WO2018094682A1

WO2018094682A1 - Wind speed detection method and system for unmanned aerial vehicle, and unmanned aerial vehicle

Info

Publication number: WO2018094682A1
Application number: PCT/CN2016/107212
Authority: WO
Inventors: 刘万启; 蓝求; 周长兴
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-11-25
Filing date: 2016-11-25
Publication date: 2018-05-31
Also published as: CN107076775B; CN107076775A

Abstract

Disclosed are a wind speed detection method and system for an unmanned aerial vehicle, and an unmanned aerial vehicle. The unmanned aerial vehicle comprises a propeller (20) and a motor (30) for driving the propeller to rotate. The method comprises: S101, obtaining the rotation speed of the motor (30) of the unmanned aerial vehicle, wherein the rotation speed is the rotation speed of the motor (30) when the propeller (20) rotates windward; and S102, determining the wind speed of the unmanned aerial vehicle in the current environment based on the rotation speed of the motor (30). In this way, the unmanned aerial vehicle is used to determine the wind speed in the current environment, and the security risk caused by rashly launching the unmanned aerial vehicle when the wind speed is too fast is avoided, and the flight safety of the unmanned aerial vehicle is guaranteed.

Description

Wind speed detecting method, system and unmanned aerial vehicle of unmanned aerial vehicle

Technical field

Embodiments of the present invention relate to the field of unmanned aerial vehicles, and in particular, to a wind speed detecting method, system, and an unmanned aerial vehicle of an unmanned aerial vehicle.

Background technique

Aircraft generally work in the air, so the aircraft will be affected by the wind in the air during take-off, flight, and landing. If the wind speed is too large, it will inevitably bring safety hazards to the flight of the aircraft, which will seriously cause the phenomenon of the bomber.

Summary of the invention

Embodiments of the present invention provide a method, a system, and an unmanned aerial vehicle for detecting an air speed of an unmanned aerial vehicle, which are used for testing a wind speed in a current environment of an unmanned aerial vehicle.

In a first aspect, an embodiment of the present invention provides a wind speed detecting method for an unmanned aerial vehicle, the unmanned aerial vehicle including a propeller and a motor for driving the propeller, the method comprising: acquiring a rotational speed of a motor of the unmanned aerial vehicle The rotation speed is the rotation speed of the motor when the propeller is facing the wind; and determining the wind speed of the current environment of the UAV according to the rotation speed of the motor.

Optionally, the motor is controlled in a sensorless manner.

Optionally, the acquiring the rotation speed of the motor of the UAV includes: detecting an electrical parameter of the motor; and acquiring a rotation speed of the motor according to an electrical parameter of the motor.

Optionally, the electrical parameter is a counter electromotive force.

Optionally, the acquiring the rotation speed of the motor according to the electrical parameter of the motor, comprising: acquiring an electrical angular velocity of the motor according to the back electromotive force; and acquiring the electrical power of the motor according to the electrical angular velocity a cycle; obtaining a rotational speed of the motor according to the electrical cycle.

Optionally, the motor is controlled in a sensor mode.

Optionally, the motor is provided with a sensor, and the obtaining the rotation speed of the motor of the UAV comprises: detecting detection information of the sensor; and acquiring the rotation speed of the motor according to the detection information of the sensor.

Optionally, the detection information is an electrical cycle when the motor rotates.

Optionally, the motor is powered and the motor is not driven.

Optionally, the obtaining the rotation speed of the motor of the UAV comprises: acquiring a maximum rotation speed of the motor when the propeller is facing the wind.

Optionally, the motor is driven to rotate at a preset speed.

Optionally, the acquiring the rotational speed of the motor of the UAV includes: acquiring a first rotational speed and a second rotational speed of the motor, wherein the first rotational speed is that the motor rotates under the influence of the wind The maximum rotational speed, the second rotational speed is a minimum rotational speed of the motor rotating under the influence of the wind; and the average rotational speed of the motor is obtained according to the first rotational speed and the second rotational speed.

Optionally, determining the wind speed of the current environment of the UAV according to the rotation speed of the motor, comprising: acquiring a rotation speed of the motor according to a preset model of a preset relationship between the rotation speed and the wind speed The wind speed is the wind speed of the current environment of the unmanned aerial vehicle.

Optionally, the method further includes: displaying the wind speed through a display interface.

Optionally, determining the wind speed of the current environment of the UAV according to the rotation speed of the motor includes: determining whether the wind speed is greater than a preset according to whether the rotation speed of the motor is greater than the preset rotation speed a safe wind speed, wherein the preset speed corresponds to the preset safe wind speed.

Optionally, the method further includes: when the wind speed is greater than a preset safe wind speed, performing an alarm prompt.

Optionally, the alarm prompt is issued by the unmanned aerial vehicle or the remote controller of the unmanned aerial vehicle.

In a second aspect, an embodiment of the present invention provides a wind speed detecting system for an unmanned aerial vehicle, where the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate. The wind speed detecting system includes: one or more processors, common Working independently or separately, the processor is electrically connected to the motor, and configured to: acquire a rotational speed of a motor of the unmanned aerial vehicle, wherein the rotational speed is a rotational speed of the motor when the propeller is facing the wind; The rotational speed of the motor determines the wind speed of the current environment of the UAV.

Optionally, the motor is controlled in a sensorless manner.

Optionally, the processor is specifically configured to: detect an electrical parameter of the motor, and determine a rotational speed of the motor according to an electrical parameter of the motor.

Optionally, the electrical parameter is a counter electromotive force.

Optionally, the processor is specifically configured to: obtain an electrical angular velocity of the motor according to the back electromotive force; acquire an electrical cycle of the motor according to the electrical angular velocity; and acquire a rotational speed of the motor according to the electrical cycle .

Optionally, the control mode of the motor is a sensor mode.

Optionally, the motor is provided with a sensor, and the processor is specifically configured to detect detection information of the sensor, and acquire a rotation speed of the motor according to the detection information of the sensor.

Optionally, the motor is powered and the motor is not driven.

Optionally, the processor is specifically configured to acquire a maximum rotational speed of the motor when the propeller is facing the wind.

Optionally, the motor is driven to rotate at a preset speed.

Optionally, the processor is specifically configured to: acquire a first rotation speed and a second rotation speed of the motor, where the first rotation speed is a maximum rotation speed of the motor rotating under the influence of the wind, The second rotation speed is a minimum rotation speed of the motor rotating under the influence of the wind; and the average rotation speed of the motor is obtained according to the first rotation speed and the second rotation speed.

Optionally, the processor is specifically configured to acquire, according to a preset model of a preset relationship between the rotational speed and the wind speed, a wind speed corresponding to the rotational speed of the motor as a wind speed of a current environment of the unmanned aerial vehicle.

Optionally, the system further includes a display screen communicatively coupled to the processor; the display screen is for displaying information of the wind speed.

Optionally, the processor is specifically configured to determine whether the wind speed is greater than a preset safe wind speed according to whether the rotational speed of the motor is greater than the preset rotational speed, wherein the preset rotational speed and the preset safe wind speed Corresponding.

Optionally, the system further includes an alarm device, wherein the alarm device is communicatively coupled to the processor; and the alarm device is configured to perform an alarm prompt when the wind speed is greater than a preset safe wind speed.

Optionally, the alarm device is disposed on the unmanned aerial vehicle or the remote controller of the unmanned aerial vehicle.

In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle including a propeller and a motor that drives the propeller to rotate, and an air speed detecting system of the unmanned aerial vehicle provided by the second aspect of the present invention.

The wind speed detecting method, system and unmanned aerial vehicle of the unmanned aerial vehicle provided by the embodiments of the present invention, Obtaining a rotational speed of the motor of the unmanned aerial vehicle, wherein the rotational speed is a rotational speed of the motor when the propeller is in the wind; and determining a wind speed of a current environment of the unmanned aerial vehicle according to a rotational speed of the electric motor. Therefore, it is realized that the wind speed in the current environment is determined by the unmanned aerial vehicle, and the safety hazard caused by the unmanned aerial vehicle taking off when the wind speed is too large is avoided, and the flight safety of the unmanned aerial vehicle is ensured.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

1 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 1 of the present invention;

2 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 2 of the present invention;

3 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 3 of the present invention;

4 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 4 of the present invention;

5 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 5 of the present invention;

6 is a schematic structural diagram of a wind speed detecting system of an unmanned aerial vehicle according to Embodiment 1 of the present invention;

FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

1 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 1 of the present invention. As shown in FIG. 1 , the method in this embodiment may include:

S101. Acquire a rotational speed of a motor of the unmanned aerial vehicle, wherein the rotational speed is a rotational speed of the motor when the propeller is facing the wind.

S102. Determine a wind speed of a current environment of the UAV according to the rotation speed of the motor.

In this embodiment, the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate. When the propeller of the unmanned aerial vehicle is facing the wind, the wind will drive the propeller to rotate, and the rotation of the propeller causes the rotation of the motor. The wind speed of the wind is larger, and the rotation of the wind driven propeller is faster, and accordingly, the rotational speed of the motor is also larger. Therefore, in this embodiment, the rotational speed of the motor of the unmanned aerial vehicle can be obtained when the propeller of the unmanned aerial vehicle is facing the wind. Since the rotational speed of the motor is affected by the wind speed of the wind, the present embodiment can determine the absence according to the rotational speed of the motor. The wind speed of the current environment of a human aircraft.

Alternatively, the motor can be controlled in a sensorless manner.

Alternatively, the motor can be controlled in a sensory manner.

In this embodiment, the rotational speed of the motor of the unmanned aerial vehicle is obtained, wherein the rotational speed is the rotational speed of the motor when the propeller is in the wind; and the wind speed of the current environment of the unmanned aerial vehicle is determined according to the rotational speed of the motor. . Therefore, it is realized that the wind speed in the current environment is determined by the unmanned aerial vehicle, and the safety hazard caused by the unmanned aerial vehicle taking off when the wind speed is too large is avoided, and the flight safety of the unmanned aerial vehicle is ensured.

2 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to a second embodiment of the present invention. As shown in FIG. 2, the control method of the motor in this embodiment is a sensorless mode. The method in this embodiment may include:

S201. Detecting electrical parameters of the motor when the propeller is facing the wind.

S202. Acquire a rotation speed of the motor according to an electrical parameter of the motor.

In this embodiment, the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate. Among them, a feasible implementation manner for obtaining the rotational speed of the motor of the unmanned aerial vehicle when the propeller is facing the wind may include S201 and S202. Specifically, when the propeller of the unmanned aerial vehicle is facing the wind, the wind drives the propeller to rotate, and the rotation of the propeller causes the rotation of the motor. The wind speed of the wind is larger, and the rotation of the wind driven propeller is faster, and accordingly, the rotation speed of the motor is higher. Big. Moreover, the rotation of the motor causes a change in the electrical parameters of the motor. Therefore, in this embodiment, the electrical parameter of the motor when the propeller is facing the wind is detected, and then the rotational speed corresponding to the electrical parameter is obtained according to the electrical parameter of the motor, and the rotational speed of the motor when the propeller is facing the wind.

The above electrical parameters may be the back electromotive force of the motor, or the current of the motor.

Taking the electrical parameter as the back electromotive force as an example, a feasible implementation of S202 may include: S2021-S2023.

S2021: Acquire an electrical angular velocity of the motor according to the counter electromotive force.

In this embodiment, the electrical angular velocity of the motor is obtained according to the counter electromotive force of the motor. One implementation manner is: obtaining the electrical angular velocity of the motor according to the back electromotive force of the motor and the formula (1).

ξ=ω×k (1)

Among them, ξ is the back electromotive force of the motor, ω is the electrical angular velocity of the motor, and k is a constant. k is related to the structural parameters of the motor.

It should be noted that the embodiment is not limited to obtaining the electrical angular velocity of the motor by using the above formula (1).

S2022: Acquire an electrical cycle of the motor according to the electrical angular velocity.

In this embodiment, after obtaining the electrical angular velocity of the motor, the electrical cycle of the motor is obtained according to the electrical angular velocity of the motor. Among them, one implementation manner is: obtaining the electrical cycle of the motor according to the electrical angular velocity of the motor and the formula (2).

Wherein ω is an electrical angular velocity, and T is an electrical cycle.

It should be noted that the embodiment is not limited to obtaining the electrical cycle of the motor by using the above formula (2).

S2023. Acquire a rotation speed of the motor according to the electrical cycle.

In this embodiment, after the electrical cycle of the motor is obtained, the rotational speed of the motor is obtained according to the electrical cycle of the motor. Among them, one implementation manner is: obtaining the rotation speed of the motor according to the electric cycle of the motor and the formula (3).

Wherein, speed (RPM) represents the rotational speed of the motor, and its unit is Revolutions Per minute (RPM), the T is an electrical cycle, and n is a mechanical pole number. Among them, n is related to the number of magnets of the motor and the number of cores of the stator.

It should be noted that the embodiment is not limited to obtaining the rotational speed of the motor by using the above formula (3).

S203. Determine a wind speed of a current environment of the UAV according to the rotation speed of the motor.

For the specific implementation process of the S203 in this embodiment, refer to the related description in the embodiment shown in FIG. 1 , and details are not described herein again.

In summary, the embodiment realizes that the wind speed in the current environment is determined by the unmanned aerial vehicle, and the safety hazard caused by the unmanned aerial vehicle escaping when the wind speed is too large is avoided, and the flight safety of the unmanned aerial vehicle is ensured.

3 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 3 of the present invention, such as As shown in FIG. 3, the control mode of the motor in this embodiment is a sensor mode, and the method in this embodiment may include:

S301. Detecting detection information of a sensor of the motor.

S302. Acquire a rotation speed of the motor according to the detection information of the sensor.

In this embodiment, the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate. Among them, a feasible implementation manner for obtaining the rotational speed of the motor of the unmanned aerial vehicle when the propeller is facing the wind may include S301 and S302. Specifically, when the propeller of the unmanned aerial vehicle is facing the wind, the wind drives the propeller to rotate, and the rotation of the propeller causes the rotation of the motor. The wind speed of the wind is larger, and the rotation of the wind driven propeller is faster, and accordingly, the rotation speed of the motor is higher. Big. Moreover, the motor of this embodiment is provided with a sensor, and the sensor of the motor senses the rotation of the motor. Therefore, in this embodiment, the detection information of the sensor is detected, and then the rotation speed corresponding to the detection information is obtained according to the detection information of the sensor, and the rotation speed of the motor when the propeller is facing the wind.

Optionally, the detection information may be an electrical cycle when the motor rotates, or a current, a voltage, or the like when the motor rotates.

S303. Determine a wind speed of a current environment of the UAV according to the rotation speed of the motor.

For the specific implementation process of the S303 in this embodiment, refer to the related description in the embodiment shown in FIG. 1 , and details are not described herein again.

4 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 4 of the present invention. As shown in FIG. 4, the motor of the UAV in the embodiment is powered on, and the motor is not driven. The method of this embodiment may include:

S401. When the motor of the unmanned aerial vehicle is powered on, and the motor is not driven, obtain the maximum rotational speed of the motor when the propeller of the UAV is facing the wind.

S402. Determine a wind speed of a current environment of the UAV according to a maximum rotation speed of the motor.

In this embodiment, the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate. Among them, the motor of the unmanned aerial vehicle has been powered on, indicating that the propeller drives the motor to rotate when the wind driven propeller rotates. Moreover, the motor is not driven, indicating that the motor speed is 0 in a windless environment, and there is wind. The rotation of the motor in the environment is completely affected by the current wind. Therefore, the present embodiment can acquire the maximum rotational speed of the motor of the unmanned aerial vehicle when the propeller of the unmanned aerial vehicle is facing the wind. In this scenario, the maximum speed of the motor can best reflect the influence of the wind speed of the wind. Therefore, in this embodiment, the wind speed of the current environment of the unmanned aerial vehicle can be determined according to the maximum rotational speed of the motor.

Alternatively, the maximum rotational speed of the motor can be obtained using the scheme shown in S201 and S202 in the embodiment shown in FIG. 2. Correspondingly, the maximum speed of the motor is obtained by the maximum back electromotive force of the motor.

Alternatively, the maximum rotational speed of the motor can be obtained using the scheme shown in S301 and S302 in the embodiment shown in FIG. Correspondingly, the maximum speed of the motor is obtained by the maximum electrical cycle of the motor.

FIG. 5 is a flowchart of a method for detecting a wind speed of an unmanned aerial vehicle according to Embodiment 5 of the present invention. As shown in FIG. 5, the motor of the UAV in the embodiment is driven to rotate at a preset speed. The method of this embodiment may include:

S501. Acquire a first rotation speed and a second rotation speed of the motor of the UAV when the motor of the UAV is driven to rotate at a preset speed, wherein the first rotation speed is that the motor is under the influence of the wind. The maximum rotational speed of the rotation, the second rotational speed being a minimum rotational speed at which the motor rotates under the influence of the wind.

S502. Acquire an average rotation speed of the motor according to the first rotation speed and the second rotation speed.

S503. Determine a wind speed of a current environment of the UAV according to an average rotation speed of the motor.

In this embodiment, the unmanned aerial vehicle includes a propeller and a motor that drives the propeller to rotate. Wherein, the motor of the unmanned aerial vehicle is driven and the motor rotates at a preset speed. In a windless environment, the speed of the motor will be the preset speed. In a windy environment, the rotation of the motor will be affected by the current downwind, which may increase or decrease. Therefore, in this embodiment, the maximum rotational speed (referred to as the first rotational speed) of the motor under the influence of the wind can be obtained, and the maximum rotational speed is, for example, the rotational speed of the force receiving surface of the propeller against the wind, and the wind accelerates the propeller. In this embodiment, the minimum rotational speed (referred to as the second rotational speed) of the motor under the influence of the wind may be acquired, and the minimum rotational speed is, for example, the rotational speed of the back surface of the propeller on the windward side, and the wind acts on the propeller to reduce the speed. . Then according to The first rotational speed and the second rotational speed acquire an average rotational speed of the motor to eliminate the influence of the preset rotational speed. The average rotational speed of the motor is one-half of the sum of the first rotational speed and the second rotational speed. In this scenario, the average rotational speed of the motor can best reflect the influence of the wind speed of the wind. Therefore, in this embodiment, the wind speed of the current environment of the unmanned aerial vehicle can be determined according to the average rotational speed of the motor.

Alternatively, the first rotational speed and the second rotational speed of the motor may be obtained using the schemes shown in S201 and S202 in the embodiment shown in FIG. 2. Accordingly, the first rotational speed of the motor is obtained by the maximum back electromotive force of the motor, and the second rotational speed of the motor is obtained by the minimum reaction potential of the motor.

Alternatively, the first rotational speed and the second rotational speed of the motor may be obtained using the schemes shown in S301 and S302 in the embodiment shown in FIG. Correspondingly, the first rotational speed of the motor is obtained by the maximum electrical cycle of the motor, and the second rotational speed of the electrical machine is obtained by the minimum electrical cycle of the electrical machine.

Based on the foregoing various method embodiments of the present invention, optionally, a feasible implementation manner of determining the wind speed of the current environment of the UAV according to the rotational speed of the motor is: according to a preset rotational speed and a wind speed. The preset model of the correspondence relationship acquires the wind speed corresponding to the rotational speed of the motor as the wind speed of the current environment of the unmanned aerial vehicle. Optionally, the embodiment further displays the wind speed through the display interface to notify the user of the wind speed of the current environment, avoiding excessive wind speed and driving the unmanned aerial vehicle to take off, and ensuring flight safety of the unmanned aerial vehicle.

On the basis of the foregoing various method embodiments of the present invention, optionally, a feasible implementation manner of determining the wind speed of the current environment of the UAV according to the rotational speed of the motor is: according to whether the rotational speed of the motor is And determining whether the wind speed is greater than a preset safety wind speed, wherein the preset speed corresponds to the preset safety wind speed. In this embodiment, the preset setting has a preset safety wind speed, and the preset safety wind speed corresponds to a preset rotation speed of the motor, and when the rotation speed of the motor is obtained, determining whether the rotation speed of the motor is greater than the preset rotation speed, when determining the motor When the rotation speed is greater than the preset rotation speed, it may be determined that the wind speed in the current environment is greater than the preset safety wind speed. When it is determined that the rotation speed of the motor is not greater than the preset rotation speed, it may be determined that the wind speed in the current environment is not greater than the preset safety wind speed.

Optionally, in this embodiment, when the wind speed in the current environment is greater than the preset safe wind speed, an alarm prompt is performed. To remind the user that the wind speed in the current environment exceeds the safe wind speed.

The unmanned aerial vehicle may issue an alarm prompt to: control the vibration of the motor of the unmanned aerial vehicle, and issue a preset alarm sound; or control the buzzer of the unmanned aerial vehicle to issue a preset alarm sound; or The headlights and/or the taillights of the unmanned aerial vehicle are controlled to emit preset lights.

Wherein the remote controller of the UAV issues an alarm indication, which may be: controlling an indicator light of the remote controller to emit a preset sound; or controlling a buzzer of the remote controller to emit a preset sound; or , controlling the display screen of the remote controller to display preset information.

6 is a schematic structural diagram of a wind speed detecting system for an unmanned aerial vehicle according to a first embodiment of the present invention. The unmanned aerial vehicle includes a propeller and a motor for driving the propeller. As shown in FIG. 6, the system of this embodiment may include: Or a plurality of processors 11 operating in common or separately, the processor 11 being electrically connected to the motor and configured to: acquire a rotational speed of a motor of the unmanned aerial vehicle, wherein the rotational speed is the propeller facing the wind The rotational speed of the motor; determining the wind speed of the current environment of the UAV according to the rotational speed of the motor.

Only one processor 11 is shown in FIG. The processor 11 can be a controller of an electronic governor or a flight controller of an unmanned aerial vehicle. Of course, the processor 11 can also be a plurality of controllers including an electronic governor and a flight controller of the unmanned aerial vehicle.

Optionally, the motor is controlled in a sensorless manner.

Optionally, the processor 11 is specifically configured to: detect an electrical parameter of the motor, and determine a rotational speed of the motor according to an electrical parameter of the motor.

Optionally, the electrical parameter is a counter electromotive force.

Optionally, the processor 11 is specifically configured to:

Obtaining an electrical angular velocity of the motor according to the counter electromotive force;

Obtaining an electrical cycle of the motor according to the electrical angular velocity;

The rotational speed of the motor is obtained according to the electrical cycle.

Optionally, the control mode of the motor is a sensor mode.

Optionally, the motor is provided with a sensor, and the processor 11 is specifically configured to detect detection information of the sensor, and acquire a rotation speed of the motor according to the detection information of the sensor.

Optionally, the motor is powered and the motor is not driven.

Optionally, the processor 11 is specifically configured to acquire a maximum rotational speed of the motor when the propeller is facing the wind.

Optionally, the motor is driven to rotate at a preset speed.

Optionally, the processor 11 is specifically configured to: acquire a first rotation speed and a second rotation speed of the motor, where the first rotation speed is a maximum rotation speed of the motor rotating under the influence of the wind, The second rotational speed is a minimum rotational speed of the motor rotating under the influence of the wind; and the average rotational speed of the motor is obtained according to the first rotational speed and the second rotational speed.

Optionally, the processor 11 is specifically configured to acquire, according to a preset model of a preset relationship between the rotational speed and the wind speed, a wind speed corresponding to the rotational speed of the motor as a wind speed of a current environment of the unmanned aerial vehicle.

Optionally, the system of this embodiment further includes a display screen 12, the display screen 12 is communicatively coupled to the processor 11; and the display screen 12 is configured to display information of the wind speed.

Optionally, the processor 11 is configured to determine whether the wind speed is greater than a preset safe wind speed according to whether the rotational speed of the motor is greater than the preset rotational speed, wherein the preset rotational speed and the preset safety The wind speed corresponds.

Optionally, the system of the embodiment further includes an alarm device 13 , wherein the alarm device 13 is communicatively coupled to the processor 11; the alarm device 13 is configured to perform an alarm prompt when the wind speed is greater than a preset safe wind speed. .

Optionally, the alarm device 13 is disposed on the unmanned aerial vehicle or the remote controller of the unmanned aerial vehicle.

The system of the present embodiment can be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 7, the unmanned aerial vehicle of the present embodiment includes: a propeller 20 and a motor 30 for driving the propeller 20 to rotate, and a wind speed of the unmanned aerial vehicle. Detection system 40. The wind speed detecting system 40 of the unmanned aerial vehicle can adopt the structure of the embodiment shown in FIG. 6 , and correspondingly, the technical solution of the foregoing method embodiments of the present invention can be executed, and the implementation principle and the technical effect are similar. Narration.

A person skilled in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by using hardware related to the program instructions. The foregoing program may be stored in a computer readable storage medium, and the program is executed when executed. Including the steps of the above method embodiments; The storage medium includes: read-only memory (English: Read-Only Memory, ROM for short), random access memory (English: Random Access Memory, RAM for short), disk or optical disk, and other media that can store program code. .

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

An airspeed detecting method for an unmanned aerial vehicle, the unmanned aerial vehicle comprising a propeller and a motor for driving the propeller to rotate, wherein the method comprises:

Obtaining a rotational speed of the motor of the unmanned aerial vehicle, wherein the rotational speed is a rotational speed of the motor when the propeller is facing the wind;

The wind speed of the current environment of the UAV is determined according to the rotational speed of the motor.
The method of claim 1 wherein said motor is controlled in a sensorless manner.
The method of claim 2, wherein the obtaining the rotational speed of the motor of the UAV comprises:

Detecting electrical parameters of the motor;

Obtaining a rotational speed of the motor according to an electrical parameter of the motor.
The method of claim 3 wherein said electrical parameter is a counter electromotive force.
The method according to claim 4, wherein the obtaining the rotational speed of the motor according to the electrical parameter of the motor comprises:

Obtaining an electrical angular velocity of the motor according to the counter electromotive force;

Obtaining an electrical cycle of the motor according to the electrical angular velocity;

The rotational speed of the motor is obtained according to the electrical cycle.
The method of claim 1 wherein said motor is controlled in a sensor mode.
The method according to claim 6, wherein the motor is provided with a sensor, and the obtaining the rotational speed of the motor of the unmanned aerial vehicle comprises:

Detecting detection information of the sensor;

Obtaining a rotational speed of the motor according to the detection information of the sensor.
The method according to claim 7, wherein said detection information is an electrical period when said motor rotates.
A method according to any one of claims 1-8, wherein the motor is powered and the motor is not driven.
The method according to claim 9, wherein the obtaining the rotational speed of the motor of the UAV comprises:

Obtaining the maximum rotational speed of the motor when the propeller is facing the wind.
A method according to any one of claims 1-8, wherein the motor is driven to rotate at a preset rotational speed.
The method according to claim 11, wherein the obtaining the rotational speed of the motor of the UAV comprises:

Obtaining a first rotational speed and a second rotational speed of the motor, wherein the first rotational speed is a maximum rotational speed of the motor rotating under the influence of the wind, and the second rotational speed is an influence of the motor on the wind The minimum speed of the lower rotation;

Obtaining an average rotational speed of the motor according to the first rotational speed and the second rotational speed.
The method according to any one of claims 1 to 12, wherein the determining the wind speed of the current environment of the UAV according to the rotational speed of the motor comprises:

According to a preset model of the preset relationship between the rotational speed and the wind speed, the wind speed corresponding to the rotational speed of the motor is obtained as the wind speed of the current environment of the unmanned aerial vehicle.
The method of claim 13 further comprising:

The wind speed is displayed through a display interface.
The method according to any one of claims 1 to 12, wherein the determining the wind speed of the current environment of the UAV according to the rotational speed of the motor comprises:

Determining, according to whether the rotational speed of the motor is greater than the preset rotational speed, whether the wind speed is greater than a preset safe wind speed, wherein the preset rotational speed corresponds to the preset safe wind speed.
The method of any of claims 13-15, further comprising:

When the wind speed is greater than the preset safe wind speed, an alarm prompt is issued.
The method of claim 16 wherein said alert alert is issued by said unmanned aerial vehicle or said remote control of said unmanned aerial vehicle.
An airspeed detecting system for an unmanned aerial vehicle, the unmanned aerial vehicle comprising a propeller and a motor for driving the propeller to rotate, wherein the wind speed detecting system comprises:

One or more processors operating collectively or separately, the processor being electrically coupled to the motor and for:

Obtaining a rotational speed of the motor of the unmanned aerial vehicle, wherein the rotational speed is a rotational speed of the motor when the propeller is facing the wind;

The wind speed of the current environment of the UAV is determined according to the rotational speed of the motor.
The system of claim 18 wherein said motor is controlled in a sensorless manner.
The system according to claim 19, wherein said processor is specifically configured to: detect an electrical parameter of said motor, and determine a rotational speed of said motor based on an electrical parameter of said motor.
The system of claim 20 wherein said electrical parameter is a counter electromotive force.
The system of claim 21, wherein the processor is specifically configured to:

Obtaining an electrical angular velocity of the motor according to the counter electromotive force;

Obtaining an electrical cycle of the motor according to the electrical angular velocity;

The rotational speed of the motor is obtained according to the electrical cycle.
The system of claim 18 wherein said motor is controlled in a sensor mode.
The system according to claim 23, wherein the motor is provided with a sensor, and the processor is specifically configured to detect detection information of the sensor, and acquire the rotation speed of the motor according to the detection information of the sensor. .
The system of claim 24 wherein said detection information is an electrical cycle of said motor as it rotates.
A system according to any of claims 18-25, wherein the motor is powered and the motor is not driven.
The system of claim 26 wherein said processor is operative to obtain a maximum rotational speed of said motor when said propeller is facing the wind.
A system according to any one of claims 18-25, wherein the motor is driven to rotate at a preset rotational speed.
The system of claim 28, wherein the processor is specifically configured to:

Obtaining a first rotational speed and a second rotational speed of the motor, wherein the first rotational speed is a maximum rotational speed of the motor rotating under the influence of the wind, and the second rotational speed is an influence of the motor on the wind The minimum speed of the lower rotation;

Obtaining an average rotational speed of the motor according to the first rotational speed and the second rotational speed.
The system according to any one of claims 18 to 29, wherein the processor is specifically configured to acquire the motor according to a preset model of a preset relationship between a rotational speed and a wind speed. The wind speed corresponding to the rotational speed is the wind speed of the current environment of the unmanned aerial vehicle.
The system of claim 30, further comprising a display screen, said display screen being in communication with said processor;

The display screen is used to display information of the wind speed.
The system according to any one of claims 18 to 29, wherein the processor is specifically configured to determine whether the wind speed is greater than a preset safe wind speed according to whether the rotational speed of the motor is greater than the preset rotational speed. The predetermined rotational speed corresponds to the preset safe wind speed.
A system according to any of claims 30-32, further comprising an alarm device, said alarm device being communicatively coupled to said processor;

The alarm device is configured to perform an alarm prompt when the wind speed is greater than a preset safe wind speed.
The system of claim 33 wherein said alarm device is disposed on said UAV or said remote control of said UAV.
A system according to any of claims 18-34, wherein the processor is a controller of an electronic governor or a flight controller of an unmanned aerial vehicle.
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises a propeller and a motor for driving the propeller, and an air speed detecting system of the unmanned aerial vehicle according to any one of claims 18-35.