CN106716278A

CN106716278A - Unmanned aerial vehicle, electronic speed regulator and control method and control system thereof

Info

Publication number: CN106716278A
Application number: CN201680002514.8A
Authority: CN
Inventors: 周长兴; 蓝求; 刘万启
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2016-08-31
Filing date: 2016-08-31
Publication date: 2017-05-24
Anticipated expiration: 2036-08-31
Also published as: CN106716278B; CN111580507A; CN111580507B; WO2018039981A1

Abstract

A control method of an electronic speed regulator comprises: S011, obtaining the work environment humidity of the electronic speed regulator; and S102, determining whether the electronic speed regulator is at an abnormal state according to the work environment humidity. Through the obtained work environment humidity of the electronic speed regulator, the method determines whether the electronic speed regulator is at an abnormal state, can determine whether water enters the electronic speed regulator or condensed water exists, facilitates avoiding short circuit caused by water, and further prevents an unmanned aerial vehicle from having fault or exploding due to the water entering the electronic speed regulator.

Description

Unmanned aerial vehicle, electronic speed regulator, control method and control system thereof

Technical Field

The invention relates to the technology of electronic speed regulators, in particular to an unmanned aerial vehicle, an electronic speed regulator, a control method and a control system thereof.

Background

The unmanned aerial vehicle is an unmanned aerial vehicle for short, is an unmanned aerial vehicle operated by utilizing a radio remote control device or a self program control device, and has the advantages of flexibility, quick response, unmanned flight and the like. Unmanned vehicles are generally used in military and civil fields, and are particularly widely used in the fields of meteorology, agriculture, exploration, photography, disaster prevention, patrol and the like.

The unmanned aerial vehicle may include: the system comprises a motor, an electronic speed regulator, an inertia measurement unit, a flight controller and a remote control device; the remote control device is used for receiving a remote control instruction input by an operator; the flight controller is used for determining a corresponding flight control instruction according to the remote control instruction received by the remote control device and the flight attitude parameter detected by the inertia measurement unit and sending the flight control instruction to the electronic speed regulator; the electronic speed regulator is used for controlling the rotation of the motor according to the received flight control instruction and adjusting the flight attitude of the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to achieve functions of aerial photography, tracking or pesticide spraying and the like under the corresponding flight attitude.

The existing unmanned aerial vehicle, especially the agricultural unmanned aerial vehicle applied to the agricultural field, usually performs sealing and waterproof treatment on the electronic speed regulator. However, when the electronic speed regulator is subjected to water inlet due to failure of sealing and waterproof treatment or the electronic speed regulator has a condensed water phenomenon due to weather reasons, the electronic speed regulator and the outside cannot know that water is introduced into the electronic speed regulator, and at the moment, the unmanned aerial vehicle takes off forcibly or flies continuously, so that partial elements of the electronic speed regulator are easily short-circuited, and further the unmanned aerial vehicle is subjected to failure or even explosion.

Disclosure of Invention

Aiming at the defects in the prior art, the unmanned aerial vehicle, the electronic speed regulator, the control method and the control system thereof can judge whether water exists in the electronic speed regulator in time, and are beneficial to avoiding the unmanned aerial vehicle from breaking down or exploding due to water entering the electronic speed regulator.

A first aspect of the present invention provides a control method of an electronic governor for an unmanned aerial vehicle, including:

acquiring the working environment humidity of the electronic speed regulator;

and judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity.

A second aspect of the present invention provides a control system for an unmanned aerial vehicle, comprising:

one or more processors, working together or separately, for acquiring the working environment humidity of the electronic governor; and judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity.

A third aspect of the present invention provides an electronic governor including:

a housing;

and a control system mounted within the housing;

wherein the electronic governor includes: one or more processors, working together or separately, for acquiring the working environment humidity of the electronic governor; and judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity.

A fourth aspect of the present invention provides an unmanned aerial vehicle, comprising:

a frame;

the motor is arranged on the frame and used for providing flight power;

the electronic speed regulator is electrically connected with the motor and is used for controlling the working state of the motor;

wherein the electronic governor includes: a housing; and one or more processors, installed in the housing, working together or individually, for acquiring the working environment humidity of the electronic governor; and judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity.

According to the unmanned aerial vehicle, the electronic speed regulator, the control method and the control system thereof, whether the electronic speed regulator is in an abnormal state or not is judged through the acquired working environment humidity of the electronic speed regulator, and water inflow or condensed water in the electronic speed regulator can be found in time, so that protective measures can be taken in time after the electronic speed regulator is determined to be in the abnormal state, further, the short circuit phenomenon of the electronic speed regulator caused by water inflow is avoided, and the unmanned aerial vehicle is prevented from being broken down or exploding due to water inflow of the electronic speed regulator.

Drawings

Fig. 1 is a schematic flow chart of a control method of an electronic governor according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a control method of an electronic governor according to a second embodiment of the present invention;

fig. 3 is a schematic flow chart of a control method of an electronic governor according to a fourth embodiment of the present invention;

fig. 4 is a schematic flow chart of a control method of an electronic speed regulator according to a seventh embodiment of the present invention;

fig. 5 is a schematic flow chart of a control method of an electronic governor according to a tenth embodiment of the present invention;

fig. 6 is a schematic flow chart of a control method of an electronic governor according to an eleventh embodiment of the present invention;

fig. 7 is a schematic flow chart of a control method of an electronic governor according to a twelfth embodiment of the present invention;

fig. 8 is a schematic flow chart of a control method of an electronic governor according to a thirteenth embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a control system according to an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a flight controller and a control system according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a control system and a power management system according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a control system and a ground control terminal according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a control system and an alarm provided in the embodiment of the present invention;

fig. 14 is a schematic structural diagram of a control system, a ground control terminal, and a flight controller according to an embodiment of the present invention;

FIG. 15 is a block diagram of a control system and a memory according to an embodiment of the present invention;

FIG. 16 is a schematic structural diagram of a control system and an internal detection element according to an embodiment of the present invention;

fig. 17 is a schematic structural view of an electronic governor according to an embodiment of the present invention;

fig. 18 is a schematic view of a first structure of the unmanned aerial vehicle according to the embodiment of the present invention;

fig. 19 is a schematic structural diagram of a motor and an electronic governor in the unmanned aerial vehicle according to the embodiment of the present invention;

fig. 20 is a second schematic structural diagram of the unmanned aerial vehicle according to the embodiment of the present invention;

fig. 21 is a schematic diagram of a third structure of the unmanned aerial vehicle according to the embodiment of the present invention.

100-a processor; 200-a flight controller; 300-a power management system; 400-ground control terminal; 500-alarm; 600-a memory; 710-inner detection element; 720-outer detection element; 800-a rack; 900-motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.

All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

It should be noted that the terms "first" and "second" in the description of the present invention are used merely for convenience in describing different components, and are not to be construed as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Example one

Fig. 1 is a schematic flow chart of a control method of an electronic governor according to an embodiment of the present invention; referring to fig. 1, the present embodiment provides a control method for an electronic governor of an unmanned aerial vehicle, including:

s011, acquiring the working environment humidity of the electronic speed regulator;

the electronic speed regulator can comprise elements such as a rotating speed sensor, an electric regulation controller, a rotating speed regulation potentiometer, a safety circuit and the like, and the working environment humidity of the electronic speed regulator refers to the humidity in a closed space where the elements such as the rotating speed sensor, the electric regulation controller, the rotating speed regulation potentiometer, the safety circuit and the like are located; the working environment humidity can be specifically expressed as relative humidity or absolute humidity, and the embodiment does not specifically limit the specific expression form of the working environment humidity of the electronic speed regulator, as long as the variation of the working environment humidity of the electronic speed regulator can be reflected.

The embodiment does not specifically limit the manner of obtaining the humidity of the working environment of the electronic governor, and those skilled in the art can set the humidity according to specific design requirements. For example: the electronic speed regulator can have the function of detecting the humidity and can acquire the working environment humidity from the electronic speed regulator; or a detection element for detecting humidity is arranged in the working environment of the electronic speed regulator, and the working environment humidity can be obtained from the detection element.

And S012, judging whether the electronic speed regulator is in an abnormal state according to the working environment humidity.

In this embodiment, the specific determination method for determining whether the electronic governor is in an abnormal state according to the humidity of the working environment is not limited, and a person skilled in the art can set the determination method according to specific design requirements. For example: comparing the current working environment humidity with the previously acquired working environment humidity, and if the current working environment humidity and the previously acquired working environment humidity are different or a first difference value of the current working environment humidity and the previously acquired working environment humidity is larger than a first preset difference value, determining whether the electronic speed regulator is in an abnormal state; or storing the adjacent working environment humidity within the preset acquisition times, determining the maximum working environment humidity and the minimum working environment humidity, and determining whether the electronic speed regulator is in an abnormal state if a second difference value between the maximum working environment humidity and the minimum working environment humidity is greater than a second preset difference value. In this embodiment, the first preset difference and the second preset difference are not specifically limited, and those skilled in the art may set the first preset difference and the second preset difference according to specific design requirements.

In addition, after the electronic speed regulator is determined to be in an abnormal state, an operator or a flight controller can determine a corresponding protection strategy so as to avoid the unmanned aerial vehicle from being in fault or explosive due to the fact that the electronic speed regulator continues normal flight after water enters. The protection strategy in this embodiment is not specifically limited, and those skilled in the art may set the protection strategy according to specific design requirements.

It should be noted that: the control method of the electronic speed regulator provided by the embodiment is not only suitable for the unmanned aerial vehicle, but also suitable for other equipment provided with the electronic speed regulator; the present embodiment and the following embodiments are described with respect to a control method of an electronic governor, taking an application to an unmanned aerial vehicle as an example.

According to the control method of the electronic speed regulator, whether the electronic speed regulator is in an abnormal state or not is judged through the acquired working environment humidity of the electronic speed regulator, whether water enters the electronic speed regulator or not and whether condensate water exists or not can be judged in time, and after the electronic speed regulator is determined to be in the abnormal state, protective measures can be taken in time, so that the short circuit phenomenon caused by the water entering of the electronic speed regulator can be avoided, and the unmanned aerial vehicle is prevented from being broken down or exploded due to the water entering of the electronic speed regulator.

Example two

Fig. 2 is a schematic flow chart of a control method of an electronic governor according to a second embodiment of the present invention; referring to fig. 2, in the first embodiment, the determining whether the electronic governor is in an abnormal state according to the humidity of the working environment may include: and comparing the working environment humidity with the preset humidity, and if the working environment humidity is greater than the preset humidity, determining that the electronic speed regulator is in an abnormal state.

The specific flow of the control method of the electronic speed regulator provided by the embodiment can be as follows:

s021, acquiring the working environment humidity of the electronic speed regulator;

s022, comparing the working environment humidity with a preset humidity;

s023, if the humidity of the working environment is greater than the preset humidity, determining that the electronic speed regulator is in an abnormal state.

In this embodiment, when the working environment humidity is the absolute humidity, the preset humidity is the preset absolute humidity; when the working environment humidity is the relative humidity, the preset humidity is the preset relative humidity. The specific value of the preset humidity is not limited in this embodiment, and those skilled in the art can set the specific value according to actual requirements. It can be understood that: according to actual requirements, an operator can adjust the preset humidity; in order to protect the components in the electronic speed regulator, when the operator adjusts the preset humidity, the preset humidity input by the operator must be less than or equal to the maximum preset humidity, which is the maximum humidity at which the components in the electronic speed regulator can normally work.

In addition, according to the difference value between the working environment humidity and the preset humidity, the abnormal state of the electronic speed regulator can be graded, so that the flight controller or an operator on the ground can conveniently adopt a corresponding protection strategy according to the grade of the abnormal state. For example: when the difference value between the working environment humidity and the preset humidity (the value obtained by subtracting the preset humidity from the working environment humidity) is smaller than a third preset difference value, the abnormal state of the electronic speed regulator is a first-stage abnormal state; and when the difference value between the working environment humidity and the preset humidity is greater than a third preset difference value and less than a fourth preset difference value, the abnormal state of the electronic speed regulator is a secondary abnormal state.

According to the control method of the electronic speed regulator, by comparing the working environment humidity with the preset humidity, when the working environment humidity is greater than the preset humidity, it is determined that the electronic speed regulator is in an abnormal state in time, namely, the electronic speed regulator is in the abnormal state, namely, water enters or condensed water exists in the electronic speed regulator, so that the electronic speed regulator is favorably prevented from generating a short circuit phenomenon, an operator or an unmanned aerial vehicle is favorably adopted to timely take a protection strategy, and the unmanned aerial vehicle is favorably prevented from being broken down or exploding due to the water entering of the electronic speed regulator.

EXAMPLE III

On the basis of any one of the foregoing embodiments, the working environment humidity includes at least one of: humidity within the housing of the electronic governor, humidity around the electronic governor.

When elements in the electronic speed regulator are all arranged in a shell in a sealing mode, the working environment humidity is the humidity in the shell. When elements in the electronic speed regulator are all arranged on a circuit board which is directly arranged on the unmanned aerial vehicle, the working environment humidity is the humidity around the circuit board, namely the humidity of the environment where the circuit board is located; for example: when the circuit board is directly installed in the motor mounting seat, the working environment humidity is the humidity in the motor mounting seat.

It can be understood that: those skilled in the art can also use other ways to represent the humidity of the working environment of the electronic speed regulator, as long as the change amount of the humidity of the working environment of the electronic speed regulator can be reflected, and details are not described herein.

Example four

Fig. 3 is a schematic flow chart of a control method of an electronic governor according to a fourth embodiment of the present invention; referring to fig. 3, after determining whether the electronic governor is in an abnormal state based on any of the foregoing embodiments, the method may further include: and if the electronic speed regulator is determined to be in the abnormal state, changing the operation state of the unmanned aerial vehicle.

Taking the first embodiment as an example, the specific flow of the control method of the electronic speed regulator provided in this embodiment may be as follows:

s041, acquiring the working environment humidity of the electronic speed regulator;

s042, judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity;

and S043, if the electronic speed regulator is determined to be in the abnormal state, changing the operation state of the unmanned aerial vehicle.

In this embodiment, after determining that the electronic speed regulator is in an abnormal state, that is, after determining that water exists in the electronic speed regulator, the unmanned aerial vehicle may adjust the operation state in time through its own program control device, or adjust the operation state in time according to a received remote control instruction of an operator sent by the ground control terminal, for example: and controlling the unmanned aerial vehicle to return to the ground so as to reduce or avoid the occurrence of faults or explosion of the unmanned aerial vehicle caused by the short circuit of the electronic speed regulator due to water inlet.

The operation state after the change of the unmanned aerial vehicle is not specifically limited in this embodiment, and a person skilled in the art can set the operation state according to actual requirements, so long as the operation state after the change can reduce or avoid the occurrence of a fault or an explosion of the unmanned aerial vehicle caused by the short circuit of the electronic governor due to water inflow.

EXAMPLE five

On the basis of the fourth embodiment, changing the operating state of the unmanned aerial vehicle may specifically include: and when the unmanned aerial vehicle is in a flight state, controlling the unmanned aerial vehicle to enter a safety protection state.

When the unmanned aerial vehicle is determined to be in an abnormal state in the flying process, controlling the unmanned aerial vehicle to enter a safety protection state; the security protection state may include at least one of: landing and returning, forbidding power supply to the abnormal electronic speed regulator, opening the safety air bag and opening the gliding device.

In this embodiment, after determining that the electronic governor is in the abnormal state, the unmanned aerial vehicle may preferentially enter one of the safety protection states according to its own program control device, and for the safety protection state that the unmanned aerial vehicle preferentially enters, a person skilled in the art may set according to actual needs, for example: the unmanned aerial vehicle can preferentially prohibit power supply to an abnormal electronic governor, open an airbag, or open a gliding device. Then, the unmanned aerial vehicle can also change the operation state of the unmanned aerial vehicle according to the received remote control signal input by the operator and sent by the ground control terminal, such as: the unmanned aerial vehicle can be controlled to land immediately or return to the air immediately according to the received remote control signal sent by the ground control terminal.

Or after the electronic speed regulator is determined to be in an abnormal state, determining which safety protection state the unmanned aerial vehicle enters according to the current working environment humidity of the electronic speed regulator. For example: when the current working environment humidity of the electronic speed regulator exceeds a first threshold value of preset humidity, the unmanned aerial vehicle immediately returns; when the current working environment humidity of the electronic speed regulator exceeds a second preset humidity threshold value, the unmanned aerial vehicle immediately lands; when the current working environment humidity of the electronic speed regulator exceeds a third preset humidity threshold value, the unmanned aerial vehicle prohibits the power supply of the abnormal electronic speed regulator; wherein the first threshold, the second threshold and the third threshold are all different; in this embodiment, the sizes of the first threshold, the second threshold, and the third threshold are not specifically limited, and those skilled in the art can set the thresholds according to actual needs.

It can be understood that: those skilled in the art can also adopt other ways to protect the electronic speed regulator, as long as the failure or the explosion of the unmanned aerial vehicle caused by the short circuit of the electronic speed regulator due to water inflow can be reduced or avoided, and the details are not described herein.

In the embodiment, after the electronic speed regulator is determined to be in the abnormal state, the unmanned aerial vehicle is controlled to enter the safety protection state, so that the short circuit phenomenon caused by water entering the electronic speed regulator can be effectively avoided, and the failure or the explosion of the unmanned aerial vehicle caused by the short circuit of the electronic speed regulator is reduced or avoided.

EXAMPLE six

Different from the fifth embodiment, the fifth embodiment describes the protection strategy when the unmanned aerial vehicle is in a flight state, and the present embodiment describes the protection strategy when the unmanned aerial vehicle is in a static state. On the basis of the fourth embodiment, specifically, changing the operating state of the unmanned aerial vehicle may include: and when the unmanned aerial vehicle is in a static state, the unmanned aerial vehicle is prohibited from taking off.

In this embodiment, when the unmanned aerial vehicle is in a static state, that is, when the unmanned aerial vehicle is not taking off on the ground, if the unmanned aerial vehicle is determined to be in an abnormal state according to the operating environment humidity of the electronic speed regulator, the unmanned aerial vehicle is prohibited from taking off, and a fault or an explosion after the unmanned aerial vehicle flies can be effectively avoided.

The specific manner for prohibiting the takeoff of the unmanned aerial vehicle in the embodiment is not limited, and a person skilled in the art can set the takeoff according to actual requirements; for example: forbidding to supply power to a flight controller of the unmanned aerial vehicle, forbidding the motor of the unmanned aerial vehicle to start, or automatically quitting the storage battery of the unmanned aerial vehicle, etc.

In the embodiment, after the electronic speed regulator is determined to be in the abnormal state, the unmanned aerial vehicle is prohibited from taking off, so that the short circuit phenomenon caused by water entering the electronic speed regulator can be effectively avoided, and the unmanned aerial vehicle is helped to reduce or avoid the occurrence of faults or explosion caused by the short circuit of the electronic speed regulator.

EXAMPLE seven

Fig. 4 is a schematic flow chart of a control method of an electronic speed regulator according to a seventh embodiment of the present invention; referring to fig. 4, on the basis of any of the foregoing embodiments, after determining that the electronic speed governor is in an abnormal state, an operator may be prompted that the electronic speed governor is abnormal, so that the operator can take corresponding protective measures in time. Specifically, after determining whether the electronic governor is in an abnormal state, the method further includes: and if the electronic speed regulator is determined to be in an abnormal state, sending an alarm command.

s071, acquiring the working environment humidity of the electronic speed regulator;

s072, judging whether the electronic speed regulator is in an abnormal state or not according to the humidity of the working environment;

and S073, if the electronic speed regulator is determined to be in an abnormal state, sending an alarm instruction.

In this embodiment, after determining that the electronic governor is in an abnormal state, the unmanned aerial vehicle may preferentially enter one of the safety protection states according to its own program control device, for example: the unmanned aerial vehicle can preferentially forbid the power supply to the abnormal electronic speed regulator, open the safety air bag or open the gliding device; simultaneously, unmanned vehicles reminds subaerial operating personnel electronic governor to be in abnormal state through sending out alarm command to operating personnel in time changes unmanned vehicles's operating condition through ground control terminal, for example: landing immediately or returning immediately.

Or when the humidity of the working environment of the electronic speed regulator is greater than a preset humidity fourth threshold, the unmanned aerial vehicle can preferentially send out an alarm command, and then the operation state of the unmanned aerial vehicle is changed according to a received remote control command sent by the ground control terminal; when the working environment humidity of the electronic speed regulator is greater than a fifth preset humidity threshold value, the unmanned aerial vehicle can preferentially enter one of the safety protection states according to the self program control device, and meanwhile, an alarm instruction is sent to remind an operator on the ground that the electronic speed regulator is in an abnormal state, so that the operator can change the operating state of the unmanned aerial vehicle through the ground control terminal in time; wherein the fourth threshold is less than the fifth threshold. The fourth threshold and the fifth threshold are not specifically limited in this embodiment, and those skilled in the art can set the thresholds according to actual needs.

Example eight

On the basis of the seventh embodiment, generally, an operator on the ground operates the unmanned aerial vehicle through a remote control device such as a remote controller, and along with the continuous development and progress of science and technology, the operator on the ground can also operate the unmanned aerial vehicle through an intelligent terminal such as a mobile phone and a tablet personal computer. Therefore, in order to timely remind the operator on the ground that the electronic speed regulator is in an abnormal state, an alarm command is sent, for example, the alarm command is sent to a ground control terminal.

The ground control terminal can be a remote controller, a mobile phone, a tablet computer and other intelligent terminals. When the electronic speed regulator is determined to be in an abnormal state, the unmanned aerial vehicle sends an alarm instruction to the ground control terminal, and the ground control terminal gives an alarm to an operator according to the alarm instruction, so that the operator can take protective measures in time.

The specific manner of the alarm sent by the ground control terminal is not limited in this embodiment, and those skilled in the art can set the alarm according to actual needs. For example: the ground control terminal can send out voice alarm to the operator, the voice alarm can be abnormal electric tuning or ring tone, and the operator can set the voice alarm in an individualized way according to own preference; or the ground control terminal can send an alarm to an operator through the flashing of the indicator light; or the ground control terminal displays 'abnormal electric regulation' or displays the graphic identification of the electronic speed regulator on a display screen of the ground control terminal. Preferably, the higher the operating environment humidity of the electronic governor, the higher the sound of the voice alarm (the greater the loudness of the sound), the higher the flashing frequency of the indicator light. In addition, the operator can also select the mode of giving an alarm by the ground control terminal.

Example nine

On the basis of the seventh embodiment, for the unmanned aerial vehicle provided with the alarm device such as an indicator light or a buzzer, the issuing of the alarm command may include: and sending an alarm instruction to an alarm carried by the unmanned aerial vehicle.

After an alarm carried by the unmanned aerial vehicle receives an alarm instruction, a buzzer sounds or an indicator lamp flickers; preferably, the higher the working environment humidity of the electronic speed regulator is, the higher the sound of the buzzer is, and the higher the flashing frequency of the indicator lamp is.

The unmanned aerial vehicle can send alarm instructions to the ground control terminal and the alarm that self bore simultaneously for the alarm that ground control terminal and self bore all sends out the police dispatch newspaper, avoids the alarm that ground control terminal or unmanned aerial vehicle self bore to break down and can't send out the police dispatch newspaper, leads to operating personnel can't in time know that electronic governor is in abnormal state, thereby guarantees that operating personnel can in time master electronic governor's abnormal state.

Example ten

Fig. 5 is a schematic flow chart of a control method of an electronic governor according to a tenth embodiment of the present invention; referring to fig. 5, after determining whether the electronic governor is in an abnormal state based on any of the foregoing embodiments, the method further includes: and if the electronic speed regulator is determined to be in an abnormal state, displaying the working environment humidity at the ground control terminal so that an operator can send a corresponding remote control instruction to the unmanned aerial vehicle through the ground control terminal according to the working environment humidity in time.

s101, acquiring the working environment humidity of the electronic speed regulator;

s102, judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity;

and S103, if the electronic speed regulator is determined to be in an abnormal state, displaying the working environment humidity on the ground control terminal.

In this embodiment, the ground control terminal may display the relative humidity or the absolute humidity of the working environment of the electronic speed regulator, or display the difference between the working environment of the electronic speed regulator and the preset humidity. Taking the example that the ground control terminal displays the absolute humidity: when the absolute humidity of the electronic speed regulator is in a first absolute humidity range, an operator can send a remote control instruction for controlling the unmanned aerial vehicle to return immediately to the unmanned aerial vehicle through the ground control terminal; when the absolute humidity of the electronic speed regulator is in a second absolute humidity range, an operator can send a remote control instruction for controlling the unmanned aerial vehicle to land immediately to the unmanned aerial vehicle through the ground control terminal; wherein a maximum value of the first absolute humidity range may be less than or equal to a minimum value of the second absolute humidity range.

Preferably, the ground control terminal displays the working environment humidity of the electronic speed regulator, and the alarm carried by the ground control terminal or the unmanned aerial vehicle sends an alarm so as to further ensure that an operator can timely master the abnormal state of the electronic speed regulator.

EXAMPLE eleven

Fig. 6 is a schematic flow chart of a control method of an electronic governor according to an eleventh embodiment of the present invention; referring to fig. 6, after determining whether the electronic governor is in an abnormal state based on any of the foregoing embodiments, the method further includes: if the electronic speed regulator is determined to be in an abnormal state, a first inquiry command is sent to the ground control terminal when the unmanned aerial vehicle is in a flying state; and receiving a first remote control instruction returned by the ground control terminal, and controlling the operation state of the unmanned aerial vehicle according to the first remote control instruction, so that an operator can determine the operation state of the unmanned aerial vehicle according to the current actual condition.

s111, acquiring the working environment humidity of the electronic speed regulator;

s112, judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity;

s113, if the electronic speed regulator is determined to be in an abnormal state, sending a first inquiry command to the ground control terminal when the unmanned aerial vehicle is in a flight state;

and S114, receiving a first remote control instruction returned by the ground control terminal, and controlling the operation state of the unmanned aerial vehicle according to the first remote control instruction.

In this embodiment, in the flight process of the unmanned aerial vehicle, if it is determined that the electronic governor is in an abnormal state, a first query instruction may be sent to the ground control terminal, and the ground control terminal queries, according to the first query instruction, whether the user changes the operation state of the unmanned aerial vehicle; receiving a first remote control instruction input by an operator and fed back by a ground control terminal, wherein the first remote control instruction can be a landing instruction, a return flight instruction, an instruction for forbidding power supply to the electronic speed regulator and the like; and after the first remote control instruction is received, the unmanned aerial vehicle can be correspondingly controlled to land, return and forbid the power supply to the electronic speed regulator.

In the embodiment, the implementation manner of inquiring whether the user changes the operation state of the unmanned aerial vehicle by the ground control terminal is not specifically limited, and a person skilled in the art can set the operation state according to actual needs; for example: the ground control terminal can firstly display the 'yes' and 'no' function options, when the operator clicks the 'yes', the ground control terminal displays the 'landing', 'returning flight', 'power off' and other function options for the operator to click, or when the operator clicks the 'yes', the unmanned aerial vehicle enters a safety protection state.

Or, preferably, when the difference between the working environment humidity of the electronic speed regulator and the preset humidity is greater than or equal to a sixth threshold value, the unmanned aerial vehicle automatically enters a safety protection state; when the difference value between the working environment humidity of the electronic speed regulator and the preset humidity is smaller than a sixth threshold value, the unmanned aerial vehicle sends a first inquiry command to the ground control terminal. As for the size of the sixth threshold, this embodiment is not particularly limited, and a person skilled in the art may set the sixth threshold according to actual needs. The UAV may also receive an operator instruction to set a sixth threshold.

In addition, an instruction for an operator to set a change mode of the operating state of the unmanned aerial vehicle may be received through the ground control terminal. For example: the command that the unmanned aerial vehicle automatically enters a safety protection state after the electronic speed regulator is determined to be in an abnormal state and is input by an operator through the ground control terminal can be received; or, the unmanned aerial vehicle can receive an instruction which is input by an operator through the ground control terminal and is used for sending an inquiry instruction to the ground control terminal after the electronic speed regulator is determined to be in an abnormal state.

Example twelve

Fig. 7 is a schematic flow chart of a control method of an electronic governor according to a twelfth embodiment of the present invention; referring to fig. 7, on the basis of any one of the first to tenth embodiments, after determining whether the electronic governor is in an abnormal state, the method further includes: if the electronic speed regulator is determined to be in an abnormal state, a second inquiry command is sent to the ground control terminal when the unmanned aerial vehicle is in a static state; and receiving a second remote control instruction returned by the ground control terminal, and controlling the operation state of the unmanned aerial vehicle according to the second remote control instruction, so that an operator can determine the operation state of the unmanned aerial vehicle according to the current actual condition.

Or when the unmanned aerial vehicle is in a static state, the directly static unmanned aerial vehicle takes off to protect the unmanned aerial vehicle.

s121, acquiring the working environment humidity of the electronic speed regulator;

s122, judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity;

s123, if the electronic speed regulator is determined to be in an abnormal state, sending a second inquiry command to the ground control terminal when the unmanned aerial vehicle is in a static state;

and S124, receiving a second remote control instruction returned by the ground control terminal, and controlling the operation state of the unmanned aerial vehicle according to the second remote control instruction.

In this embodiment, when the unmanned aerial vehicle does not take off on the ground, if it is determined that the electronic speed regulator is in an abnormal state, a second inquiry command may be sent to the ground control terminal, and the ground control terminal inquires whether the user prohibits the unmanned aerial vehicle from taking off according to the second inquiry command; and receiving a second remote control instruction input by the operator and fed back by the ground control terminal, wherein the second remote control instruction can be a takeoff forbidding instruction, and the takeoff of the unmanned aerial vehicle is forbidden according to the second remote control instruction.

The implementation manner of inquiring whether the user prohibits takeoff is not specifically limited in the embodiment, and a person skilled in the art can set the implementation manner according to actual needs; for example: the ground control terminal may first display the "yes" and "no" function options, and after the operator clicks "yes", the unmanned aerial vehicle prohibits takeoff.

EXAMPLE thirteen

Fig. 8 is a schematic flow chart of a control method of an electronic governor according to a thirteenth embodiment of the present invention; referring to fig. 8, on the basis of any of the foregoing embodiments, after determining that the electronic speed governor is in an abnormal state, the electronic speed governor is placed in a dry environment, or after performing drying processing on the electronic speed governor, if the humidity of the working environment of the electronic speed governor returns to normal, the unmanned aerial vehicle may fly normally; the previous abnormal state, however, has caused damage to components in the appliance governor. Therefore, after determining whether the electronic governor is in an abnormal state, the method further includes: if the electronic speed regulator is determined to be in an abnormal state, storing the working environment humidity of the electronic speed regulator; the stored working environment humidity can provide a basis for the maintenance of the subsequent electric appliance speed regulator.

s131, acquiring the working environment humidity of the electronic speed regulator;

s132, judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity;

and S133, if the electronic speed regulator is determined to be in an abnormal state, storing the working environment humidity of the electronic speed regulator.

In this embodiment, the reason for abnormality of the electronic governor may be condensed water caused by weather, or failure of airtight waterproof treatment of the electronic governor; therefore, the working environment humidity of the electronic speed regulator can be stored, and meanwhile, the date of obtaining the working environment humidity can be stored, so that a basis is provided for judging the reason of the abnormality of the electronic speed regulator during maintenance. In addition, an identification of the electronic governor, such as a serial number, may also be stored.

Example fourteen

In the foregoing embodiments, the frequency of obtaining the humidity of the working environment of the electronic speed regulator is not limited, and can be set by a person skilled in the art according to specific design requirements. Based on any one of the first to twelfth embodiments, acquiring the operating environment humidity of the electronic governor may include: and acquiring the working environment humidity of the electronic speed regulator at preset time intervals.

Wherein the unmanned aerial vehicle can receive an autonomous setting of a preset time period by an operator. The frequency of acquiring the working environment humidity of the electronic speed regulator can be set by an operator according to actual needs. Preferably, the interval period may be set according to the operating state of the unmanned aerial vehicle.

For example: in the static state of the unmanned aerial vehicle, the unmanned aerial vehicle can also enter water due to weather reasons, human reasons and the like, so that when the unmanned aerial vehicle is in the static state, the working environment humidity of the electronic speed regulator can be acquired at intervals of a first time period; when the unmanned aerial vehicle is in a flying state, the working environment humidity of the electronic speed regulator can be acquired every second time interval; wherein the first time period is greater than the second time period. The static state of the unmanned aerial vehicle refers to a state that the unmanned aerial vehicle does not fly, such as: the transport state of the unmanned aerial vehicle, the storage state of the unmanned aerial vehicle, and the like.

Alternatively, it is also possible to acquire an external ambient humidity, such as an atmospheric humidity, and determine a preset time period for acquiring the operating ambient humidity of the electronic governor according to the acquired external ambient humidity. For example: when the external environment humidity is greater than a seventh threshold value, acquiring the working environment humidity of the electronic speed regulator at intervals of a third time period; when the external environment humidity is larger than an eighth threshold, acquiring the working environment humidity of the electronic speed regulator at every fourth time interval; wherein the eighth threshold is greater than the seventh threshold and the third time period is less than the fourth time period.

In addition, a person skilled in the art may also set the preset time period in other manners as long as the humidity of the working environment of the electronic speed regulator can be obtained, which is not described herein again.

Example fifteen

On the basis of any one of the first embodiment to the thirteenth embodiment, since the unmanned aerial vehicle generally flies in an outdoor environment, water is easily introduced into the electronic governor when the humidity of the outdoor environment is high. Therefore, on the basis of any one of the foregoing embodiments, acquiring the working environment humidity of the electronic governor includes: the working environment humidity of the electronic speed regulator is obtained in real time, so that the electronic speed regulator can be found to be in an abnormal state in time, and an unmanned aerial vehicle or an operator can conveniently take a protection strategy in time.

In addition, in the flight state of the unmanned aerial vehicle, the external environment humidity can be acquired in real time, or the external environment humidity is acquired at a preset frequency, for example, the atmospheric humidity, and when the atmospheric humidity exceeds an atmospheric humidity threshold value, the operation that the unmanned aerial vehicle acquires the working environment humidity of the electronic speed regulator in real time is triggered.

Example sixteen

FIG. 9 is a schematic structural diagram of a control system according to an embodiment of the present invention; referring to fig. 9, the present embodiment provides a control system for an unmanned aerial vehicle, including: one or more processors 100.

Wherein the one or more processors 100 work together or individually to acquire the working environment humidity of the electronic governor; and judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity.

In this embodiment, the specific structure of the processor 100 is not limited, and those skilled in the art may set the specific structure according to specific design requirements as long as the above functional effects can be achieved, which is not described herein again. For example: the processor 100 may include at least one of: microprocessor, microcontroller.

The control system may include a processor 100, and the processor 100 may be the microcontroller of the electronic governor itself to simplify the circuitry of the control system. The control system may also include a plurality of processors 100, such as: the system can comprise a first processor and a first processor, wherein the first processor can be in communication connection with the first processor; the first processor can be used for acquiring the working environment humidity of the electronic speed regulator; the first processor can be used for judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity. Wherein, the first processor can be a microcontroller of the electronic speed regulator, and the first processor can be a processor 100 which is arranged independently; alternatively, the first processor is a separately located processor 100 and the first processor is a microcontroller of the electronic governor.

In addition, the implementation process and the implementation effect of the above steps implemented by the processor 100 are the same as the implementation process and the implementation effect of the steps S011 and S012 in the first embodiment, and specific reference may be made to the above statements, which are not repeated herein.

The control system provided by this embodiment, through the operational environment humidity of the electronic speed regulator that treater 100 obtained to judge whether the electronic speed regulator is in abnormal state, can in time judge whether intake in the electronic speed regulator, whether there is the comdenstion water, help avoiding the electronic speed regulator because of the short circuit phenomenon that the intaking leads to, and then help avoiding leading to unmanned vehicles because of the electronic speed regulator intakes trouble or explode the machine.

Example seventeen

Based on the sixteenth embodiment, the processor 100 is specifically configured to compare the working environment humidity with the preset humidity, and determine that the electronic governor is in an abnormal state when the working environment humidity is greater than the preset humidity.

The implementation process and the implementation effect of the above steps implemented by the processor 100 are the same as the implementation processes and the implementation effects of the steps S022 and S023 in the second embodiment, and the above statements may be specifically referred to, and are not repeated herein.

It should be noted that: the implementation procedure and implementation effect of the above steps implemented by the processor 100 in this embodiment may also be the same as the implementation procedure and implementation effect of step S021 in the second embodiment.

The control system that this embodiment provided, compare operational environment humidity with preset humidity through treater 100, when operational environment humidity is greater than preset humidity, in time confirm that electronic governor is in the abnormal state, electronic governor is in the abnormal state also namely the electronic governor intakes or has the comdenstion water, thereby help avoiding electronic governor to take place the short circuit phenomenon, help operating personnel or unmanned vehicles in time to take the protection strategy, thereby help avoiding leading to unmanned vehicles to break down or explode the machine because of electronic governor intakes.

EXAMPLE eighteen

Further, in addition to the sixteenth or seventeenth embodiment, the operating environment humidity includes at least one of: humidity within the housing of the electronic governor, humidity around the electronic governor. The explanation of the humidity of the working environment of the electronic governor may be the same as that of the foregoing embodiment, and specific reference may be made to the above statements, which are not repeated herein.

Example nineteen

The flight controller can control the configuration, the flight attitude, the motion parameters and the like of the unmanned aerial vehicle by utilizing an automatic control system of the flight controller in the flight process of the unmanned aerial vehicle. Therefore, after the processor 100 determines that the electronic governor is in the abnormal state, the operating state of the unmanned aerial vehicle can be changed by the flight controller.

FIG. 10 is a schematic structural diagram of a flight controller and a control system according to an embodiment of the present invention; referring to fig. 10, on the basis of any of the sixteen to eighteen embodiments, the processor 100 is in communication connection with the flight controller 200, and the flight controller 200 is configured to change the operation state of the unmanned aerial vehicle after determining that the electronic governor is in the abnormal state.

In this embodiment, after processor 100 determines that the electronic governor is in an abnormal state, it may send the abnormality to flight controller 200, so that flight controller 200 changes the operating state of the unmanned aerial vehicle in time, for example: and the unmanned aerial vehicle is controlled to return to the ground, so that the unmanned aerial vehicle is prevented from being broken down or exploded due to water inflow of the electronic speed regulator. The specific structure of the flight controller 200 is not limited in this embodiment, and those skilled in the art can set the configuration according to specific design requirements as long as the above functional effects can be achieved, which is not described herein again.

The implementation process and implementation effect of the above steps implemented by the flight controller 200 are the same as the implementation process and implementation effect of step S043 in the fourth embodiment, and reference may be specifically made to the above statements, and details are not described here again.

Example twenty

On the basis of the nineteenth embodiment, the flight controller 200 is specifically configured to control the unmanned aerial vehicle to enter the safety protection state when the unmanned aerial vehicle is in the flight state. Wherein the safety protection state comprises at least one of the following: landing and returning, forbidding power supply to the abnormal electronic speed regulator, opening the safety air bag and opening the gliding device.

In this embodiment, the implementation process and the implementation effect of the above steps implemented by the flight controller 200 are the same as those in the fifth embodiment, and the explanation of the safety protection state is also the same as that in the fifth embodiment.

In this embodiment, after the processor 100 determines that the electronic speed governor is in an abnormal state, the flight controller 200 controls the unmanned aerial vehicle to enter a safety protection state, so that a short circuit phenomenon caused by water entering the electronic speed governor can be effectively avoided, and thus, the occurrence of a fault or an explosion of the unmanned aerial vehicle caused by the short circuit of the electronic speed governor is reduced or avoided.

Example twenty one

On the basis of nineteenth embodiment, flight controller 200 is specifically configured to prohibit takeoff of the unmanned aerial vehicle when the unmanned aerial vehicle is in a stationary state.

In this embodiment, the implementation process and the implementation effect of the above steps implemented by the flight controller 200 are the same as those in the sixth embodiment, and the above statements may be specifically referred to, and are not repeated herein.

In this embodiment, after the processor 100 determines that the electronic speed governor is in an abnormal state, the flight controller 200 prohibits the unmanned aerial vehicle from taking off, so that a short circuit phenomenon caused by water entering the electronic speed governor can be effectively avoided, and thus, the occurrence of a fault or an explosion of the unmanned aerial vehicle caused by the short circuit of the electronic speed governor is reduced or avoided.

Example twenty two

Fig. 11 is a schematic structural diagram of a control system and a power management system according to an embodiment of the present invention; referring to fig. 11, on the basis of any one of the sixteenth to twenty-first embodiments, the processor 100 is communicatively connected to the power management system 300, and the power management system 300 is configured to prohibit power supply to the electronic governor after determining that the electronic governor is in an abnormal state.

The power management system 300 is generally used to efficiently distribute power to different components of the UAV, which can reduce the energy consumption of the components when the components are idle, thereby saving energy. Therefore, in this embodiment, after the processor 100 determines that the electronic governor is in an abnormal state, the abnormality may be sent to the power management system 300, and the power management system 300 controls the power supply to be electrically disconnected from the electronic governor. The specific structure of the power management system 300 is not limited, and those skilled in the art can set the configuration according to specific design requirements as long as the above functional effects can be achieved, and will not be described herein again.

The processor 100 can be respectively connected with the power management system 300 and the flight controller 200 in a communication mode, when the processor 100 determines that the electronic speed regulator is in an abnormal state, the power management system 300 can prohibit power supply to the electronic speed regulator, and the flight controller 200 can control the unmanned aerial vehicle to land, return, open an air bag or open a gliding device.

In this embodiment, after determining that the electronic speed governor is in an abnormal state, the processor 100 prohibits power supply to the electronic speed governor through the power management system 300, and can effectively avoid a short circuit phenomenon caused by water entering the electronic speed governor, thereby helping to reduce or avoid a malfunction or an explosion of the unmanned aerial vehicle caused by a short circuit of the electronic speed governor.

Example twenty three

On the basis of any one of the sixteenth embodiment to the twenty-second embodiment, the processor 100 is further configured to issue an alarm command after determining that the electronic governor is in an abnormal state.

The implementation process and the implementation effect of the above steps implemented by the processor 100 of this embodiment are the same as the implementation process and the implementation effect of the step S073 in the seventh embodiment, and reference may be specifically made to the above statements, and no further description is given here.

It should be noted that, the number of the processors 100 in this embodiment may be one or more; take 3 processors 100 in this embodiment as an example: the first processor can be used for acquiring the working environment humidity of the electronic speed regulator; the first processor can be used for judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity; the first processor may be configured to issue an alarm command after determining that the electronic governor is in an abnormal state.

In this embodiment, after determining that the electronic speed regulator is in the abnormal state, the processor 100 sends an alarm instruction, which can prompt an operator on the ground that the electronic speed regulator is in the abnormal state in time, so that the operator can change the operating state of the unmanned aerial vehicle in time, thereby being helpful to avoid the electronic speed regulator from generating a short circuit phenomenon.

Example twenty-four

Fig. 12 is a schematic structural diagram of a control system and a ground control terminal according to an embodiment of the present invention; referring to fig. 12, on the basis of the twenty-third embodiment, the processor 100 is communicatively connected to the ground control terminal 400; the processor 100 is specifically configured to send an alarm instruction to the ground control terminal 400 when determining that the electronic speed governor is in an abnormal state; the ground control terminal 400 is configured to receive the alarm command and send an alarm according to the alarm command.

The specific structure of the ground control terminal 400 is not limited in this embodiment, and those skilled in the art can set the structure according to specific design requirements as long as the above functional effects can be achieved, which is not described herein again.

The implementation process and the implementation effect of the above steps implemented by the ground control terminal 400 of this embodiment are the same as those of the eighth embodiment, and reference may be specifically made to the above statements, and details are not repeated here.

In this embodiment, after the processor 100 determines that the electronic speed regulator is in the abnormal state, the processor sends an alarm instruction, and the ground control terminal 400 sends an alarm according to the alarm instruction, so that the electronic speed regulator can remind an operator on the ground of being in the abnormal state in time, and the operator can change the operating state of the unmanned aerial vehicle through the ground control terminal 400 in time, thereby being helpful to avoid the short circuit of the electronic speed regulator.

Example twenty-five

Fig. 13 is a schematic structural diagram of a control system and an alarm provided in the embodiment of the present invention; referring to fig. 13, in the twenty-third embodiment, the processor 100 is in communication connection with an alarm 500, and the alarm 500 is installed on the unmanned aerial vehicle; the processor 100 is specifically configured to send an alarm instruction to the alarm 500 carried by the unmanned aerial vehicle when determining that the electronic speed governor is in an abnormal state; the alarm 500 is configured to receive an alarm command and issue an alarm according to the alarm command. Preferably, the alarm 500 may include at least one of: an indicator light and a buzzer.

The specific structure of the alarm 500 is not limited in this embodiment, and those skilled in the art can set the alarm according to specific design requirements as long as the above functional effects can be achieved, which is not described herein again.

The implementation process and the implementation effect of the above steps implemented by the alarm 500 of this embodiment are the same as those of the ninth embodiment, and reference may be specifically made to the above statements, which are not described herein again.

In this embodiment, after the processor 100 determines that the electronic speed regulator is in the abnormal state, the alarm instruction is sent, and the alarm 500 sends an alarm according to the alarm instruction, so that an operator on the ground can be timely reminded that the electronic speed regulator is in the abnormal state, and the operator can change the operating state of the unmanned aerial vehicle through the ground control terminal 400 in time, thereby being helpful for avoiding the short circuit of the electronic speed regulator.

Example twenty-six

With reference to fig. 12, on the basis of any one of the sixteenth to twenty-fifth embodiments, the processor 100 is in communication connection with the ground control terminal 400, and the ground control terminal 400 is configured to display the humidity of the working environment when determining that the electronic governor is in an abnormal state.

The ground control terminal 400 may be provided with a display screen, which may be a touch display screen or a liquid crystal display screen. The specific structure of the ground control terminal 400 is not limited in this embodiment, and those skilled in the art can set the structure according to specific design requirements as long as the above functional effects can be achieved, which is not described herein again.

The implementation process and the implementation effect of the above steps implemented by the ground control terminal 400 of this embodiment are the same as the implementation process and the implementation effect of the step S103 in the tenth embodiment, and reference may be specifically made to the above statements, and details are not repeated here.

The ground control terminal in this embodiment is the same ground control terminal as the ground control terminal in twenty-fourth embodiment; alternatively, the ground control terminal in this embodiment and the ground control terminal in twenty-fourth embodiment are two independent ground control terminals.

In this embodiment, after the processor 100 determines that the electronic speed regulator is in the abnormal state, the ground control terminal 400 displays the working environment humidity, so that an operator on the ground can be timely reminded that the working environment humidity of the electronic speed regulator is abnormal, and the electronic speed regulator is in the abnormal state, so that the operator can change the operating state of the unmanned aerial vehicle through the ground control terminal 400 in time, and the electronic speed regulator is favorably prevented from being short-circuited.

Example twenty-seven

Fig. 14 is a schematic structural diagram of a control system, a ground control terminal, and a flight controller according to an embodiment of the present invention; referring to fig. 14, on the basis of any one of the sixteenth to twenty-sixth embodiments, the processor 100 is communicatively connected to the ground control terminal 400, and the ground control terminal 400 is communicatively connected to the flight controller 200.

The flight controller 200 is configured to send a first query instruction to the ground control terminal 400 after determining that the electronic speed governor is in an abnormal state and in a flight state of the unmanned aerial vehicle; the ground control terminal 400 is configured to receive a first remote control instruction input by an operator according to the first query instruction, and send the first remote control instruction to the flight controller 200; the flight controller 200 is configured to control the operating state of the unmanned aerial vehicle according to the first remote control instruction.

The implementation process and the implementation effect of the above steps implemented by the processor 100 of this embodiment are the same as the implementation process and the implementation effect of steps S111, S112, and S113 in the eleventh embodiment, the implementation process and the implementation effect of the above steps implemented by the flight controller 200 are the same as the implementation process and the implementation effect of step S114 in the eleventh embodiment, and the implementation process and the implementation effect of the above steps implemented by the ground control terminal 400 are the same as the implementation process and the implementation effect of the ground control terminal 400 described in the eleventh embodiment, and specific reference may be made to the above statements, and details are not repeated here. The ground control terminal in this embodiment is the same ground control terminal as the ground control terminal in twenty-fourth embodiment; alternatively, the ground control terminal in this embodiment and the ground control terminal in twenty-fourth embodiment are two independent ground control terminals.

In this embodiment, after the processor 100 determines that the electronic speed regulator is in an abnormal state, the ground control terminal 400 interacts with an operator on the ground in time, so that the operator changes the operating state of the unmanned aerial vehicle in time through the ground control terminal 400 and the flight controller 200, thereby being helpful to avoid a short circuit of the electronic speed regulator.

Example twenty-eight

With reference to fig. 14, on the basis of any one of the sixteenth to twenty-seventh embodiments, the processor 100 is communicatively connected to the ground control terminal 400, and the ground control terminal 400 is communicatively connected to the flight controller 200.

The processor 100 is configured to send a second query instruction to the ground control terminal 400 after determining that the electronic speed regulator is in the abnormal state and when the unmanned aerial vehicle is in the static state; the ground control terminal 400 is configured to receive a second remote control instruction input by the operator according to the second query instruction, and send the second remote control instruction to the flight controller 200; the flight controller 200 is configured to control the operating state of the unmanned aerial vehicle according to the second remote control instruction.

The implementation process and the implementation effect of the above steps implemented by the processor 100 of this embodiment are the same as the implementation process and the implementation effect of steps S121, S122, and S123 in the above twelfth embodiment, the implementation process and the implementation effect of the above steps implemented by the flight controller 200 are the same as the implementation process and the implementation effect of step S124 in the above twelfth embodiment, and the implementation process and the implementation effect of the above steps implemented by the ground control terminal 400 are the same as the implementation process and the implementation effect of the ground control terminal 400 described in the above twelfth embodiment. The ground control terminal in this embodiment is the same ground control terminal as the ground control terminal in twenty-fourth embodiment; alternatively, the ground control terminal in this embodiment and the ground control terminal in twenty-fourth embodiment are two independent ground control terminals.

Example twenty-nine

FIG. 15 is a block diagram of a control system and a memory according to an embodiment of the present invention; referring to fig. 15, on the basis of any one of the sixteenth to twenty-eighth embodiments, the processor 100 is communicatively connected to the memory 600, and the memory 600 is used for storing the working environment humidity of the electronic governor after determining that the electronic governor is in an abnormal state.

The specific structure of the memory 600 is not limited in this embodiment, and those skilled in the art can set the specific structure according to specific design requirements as long as the above functional effects can be achieved, which is not described herein again. The memory 600 of the present embodiment may be a storage medium integrated in a certain component of the electronic governor, or may be a storage medium provided separately.

The implementation process and the implementation effect of the above steps implemented by the memory 600 of this embodiment are the same as the implementation process and the implementation effect of the step S123 in the thirteenth embodiment, and reference may be specifically made to the above statements, and no further description is given here.

In this embodiment, after the processor 100 determines that the electronic speed regulator is in an abnormal state, the memory 600 stores the abnormal working environment humidity, so as to provide a basis for subsequent maintenance of the electronic speed regulator.

Example thirty

On the basis of any one of the sixteenth to twenty-ninth embodiments, the processor 100 is configured to obtain the operating environment humidity of the electronic governor every preset time period. The implementation process and implementation effect of the above steps implemented by the processor 100 are the same as those of the processor 100 described in the fourteenth embodiment, and reference may be specifically made to the above statements, and details are not described here again.

In this embodiment, the processor 100 acquires the humidity of the working environment of the electronic speed regulator at intervals of a preset time period, so that the processor 100 can find the abnormal state of the electronic speed regulator in time no matter in the flight state or the static state of the unmanned aerial vehicle, thereby being helpful for avoiding the short circuit phenomenon of the electronic speed regulator.

Example thirty one

On the basis of any one of the sixteen embodiments to the twenty-nine embodiments, the processor 100 is configured to obtain the working environment humidity of the electronic governor in real time. The implementation process and implementation effect of the above steps implemented by the processor 100 are the same as those of the processor 100 described in the above fifteenth embodiment, and reference may be specifically made to the above statements, and details are not described here again.

In this embodiment, in the flight state of the unmanned aerial vehicle, the processor 100 acquires the working environment humidity of the electronic speed regulator in real time, so that the processor 100 can find the abnormal state of the electronic speed regulator in time, thereby being helpful for avoiding the short circuit phenomenon of the electronic speed regulator.

Example thirty-two

FIG. 16 is a schematic structural diagram of a control system and an internal detection element according to an embodiment of the present invention; referring to fig. 16, on the basis of any one of the sixteenth to thirty-first embodiments, the control system further includes an internal detection element 710 connected to the processor 100 for detecting the humidity of the working environment of the electronic governor.

Specifically, the inner sensing element 710 may include at least one of: humidity sensor, temperature and humidity sensor, humidity sensitive capacitor and humidity sensitive resistor. In addition, the inner detecting element 710 may also be other elements capable of generating external signal changes along with humidity changes, and will not be described herein again.

The inner detection element 710 is used for detecting the humidity of the working environment of the electronic speed regulator at intervals of preset time periods. Wherein the inner detection element 710 may receive an autonomous setting of a preset time period by an operator. The setting of the preset time period may be similar to the setting of the acquisition time calculation, and specifically refer to the description in embodiment fifteen, which is not described herein again.

The inner detection element 710 is used for detecting the humidity of the working environment of the electronic speed regulator in real time in the flight state of the unmanned aerial vehicle. In the flight state of the unmanned aerial vehicle, the external environment humidity can be acquired in real time, or the external environment humidity, such as the atmospheric humidity, is acquired at a preset frequency, and when the atmospheric humidity exceeds an atmospheric humidity threshold value, the operation of detecting the working environment humidity of the electronic speed regulator in real time by the internal detection element 710 is triggered.

In this embodiment, each electronic governor may be provided with a plurality of internal detection elements 710, so that when one of the internal detection elements 710 fails, other internal detection pregnancy tests may be used for detection, thereby ensuring that the processor 100 can acquire the working environment humidity of the electronic governor in time.

Example thirty-three

The speed regulator is an automatic regulating device, can increase and decrease the supply energy of the power source automatically according to the load change of the power source, so that the power source can operate at a stable rotating speed; wherein, the power source can be power equipment such as an engine, a motor and the like. The speed governor can be classified into mechanical type, pneumatic type, hydraulic type, electronic type, and the like according to its principle. The electronic speed regulator has the advantages of small instantaneous speed change, capability of automatically distributing load, good adaptability to complex control requirements, no need of driving an engine and the like, and is widely applied in various fields, particularly the technical field of unmanned aerial vehicles.

Referring to fig. 9, the present embodiment provides an electronic governor, including: a housing; and a control system disposed within the housing.

The control system is the control system in any one of the sixteenth to thirty-two embodiments, and is not described herein again.

In this embodiment, the housing may be waterproof and airtight, thereby providing a sealed space for the disposer 100 inside the housing. The structure of the housing is not specifically limited in this embodiment, and those skilled in the art can set the configuration according to actual needs.

In addition, a torque sensor, a rotating speed adjusting potentiometer and an actuator can be further arranged in the shell, and an output shaft of the driver can be connected with a rack bar of the fuel injection pump through an adjusting connecting rod; in the working process of the electronic speed regulator, the required rotating speed is set through the rotating speed adjusting potentiometer, the torque sensor can measure the actual rotating speed of the motor through a gear ring on a flywheel of the torque sensor and send the actual rotating speed to the processor 100, the processor 100 compares the actual rotating speed with the set rotating speed and drives an output shaft of the actuator to rotate according to the compared difference value, the output shaft pulls a gear rod of the fuel injection pump through the adjusting connecting rod to adjust the fuel supply amount, and therefore the purpose of keeping the set rotating speed is achieved.

The electronic speed regulator provided by the embodiment can judge whether the electronic speed regulator is in an abnormal state or not by the humidity of the working environment of the electronic speed regulator obtained by the processor 100, can judge whether the electronic speed regulator is in water inflow or not and whether condensate water exists or not in time, and is favorable for avoiding the short circuit phenomenon of the electronic speed regulator caused by the water inflow, and further is favorable for avoiding the occurrence of faults or explosion of the unmanned aerial vehicle caused by the water inflow of the electronic speed regulator.

Example thirty-four

On the basis of thirty-third embodiment, the processor 100 is further configured to obtain an installation environment humidity of the electronic speed regulator, compare the working environment humidity with the installation environment humidity, and determine that the electronic speed regulator is in an abnormal state when the working environment humidity is greater than the installation environment humidity; wherein the working environment humidity is the humidity in the shell; the installation environment humidity is the humidity outside the shell.

In this embodiment, the humidity outside the housing may be atmospheric humidity, and preferably, the humidity outside the housing is humidity of an accommodating space for installing the electronic governor. When the working environment humidity is absolute humidity, the installation environment humidity is also absolute humidity; when the working environment humidity is relative humidity, the installation environment humidity is also relative humidity.

In addition, the processor 100 may grade the abnormal state of the electronic governor according to the difference between the working environment humidity and the installation environment humidity, so that the flight controller 200 or an operator on the ground may adopt a corresponding protection strategy according to the grade of the abnormal state. For example: when the difference between the working environment humidity and the installation environment humidity (the value obtained by subtracting the installation environment humidity from the working environment humidity) is smaller than a third preset difference, the abnormal state of the electronic speed regulator is a first-stage abnormal state; and when the difference value between the working environment humidity and the installation environment humidity is greater than a third preset difference value and less than a fourth preset difference value, the abnormal state of the electronic speed regulator is a secondary abnormal state.

The electronic speed regulator that this embodiment provided, compare operational environment humidity and installation environment humidity through treater 100, when operational environment humidity is greater than installation annular humidity, in time confirm that electronic speed regulator is in abnormal state, electronic speed regulator is in abnormal state also namely the electronic speed regulator in water inflow or there is the comdenstion water, thereby help avoiding electronic speed regulator to take place the short circuit phenomenon, help operating personnel or unmanned vehicles in time to take the protection strategy, thereby help avoiding leading to unmanned vehicles to break down or explode the machine because of electronic speed regulator intakes.

Example thirty-five

On the basis of thirty-four of the previous embodiment, an outer detection element is arranged on the outer side of the shell; the external detection element is in communication connection with the processor 100 and is used for detecting the humidity of the installation environment of the electronic speed regulator.

Wherein, the outer detecting element can be arranged in the accommodating space for installing the electronic speed regulator; or the outer sensing element may be mounted on an outer sidewall of the housing. The outer sensing element may include at least one of: humidity sensor, temperature and humidity sensor, humidity sensitive capacitor, humidity sensitive resistor. When the external detection element is a temperature and humidity sensor, the temperature of the accommodating space of the electronic speed regulator can be detected.

The external detection element can be used for detecting the humidity of the installation environment of the electronic speed regulator in real time; or the external detection element is used for detecting the installation environment humidity of the electronic speed regulator at intervals of preset time periods, so that a basis is provided for judging the abnormal state of the elevator speed regulator.

Preferably, in the flight state of the unmanned aerial vehicle, the external detection element can be used for detecting the humidity of the installation environment of the electronic speed regulator in real time; in a static state of the unmanned aerial vehicle, the external detection element can be used for detecting the installation environment humidity of the electronic speed regulator at preset time intervals.

Or when the mounting environment humidity is greater than an eighth threshold, the external detection element is used for detecting the mounting environment humidity of the electronic speed regulator every first preset time interval; when the installation environment is larger than a ninth threshold, the external detection element is used for detecting the humidity of the installation environment of the electronic speed regulator every second preset time period; and when the mounting environment humidity is greater than the tenth threshold value, the external detection element is used for detecting the mounting environment humidity of the electronic speed regulator in real time.

The preset time period is not specifically limited in this embodiment, and those skilled in the art can set the time period according to actual needs. In addition, the electronic governor may also receive an autonomous setting of the operator for a preset time period.

The electronic speed regulator provided by the embodiment detects the installation environment humidity of the electronic speed regulator through the external detection element, so that whether the electronic speed regulator is in an abnormal state or not is judged according to the working environment humidity and the installation environment humidity through the processor 100, thereby being beneficial to avoiding the electronic speed regulator from generating a short circuit phenomenon, being beneficial to an operator or an unmanned aerial vehicle to timely take a protection strategy, and being beneficial to avoiding the unmanned aerial vehicle from being in fault or explosive due to water entering the electronic speed regulator.

Example thirty-six

Fig. 17 is a schematic structural view of an electronic governor according to an embodiment of the present invention; referring to fig. 17, on the basis of any of thirty-three to forty-nine embodiments, the electronic governor further includes an inner detecting element 710 installed in the housing, connected to the processor 100, for detecting the humidity of the working environment of the electronic governor.

The inner sensing element 710 may be mounted on an inner sidewall of the housing or on a circuit board within the housing. The implementation process and the implementation effect of the steps implemented by the inner detection element 710 of this embodiment are thirty-two same as those of the above embodiment, and reference may be made to the above statements for details, which are not repeated herein.

Example thirty-seven

Unmanned aerial vehicle sometimes need fly under the environment that humidity is great, for example, the agricultural unmanned aerial vehicle that is used for agriculture and forestry plant protection is last to be equipped with sprinkler system usually, and sprinkler system is used for spraying the pesticide to agriculture and forestry plant. The technical scheme in the embodiment is described below by taking an agricultural unmanned aerial vehicle as an example; of course, the present embodiment and the following embodiments are not only applicable to agricultural unmanned aerial vehicles, but also applicable to other unmanned aerial vehicles equipped with electronic speed regulators for aerial photography, reconnaissance, and the like.

fig. 19 is a schematic structural diagram of a motor and an electronic governor in the unmanned aerial vehicle according to the embodiment of the present invention; referring to fig. 18-19 and with continued reference to fig. 9, the present embodiment provides an agricultural drone, including: a frame 800; a motor 900 mounted on the frame 800 for providing flight power; and an electronic governor electrically connected to the motor 900 for controlling the operating state of the motor 900.

The electronic speed regulator is the electronic speed regulator in any one of the thirty-third to thirty-sixth embodiments, and details are not repeated here.

In this embodiment, the rack 800 may include: the central frame, the landing frame arranged at the bottom of the central frame and the machine arm arranged around the central frame; the horn may be used to carry a propeller, a motor 900 and an electronic governor; the central frame may be used to carry the battery and the individual sensor modules.

Furthermore, agricultural drones may also include: the sprinkler system, its structure and function may be similar to those of the prior art. For example: the spraying system may include a water tank for holding the liquid to be sprayed, a water pump for driving the liquid to flow, and a spray pipe surrounding the frame 800 and provided with a nozzle for spraying the liquid.

The agricultural unmanned aerial vehicle that this embodiment provided, the operational environment humidity of the electronic governor who acquires through treater 100 to judge whether electronic governor is in abnormal state, can in time judge whether intake in the electronic governor, whether there is the comdenstion water, help avoiding the electronic governor because of the short circuit phenomenon that the intaking leads to, and then help avoiding leading to the agricultural unmanned aerial vehicle trouble or explode the machine because of electronic governor intakes.

Example thirty-eight

Fig. 20 is a second schematic structural diagram of an agricultural drone provided by an embodiment of the present invention; referring to fig. 20, on the basis of thirty-seventh embodiment, an accommodating space for installing an electronic speed regulator is provided on a rack 800, and an external detection element 720 is installed in the accommodating space; the external detection element 720 is in communication with the processor 100 and is used for detecting the humidity of the installation environment of the electronic governor. Wherein, the accommodation space includes at least one of following: agricultural unmanned aerial vehicle's horn inner chamber, agricultural unmanned aerial vehicle's centre frame or motor mount pad.

Outer sensing element 720 may include at least one of: humidity sensor, temperature and humidity sensor, humidity sensitive capacitor, humidity sensitive resistor. The external detection element 720 can detect the installation environment humidity of the electronic speed regulator in real time; alternatively, the external detection element 720 is used to detect the installation environment humidity of the electronic governor at every preset time period.

The implementation process and the implementation effect of the steps implemented by the outer detection element 720 of this embodiment are the same as thirty-five of the above embodiments, and reference may be specifically made to the above statements, and no further description is given here.

The agricultural unmanned aerial vehicle that this embodiment provided, through installing outer detecting element 720 in the accommodation space of frame 800, detect electronic governor's installation environment humidity by outer detecting element 720, in order to judge whether electronic governor is in abnormal state according to operational environment humidity and installation environment humidity through treater 100, thereby help avoiding electronic governor to take place the short circuit phenomenon, help operating personnel or agricultural unmanned aerial vehicle in time to take the protection strategy, help avoiding leading to because of electronic governor breaks down or explodes the machine.

Example thirty-nine

The screw also can be called the rotor, is agricultural unmanned aerial vehicle's main lift force part, can turn into the propulsive force with the rotation power of power supply. Because agricultural unmanned aerial vehicle is equipped with sprinkler system to the load bearing liquid leads to agricultural unmanned aerial vehicle's weight great. Therefore, agricultural drones usually comprise a plurality of propellers, each provided with a power source, and, correspondingly, also with an electronic governor.

Fig. 21 is a schematic diagram of a third structure of the unmanned aerial vehicle according to the embodiment of the present invention; referring to fig. 21, on the basis of thirty-seven or thirty-eight of the foregoing embodiments, the agricultural drone may include: a plurality of electronic governors, a plurality of electronic governor processor 100 in communication with flight controller 200.

The flight controller 200 is used for controlling the agricultural unmanned aerial vehicle to land, return, forbid power supply to the abnormal electronic speed regulators, open the safety air bags, open the gliding device or forbid take-off after determining that one or more electronic speed regulators are in an abnormal state.

In this embodiment, when the agricultural unmanned aerial vehicle is in the flight state, after determining that the electronic speed regulator is in the abnormal state, any processor 100 reports the abnormal state to the flight controller 200, and the flight controller 200 controls the agricultural unmanned aerial vehicle to land, return, prohibit power supply to the abnormal electronic speed regulator, and open the airbag or open the glide device. When the agricultural unmanned aerial vehicle is in a static state, after any processor 100 determines that the electronic speed regulator is in an abnormal state, the abnormal state is reported to the flight controller 200, and the flight controller 200 prohibits the agricultural unmanned aerial vehicle from taking off.

In the agricultural unmanned aerial vehicle in this embodiment, after processor 100 determines that the electronic speed regulator is in an abnormal state, it may send the abnormality to flight controller 200, and flight controller 200 controls agricultural unmanned aerial vehicle to land, return, prohibit power supply to the abnormal electronic speed regulator, open an airbag, open a gliding device, or prohibit take-off, thereby avoiding the agricultural unmanned aerial vehicle from malfunctioning or exploding due to water entering the electronic speed regulator.

Example forty

Referring to fig. 21, on the basis of thirty-seven or thirty-eight of the foregoing embodiments, the agricultural drone may include: the processor 100 of the electronic speed regulators is in communication connection with the power management system 300; the power management system 300 is used for prohibiting power supply to the abnormal electronic speed regulators when one or more electronic speed regulators are in the abnormal state.

In this embodiment, after any processor 100 determines that the electronic speed regulator is in an abnormal state, the abnormal state may be reported to the power management system 300, and the power management system 300 disconnects the power supply from the abnormal electronic speed regulator, so as to avoid the electronic speed regulator from being short-circuited due to water inflow.

In the agricultural unmanned aerial vehicle in this embodiment, after the processor 100 determines that the electronic speed regulator is in an abnormal state, the abnormality may be sent to the flight controller 200, and the power management system 300 prohibits power supply to the abnormal electronic speed regulator, so as to avoid the agricultural unmanned aerial vehicle from malfunctioning or exploding due to water entering the electronic speed regulator.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A control method applied to an electronic governor, comprising:

acquiring the working environment humidity of the electronic speed regulator; and

2. The method of claim 1, wherein said determining whether the electronic governor is in an abnormal state based on the operating environment humidity comprises:

and comparing the working environment humidity with a preset humidity, and if the working environment humidity is greater than the preset humidity, determining that the electronic speed regulator is in an abnormal state.

3. The method of controlling an electronic governor of claim 1, wherein the operating environment humidity includes at least one of:

humidity within a housing of the electronic governor, humidity around the electronic governor.

4. The method of controlling an electronic governor according to claim 1, further comprising, after said determining whether the electronic governor is in an abnormal state:

and if the electronic speed regulator is determined to be in an abnormal state, changing the operation state of the unmanned aerial vehicle.

5. The method of controlling an electronic governor according to claim 4, wherein the changing the operating state of the unmanned aerial vehicle includes:

and when the unmanned aerial vehicle is in a flight state, controlling the unmanned aerial vehicle to enter a safety protection state.

6. The control method of an electronic governor according to claim 5, characterized in that the safety protection state includes at least one of: landing and returning, forbidding power supply to the abnormal electronic speed regulator, opening the safety air bag and opening the gliding device.

7. The method of controlling an electronic governor according to claim 4, wherein the changing the operating state of the unmanned aerial vehicle includes:

and when the unmanned aerial vehicle is in a static state, the unmanned aerial vehicle is prohibited from taking off.

8. The method of controlling an electronic governor according to claim 1, further comprising, after said determining whether the electronic governor is in an abnormal state:

and if the electronic speed regulator is determined to be in an abnormal state, sending an alarm instruction.

9. The method of controlling an electronic governor according to claim 8, wherein the issuing of the warning command includes:

and sending the alarm instruction to a ground control terminal so that the ground control terminal sends out an alarm according to the alarm instruction.

10. The method of controlling an electronic governor according to claim 8, wherein the issuing of the warning command includes:

and sending the alarm instruction to an alarm carried by the unmanned aerial vehicle so that the alarm gives an alarm according to the alarm instruction.

11. The method of controlling an electronic governor according to claim 1, further comprising, after said determining whether the electronic governor is in an abnormal state:

and if the electronic speed regulator is determined to be in an abnormal state, displaying the working environment humidity on a ground control terminal.

12. The method of controlling an electronic governor according to claim 1, further comprising, after said determining whether the electronic governor is in an abnormal state:

if the electronic speed regulator is determined to be in an abnormal state, a first inquiry command is sent to a ground control terminal when the unmanned aerial vehicle is in a flying state;

and receiving a first remote control instruction returned by the ground control terminal, and controlling the operation state of the unmanned aerial vehicle according to the first remote control instruction.

13. The method of controlling an electronic governor according to claim 1, further comprising, after said determining whether the electronic governor is in an abnormal state:

if the electronic speed regulator is determined to be in an abnormal state, a second inquiry command is sent to the ground control terminal when the unmanned aerial vehicle is in a static state;

and receiving a second remote control instruction returned by the ground control terminal, and controlling the operation state of the unmanned aerial vehicle according to the second remote control instruction.

14. The method of controlling an electronic governor according to claim 1, further comprising, after said determining whether the electronic governor is in an abnormal state:

and if the electronic speed regulator is determined to be in an abnormal state, storing the working environment humidity of the electronic speed regulator.

15. The method of claim 1, wherein the obtaining the operating environment humidity of the electronic governor comprises:

and acquiring the working environment humidity of the electronic speed regulator every interval preset time period.

16. The method of claim 1, wherein the obtaining the operating environment humidity of the electronic governor comprises:

and acquiring the working environment humidity of the electronic speed regulator in real time.

17. A control system for an electronic governor, comprising:

18. The control system of claim 17, wherein the processor is configured to compare the operating environment humidity to a predetermined humidity and determine that the electronic governor is in an abnormal state when the operating environment humidity is greater than the predetermined humidity.

19. The control system of claim 17, wherein the operating environment humidity comprises at least one of: humidity within a housing of the electronic governor, humidity around the electronic governor.

20. The control system of claim 17, wherein the processor is communicatively coupled to a flight controller; the flight controller is used for changing the operation state of the unmanned aerial vehicle after determining that the electronic speed regulator is in an abnormal state.

21. The control system of claim 20, wherein the flight controller is specifically configured to control the UAV to enter a safing state when the UAV is in a flight state.

22. The control system of claim 21, wherein the safety protection state comprises at least one of: landing and returning, forbidding power supply to the abnormal electronic speed regulator, opening the safety air bag and opening the gliding device.

23. The control system of claim 20, wherein the flight controller is specifically configured to inhibit takeoff of the UAV when the UAV is at rest.

24. The control system of claim 17, wherein the processor is communicatively coupled to a power management system configured to disable power to the electronic governor after determining that the electronic governor is in an abnormal state.

25. The control system of claim 17, wherein the processor is further configured to issue an alarm command after determining that the electronic governor is in an abnormal state.

26. The control system of claim 25, wherein the processor is in communication connection with a ground control terminal, and the processor is specifically configured to send the alarm command to the ground control terminal when determining that the electronic governor is in an abnormal state; and the ground control terminal is used for receiving the alarm instruction and giving an alarm according to the alarm instruction.

27. The control system of claim 25, wherein the processor is communicatively coupled to an alarm, the alarm being mounted on the UAV; the processor is specifically configured to send the alarm instruction to an alarm carried by the unmanned aerial vehicle when it is determined that the electronic speed governor is in an abnormal state; the alarm is used for receiving the alarm instruction and giving an alarm according to the alarm instruction.

28. The control system of claim 27, wherein the alarm comprises at least one of: an indicator light and a buzzer.

29. The control system of claim 17, wherein the processor is communicatively coupled to a surface control terminal, and the surface control terminal is configured to display the operating environment humidity when the electronic governor is determined to be in an abnormal state.

30. The control system of claim 17, wherein the processor is communicatively coupled to a ground control terminal, the processor further communicatively coupled to a flight controller;

the flight controller is used for sending a first inquiry command to the ground control terminal after determining that the electronic speed regulator is in an abnormal state and in the flight state of the unmanned aerial vehicle;

the ground control terminal is used for receiving a first remote control instruction input by an operator according to the first inquiry instruction and sending the first remote control instruction to the flight controller;

the flight controller is used for controlling the operation state of the unmanned aerial vehicle according to the first remote control instruction.

31. The control system of claim 17, further comprising: the processor is in communication connection with a ground control terminal, the ground control terminal is also in communication connection with a flight controller,

the processor is used for sending a second inquiry command to the ground control terminal after determining that the electronic speed regulator is in an abnormal state and when the unmanned aerial vehicle is in a static state;

the ground control terminal is used for receiving a second remote control instruction input by an operator according to the second inquiry instruction and sending the second remote control instruction to the flight controller;

the flight controller is used for controlling the operation state of the unmanned aerial vehicle according to the second remote control instruction.

32. The control system of claim 17, wherein the processor is communicatively coupled to a memory, and the memory is configured to store the operating ambient humidity of the electronic governor after determining that the electronic governor is in an abnormal state.

33. The control system of claim 17, wherein the processor is configured to obtain the operating ambient humidity of the electronic governor every predetermined time period; or,

the processor is used for acquiring the working environment humidity of the electronic speed regulator in real time.

34. The control system of claim 17, further comprising an internal sensing element in communication with the processor for sensing the operating environment humidity of the electronic governor.

35. The control system of claim 34, wherein the inner sensing element comprises at least one of: humidity sensor, temperature and humidity sensor, humidity sensitive capacitor and humidity sensitive resistor.

36. The control system of claim 34, wherein the internal sensing element is configured to sense the humidity of the electronic governor operating environment at intervals of a predetermined time period; or the inner detection element is used for detecting the humidity of the working environment of the electronic speed regulator in real time in the flight state of the unmanned aerial vehicle.

37. An electronic governor, comprising:

a housing; and

a control system mounted within the housing;

wherein the control system comprises: one or more processors, working together or separately, for acquiring the working environment humidity of the electronic governor; and judging whether the electronic speed regulator is in an abnormal state or not according to the working environment humidity.

38. The electronic governor of claim 37, wherein the processor is specifically configured to compare the operating environment humidity to a preset humidity, and determine that the electronic governor is in an abnormal state when the operating environment humidity is greater than the preset humidity; wherein the working environment humidity is the humidity inside the housing.

39. The electronic governor of claim 37, wherein the processor is further configured to obtain an installation ambient humidity of the electronic governor, compare the operating ambient humidity to the installation ambient humidity, and determine that the electronic governor is in an abnormal state when the operating ambient humidity is greater than the installation ambient humidity; wherein the working environment humidity is the humidity in the housing; the installation environment humidity is the humidity outside the shell.

40. The electronic governor of claim 39, wherein an outer detection element is provided on an outer side of the housing; the external detection element is in communication connection with the processor and is used for detecting the installation environment humidity of the electronic speed regulator.

41. The electronic governor of claim 40, wherein the outer sensing element includes at least one of: humidity sensor, temperature and humidity sensor, humidity sensitive capacitor, humidity sensitive resistor.

42. The electronic governor of claim 40, wherein the external detection element is configured to detect an installation environment humidity of the electronic governor in real time; or,

the external detection element is used for detecting the humidity of the installation environment of the electronic speed regulator at intervals of preset time periods.

43. The electronic governor of claim 37, wherein the processor is communicatively coupled to a flight controller; the flight controller is used for changing the operation state of the unmanned aerial vehicle when the electronic speed regulator is determined to be in an abnormal state.

44. The electronic governor of claim 43, wherein the flight controller is specifically configured to control the UAV to enter a safety-protected state after the UAV is in a flight state.

45. The electronic governor of claim 44, wherein the safety protection state includes at least one of: landing and returning, forbidding power supply to the abnormal electronic speed regulator, opening the safety air bag and opening the gliding device.

46. The electronic governor of claim 43, wherein the flight controller is specifically configured to inhibit takeoff of the UAV when the UAV is at rest.

47. The electronic governor of claim 37, wherein the processor is communicatively coupled to a power management system; the power management system is used for prohibiting power supply to the electronic speed regulator after the electronic speed regulator is determined to be in an abnormal state.

48. The electronic governor of claim 37, wherein the processor is further configured to issue an alarm command after determining that the electronic governor is in an abnormal state.

49. The electronic governor of claim 48, wherein the processor is communicatively coupled to a surface control terminal; the processor is specifically used for sending the alarm instruction to a ground control terminal when the electronic speed regulator is determined to be in an abnormal state; and the ground control terminal is used for receiving the alarm instruction and giving an alarm according to the alarm instruction.

50. The electronic governor of claim 48, wherein the processor is communicatively coupled to an alarm mounted on the UAV; the processor is specifically configured to send the alarm instruction to an alarm carried by the unmanned aerial vehicle when it is determined that the electronic speed governor is in an abnormal state; the alarm is used for receiving the alarm instruction and giving an alarm according to the alarm instruction.

51. The electronic governor of claim 50, wherein the alarm comprises at least one of: an indicator light and a buzzer.

52. The electronic governor of claim 37, wherein the processor is communicatively coupled to a surface control terminal; and the ground control terminal is used for displaying the working environment humidity when the electronic speed regulator is determined to be in an abnormal state.

53. The electronic governor of claim 37, wherein the processor is communicatively coupled to a ground control terminal that is also communicatively coupled to a flight controller;

the flight controller is used for sending an inquiry command of a first inquiry command to the ground control terminal after determining that the electronic speed regulator is in an abnormal state and in the flight state of the unmanned aerial vehicle;

the flight controller is further used for controlling the operation state of the unmanned aerial vehicle according to the first remote control instruction.

54. The electronic governor of claim 37, wherein the processor is communicatively coupled to a ground control terminal that is also communicatively coupled to a flight controller;

the flight controller is further used for controlling the operation state of the unmanned aerial vehicle according to the second remote control instruction.

55. The electronic governor of claim 37, wherein the processor is communicatively coupled to a memory; the storage is used for storing the working environment humidity of the electronic speed regulator after the electronic speed regulator is determined to be in an abnormal state.

56. The electronic governor of claim 37, wherein the processor is configured to obtain a working environment humidity of the electronic governor in real time; or,

the processor is used for acquiring the working environment humidity of the electronic speed regulator every preset time interval.

57. The electronic governor of claim 37, further comprising an internal sensing element mounted within the housing and coupled to the processor for sensing the operating ambient humidity of the electronic governor.

58. The electronic governor of claim 57, wherein the inner sensing element includes at least one of: humidity sensor, temperature and humidity sensor, humidity sensitive capacitor and humidity sensitive resistor.

59. The electronic governor of claim 57, wherein the internal detection element is configured to detect the humidity of the operating environment of the electronic governor in real time during a flight condition of the UAV; or,

the inner detection element is used for acquiring the humidity of the working environment of the electronic speed regulator at preset time intervals in the static state of the unmanned aerial vehicle.

60. An unmanned aerial vehicle, comprising:

a frame;

the motor is arranged on the frame and used for providing flight power; and

61. The drone of claim 60, wherein the processor is specifically configured to compare the operating environment humidity to a preset humidity and determine that the electronic governor is in an abnormal state when the operating environment humidity is greater than the preset humidity; wherein the working environment humidity is the humidity inside the housing.

62. The drone of claim 60, wherein the processor is further configured to obtain an installation ambient humidity of the electronic governor, compare the operating ambient humidity to the installation ambient humidity, and determine that the electronic governor is in an abnormal state when the operating ambient humidity is greater than the installation ambient humidity; wherein the working environment humidity is the humidity in the housing; the installation environment humidity is the humidity outside the shell.

63. An unmanned aerial vehicle as claimed in claim 62, wherein the frame is provided with a receiving space for mounting the electronic governor, and an external detection element is mounted in the receiving space; the external detection element is in communication connection with the processor and is used for detecting the installation environment humidity of the electronic speed regulator.

64. A drone as claimed in claim 63, wherein the accommodation space includes at least one of: the inner cavity of the arm of the unmanned aerial vehicle, and the center frame or the motor mounting seat of the unmanned aerial vehicle.

65. A drone according to claim 63, wherein the outer detection element includes at least one of: a humidity sensor, a temperature and humidity sensor, a humidity sensitive capacitor and a humidity sensitive resistor;

66. a drone according to claim 63, wherein the external detection element detects in real time the installation ambient humidity of the electronic governor; or,

67. The drone of claim 60, wherein the processor is in communication with the flight controller; the flight controller is used for changing the operation state of the unmanned aerial vehicle when the electronic speed regulator is determined to be in an abnormal state.

68. A drone as claimed in claim 67, wherein the flight controller is particularly adapted to control the drone to enter a safe-guard state after the drone is in a flight state.

69. A drone as claimed in claim 68, wherein the security protection state includes at least one of: landing and returning, forbidding power supply to the abnormal electronic speed regulator, opening the safety air bag and opening the gliding device.

70. A drone as claimed in claim 67, wherein the flight controller is particularly adapted to inhibit takeoff of the drone when the drone is in a stationary state.

71. The drone of claim 60, wherein the processor is in communication with a power management system; the power management system is used for prohibiting power supply to the electronic speed regulator after the electronic speed regulator is determined to be in an abnormal state.

72. The drone of claim 60, wherein the processor is further configured to issue an alarm command after determining that the electronic governor is in an abnormal state.

73. A drone as claimed in claim 72, wherein the processor is communicatively connected to a ground control terminal; the processor is specifically used for sending the alarm instruction to a ground control terminal when the electronic speed regulator is determined to be in an abnormal state; and the ground control terminal is used for receiving the alarm instruction and giving an alarm according to the alarm instruction.

74. A drone according to claim 72, wherein the processor is communicatively connected to an alarm mounted on the drone; the processor is specifically configured to send the alarm instruction to an alarm carried by the unmanned aerial vehicle when it is determined that the electronic speed regulator is in an abnormal state; the alarm is used for receiving the alarm instruction and giving an alarm according to the alarm instruction.

75. A drone as claimed in claim 74, wherein the alarm includes at least one of: an indicator light and a buzzer.

76. The drone of claim 60, wherein the processor is in communication with a ground control terminal; and the ground control terminal is used for displaying the working environment humidity when the electronic speed regulator is determined to be in an abnormal state.

77. The drone of claim 60, wherein the processor is in communication with a ground control terminal, the ground control terminal also being in communication with a flight controller;

the flight controller is used for sending a first inquiry instruction to the ground control terminal after determining that the electronic speed regulator is in an abnormal state and in the flight state of the unmanned aerial vehicle;

the flight controller is also used for controlling the unmanned aerial vehicle to land, return or forbid power supply to the electronic speed regulator according to the first remote control instruction.

78. The drone of claim 60, wherein the processor is in communication with a ground control terminal, the ground control terminal also being in communication with a flight controller;

the processor is used for sending a second inquiry instruction to the ground control terminal after determining that the electronic speed regulator is in an abnormal state and when the unmanned aerial vehicle is in a static state;

the ground control terminal is used for receiving a second remote control instruction input by an operator according to a second inquiry instruction and sending the second remote control instruction to the flight controller;

79. The drone of claim 60, wherein the processor is communicatively coupled with the memory; the storage is used for storing the working environment humidity of the electronic speed regulator after the electronic speed regulator is determined to be in an abnormal state.

80. The drone of claim 60, wherein the processor is configured to obtain a working environment humidity of the electronic governor in real time; or,

81. An unmanned aerial vehicle according to claim 60, further comprising an internal detection element mounted within the housing and coupled to the processor for detecting a working environment humidity of the electronic governor.

82. A drone according to claim 81, wherein the inner detection element includes at least one of: humidity sensor, temperature and humidity sensor, humidity sensitive capacitor and humidity sensitive resistor.

83. The drone of claim 81, wherein the inner detection element detects in real time the humidity of the electronic governor operating environment; or,

the inner detection element is used for acquiring the humidity of the working environment of the electronic speed regulator at preset time intervals.

84. A drone according to claim 60, comprising: the processors of the electronic speed regulators are in communication connection with the flight controller; the flight controller is used for controlling the unmanned aerial vehicle to land, return, forbid power supply to the abnormal electronic speed regulators, open an air bag, open a gliding device or forbid take-off after determining that one or more electronic speed regulators are in an abnormal state.

85. A drone according to claim 60, comprising: the processors of the electronic speed regulators are in communication connection with a power management system; the power management system is used for forbidding power supply to the abnormal electronic speed regulators when one or more electronic speed regulators are in the abnormal state.