CN113867395B - Unmanned aerial vehicle take-off wheel monitoring method and system and storage medium - Google Patents
Unmanned aerial vehicle take-off wheel monitoring method and system and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicle take-off monitoring, and discloses an unmanned aerial vehicle take-off wheel monitoring method, an unmanned aerial vehicle take-off wheel monitoring system and a storage medium. The method comprises the following steps: step 1: calculating the signal effectiveness of a single pressure sensor on the unmanned aerial vehicle wheel according to the numerical value of the single pressure sensor and the numerical effectiveness of the single pressure sensor; step 2: calculating a fault sign and a ground clearance state of the single wheel according to the numerical value of each pressure sensor on the single wheel, the numerical value validity of each pressure sensor and the signal validity of each pressure sensor; step 3: according to the ground leaving state and fault sign of each wheel of the unmanned aerial vehicle, the unmanned aerial vehicle sky-direction speed and the unmanned aerial vehicle height, the current ground leaving state of the unmanned aerial vehicle is calculated. According to the method for monitoring the aircraft taking-off wheel of the unmanned plane, provided by the invention, the data processing of redundant aircraft wheel pressure sensors is adopted, and the aircraft ground-leaving state is calculated by combining the current flight phase and flight parameters of the aircraft.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle take-off monitoring, in particular to a method and a system for monitoring an unmanned aerial vehicle take-off wheel and a storage medium.
Background
The unmanned aerial vehicle takes off aircraft wheel control refers to the unmanned aerial vehicle take off the in-process, monitors aircraft wheel ground connection state and judges whether the aircraft is off the ground. The common machine wheel monitoring mode is to judge whether the machine wheel is lifted off the ground or not through the data of the wheel-mounted sensor, and the judgment result depends on the accuracy and the stability of the sensor.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the problems, the invention provides an unmanned aerial vehicle taking-off wheel monitoring method, which adopts redundant wheel pressure sensor data processing and calculates the ground leaving state of an airplane by combining the current flight phase and flight parameters of the airplane.
The technical scheme adopted by the invention is as follows:
In a first aspect, the present invention provides a method for monitoring an unmanned aerial vehicle take-off wheel, including:
Step 1: calculating the signal effectiveness of a single pressure sensor on the unmanned aerial vehicle wheel according to the numerical value of the single pressure sensor and the numerical effectiveness of the single pressure sensor;
step 2: calculating a fault sign and a ground clearance state of the single wheel according to the numerical value of each pressure sensor on the single wheel, the numerical value validity of each pressure sensor and the signal validity of each pressure sensor;
Step 3: according to the ground leaving state and fault sign of each wheel of the unmanned aerial vehicle, the unmanned aerial vehicle sky-direction speed and the unmanned aerial vehicle height, the current ground leaving state of the unmanned aerial vehicle is calculated.
Further, step1 mainly detects an inherent fault of the pressure sensor, and specifically includes:
Step 11: initializing the signal validity of a single pressure sensor to be true, and initializing a validity counter to be 0;
step 12: judging the value of the single pressure sensor and the value validity of the single pressure sensor when the single pressure sensor meets the stage condition, adding 1 to the validity counter when the value of the single pressure sensor is larger than a set first ground pressure threshold value or the value validity of the single pressure sensor is false, otherwise setting 0;
wherein the stage conditions include: the unmanned aerial vehicle takes off the order and sends out and unmanned aerial vehicle speed is smaller than the minimum take-off speed and the signal validity of this sensor is true;
step 13: if the validity counter value is larger than the set time threshold value, setting the signal validity of the single pressure sensor to be false, and returning to the step 12; if the validity calculator value is less than or equal to the set time threshold, then step 12 is directly returned.
After the signal validity of a certain pressure sensor is judged to be false, the pressure sensor is not judged any more, namely, the signal validity of the pressure sensor is not recovered after being false.
Further, in step 2, the specific step of calculating the failure flag of the single wheel includes:
Step a1: initializing a wheel fault mark as false, and setting a fault counter to 0;
Step a2: when the ground leaving state of the unmanned aerial vehicle is the ground and the fault mark of the machine wheel is false, and the numerical value validity of all the pressure sensors and the signal validity of all the pressure sensors on a single machine wheel are both false, adding 1 to the fault counter, otherwise setting 0 to the fault counter;
Step a3: if the value of the fault counter is larger than the set fault time threshold, setting the wheel fault mark as true and ending; otherwise, returning to the step a2.
The fault sign calculation of each machine wheel is carried out before the unmanned aerial vehicle leaves the ground, and once the fault sign of a certain machine wheel is monitored to be true, the machine wheel is not monitored any more.
Further, in step 2, calculating the ground clearance state of the single wheel includes:
step b1: initializing the ground-leaving state of the machine wheels as the ground, setting a first machine wheel ground-leaving counter to be 0, and setting a second machine wheel ground-leaving counter to be 0;
step b2: when the unmanned aerial vehicle meets the judging condition that the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground, and the value of at least one pressure sensor in all pressure sensors belonging to the same wheel is smaller than a set second ground pressure threshold value, the value validity of the pressure sensor is true, and the signal validity of the sensor is true, adding 1 to a first wheel ground leaving counter, and setting 0 to the second wheel ground leaving counter; otherwise, the first machine wheel ground-off counter is set to 0, and the second machine wheel ground-off counter is increased by 1;
Step b3: if the value of the first machine wheel ground-off counter is larger than the set time threshold, the machine wheel ground-off state is in the air, and the step b2 is returned, and if the value of the first machine wheel ground-off counter is smaller than or equal to the set time threshold, the step b2 is directly returned; if the value of the second machine wheel ground-off counter is larger than the set time threshold, the ground-off state of the machine wheel is set as the ground, and the step b2 is returned, and if the value of the second machine wheel ground-off counter is smaller than or equal to the set time threshold, the step b2 is directly returned; and processing circularly until the unmanned aerial vehicle does not meet the judging condition that the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground.
Further, the step 3 includes:
Step 31: initializing the ground leaving state of the unmanned aerial vehicle as the ground, setting a ground leaving counter of the unmanned aerial vehicle as 0, setting a sky-direction speed counter as 0 and setting a height counter as 0;
Step 32: when the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground, any two wheels have no faults and the ground leaving states of the two wheels are all in the air, the ground leaving counter of the unmanned aerial vehicle is set to be increased by 1, otherwise, the ground leaving counter of the unmanned aerial vehicle is set to be 0; when the unmanned aerial vehicle is effective in the sky-direction speed and the numerical value is larger than the threshold of the ground-leaving speed, the sky-direction speed counter is added with 1, otherwise, the sky-direction speed counter is added with 0; when the height signal is valid and the height of the height meter is greater than the threshold of the ground clearance height, the height counter is set to be increased by 1, otherwise, the height counter is set to be 0;
step 33: if the value of the unmanned aerial vehicle ground-leaving counter is greater than the set time threshold or the value of the sky-direction speed counter is greater than the set time threshold or the value of the altitude counter is greater than the set time threshold, setting the unmanned aerial vehicle ground-leaving state as the air, and exiting the calculation of the current unmanned aerial vehicle ground-leaving state, otherwise, returning to the step 32.
In a second aspect, the present invention provides an unmanned aerial vehicle take-off wheel monitoring system, comprising:
The pressure sensor signal processing module is used for calculating the signal validity of the single pressure sensor according to the numerical value of the single pressure sensor on the unmanned aerial vehicle wheel and the numerical value validity of the single pressure sensor;
the machine wheel signal processing module is used for calculating a fault sign and a ground leaving state of the single machine wheel according to the numerical value of each pressure sensor on the single machine wheel, the numerical value validity of each pressure sensor and the signal validity of each pressure sensor;
The unmanned aerial vehicle ground clearance judging module is used for calculating the current ground clearance state of the unmanned aerial vehicle according to the ground clearance state and fault sign of each wheel of the unmanned aerial vehicle, the direction-of-the-sky speed of the unmanned aerial vehicle and the height of the unmanned aerial vehicle.
The machine wheel signal processing module comprises a fault sign judging module and a ground clearance state judging module;
The fault sign judging module judges and calculates the fault sign of the single machine wheel according to the numerical value effectiveness of all the pressure sensors on the single machine wheel and the signal effectiveness of all the pressure sensors;
The ground-leaving state judging module judges the ground-leaving state of the single machine wheel according to the numerical values of all the pressure sensors on the single machine wheel and the signal validity of all the pressure sensors.
In a third aspect, the present invention provides a computer-readable storage medium having stored thereon computer instructions that, when run on an electronic device, cause the electronic device to perform the method of the first aspect.
Compared with the prior art, the beneficial effects of adopting the technical scheme are as follows:
According to the invention, the ground leaving state of the airplane is judged according to the ground leaving state and the fault sign of the pressure sensor computer wheel on the airplane wheel and according to the ground leaving state and the fault sign of the airplane wheel and the current flight parameter of the unmanned aerial vehicle, and the obtained judgment result is more accurate.
Drawings
Fig. 1 is a schematic flow chart of a method for monitoring an aircraft wheel of an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a signal validity judgment flow of a pressure sensor according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a failure flag judging and calculating process of a wheel according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a process for determining a wheel lift state according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a determination flow of a ground clearance state of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
The method for monitoring the unmanned aerial vehicle take-off wheels is suitable for the fixed wing unmanned aerial vehicle adopting the front left-right three-wheel layout. The monitoring method uses the numerical value and the numerical value validity of 6 pressure sensors (2 of each wheel), calculates the data validity of each pressure sensor, further calculates the ground leaving state and fault sign of each wheel, and judges whether the aircraft is separated from the ground by combining the aircraft heaving speed and the aircraft height.
As shown in fig. 1, the method for monitoring the wheels of the unmanned aerial vehicle in this embodiment specifically includes the following three steps:
Step 1: the signal processing of the single pressure sensor is specifically as follows: and calculating the signal validity of the single pressure sensor according to the value of the single pressure sensor on the unmanned aerial vehicle wheel and the value validity of the single pressure sensor.
The main purpose of this step is to detect an inherent failure of the pressure sensor.
Step 2: the signal processing of the single-wheel dual-redundancy sensor comprises the following steps: and calculating the fault sign and the ground leaving state of the single machine wheel according to the numerical value of each pressure sensor on the single machine wheel, the numerical value validity of each pressure sensor and the signal validity of each pressure sensor.
Step 3: unmanned aerial vehicle ground leaving judgment: according to the ground leaving state and fault sign of three wheels of the unmanned aerial vehicle, the unmanned aerial vehicle sky-direction speed and the unmanned aerial vehicle height, the current ground leaving state of the unmanned aerial vehicle is calculated.
The embodiment also provides an unmanned aerial vehicle plays aircraft wheel monitored control system, includes:
The pressure sensor signal processing module is used for calculating the signal validity of the single pressure sensor according to the numerical value of the single pressure sensor on the unmanned aerial vehicle wheel and the numerical value validity of the single pressure sensor;
the machine wheel signal processing module is used for calculating a fault sign and a ground leaving state of the single machine wheel according to the numerical value of each pressure sensor on the single machine wheel, the numerical value validity of each pressure sensor and the signal validity of each pressure sensor;
The unmanned aerial vehicle ground clearance judging module is used for calculating the current ground clearance state of the unmanned aerial vehicle according to the ground clearance state and fault sign of each wheel of the unmanned aerial vehicle, the direction-of-the-sky speed of the unmanned aerial vehicle and the height of the unmanned aerial vehicle.
The embodiment also provides a computer readable storage medium, wherein the computer readable storage medium stores computer instructions, and when the computer instructions run on electronic equipment, the electronic equipment is caused to execute the unmanned aerial vehicle take-off wheel monitoring method.
Example 2
The present embodiment is further improved on the basis of embodiment 1, and specifically, in the present embodiment, a single pressure sensor signal processing step is described.
The primary purpose of single pressure sensor signal processing is to detect inherent failure of the pressure sensor. When the stage condition is satisfied (the take-off instruction is sent, the aircraft speed is smaller than the minimum take-off speed, and the signal validity of the sensor is true), the values of the 6 pressure sensors and the value validity of the sensor are respectively subjected to single pressure sensor signal processing, and the signal validity of the 6 sensors is respectively calculated.
The specific steps are shown in fig. 2:
Step 11: firstly, initializing signal validity of a single pressure sensor to be true, and initializing a validity counter to be 0;
Step 12: when a single pressure sensor meets a stage condition, judging the value of the single pressure sensor and the value validity of the single pressure sensor, and when the value of the single pressure sensor is larger than a set first ground pressure threshold value or the value validity of the single pressure sensor is false, adding 1 to the validity counter, otherwise setting 0;
step 13: if the validity counter value is larger than the set time threshold value, setting the signal validity of the single pressure sensor to be false, and returning to the step 12; if the validity calculator value is less than or equal to the set time threshold, then step 12 is directly returned.
The signal validity of the pressure sensor is false, and single pressure sensor signal processing is not carried out on the pressure sensor, namely the signal validity of the sensor is false and cannot be recovered.
Example 3
The present embodiment is further improved on the basis of embodiment 1 or embodiment 2, and specifically, in the present embodiment, the signal processing of the single wheel dual redundancy sensor in step 2 is described.
When the two wheels of the unmanned aerial vehicle run in an accelerating mode and the ground leaving state of the unmanned aerial vehicle is the ground, signal processing of a single wheel dual-redundancy sensor is respectively carried out on the three wheels of the unmanned aerial vehicle, and the processed content comprises fault monitoring and ground leaving state judgment of each wheel.
The fault monitoring of each wheel is carried out before the unmanned aerial vehicle leaves the ground, and once a certain wheel fault mark is monitored to be true, the wheel is not monitored.
As shown in fig. 3, the specific steps are as follows:
Step a1: initializing a wheel fault mark as false, and setting a fault counter to 0;
Step a2: when the ground leaving state of the unmanned aerial vehicle is the ground and the fault mark of the machine wheel is false, and the numerical value validity of two pressure sensors (the pressure sensor 1 and the pressure sensor 2) on the same machine wheel and the signal validity of the two pressure sensors are both false, the fault counter is increased by 1, otherwise, the fault counter is set to 0;
Step a3: if the value of the fault counter is larger than the set fault time threshold, setting the wheel fault mark as true and ending; otherwise, returning to the step a2.
The judgment of the ground leaving state of each wheel is carried out when the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground.
As shown in fig. 4, the specific steps are as follows:
Step b1: initializing the ground leaving state of the machine wheel as the ground, setting a machine wheel ground leaving counter 1 to 0, and setting a machine wheel ground leaving counter 2 to 0;
Step b2: when the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground, and the value of at least one of the two pressure sensors belonging to the same wheel is smaller than a set second ground pressure threshold value, the value validity of the pressure sensor is true, and the signal validity of the sensor is true, the wheel ground leaving counter 1 is increased by 1, and the wheel ground leaving counter 2 is set to 0; otherwise, the wheel ground-off counter 1 is set to 0, and the wheel ground-off counter 2 is increased by 1;
Step b3: if the value of the first machine wheel ground-off counter is larger than the set time threshold, the machine wheel ground-off state is in the air, and the step b2 is returned, and if the value of the first machine wheel ground-off counter is smaller than or equal to the set time threshold, the step b2 is directly returned; if the value of the second machine wheel ground-off counter is larger than the set time threshold, the ground-off state of the machine wheel is set as the ground, and the step b2 is returned, and if the value of the second machine wheel ground-off counter is smaller than or equal to the set time threshold, the step b2 is directly returned; and processing in such a circulating way until the unmanned aerial vehicle does not meet the judging condition that the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground.
Example 4
The present embodiment is further improved on the basis of embodiment 1, embodiment 2 or embodiment 3, and specifically, in the present embodiment, the step of determining the ground clearance of the unmanned aerial vehicle is described.
The unmanned aerial vehicle ground clearance judgment is to judge the ground clearance state of the airplane according to the three-wheel ground clearance state and the fault sign and by combining parameters such as the upward speed, the height and the like of the airplane.
As shown in fig. 5, the specific steps are as follows:
Step 31: initializing the ground leaving state of the unmanned aerial vehicle as the ground, setting a ground leaving counter of the unmanned aerial vehicle as 0, setting a sky-direction speed counter as 0 and setting a height counter as 0;
Step 32: when the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground, any two wheels have no faults and the ground leaving states of the two wheels are all in the air, the ground leaving counter of the unmanned aerial vehicle is set to be increased by 1, otherwise, the ground leaving counter of the unmanned aerial vehicle is set to be 0; when the unmanned aerial vehicle is effective in the sky-direction speed and the numerical value is larger than the threshold of the ground-leaving speed, the sky-direction speed counter is added with 1, otherwise, the sky-direction speed counter is added with 0; when the height signal is valid and the height of the height meter is greater than the threshold of the ground clearance height, the height counter is set to be increased by 1, otherwise, the height counter is set to be 0;
step 33: if the value of the unmanned aerial vehicle ground-leaving counter is greater than the set time threshold or the value of the sky-direction speed counter is greater than the set time threshold or the value of the altitude counter is greater than the set time threshold, setting the unmanned aerial vehicle ground-leaving state as the air, and exiting the calculation of the current unmanned aerial vehicle ground-leaving state, otherwise, returning to the step 32.
Example 5
The embodiment is further improved on the basis of embodiment 1, specifically, in this embodiment, the wheel signal processing module includes a fault sign judging module and a ground clearance judging module;
The fault sign judging module judges and calculates the fault sign of the single machine wheel according to the numerical value effectiveness of all the pressure sensors on the single machine wheel and the signal effectiveness of all the pressure sensors;
The ground-leaving state judging module judges the ground-leaving state of the single machine wheel according to the numerical values of all the pressure sensors on the single machine wheel and the signal validity of all the pressure sensors.
The invention is not limited to the specific embodiments described above. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification, as well as to any novel one, or any novel combination, of the steps of the method or process disclosed. It is intended that insubstantial changes or modifications from the invention as described herein be covered by the claims below, as viewed by a person skilled in the art, without departing from the true spirit of the invention.
Claims (7)
1. An unmanned aerial vehicle take-off wheel monitoring method, comprising:
Step 1: calculating the signal effectiveness of a single pressure sensor on the unmanned aerial vehicle wheel according to the numerical value of the single pressure sensor and the numerical effectiveness of the single pressure sensor;
step 2: calculating a fault sign and a ground clearance state of the single wheel according to the numerical value of each pressure sensor on the single wheel, the numerical value validity of each pressure sensor and the signal validity of each pressure sensor;
step 3: calculating the current ground leaving state of the unmanned aerial vehicle according to the ground leaving state and fault sign of each wheel of the unmanned aerial vehicle, the steering speed of the unmanned aerial vehicle and the height of the unmanned aerial vehicle;
in the step 2, the specific step of calculating the fault sign of the single computer wheel comprises the following steps:
Step a1: initializing a wheel fault mark as false, and setting a fault counter to 0;
Step a2: when the ground leaving state of the unmanned aerial vehicle is the ground and the fault mark of the machine wheel is false, and the numerical value validity of all the pressure sensors and the signal validity of all the pressure sensors on a single machine wheel are both false, adding 1 to the fault counter, otherwise setting 0 to the fault counter;
step a3: if the value of the fault counter is larger than the set fault time threshold, setting the wheel fault mark as true and ending; otherwise, returning to the step a2;
in the step 2, calculating the ground clearance state of the single wheel includes:
step b1: initializing the ground-leaving state of the machine wheels as the ground, setting a first machine wheel ground-leaving counter to be 0, and setting a second machine wheel ground-leaving counter to be 0;
step b2: when the unmanned aerial vehicle meets the judging condition that the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground, and the value of at least one pressure sensor in all pressure sensors belonging to the same wheel is smaller than a set second ground pressure threshold value, the value validity of the pressure sensor is true, and the signal validity of the sensor is true, adding 1 to a first wheel ground leaving counter, and setting 0 to the second wheel ground leaving counter; otherwise, the first machine wheel ground-off counter is set to 0, and the second machine wheel ground-off counter is increased by 1;
Step b3: if the value of the first machine wheel ground-off counter is larger than the set time threshold, the machine wheel ground-off state is in the air, and the step b2 is returned, and if the value of the first machine wheel ground-off counter is smaller than or equal to the set time threshold, the step b2 is directly returned; if the value of the second machine wheel ground-off counter is larger than the set time threshold, the ground-off state of the machine wheel is set as the ground, and the step b2 is returned, and if the value of the second machine wheel ground-off counter is smaller than or equal to the set time threshold, the step b2 is directly returned; and processing circularly until the unmanned aerial vehicle does not meet the judging condition that the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground.
2. The method for monitoring the wheels of an unmanned aerial vehicle according to claim 1, wherein the step 1 specifically comprises:
Step 11: initializing the signal validity of a single pressure sensor to be true, and initializing a validity counter to be 0;
step 12: judging the value of the single pressure sensor and the value validity of the single pressure sensor when the single pressure sensor meets the stage condition, adding 1 to the validity counter when the value of the single pressure sensor is larger than a set first ground pressure threshold value or the value validity of the single pressure sensor is false, otherwise setting 0;
step 13: if the validity counter value is larger than the set time threshold value, setting the signal validity of the single pressure sensor to be false, and returning to the step 12; if the validity calculator value is less than or equal to the set time threshold, then step 12 is directly returned.
3. A method of unmanned aerial vehicle wheel monitoring according to claim 2, wherein the phase conditions comprise: the unmanned aerial vehicle takes off the order and sends out and unmanned aerial vehicle speed is less than minimum take off speed and this sensor signal validity is true.
4. A method for monitoring the wheels of an unmanned aerial vehicle according to claim 1 or 2, wherein the step 3 comprises:
Step 31: initializing the ground leaving state of the unmanned aerial vehicle as the ground, setting a ground leaving counter of the unmanned aerial vehicle as 0, setting a sky-direction speed counter as 0 and setting a height counter as 0;
Step 32: when the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground, any two wheels have no faults and the ground leaving states of the two wheels are all in the air, adding 1 to the ground leaving counter of the unmanned aerial vehicle, otherwise, setting 0 to the ground leaving counter of the unmanned aerial vehicle; when the unmanned aerial vehicle is effective in the sky-direction speed and the numerical value is larger than the threshold of the ground-leaving speed, adding 1 to the sky-direction speed counter, otherwise setting 0 to the sky-direction speed counter; when the height signal is valid and the height of the height meter is greater than the threshold of the ground clearance height, adding 1 to the height counter, otherwise setting 0 to the height counter;
step 33: if the value of the unmanned aerial vehicle ground-leaving counter is greater than the set time threshold or the value of the sky-direction speed counter is greater than the set time threshold or the value of the altitude counter is greater than the set time threshold, setting the unmanned aerial vehicle ground-leaving state as the air, and exiting the calculation of the current unmanned aerial vehicle ground-leaving state, otherwise, returning to the step 32.
5. An unmanned aerial vehicle takes off aircraft wheel monitored control system, characterized by comprising:
The pressure sensor signal processing module is used for calculating the signal validity of the single pressure sensor according to the numerical value of the single pressure sensor on the unmanned aerial vehicle wheel and the numerical value validity of the single pressure sensor;
the machine wheel signal processing module is used for calculating a fault sign and a ground leaving state of the single machine wheel according to the numerical value of each pressure sensor on the single machine wheel, the numerical value validity of each pressure sensor and the signal validity of each pressure sensor;
the unmanned aerial vehicle ground clearance judging module is used for calculating the current ground clearance state of the unmanned aerial vehicle according to the ground clearance state and fault sign of each wheel of the unmanned aerial vehicle, the direction-of-the-sky speed of the unmanned aerial vehicle and the height of the unmanned aerial vehicle;
The specific steps for calculating the fault sign of the single computer wheel comprise:
Step a1: initializing a wheel fault mark as false, and setting a fault counter to 0;
Step a2: when the ground leaving state of the unmanned aerial vehicle is the ground and the fault mark of the machine wheel is false, and the numerical value validity of all the pressure sensors and the signal validity of all the pressure sensors on a single machine wheel are both false, adding 1 to the fault counter, otherwise setting 0 to the fault counter;
step a3: if the value of the fault counter is larger than the set fault time threshold, setting the wheel fault mark as true and ending; otherwise, returning to the step a2;
calculating the ground clearance state of the single wheel includes:
step b1: initializing the ground-leaving state of the machine wheels as the ground, setting a first machine wheel ground-leaving counter to be 0, and setting a second machine wheel ground-leaving counter to be 0;
step b2: when the unmanned aerial vehicle meets the judging condition that the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground, and the value of at least one pressure sensor in all pressure sensors belonging to the same wheel is smaller than a set second ground pressure threshold value, the value validity of the pressure sensor is true, and the signal validity of the sensor is true, adding 1 to a first wheel ground leaving counter, and setting 0 to the second wheel ground leaving counter; otherwise, the first machine wheel ground-off counter is set to 0, and the second machine wheel ground-off counter is increased by 1;
Step b3: if the value of the first machine wheel ground-off counter is larger than the set time threshold, the machine wheel ground-off state is in the air, and the step b2 is returned, and if the value of the first machine wheel ground-off counter is smaller than or equal to the set time threshold, the step b2 is directly returned; if the value of the second machine wheel ground-off counter is larger than the set time threshold, the ground-off state of the machine wheel is set as the ground, and the step b2 is returned, and if the value of the second machine wheel ground-off counter is smaller than or equal to the set time threshold, the step b2 is directly returned; and processing circularly until the unmanned aerial vehicle does not meet the judging condition that the unmanned aerial vehicle slides on two wheels and the ground leaving state of the unmanned aerial vehicle is the ground.
6. The unmanned aerial vehicle take-off wheel monitoring system of claim 5, wherein the wheel signal processing module comprises a fault flag judging module and a ground clearance state judging module;
The fault sign judging module judges and calculates the fault sign of the single machine wheel according to the numerical value effectiveness of all the pressure sensors on the single machine wheel and the signal effectiveness of all the pressure sensors;
The ground-leaving state judging module judges the ground-leaving state of the single machine wheel according to the numerical values of all the pressure sensors on the single machine wheel and the signal validity of all the pressure sensors.
7. A computer readable storage medium having stored thereon computer instructions which, when run on an electronic device, cause the electronic device to perform the method of any of claims 1 to 4.
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