measures unmanned aerial vehicle through the pressure sensor of unmanned aerial vehicle foot rest bottom includes:
the method comprises the following steps that a pressure sensor at the bottom of a foot stand of the unmanned aerial vehicle is used for collecting a plurality of pressure values for each foot stand, and each foot stand corresponds to a pressure value set containing the plurality of pressure values;
taking the average value of a plurality of pressure values in the pressure value set as the pressure measurement value of the corresponding foot rest;
determining the pressure measurement value as a pressure sampling value;
and summing and averaging the pressure sampling values to obtain a weight average value, and calculating according to the weight average value and the number of foot rests to obtain a weight value of the unmanned aerial vehicle.
3. The method of claim 2, wherein prior to said taking an average of a plurality of pressure values from the set of pressure values as a pressure measurement value for a respective foot rest, further comprising: and screening out a normal pressure value set.
4. The method of claim 3, wherein the screening out the normal set of pressure values comprises:
judging whether a plurality of pressure values in the pressure value set are the same or not, if so, determining that the corresponding pressure sensor is abnormal and abandoning the pressure value set; if not, determining that the corresponding pressure sensor is normal and the pressure value set is normal.
5. The method of claim 3 or 4, further comprising, after the screening out the normal set of pressure values:
and filtering a plurality of pressure values in the pressure value set, and filtering out the maximum value and the minimum value in the pressure value set.
6. The drone landing gear detection method of claim 2, wherein the determining that the pressure measurement is a pressure sample value includes: and screening out normal pressure measurement values, and taking the normal pressure measurement values as pressure sampling values.
7. The landing gear detection method for unmanned aerial vehicle of claim 6,
before screening out normal pressure measurement values, summing and averaging the pressure measurement values to obtain a pressure average value;
screening out normal pressure measurements includes: and taking half of the pressure average value as a first pressure threshold value, taking twice of the pressure average value as a second pressure threshold value, and if the pressure measurement value is between the first pressure threshold value and the second pressure threshold value, determining that the pressure measurement value is normal.
8. The method of claim 2, further comprising:
counting the working time of each pressure sensor;
and judging whether the working time reaches a preset working time, if so, generating information for stopping the corresponding pressure sensor.
9. The method of claim 8, further comprising:
storing the pressure value set, the state of the unmanned aerial vehicle, the number of pressure sensors participating in determining the state of the unmanned aerial vehicle and the working time of each pressure sensor;
receiving an instruction for reading the state of the unmanned aerial vehicle; and the number of the first and second groups,
in response to the instruction, uploading to a control unit of the drone a status of the drone, a number of pressure sensors participating in determining the status of the drone, and information to deactivate respective pressure sensors.
10. An unmanned aerial vehicle landing state detection system, its characterized in that includes:
the weight value acquisition unit is used for measuring the weight value of the unmanned aerial vehicle through a pressure sensor at the bottom of a foot rest of the unmanned aerial vehicle;
the sequence construction module is used for periodically acquiring a plurality of weight values in a preset time length through the weight value acquisition unit and constructing a weight value sequence according to the weight values;
the data processing module is used for calculating and generating the change rate of the weight value according to the weight value sequence and the preset time length;
a state judgment module, configured to compare the change rate with a first preset change rate threshold and a second preset change rate threshold, and compare each weight value in the sequence of weight values with a first preset weight threshold and a second preset weight threshold, where the first preset change rate threshold is smaller than the second preset change rate threshold, the first preset weight threshold is larger than the second preset weight threshold, when the change rate is not larger than the first preset change rate threshold and each weight value in the sequence of weight values is larger than the first preset weight threshold, it is determined that the unmanned aerial vehicle is in a landing state, when the change rate is not larger than the second preset change rate threshold and each weight value in the sequence of weight values is not larger than the second preset weight threshold, it is determined that the unmanned aerial vehicle is in an aerial state, and when the change rate is larger than the second preset change rate threshold, determining that the drone is in a stomping state.
11. The unmanned landing gear detection system of claim 10, wherein the weight value acquisition unit comprises:
the pressure acquisition module is used for respectively acquiring a plurality of pressure values for each foot rest through a pressure sensor at the bottom of the foot rest of the unmanned aerial vehicle, and each foot rest corresponds to a pressure value set containing a plurality of pressure values;
the first calculation module is used for taking the average value of a plurality of pressure values in the pressure value set as the pressure measurement value of the corresponding foot rest;
the analysis module is used for determining the pressure measurement value as a pressure sampling value;
and the second calculation module is used for summing and averaging the pressure sampling values to obtain a weight average value, and calculating to obtain a weight value of the unmanned aerial vehicle according to the weight average value and the number of the foot rests.
12. The unmanned aerial vehicle landing gear detection system of claim 11, wherein the weight value acquisition unit further comprises: and the first judgment module is used for screening out a normal pressure value set and transmitting the normal pressure value set to the first calculation module.
13. The unmanned aerial vehicle landing gear detection system of claim 12, wherein the screening out a set of normal pressure values comprises: judging whether a plurality of pressure values in the pressure value set are the same or not, if so, determining that the corresponding pressure sensor is abnormal and abandoning the pressure value set; if not, determining that the corresponding pressure sensor is normal and the pressure value set is normal.
14. The landing gear detection system for drones of claim 12 or 13, wherein the weight value acquisition unit further comprises: and the filtering module is used for filtering a plurality of pressure values in the normal pressure value set and filtering out the maximum value and the minimum value in the pressure value set.
15. The system of claim 11, wherein the analysis module is configured to screen out normal pressure measurements and use the normal pressure measurements as pressure sampling values.
16. The drone landing gear detection system of claim 15, wherein the first calculation module is further configured to sum the pressure measurements averaged to obtain a pressure average;
screening out normal pressure measurements includes: and taking half of the pressure average value as a first pressure threshold value, taking twice of the pressure average value as a second pressure threshold value, and if the pressure measurement value is between the first pressure threshold value and the second pressure threshold value, determining that the pressure measurement value is normal.
17. The unmanned aerial vehicle landing gear detection system of claim 11, further comprising:
the timing module is used for counting the working time of each pressure sensor; and the number of the first and second groups,
and the second judgment module is used for judging whether the working time reaches the preset working time, and if so, generating information for stopping the corresponding pressure sensor.
18. The unmanned aerial vehicle landing gear detection system of claim 17, further comprising:
the storage module is used for storing the pressure value set, the state of the unmanned aerial vehicle, the number of pressure sensors participating in determining the state of the unmanned aerial vehicle and the working time of each pressure sensor;
the receiving module is used for receiving an instruction for reading the state of the unmanned aerial vehicle; and the number of the first and second groups,
a sending module for uploading the state of the drone, the number of pressure sensors participating in determining the state of the drone, and information to deactivate the corresponding pressure sensors to a control unit of the drone in response to the instruction.
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