CN106516157B - Unmanned plane beats the determination method, device and unmanned plane of paddle - Google Patents
Unmanned plane beats the determination method, device and unmanned plane of paddle Download PDFInfo
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- CN106516157B CN106516157B CN201610948398.0A CN201610948398A CN106516157B CN 106516157 B CN106516157 B CN 106516157B CN 201610948398 A CN201610948398 A CN 201610948398A CN 106516157 B CN106516157 B CN 106516157B
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Abstract
Unmanned plane provided in an embodiment of the present invention beats the determination method and device of paddle, is applied to unmanned plane provided in an embodiment of the present invention, belongs to air vehicle technique field.The unmanned plane beat paddle determination method include: acquisition and unmanned plane motor the running current square value associated current data that are positively correlated and are negatively correlated with the real-time revolving speed of motor, judge whether the unmanned plane is to beat paddle state by the size relation of the associated current data and first threshold.The associated current data for having reached the motor of the unmanned plane by acquisition can effectively determine whether unmanned plane is the technical effect for beating paddle state, effectively prevent only determining that unmanned plane is the technical issues of state erroneous judgement caused when beating paddle state even results in aircraft bombing accident by the rapid drawdown of revolving speed.
Description
Technical field
The present invention relates to air vehicle technique field, in particular to unmanned plane beat the determination method of paddle, device and nobody
Machine.
Background technique
It is desirable to when beating paddle state and determining, mainly be carried out down by the revolving speed of motor to the blade of unmanned plane
The detection on edge is dropped.In flight course, if detecting that the revolving speed of motor declines suddenly, i.e. the blade of judgement unmanned plane has been touched
It contacts object, executes the safeguard measure for stopping motor operating to the unmanned plane immediately.But in some cases, for example, nobody
When machine carries out stunt or does big-movement in the sky, it is possible that the revolving speed of motor declines suddenly but not beats the feelings of paddle
Condition.Since user pushes away completely unmanned oil level in moment, but moment by drawing to minimum, then the revolving speed of motor can dramatic decrease.
The unmanned plane may will be mistaken for beating paddle state at this time, be triggered to unmanned plane and beat paddle protection algorism, execution stops oil etc.
Measure causes unmanned plane aircraft bombing to be crashed so that unmanned plane is turned off in the sky stops oil.
Summary of the invention
In view of this, the embodiment of the invention provides determination methods, device and unmanned plane that unmanned plane beats paddle, it is intended to improve
The above problem.
A kind of unmanned plane provided in an embodiment of the present invention beats the determination method of paddle, which comprises obtains unmanned plane
The associated current data of motor, wherein the associated current data and the running current square value of the motor are positively correlated, and
It is negatively correlated with the real-time revolving speed of the motor.Judge whether the associated current data are greater than first threshold, if the pass
Join current data and be greater than the first threshold, determines that the unmanned plane is to beat paddle state.
A kind of unmanned plane provided in an embodiment of the present invention beats the decision maker of paddle, and described device includes: associated current data
Obtain module, the associated current data of the motor for obtaining unmanned plane, wherein the associated current data and the motor
Running current square value is positively correlated, and is negatively correlated with the real-time revolving speed of the motor.Threshold value judgment module, for judging
State whether associated current data are greater than first threshold.Paddle protective module is beaten, if be greater than for the associated current data described
First threshold determines that the unmanned plane is to beat paddle state.
A kind of unmanned plane provided in an embodiment of the present invention, the unmanned plane include: drone body, motor, memory, with
Processor and unmanned plane that the memory is electrically connected beat the decision maker of paddle.The unmanned plane beats the decision maker peace of paddle
Loaded on the software function module executed in the memory and including one or more by the processor.The unmanned plane beats paddle
Decision maker include: associated current data acquisition module, the associated current data of the motor for obtaining unmanned plane, wherein
The associated current data and the running current square value of the motor are positively correlated, and with the real-time revolving speed of the motor at negative
It is related.Threshold value judgment module, for judging whether the associated current data are greater than first threshold.Paddle determination module is beaten, is used for
If the associated current data are greater than the first threshold, determine that the unmanned plane is to beat paddle state.
The determination method and device that unmanned plane provided in an embodiment of the present invention beats paddle are applied to provided in an embodiment of the present invention
Unmanned plane.It obtains and is positively correlated with the running current square value of the motor of unmanned plane and is negatively correlated with the real-time revolving speed of motor
Associated current data judge whether the unmanned plane is to beat paddle by the size relation of the associated current data and first threshold
State.Unmanned plane is when carrying out stunt or being done in the sky compared with big-movement, real-time revolving speed rapid drawdown, and running current is also under meeting
Drop, then side's value of the running current and the ratio of real-time revolving speed will not rapid drawdown therewith, reached through the unmanned plane of acquisition
The associated current data of motor can effectively determine whether unmanned plane is the technical effect for beating paddle state, effectively prevent only passing through
The rapid drawdown of revolving speed determines that unmanned plane is that state caused when beating paddle state is judged by accident and is performed shutdown and stops oil and leads to aircraft bombing thing
Therefore technical problem.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the block diagram of unmanned plane provided in an embodiment of the present invention；
Fig. 2 is the step flow chart for the determination method that the unmanned plane that first embodiment of the invention provides beats paddle；
Fig. 3 is a seed step of the step S201 for the determination method that the unmanned plane that first embodiment of the invention provides beats paddle
Flow chart；
Fig. 4 is another sub-step of the step S201 for the determination method that the unmanned plane that first embodiment of the invention provides beats paddle
Rapid flow chart；
Fig. 5 is the step S401 and step S402 for the determination method that the unmanned plane that first embodiment of the invention provides beats paddle
One seed step flow chart；
Fig. 6 is the step S401 and step S402 for the determination method that the unmanned plane that first embodiment of the invention provides beats paddle
Another seed step flow chart；
Fig. 7 is the step flow chart for the determination method that the unmanned plane that second embodiment of the invention provides beats paddle；
Fig. 8 is the functional block diagram for the decision maker that the unmanned plane that third embodiment of the invention provides beats paddle.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Therefore,
The model of claimed invention is not intended to limit to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
It encloses, but is merely representative of selected embodiment of the invention.
Unmanned plane provided by the invention beats the determination method and device of paddle, be applied to it is provided in an embodiment of the present invention nobody
Machine is mainly used in the unmanned plane of multi-rotor unmanned aerial vehicle or coaxial double-oar, including types such as three axis, four axis, six axis, eight axis
Unmanned plane.Certainly, unmanned plane or unmanned plane provided in an embodiment of the present invention beat nothing applied by the determination method and device of paddle
It is man-machine can also include fixed-wing unmanned plane or it is other carry out beat paddle state determine unmanned plane, it is not limited here.
Fig. 1 is the block diagram of unmanned plane 100 provided in an embodiment of the present invention.The unmanned plane 100 includes: unmanned plane
Ontology and motor, the drone body provide power by the motor, execute the flare maneuver of user demand.The unmanned plane
100 further include: unmanned plane makes decision maker 101, memory 102, storage control 103, the processor 104, Peripheral Interface of paddle
105, input-output unit 106 and display unit 107.The memory 102, storage control 103, processor 104, peripheral hardware connect
Mouth 105, input-output unit 106, each element of display unit 107 are directly or indirectly electrically connected between each other, to realize number
According to transmission or interaction.For example, these elements can be realized electrically between each other by one or more communication bus or signal wire
Connection.The decision maker 101 that the unmanned plane beats paddle is stored in the memory 102 comprising one or more software
Functional module or firmware (firmware) module.The processor 104 is for executing the executable mould stored in memory 102
Block, such as the unmanned plane beat the software function module or computer program that the decision maker 101 of paddle includes.
Wherein, memory 102 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 102 is for storing program, and the processor 104 executes described program after receiving and executing instruction, subsequent
Method performed by the server/computer for the flow definition that any embodiment of the embodiment of the present invention discloses can be applied to handle
In device 104, or realized by processor 104.
Processor 104 may be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 104 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), specific integrated circuit (ASIC),
Ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hard
Part component.It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor
It can be microprocessor or the processor be also possible to any conventional processor etc..
Various input-output units 106 are couple processor 104 and memory 102 by the Peripheral Interface 105.One
In a little embodiments, Peripheral Interface 105, processor 104 and storage control 103 can be realized in one single chip.At other
In some examples, they can be realized by independent chip respectively.
Input-output unit 106 is used to be supplied to the interaction that user input data realizes user and the holder.It is described defeated
Entering output unit 106 may be, but not limited to, and touch screen, mouse and keyboard etc. export correspondence for the operation in response to user
Signal.
Display unit 107 provided between the unmanned plane and user an interactive interface (such as user interface) or
It is referred to for display image data to user.In the present embodiment, the display unit can be liquid crystal display or touch-control is aobvious
Show device.It can be the capacitance type touch control screen or resistance type touch control screen of support single-point and multi-point touch operation if touch control display
Deng.Single-point and multi-point touch operation is supported to refer to that touch control display can sense one or more positions on the touch control display
The touch control operation setting place while generating, and the touch control operation that this is sensed transfers to processor to be calculated and handled.
Referring to Fig. 2, being the step flow chart that the unmanned plane that first embodiment of the invention provides beats the determination method of paddle.Under
Detailed process shown in Fig. 2 will be described in detail in face.
Step S201 obtains the associated current data of the motor of unmanned plane.
In the normal flight of unmanned plane, the electric current of the motor of unmanned plane mainly follows revolving speed.Therefore, the present invention is implemented
Example, which is provided, to be positively correlated by the running current square value with motor and is associated with electricity with what the real-time revolving speed of motor was negatively correlated
Flow data beats unmanned plane the decision technology of paddle, can effectively provide the accuracy of blade state judgement, reduces erroneous judgement aircraft bombing thing
Therefore generation.
The associated current data of the motor of the unmanned plane may include motor load, resistance variable quantity or current squaring value
The data that the current squaring value of rotating ratio variable quantity etc. and motor is positively correlated and is negatively correlated with the real-time revolving speed of motor.Please
Referring to Fig. 3, for when the associated current data are motor load, the sub-step flow chart of step S201.It below will be to Fig. 3's
Step carries out specific explanations.
Motor load is the load in motor operation course, the source of motor load specifically include that the damping of extraneous wind speed,
The damping that motor damping and blade are subject to.Extraneous wind speed damping is damping caused by wind cutting when propeller normally rotates.Generally
In the case of, the blade of unmanned plane is after rising and turning, and motor load will not mutate, because wind speed damping and motor damping will not
It mutates.So only just will lead to motor when the damping or wind speed damping that blade is introduced suddenly suddenly disappear
Load mutates.The damping that blade is introduced suddenly can be inferred as blade and get to external object, as be beaten
Paddle.The process for obtaining the motor load of the motor may include:
Step S301 obtains the real-time current and real-time revolving speed of the motor.
By motor provide blade rotation power circuit closed circuit obtain motor real-time current, by with electricity
The velocity sensor of shaft or the blade mechanical connection of machine obtains the real-time revolving speed of motor.
Step S302 calculates the motor load of the unmanned plane according to the acquired motor and the real-time revolving speed.
After the real-time current and real-time revolving speed that obtain motor according to above-mentioned steps, the motor load of unmanned plane is calculated.Meter
The mode for calculating the motor load of unmanned plane can be with are as follows:
According to the motor load calculation formula
Calculate the motor load of the unmanned plane.In above-mentioned motor load calculation formula, L indicates the motor load, I
Indicate that the real-time current, n indicate that the real-time revolving speed, C indicate attenuation coefficient.
The man-machine real-time current 1 of acquired member and real-time revolving speed n are substituted into above-mentioned motor load calculation formula, can be obtained
Take the motor load of motor.
Step S202, judges whether the associated current data are greater than first threshold.
If the associated current data are greater than the first threshold, step S203 is executed, determines that the unmanned plane is to beat
Paddle state.After the associated current data for obtaining unmanned plane according to above-mentioned steps, the blade state for carrying out unmanned plane determines.Set nothing
It is man-machine in it is critical beat paddle state when, the associated current data be first threshold.
If associated current data be greater than beat the critical value of paddle state i.e. the first threshold when, can determine that it is described nobody
Machine is to beat paddle state.
In the above-described embodiment, it is contemplated that associated current data take motor load, current squaring value rotating ratio variable quantity
Or when the difference reference value such as resistance variable quantity, the size of data actually obtained is different.Therefore corresponding different associated current
The value type of data chooses first threshold corresponding with selected value type.
In the above-described embodiment, the unmanned plane is determined for that when beating paddle state, can execute and beat paddle safeguard measure, such as
Shutdown stops oil so that the unmanned plane after collision object runs out of steam and falls, prevent it from continuing with larger power collide object or
Person's flight out of control leads to more serious collision accident.
Unmanned plane provided in an embodiment of the present invention beats the determination method of paddle, according to the rotation speed change amount of motor and the electricity of motor
The positively related relationship of square value is flowed, the associated currents data such as motor load are obtained.By acquired associated current data, with
The size relation of the critical first threshold for beating paddle state judges whether the unmanned plane is to beat paddle state.By with the motor
Current squaring value is positively correlated and the associated current data being negatively correlated with the real-time revolving speed of motor judge whether unmanned plane is to beat
Paddle state avoids the generation of peril to adopt an effective measure in time when beating paddle and occurring.Unmanned plane is carrying out stunt table
When drilling or done in the sky compared with big-movement, real-time revolving speed rapid drawdown, running current can also decline, then square of the running current
Value and the ratio of real-time revolving speed will not rapid drawdown therewith, having reached can have by the associated current data for the motor for obtaining unmanned plane
Effect determines the technical effect of the blade state of unmanned plane, also avoids only determining that unmanned plane is to beat paddle state by revolving speed cataclysm
When caused erroneous judgement and be performed shutdown and stop the technical issues of oil leads to air crash accident.
The associated current data for judging unmanned plane blade state that the embodiments of the present invention provide can also be pass
Join current parameters variable quantity.The step of referring to Fig. 4, beating the determination method of paddle for the unmanned plane that first embodiment of the invention provides
The sub-step flow chart of S201.Step shown in Fig. 4 will be specifically described below.
Step S401 obtains the motor in the first associated current parameter at the first moment and the motor at the second moment
The second associated current parameter.
Multiple monitoring moment are set, choose two adjacent monitoring moment as the first moment and the second moment.First
Moment obtains the associated current parameter of the motor, as the first associated current parameter.The motor is obtained at the second moment
Associated current parameter, as the second associated current parameter.
The selection of the associated current parameter, can with the selection mode of above-mentioned associated current data, with motor load,
Any numerical value as associated current parameter of resistance, current squaring value rotating ratio etc..
Step S402 obtains the difference of the first associated current parameter and the second associated current parameter.
After obtaining the first associated current parameter and the second associated current parameter according to above-mentioned steps, the first associated current is obtained
The difference of parameter and the second associated current parameter.
Step S403 obtains institute according to the difference of the first associated current parameter and the second associated current parameter
State the associated current Parameters variation amount of motor.
Electricity by the difference of the first associated current parameter and the second associated current parameter, as the unmanned plane
The associated current Parameters variation amount of machine.According to the variable quantity of the associated current parameter of the motor, can calculate motor load and
The variation tendency of motor speed etc., to determine whether unmanned plane occurs to beat paddle in time.
The associated current Parameters variation amount for determining unmanned plane blade state that the embodiments of the present invention provide can be with
For resistance variable quantity.Fig. 5 is referred to, the step S401 of the determination method of paddle is beaten for the unmanned plane that first embodiment of the invention provides
With the sub-step flow chart of step S402.Step shown in fig. 5 will be specifically described below.
Step S501 obtains the motor in the real-time voltage, real-time current and real-time revolving speed at first moment.
As can be seen from the above embodiments, the variation of motor load can accurately infer the state of blade.The instantaneous output work of motor
Rate be it is associated with motor load, the real-time change of motor load can be reflected by the variation of the output power of motor.
The relational expression of the motor load and power of motor is as follows:
P=U*I2=M*n=F*r*n=r*F*n (two)
In above-mentioned expression formula, U indicates that the real-time voltage of motor, I indicate the real-time current of motor；M indicates the equivalent of load
Torque, n indicate the real-time revolving speed of motor；Equivalent moment M can further be equivalent to the achievement of resistance F and an equivalent redius r,
R is a fixed constant relevant to the blade face of blade herein, therefore above-mentioned relation expression formula can be further simplified are as follows:
Therefore, resistance calculation formulae can be released by above-mentioned two formula:
Wherein, T1Indicate that resistance, K are impedance match coefficient.It can be obtained by above-mentioned resistance calculation formulae, need to obtain motor
Real-time voltage, real-time current and real-time revolving speed.
At the first moment, the real-time voltage, real-time current and real-time revolving speed of the motor are obtained.
Step S502, according to the motor in the real-time voltage at first moment, real-time current, real-time revolving speed and resistance
Calculation formula calculates the first resistance of the motor.
The motor is obtained in the real-time voltage, real-time current and real-time revolving speed at first moment according to above-mentioned steps,
Data obtained are substituted into the resistance calculation formulae:
The motor is obtained in first resistance at first moment.
Step S503 obtains the motor in the real-time voltage, real-time current and real-time revolving speed at second moment.
Process with above-mentioned acquisition motor in first resistance at the first moment obtains the motor at second moment
Real-time voltage, real-time current and real-time revolving speed.
Step S504, according to the motor in the real-time voltage at second moment, real-time current, real-time revolving speed and resistance
Calculation formula calculates the second resistance of the motor.
Real-time voltage, real-time current and the real-time revolving speed that acquired motor is calculated the moment described second substitute into resistance
Power calculation formula
The motor is obtained in second resistance at second moment.
Step S505 obtains the resistance variation of the motor according to the difference of first resistance and second resistance
Amount.
The motor is obtained in first resistance at first moment and the motor described second according to above-mentioned steps
After second resistance at moment, the difference of first resistance and second resistance is obtained, by first resistance and described the
Resistance variable quantity of the difference of two resistances as the motor.
The critical first threshold that resistance variable quantity is corresponded to when beating paddle state is obtained, if resistance variable quantity is greater than the first threshold
Value, it is believed that unmanned plane is obviously received from extraneous burst resistance, it is possible to determine that got to object for blade, paddle is beaten in appearance
State.By the size relation of the resistance variable quantity and first threshold, the blade state of the motor is determined accurately and in time.
The associated current Parameters variation amount for determining unmanned plane blade state that the embodiments of the present invention provide can be with
For current squaring value rotating ratio variable quantity.Fig. 6 is referred to, the judgement side of paddle is beaten for the unmanned plane that first embodiment of the invention provides
The sub-step flow chart of the step S401 and step S402 of method.Step shown in fig. 6 will be specifically described below.
Step S601 obtains the motor in the real-time current and real-time revolving speed at first moment.
As can be seen from the above embodiments, resistance variable quantity can accurately infer the state of blade.The real-time electricity of resistance and motor
It flows square value and real-time voltage is directly proportional, and the real-time voltage of the motor is usually to remain unchanged or only occur by a small margin
Variation, therefore the resistance calculation formulae can be further simplified are as follows:
Therefore, current squaring value speed ratio calculation formula can be extrapolated by above-mentioned two formula:
It can be concluded that the current squaring value rotating ratio of the motor at a certain moment only with motor the moment real-time current
It is related to real-time revolving speed.At the first moment, the real-time current and real-time revolving speed of the motor are obtained.
Step S602, real-time current, real-time revolving speed and current squaring value according to the motor at first moment turn
Speed ratio calculation formula obtains the first current squaring value rotating ratio of the motor.
The motor is obtained in the real-time current and real-time revolving speed at first moment according to above-mentioned steps, it will be acquired
Data substitute into the current squaring value speed ratio calculation formula:
The motor is obtained in the first current squaring value rotating ratio at first moment.
Step S603 obtains the motor in the real-time current and real-time revolving speed at second moment.
Process with above-mentioned acquisition motor in first resistance at the first moment obtains the motor at second moment
Real-time current and real-time revolving speed.
Step S604, real-time current, real-time revolving speed and current squaring value according to the motor at second moment turn
Speed ratio calculation formula obtains the second current squaring value rotating ratio of the motor.
Real-time current and real-time revolving speed by acquired motor at second moment substitute into current squaring value rotating ratio
Calculation formula:
The motor is obtained in the second current squaring value rotating ratio at second moment.
Step S605, according to the difference of the first current squaring value rotating ratio and the second current squaring value rotating ratio
Value, obtains the current squaring value rotating ratio variable quantity of the motor.
The motor is obtained in the first current squaring value rotating ratio at first moment and the electricity according to above-mentioned steps
Machine obtains the first current squaring value rotating ratio and described the after the second current squaring value rotating ratio at second moment
The difference of two current squaring value rotating ratios, by the first current squaring value rotating ratio and the second current squaring value rotating ratio
Current squaring value rotating ratio variable quantity of the difference as the motor.
The first threshold for obtaining critical corresponding current square value rotating ratio variable quantity when beating paddle state, if current squaring value
Rotating ratio variable quantity is greater than first threshold, it is believed that unmanned plane is obviously by external world's burst resistance, it is possible to determine that unmanned plane is to beat paddle
State.By the current squaring value rotating ratio variable quantity and first threshold, the paddle of the motor can be determined accurately and in time
Leaf state.
On the basis of the above embodiments, rotation protection time delay can also have been increased before the judgement that progress unmanned plane beats paddle
Step.Motor speedMainly follow the motor speed control amount (v for flying control module outputm).Since electric current is that moment is advanced
In revolving speed, electric current is controls in advance, and revolving speed is an accumulation.Therefore the moment turned, real-time revolving speed and reality are acted in motor
When electric current all have it is biggish non-linear, if according to above-described embodiment associated current data carry out the judgement of blade state if,
It is easy to rise in motor and carries out beating the erroneous judgement of paddle state in the twinkling of an eye.
The embodiment of the present application was delayed for the first period since the electric motor starting of the unmanned plane, in the delay first
At the end of the operation of section, indicates that the motor of unmanned plane has worked normally, can execute shown in step S201, obtain unmanned plane
The step of associated current data of motor.
The setting of first period can be carried out according to the relevant parameter of motor, for example, can be turned according to rising for motor
Speed, rated power etc..If the starting rotating speed degree of motor is very fast, short period of time can be set by first period.If
The starting rotating speed degree of motor is slower, then can set longer period of time for first period.It is of course also possible to be set as user
Judged the obtaining step that associated current data are executed after the motor of unmanned plane has worked normally.In the blade for carrying out unmanned plane
Before state determines, rotation protection time delay link is added, unmanned plane further can effectively be avoided to play the erroneous judgement of paddle, further protected
Unmanned plane will not force aircraft bombing by mistake.
For the accuracy for being further ensured that the judgement of blade state, the single of associated current parameter is prevented to be mutated the mistake caused
Sentence, further accurate judgement can also be accumulated by the judgement number in a period of time.Fig. 7 is referred to, is that the present invention second is real
Apply the step flow chart that the unmanned plane that example provides beats the determination method of paddle.Process shown in Fig. 7 will be specifically described below.
Whether step S701, the number for judging that the unmanned plane is judged as beating paddle state in preset second period are greater than
Second threshold.
If the number that the unmanned plane is judged as beating paddle state in second period is greater than the second threshold, hold
Paddle safeguard measure is beaten in row step S702, execution.
When needing to carry out unmanned plane to play the judgement of paddle, set for the second period.Second period can be preferably above-mentioned
It is opened after the rotation protection time delay of first period of embodiment, a blade state caused by turning is acted to avoid motor and is missed
Sentence.The setting of second period can be set according to the relevant parameter of the motor of unmanned plane, such as can be by described
Two periods were preferably 10ms-60ms.So that its can obtain can accurate judgement blade state several associated current data and
Opportunity is executed as delay safeguard measure when judging that time course causes unmanned plane to play paddle generation.
Unmanned plane may lead to the associated current data of single burst in flight course since motor data is unstable
Exception.If only relying on single data carries out the judgement of blade state, erroneous judgement may be caused.It therefore can be by previous embodiment
Unmanned plane is determined as that the operation for beating paddle as preliminary judgement, is set in the second period, associated current data are big in the present embodiment
When being judged as beating the number of paddle state in first threshold more than second threshold, determine that paddle is beaten in the unmanned plane generation, execution is beaten
Paddle safeguard measure.Unmanned plane plays the judgement of paddle state, and beats paddle safeguard measure, can be referring specifically to above-described embodiment, herein
It repeats no more.
Pass through the frequency of abnormity and preset threshold of the associated current data of the motor of the unmanned plane in a period of time of setting
Relationship, can more precisely carry out the judgement that unmanned plane beats paddle, be reduced to a great extent blade state erroneous judgement brought
Loss, improve the Experience Degree of user.
It should be noted that in above-mentioned multiple embodiments, when associated current data decimation difference reference value, it is used for
Determine to beat the first threshold of paddle and beat the second threshold of paddle measure for finally determining a need for execution and is all different.Described
One period was the rotation protection time delay of setting, and second period is the condition monitoring period of setting, first period and institute
The setting for stating for the second period does not influence each other.
Fig. 8 is referred to, the functional module of the decision maker 101 of paddle is beaten for the unmanned plane that third embodiment of the invention provides
Figure.The unmanned plane beats the decision maker of paddle and includes: associated current data acquisition module 801, threshold-discrimination module 802 and beat paddle
Determination module 803.
Associated current data acquisition module 801, the associated current data of the motor for obtaining unmanned plane, wherein described
Associated current data and the running current square value of the motor are positively correlated；
Threshold value judgment module 802, for judging whether the associated current data are greater than first threshold；
Beat paddle protective module 803, if for the associated current data be greater than the first threshold, determine it is described nobody
Machine is to beat paddle state.
Unmanned plane provided in an embodiment of the present invention beats the decision maker of paddle, is applied to unmanned plane.Revolving speed according to motor becomes
The positively related relationship of change amount and the current squaring value of motor obtains the associated currents data such as motor load.By acquired
Associated current data judge whether the unmanned plane is to beat paddle state with the size relation of the critical first threshold for beating paddle state.
It is positively correlated by the current squaring value with the motor and the associated current data being negatively correlated with the real-time revolving speed of motor is sentenced
Whether disconnected unmanned plane is to beat paddle state, avoids the generation of peril to adopt an effective measure in time when beating paddle and occurring.Nothing
It is man-machine carry out stunt either done in the sky compared with big-movement when, real-time revolving speed rapid drawdown, running current can also decline, then institute
State running current square value and real-time revolving speed ratio will not rapid drawdown therewith, reached the association of the motor by acquisition unmanned plane
Current data can effectively determine the technical effect of the blade state of unmanned plane, also avoid only through revolving speed cataclysm and judgement nothing
It is man-machine for caused erroneous judgement when beating paddle state and to be performed shutdown and stop the technical issues of oil leads to air crash accident.The present invention is implemented
The specific implementation process for the decision maker that the unmanned plane that example provides beats paddle state refers to the judgement that above-mentioned unmanned plane beats paddle state
The specific implementation process of method, this is no longer going to repeat them.
Continuing with referring to Fig. 1 and Fig. 8, the unmanned plane 100 of third embodiment of the invention offer is shown.The unmanned plane
100 include: drone body, motor, memory 102, the processor 104 being electrically connected with the memory；And unmanned plane is beaten
The decision maker 101 of paddle, the decision maker that the unmanned plane beats paddle are installed in the memory 102 and including one or more
The software function module executed by the processor 104, the decision maker 101 that the unmanned plane beats paddle includes: associated current number
According to acquisition module 801, threshold-discrimination module 802 and beat paddle determination module 803.
Associated current data acquisition module 801, the associated current data of the motor for obtaining unmanned plane.Wherein, described
The running current square value of associated current data and the motor is positively correlated and is negatively correlated with the real-time revolving speed of the motor.
Threshold value judgment module 802, for judging whether the associated current data are greater than first threshold.
Beat paddle determination module 803, if for the associated current data be greater than the first threshold, determine it is described nobody
Machine is to beat paddle state.
Unmanned plane provided in an embodiment of the present invention, the positive of the current squaring value of the rotation speed change amount and motor according to motor
The relationship of pass obtains the associated currents data such as motor load.By acquired associated current data, with critical paddle state of beating
The size relation of first threshold judges whether the unmanned plane is to beat paddle state.By the current squaring value with the motor at just
Associated current data that are related and being negatively correlated with the real-time revolving speed of motor judge whether unmanned plane is to beat paddle state, to beat
Paddle adopts an effective measure in time when occurring and avoids the generation of peril.Unmanned plane is carrying out stunt or is doing in the sky
When compared with big-movement, real-time revolving speed rapid drawdown, running current can also decline, then the ratio of the side value and real-time revolving speed of the running current
Will not rapid drawdown therewith, the blade of unmanned plane can effectively be determined by the associated current data for the motor for obtaining unmanned plane by having reached
The technical effect of state also avoids only being to play erroneous judgement caused when paddle state and quilt by revolving speed cataclysm and judgement unmanned plane
Execution stops the technical issues of oil leads to air crash accident.The specific implementation process of unmanned plane provided in an embodiment of the present invention please join
See that above-mentioned unmanned plane beats the specific implementation process of the determination method of paddle state, this is no longer going to repeat them.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random AccessMemory), magnetic or disk.It needs
It is bright, herein, relational terms such as first and second and the like be used merely to by an entity or operation with it is another
One entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this reality
Relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. the determination method that a kind of unmanned plane beats paddle, which is characterized in that the described method includes:
Obtain the associated current data of the motor of unmanned plane, wherein the running current of the associated current data and the motor
Square value is positively correlated, and is negatively correlated with the real-time revolving speed of the motor；
Judge whether the associated current data are greater than first threshold；
If the associated current data are greater than the first threshold, determine that the unmanned plane is to beat paddle state.
2. the method according to claim 1, wherein the motor that the associated current data are the unmanned plane is born
Lotus, the step of obtaining the associated current data of the motor of unmanned plane include:
Obtain the real-time current and real-time revolving speed of the motor；
According to motor load calculation formulaCalculate the motor load of the unmanned plane, wherein L indicates that the motor is negative
Lotus, I indicate that the real-time current, n indicate that the real-time revolving speed, C indicate attenuation coefficient.
3. the method according to claim 1, wherein the associated current data are the association electricity of the unmanned plane
Parameters variation amount is flowed, the step of obtaining the associated current data of the motor of unmanned plane includes:
The first associated current parameter that the motor is obtained at the first moment is associated with electricity the second of the second moment with the motor
Flow parameter；
Obtain the difference of the first associated current parameter and the second associated current parameter；
According to the difference of the first associated current parameter and the second associated current parameter, the association electricity of the motor is obtained
Flow Parameters variation amount.
4. according to the method described in claim 3, it is characterized in that, the associated current Parameters variation amount be resistance variable quantity,
Resistance calculation formulae are as follows:Wherein, T1Indicate that resistance, K are impedance match coefficient, U indicates real-time voltage, I table
Show that real-time current, n indicate real-time revolving speed, obtain the motor and exist in the first associated current parameter at the first moment and the motor
The second associated current parameter at the second moment, according to the difference of the first associated current parameter and the second associated current parameter
Value, the step of obtaining the associated current Parameters variation amount of the motor include:
The motor is obtained in the real-time voltage, real-time current and real-time revolving speed at first moment；
It is public in the real-time voltage at first moment, real-time current, real-time revolving speed and the drag evaluation according to the motor
Formula calculates the first resistance of the motor；
The motor is obtained in the real-time voltage, real-time current and real-time revolving speed at second moment；
It is public in the real-time voltage at second moment, real-time current, real-time revolving speed and the drag evaluation according to the motor
Formula calculates the second resistance of the motor；
According to the difference of first resistance and second resistance, the resistance variable quantity of the motor is obtained.
5. according to the method described in claim 3, it is characterized in that, the associated current Parameters variation amount turns for current squaring value
Speed ratio variable quantity, current squaring value speed ratio calculation formula are as follows:Wherein, T2Indicate current squaring value rotating ratio, I table
Show that real-time current, n indicate the real-time revolving speed, obtain the motor in the first associated current parameter at the first moment and the electricity
Second associated current parameter of the machine at the second moment, according to the first associated current parameter and the second associated current parameter
Difference, the step of obtaining the associated current Parameters variation amount of the motor includes:
The motor is obtained in the real-time current and real-time revolving speed at first moment；
According to the motor in the real-time current at first moment, real-time revolving speed and the current squaring value speed ratio calculation
Formula calculates the first current squaring value rotating ratio of the motor；
The motor is obtained in the real-time current and real-time revolving speed at second moment；
According to the motor in the real-time current at second moment, real-time revolving speed and the current squaring value speed ratio calculation
Formula calculates the second current squaring value rotating ratio of the motor；
According to the difference of the first current squaring value rotating ratio and the second current squaring value rotating ratio, the motor is obtained
Current squaring value rotating ratio variable quantity.
6. the method according to claim 1, wherein obtain unmanned plane motor associated current data before,
The method also includes:
If the electric motor starting of the unmanned plane, it was delayed for the first period, executes the associated current data for obtaining the motor of unmanned plane
The step of.
7. method according to any one of claims 1 to 6, which is characterized in that judge whether the associated current data are big
After in the first threshold the step of, the method also includes:
If it is determined that the unmanned plane is to beat paddle state, paddle safeguard measure is beaten in execution.
8. method according to any one of claims 1 to 6, which is characterized in that the method also includes:
Whether the number for judging that the unmanned plane is judged as beating paddle state in preset second period is greater than second threshold；
If the number that the unmanned plane is judged as beating paddle state in second period is greater than the second threshold, execution is beaten
Paddle safeguard measure.
9. the decision maker that a kind of unmanned plane beats paddle, which is characterized in that described device includes:
Associated current data acquisition module, the associated current data of the motor for obtaining unmanned plane, wherein the associated current
Data and the running current square value of the motor are positively correlated, and are negatively correlated with the real-time revolving speed of the motor；
Threshold value judgment module, for judging whether the associated current data are greater than first threshold；
Paddle determination module is beaten, if being greater than the first threshold for the associated current data, sets the unmanned plane to beat
Paddle state.
10. a kind of unmanned plane, which is characterized in that the unmanned plane includes:
Drone body, motor, memory, the processor being electrically connected with the memory；And
Unmanned plane beats the decision maker of paddle, and the decision maker that the unmanned plane beats paddle is installed in the memory and including one
Or multiple software function modules executed by the processor, the decision maker that the unmanned plane beats paddle include:
Associated current data acquisition module, the associated current data of the motor for obtaining unmanned plane, wherein the associated current
Data and the running current square value of the motor are positively correlated, and are negatively correlated with the real-time revolving speed of the motor；
Threshold value judgment module, for judging whether the associated current data are greater than first threshold；
Paddle determination module is beaten, if being greater than the first threshold for the associated current data, sets the unmanned plane to beat
Paddle state.
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| CN108303743B (en) * | 2017-12-27 | 2020-07-10 | 顺丰科技有限公司 | Unmanned aerial vehicle propeller collision detection method and detection device |
| CN108466699B (en) * | 2018-04-11 | 2020-04-10 | 深圳市道通智能软件开发有限公司 | Method and device for judging whether aircraft is provided with paddles, electric speed regulator, power system and aircraft |
| CN110740936A (en) * | 2018-07-30 | 2020-01-31 | 深圳市大疆创新科技有限公司 | Overcurrent protection method, unmanned aerial vehicle, mobile platform and storage medium |
| CN109976374B (en) * | 2019-04-26 | 2021-11-30 | 拓攻（南京）机器人有限公司 | Method, device and equipment for detecting abnormal falling of unmanned aerial vehicle and storage medium |
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| US7561968B2 (en) * | 2004-10-13 | 2009-07-14 | The Boeing Company | Scale factor calibration and compensation for angular position resolver |
| CN103693211B (en) * | 2013-12-25 | 2016-09-21 | 北京航天测控技术有限公司 | The method of testing of a kind of helicopter rotary part signal and wireless collection equipment |
| CN204789941U (en) * | 2015-07-10 | 2015-11-18 | 巴州极飞农业航空科技有限公司 | Unmanned aerial vehicle state detection device |
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