CN105857633A - Multi-rotor unmanned aerial vehicle and start detecting method thereof - Google Patents
Multi-rotor unmanned aerial vehicle and start detecting method thereof Download PDFInfo
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- CN105857633A CN105857633A CN201610340062.6A CN201610340062A CN105857633A CN 105857633 A CN105857633 A CN 105857633A CN 201610340062 A CN201610340062 A CN 201610340062A CN 105857633 A CN105857633 A CN 105857633A
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- rotor
- unmanned plane
- detection method
- startup
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
Abstract
The invention discloses a multi-rotor unmanned aerial vehicle and a start detecting method thereof. The start detecting method comprises the following steps: receiving a first control instruction of the unmanned aerial vehicle; starting at least one first rotor of the unmanned aerial vehicle, wherein the design rotation directions of the first rotors are consistent and known in the above steps. According to the start detecting method provided by the invention, when the unmanned aerial vehicle is started, a part of first rotors with known and consistent design rotation directions is only started, so that whether the installation direction of a motor of the part is right or not can be detected, and the crash possibility caused by assembly error is avoided for the motor of the part.
Description
Technical field
The present invention relates to unmanned air vehicle technique, be specifically related to a kind of many rotor wing unmanned aerial vehicles and start detection side
Method.
Background technology
In recent years, unmanned air vehicle technique obtains quickly development, and wherein, many rotor wing unmanned aerial vehicles are unmanned planes
One of main Types.Many rotor wing unmanned aerial vehicles rely on the rotating speed of regulation motor to change variable rotor speed, real
The change of existing lift, thus realize the various flying methods of unmanned plane.
In prior art, in order to offset the dynamic torque effect of air, the adjacent rotation of many rotor wing unmanned aerial vehicles
The direction of rotation of the wing needs contrary；For coaxial multi-rotor aerocraft, upper and lower rotor wing rotation direction needs
On the contrary.Therefore, in many rotor unmanned aircrafts are installed, it is necessary to assure each motor direction of rotation is just
Really, otherwise unmanned vehicle will be unable to take off, and user, before aircraft flight, needs to check motor peace
Dress direction, in order to avoid occurring that aircraft falls the situation of machine once taking off.
Be in place of the deficiencies in the prior art, as user because carelessness and to the inspection of motor not in place time,
The unmanned plane that can cause loading error takes off and i.e. falls damage and arrange crash, causes unnecessary loss, existing
Technology is had to lack a kind of simple and easy to do electromechanical testing method.
Summary of the invention
It is an object of the invention to provide a kind of many rotor wing unmanned aerial vehicles and start detection method, existing to solve
There is in technology the weak point lacking simple and easy to do electromechanical testing method.
To achieve these goals, the present invention provides following technical scheme:
The startup detection method of a kind of many rotor wing unmanned aerial vehicles, comprises the following steps:
Receive the first control instruction of described unmanned plane；
Start at least one first rotor of described unmanned plane；
In above-mentioned steps, the design rotation direction of multiple described first rotors is consistent and known.
Above-mentioned startup detection method, the quantity of the rotor of described unmanned plane is four, six or eight
Individual.
Above-mentioned startup detection method, described unmanned plane multiple rotors composition I shape, X-shaped, V-arrangement,
Or Y shape.
Above-mentioned startup detection method, the design rotation direction of described first rotor is to rotate counterclockwise.
Above-mentioned startup detection method, the step of at least one the first rotor of the described unmanned plane of described startup
In Zhou, the quantity of described first rotor is one, two, three or four.
Above-mentioned startup detection method, the step of at least one the first rotor of the described unmanned plane of described startup
Also include after rapid:
Other rotor of described unmanned plane is started successively according to default time interval and order.
Above-mentioned startup detection method,
Described default order is: with described first rotor as starting point, starts institute counterclockwise or clockwise
State other rotor of unmanned plane.
Above-mentioned startup detection method, the step of at least one the first rotor of the described unmanned plane of described startup
Also include after rapid:
Receive the second control instruction of described unmanned plane；
Start other rotor of described unmanned plane.
Above-mentioned startup detection method, described second control instruction is that the throttle of described unmanned plane is promoted.
A kind of many rotor wing unmanned aerial vehicles, including:
Command reception module, receives the first control instruction of described unmanned plane；
First starts module, starts at least one first rotor of described unmanned plane；Described first rotor
Design rotation direction known.
In technique scheme, the startup detection method that the present invention provides, when unmanned plane starts, start
Only actuating section turns to the first known and consistent rotor, so can detect the installation of this part motor
Direction is the most correct, and for this part motor, relieving the machine that falls caused because of loading error may
Property.
Owing to above-mentioned startup detection method has above-mentioned technique effect, by the carrying out of this startup detection method
The many rotor wing unmanned aerial vehicles started also should have corresponding technique effect.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to enforcement
In example, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only
Some embodiments described in the present invention, for those of ordinary skill in the art, it is also possible to according to these
Accompanying drawing obtains other accompanying drawing.
The FB(flow block) of the startup detection method of the embodiment that Fig. 1 provides for the embodiment of the present invention；
The FB(flow block) of the startup detection method of another embodiment that Fig. 2 provides for the embodiment of the present invention；
The FB(flow block) of the startup detection method of a further embodiment that Fig. 3 provides for the embodiment of the present invention；
The structural representation of many rotor wing unmanned aerial vehicles of the embodiment that Fig. 4 provides for the embodiment of the present invention；
The structural representation of many rotor wing unmanned aerial vehicles of another embodiment that Fig. 5 provides for the embodiment of the present invention；
The structural representation of many rotor wing unmanned aerial vehicles of a further embodiment that Fig. 6 provides for the embodiment of the present invention；
The structural representation of many rotor wing unmanned aerial vehicles of a further embodiment that Fig. 7 provides for the embodiment of the present invention；
The structural representation of many rotor wing unmanned aerial vehicles of a further embodiment that Fig. 8 provides for the embodiment of the present invention；
The structural representation of many rotor wing unmanned aerial vehicles of a further embodiment that Fig. 9 provides for the embodiment of the present invention；
The structural representation of many rotor wing unmanned aerial vehicles of a further embodiment that Figure 10 provides for the embodiment of the present invention
Figure；
The structural representation of many rotor wing unmanned aerial vehicles of a further embodiment that Figure 11 provides for the embodiment of the present invention
Figure；
The structural representation of many rotor wing unmanned aerial vehicles of a further embodiment that Figure 12 provides for the embodiment of the present invention
Figure；
The structured flowchart of many rotor wing unmanned aerial vehicles that Figure 13 provides for the embodiment of the present invention.
Description of reference numerals:
1, command reception module；2, first starts module.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that technical scheme, below in conjunction with accompanying drawing
The present invention is further detailed.
As shown in Fig. 1,4-12, the startup detection of a kind of many rotor wing unmanned aerial vehicles that the embodiment of the present invention provides
Method, comprises the following steps:
101, the first control instruction of unmanned plane is received；
Concrete, the first control instruction is the control instruction for unmanned plane, it is preferred that it is from nothing
Man-machine controller, the button pressed such as manipulation personnel, it can also be passive to be embedded in unmanned plane
Start in module, as in the startup program of unmanned plane, start button when manipulation personnel press unmanned plane
Time, startup program first carries out this first control instruction.As optionally, the first control instruction can be come
From any controlling organization for unmanned plane.
Preferably, the first control instruction can be the enabled instruction of unmanned plane；As optionally, it is also
Can be the startup detection instruction being separately provided, accordingly, the first control instruction opening from unmanned plane
Dynamic button or special startup detection button.
102, at least one first rotor of unmanned plane is started；
Concrete, " the design rotation direction of multiple described first rotors is consistent and known " refers to:
First rotor can be one, it is also possible to be two, three or more, herein, when the first rotor
When only having one, its design rotation direction is known, when the quantity of the first rotor is two or more
Time, the design rotation direction of multiple first rotors is consistent, and this design rotation direction is known
's.Here design rotation direction refers to assemble the direction of design on drawing, and now manipulation personnel pass through
The actual rotation direction of perusal the first rotor is the most identical with design rotation direction can learn nobody
The motor of machine is the most anti-loaded.
In the present embodiment, this design rotation direction preferably rotates counterclockwise direction, it is proposed that side counterclockwise
To as starting the reference direction of detection, thus provide consistent, stable detection direction for user
Expection.
Unmanned plane in the present embodiment, multiple rotors composition I shape (shown in Fig. 4-6) of unmanned plane, X
Shape (shown in Fig. 7-8), V-arrangement (shown in Fig. 9-10), Y shape (shown in Figure 11) or IY shape
(shown in Figure 12), it is clear that, what multiple rotors of unmanned plane formed can also is that other profile.
The startup detection method that the embodiment of the present invention provides, when unmanned plane starts, starts only actuating section and turns
To the first known and consistent rotor, the installation direction that so can detect this part motor is the most correct,
For this part motor, relieve the machine that the falls probability caused because of loading error.
As in figure 2 it is shown, in the present embodiment, after step 102, further, also include:
103, other rotor of unmanned plane is started successively according to default time interval and order.
Concrete, i.e. for all rotors of unmanned plane, the first rotor is by step 101 and 102
Detecting, other rotor in addition to the first rotor is detected by step 103.Now, only
The time interval that need to preset and order be manipulation personnel it is known that and the design direction of other rotor be manipulation
Personnel are it is known that thus by the detection work starting manipulation personnel successively and can completing whole rotor.
In the present embodiment, as preferably, the order preset is: with the first rotor as starting point, the inverse time
Other rotor of pin or clockwise startup unmanned plane, the most each rotor starts successively, so gives manipulation personnel
With the order of vision the most smoothly, such manipulation personnel can discovery rotor the most accurately and quickly be
No correct installation.
As it is shown on figure 3, in the present embodiment, after step 102, further, also include:
104, the second control instruction of unmanned plane is received；
105, other rotor of unmanned plane is started.
Concrete, i.e. after the first rotor detection terminates, other rotor not have detected, directly
By one second control instruction, starting unmanned plane, now, other rotor in addition to the first rotor is complete
Portion rotates.As preferably, the second control instruction is that the throttle of unmanned plane is promoted.It is apparent that
Second control instruction could also be from other control button of unmanned plane.
As shown in figure 13, the embodiment of the present invention also provides for a kind of many rotor wing unmanned aerial vehicles, including:
Command reception module 1, receives the first control instruction of unmanned plane；
First starts module 2, starts at least one first rotor of unmanned plane；The design of the first rotor
Rotation direction is known.I.e. these many rotor wing unmanned aerial vehicles employ above-mentioned startup detection method carry out start inspection
Survey.
Owing to above-mentioned startup detection method has above-mentioned technique effect, opened by the carrying out of this startup detection method
Dynamic many rotor wing unmanned aerial vehicles also should have corresponding technique effect.
By the way of explanation, only describe some one exemplary embodiment of the present invention above, undoubtedly, right
In those of ordinary skill in the art, in the case of without departing from the spirit and scope of the present invention, can be with each
Plant different modes described embodiment is modified.Therefore, above-mentioned accompanying drawing and description are inherently
Illustrative, should not be construed as the restriction to the claims in the present invention protection domain.
Claims (10)
1. the startup detection method of rotor wing unmanned aerial vehicle more than a kind, it is characterised in that comprise the following steps:
Receive the first control instruction of described unmanned plane；
Start at least one first rotor of described unmanned plane；
In above-mentioned steps, the design rotation direction of multiple described first rotors is consistent and known.
Startup detection method the most according to claim 1, it is characterised in that described unmanned plane
The quantity of rotor is four, six or eight.
Startup detection method the most according to claim 1, it is characterised in that described unmanned plane
Multiple rotors composition I shape, X-shaped, V-arrangement or Y shape.
Startup detection method the most according to claim 1, it is characterised in that described first rotor
Design rotation direction be to rotate counterclockwise.
Startup detection method the most according to claim 1, it is characterised in that described in described startup
In the step of at least one of unmanned plane the first rotor, the quantity of described first rotor is one, two,
Three or four.
Startup detection method the most according to claim 1, it is characterised in that described in described startup
Also include after the step of at least one of unmanned plane the first rotor:
Other rotor of described unmanned plane is started successively according to default time interval and order.
Startup detection method the most according to claim 6, it is characterised in that
Described default order is: with described first rotor as starting point, starts institute counterclockwise or clockwise
State other rotor of unmanned plane.
Startup detection method the most according to claim 1, it is characterised in that described in described startup
Also include after the step of at least one of unmanned plane the first rotor:
Receive the second control instruction of described unmanned plane；
Start other rotor of described unmanned plane.
Startup detection method the most according to claim 8, it is characterised in that described second controls
Instruction is promoted for the throttle of described unmanned plane.
10. rotor wing unmanned aerial vehicle more than a kind, it is characterised in that including:
Command reception module, receives the first control instruction of described unmanned plane；
First starts module, starts at least one first rotor of described unmanned plane；Multiple described first
The design rotation direction of rotor is consistent and known.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610340062.6A CN105857633B (en) | 2016-05-21 | 2016-05-21 | Multi-rotor unmanned aerial vehicle and its starting detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610340062.6A CN105857633B (en) | 2016-05-21 | 2016-05-21 | Multi-rotor unmanned aerial vehicle and its starting detection method |
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| Publication Number | Publication Date |
|---|---|
| CN105857633A true CN105857633A (en) | 2016-08-17 |
| CN105857633B CN105857633B (en) | 2019-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842020A (en) * | 2016-12-26 | 2017-06-13 | 青岛海尔空调器有限总公司 | The detection method and air-conditioner of the motor setup error of air-conditioner |
| CN110466799A (en) * | 2019-08-06 | 2019-11-19 | 江苏荣耀天翃航空科技有限公司 | A kind of method and unmanned plane of the detection of unmanned plane pre-rotation |
| CN114348280A (en) * | 2022-01-11 | 2022-04-15 | 广东汇天航空航天科技有限公司 | Ground-air passing equipment, self-checking method and system thereof, and computing equipment |
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| US20030222612A1 (en) * | 2002-05-28 | 2003-12-04 | Mitsubishi Denki Kabushiki Kaisha | Motor abnormality detection apparatus and electric power steering control system |
| CN104280682A (en) * | 2014-05-09 | 2015-01-14 | 浙江大学 | Motor rotor fault diagnosis method based on field-orientated control |
| CN105137960A (en) * | 2015-07-24 | 2015-12-09 | 余江 | Small multi-rotor-type unmanned aerial equipment and self detection method thereof |
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2016
- 2016-05-21 CN CN201610340062.6A patent/CN105857633B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030222612A1 (en) * | 2002-05-28 | 2003-12-04 | Mitsubishi Denki Kabushiki Kaisha | Motor abnormality detection apparatus and electric power steering control system |
| CN104280682A (en) * | 2014-05-09 | 2015-01-14 | 浙江大学 | Motor rotor fault diagnosis method based on field-orientated control |
| CN105137960A (en) * | 2015-07-24 | 2015-12-09 | 余江 | Small multi-rotor-type unmanned aerial equipment and self detection method thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842020A (en) * | 2016-12-26 | 2017-06-13 | 青岛海尔空调器有限总公司 | The detection method and air-conditioner of the motor setup error of air-conditioner |
| CN110466799A (en) * | 2019-08-06 | 2019-11-19 | 江苏荣耀天翃航空科技有限公司 | A kind of method and unmanned plane of the detection of unmanned plane pre-rotation |
| CN114348280A (en) * | 2022-01-11 | 2022-04-15 | 广东汇天航空航天科技有限公司 | Ground-air passing equipment, self-checking method and system thereof, and computing equipment |
| CN114348280B (en) * | 2022-01-11 | 2023-08-18 | 广东汇天航空航天科技有限公司 | Ground-air traffic equipment, self-checking method and system thereof and computing equipment |
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| CN105857633B (en) | 2019-02-15 |
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