CN106986039A - Motor vocal technique, device and the unmanned plane of unmanned plane - Google Patents
Motor vocal technique, device and the unmanned plane of unmanned plane Download PDFInfo
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- CN106986039A CN106986039A CN201611005287.2A CN201611005287A CN106986039A CN 106986039 A CN106986039 A CN 106986039A CN 201611005287 A CN201611005287 A CN 201611005287A CN 106986039 A CN106986039 A CN 106986039A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000001755 vocal effect Effects 0.000 title claims abstract description 21
- 238000007689 inspection Methods 0.000 claims description 26
- 238000005259 measurement Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims 1
- 230000000875 corresponding effect Effects 0.000 description 52
- 230000002159 abnormal effect Effects 0.000 description 11
- 238000001514 detection method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000005538 encapsulation Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D2045/0085—Devices for aircraft health monitoring, e.g. monitoring flutter or vibration
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- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The motor vocal technique of motor vocal technique, device and the unmanned plane of a kind of unmanned plane, wherein unmanned plane, comprises the following steps：Audible signal is obtained, the audible signal is used to indicate that the motor of unmanned plane to carry out sounding；Sounding drive signal corresponding with the audible signal is exported to the motor of the unmanned plane according to the audible signal, so that the motor produces sound wave corresponding with the audible signal, wherein, the running status of different sound wave correspondence unmanned planes is different.So as to, it can need not add extra acoustic control module, only relying on unmanned plane oneself motor and sending specific sound more can effectively learn the running status of unmanned plane, reduce the weight, power consumption and cost of unmanned plane, and then, realize effective, simple to the unmanned running status of user's reception and registration.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, and in particular to motor vocal technique, device and the nothing of a kind of unmanned plane
It is man-machine.
Background technology
Unmanned plane is in start-up course, it is necessary to which the state of unmanned plane is fed back into user in time.Generally, it is fairly simple to have
The mode of effect is to characterize the state of unmanned plane using the sound prompt device of ad hoc rules is followed.
In the prior art, general increase acoustic control module (such as buzzer or loudspeaker) carries out sounding, will so increase nothing
Man-machine weight and cost.In addition, in order to reduce influence of the additional acoustic control module to unmanned plane during flying safety, general acoustic control module
Need to use encapsulation process, encapsulation process greatly limit the propagation of sound, influence propagation distance.Based on this, lead to
Normal way is to improve the signal intensity of sound by increasing audio input power, so as to increase the propagation distance of sound.So
And, increase audio input power frequently can lead to the increase of unmanned plane overall power, to ensure flight duration, need to increase unmanned plane
Electric storage device, can equally increase the weight and cost of unmanned plane.
Therefore, how effectively to pass on the running status of unmanned plane turns into urgent problem to be solved.
The content of the invention
When the technical problem to be solved in the present invention is that unmanned plane feeds back unmanned plane running status by motor sounding, propagate
Effect is limited, while also increasing the weight and cost of unmanned plane.
Therefore, according in a first aspect, present example provide a kind of unmanned plane motor vocal technique, including：
Audible signal is obtained, the audible signal is used to indicate that the motor of unmanned plane to carry out sounding；Believed according to the sounding
Number corresponding with audible signal sounding drive signal is exported to the motor of the unmanned plane, so that motor generation and institute
The corresponding sound wave of audible signal is stated, wherein, the running status of different sound wave correspondence unmanned planes is different.
Preferably, audible signal include it is following any one：Self-inspection audible signal, for characterizing unmanned plane in start-up course
In self-inspection generation self-test signal；Alarm audible signal, the alarm signal of the throttle signal exception for characterizing unmanned plane；Carry
Show audible signal, the cue for characterizing the unmanned plane hardware anomalies as caused by Inertial Measurement Unit.
Preferably, it is described corresponding with the audible signal to the motor output of the unmanned plane according to the audible signal
Sounding drive signal, including：Sounding packet corresponding with the audible signal is called according to the audible signal；Using described
Sounding packet generates the indication signal of the electric current of preset frequency corresponding with the audible signal；It is true according to the indication signal
The fixed sounding drive signal with the audible signal, and export the sounding drive signal to the motor of the unmanned plane.
Preferably, after the acquisition audible signal, the motor according to the audible signal to the unmanned plane is defeated
Go out before sounding drive signal corresponding with the audible signal, in addition to：Judge whether the audible signal is effective；If institute
State audible signal effectively, then perform described being exported according to the audible signal to the motor of the unmanned plane and believe with the sounding
The step of number corresponding sounding drive signal.
Preferably, if the audible signal is invalid, exported to the motor of the unmanned plane for controlling the motor
The turn signal of rotation.
According to second aspect, present example provides a kind of motor sound-producing device of unmanned plane, including：
Acquiring unit, for obtaining audible signal, the audible signal is used to indicate that the motor of unmanned plane to carry out sounding；The
One output unit, for exporting sounding corresponding with the audible signal to the motor of the unmanned plane according to the audible signal
Drive signal, so that the motor produces sound wave corresponding with the audible signal, wherein, the corresponding unmanned plane of different sound waves
Running status is different.
Preferably, audible signal include it is following any one：Self-inspection audible signal, for characterizing unmanned plane in start-up course
In self-inspection generation self-test signal；Alarm audible signal, the alarm signal of the throttle signal exception for characterizing unmanned plane；Carry
Show audible signal, the cue for characterizing the unmanned plane hardware anomalies as caused by Inertial Measurement Unit.
Preferably, the first output unit includes：Subelement is called, for being called and the sounding according to the audible signal
The corresponding sounding packet of signal；Subelement is generated, it is corresponding with the audible signal for being generated using the sounding packet
Preset frequency electric current indication signal；Subelement is exported, for being determined and the audible signal according to the indication signal
Sounding drive signal, and export the sounding drive signal to the motor of the unmanned plane.
Preferably, the motor sound-producing device of unmanned plane, in addition to：Judging unit, for whether judging the audible signal
Effectively；First output unit is specifically for when the judging unit judges that the audible signal is effective, according to described
Audible signal exports sounding drive signal corresponding with the audible signal to the motor of unmanned plane.
Preferably, motor sound-producing device, in addition to：Second output unit, described in judging when the judging unit
When audible signal is invalid, the turn signal for controlling the motor to rotate is exported to the motor of the unmanned plane.
According to the third aspect, the embodiments of the invention provide a kind of unmanned plane, including：Unmanned plane body；Microcontroller, if
Put in the unmanned plane body, the motor vocal technique of the unmanned plane for being described according to first aspect any one generates hair
Acoustic drive signal；Motor, for producing corresponding sound wave according to the sounding drive signal.
The motor vocal technique for the unmanned plane that present example is provided, to unmanned plane under the triggering of the audible signal of acquisition
Motor exports sounding drive signal corresponding with audible signal, and motor sends sound wave corresponding with audible signal, presets not
The running status of different unmanned planes with the sound wave correspondence of frequency range, it is thus possible to which only relying on unmanned plane oneself motor sends specific
Frequency acoustic learns the running status of unmanned plane, can need not add extra acoustic control module, only rely on unmanned plane oneself motor
Sending specific sound more can effectively learn the running status of unmanned plane, reduce the weight, power consumption and cost of unmanned plane,
And then, realize it is effective, nobody running status is simply passed on to user.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows a kind of schematic flow sheet of the motor vocal technique of unmanned plane provided in an embodiment of the present invention；
Fig. 2, which is shown in a kind of motor vocal technique of unmanned plane provided in an embodiment of the present invention, exports sounding drive signal
Schematic flow sheet；
Fig. 3 shows the current waveform figure of the motor vocal technique of the unmanned plane of the embodiment of the present invention；
Fig. 4 shows the sound audio spectrogram of the motor vocal technique of the unmanned plane of the embodiment of the present invention；
Fig. 5 shows a kind of structural representation of the motor sound-producing device of unmanned plane provided in an embodiment of the present invention；
Fig. 6 shows a kind of structural representation of unmanned plane provided in an embodiment of the present invention.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, can be with
It is the connection of two element internals, can is wireless connection or wired connection.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
The embodiments of the invention provide a kind of motor vocal technique of unmanned plane, it is adaptable to is installed on micro- place on unmanned plane
Device is managed, as shown in figure 1, comprising the following steps：
S10. audible signal is obtained.
In embodiments of the present invention, the audible signal is used to indicate that the motor of unmanned plane to carry out sounding.User is in control nothing
Before man-machine flight, the running status of unmanned plane need to be checked, for example, it may be unmanned plane is during starting up
Self-inspection or the inspection to unmanned plane throttle signal, can also be to Inertial Measurement Unit (Inertial
Measurement Unit, IMU) whether hardware anomalies can be caused to be checked.In the present embodiment, the operation of each unmanned plane
State corresponds to different audible signals respectively.In the particular embodiment, it can obtain and represent unmanned plane each running status
Audible signal, is checked comprehensively with the running status to unmanned plane.
In embodiments of the present invention, the audible signal can include it is following any one：Self-inspection audible signal, for characterizing
The self-test signal of self-inspection generation of the unmanned plane in start-up course；Alarm audible signal, the throttle signal for characterizing unmanned plane
Abnormal alarm signal；Point out audible signal, the prompting for characterizing the unmanned plane hardware anomalies as caused by Inertial Measurement Unit
Signal.
S20. sounding drive signal corresponding with audible signal is exported to the motor of unmanned plane according to audible signal, so that electric
Machine produces sound wave corresponding with audible signal.Wherein, the running status of different sound waves correspondence unmanned plane is different.
In the particular embodiment, a variety of sounding for being used to characterize unmanned plane running status correspond sounding drive signal
And sound wave, for example, the self-test signal that self-inspection of the unmanned plane in start-up course is produced, correspondence self-inspection audible signal, in self-inspection hair
Sounding drive signal corresponding with self-inspection is sent to motor under the triggering of acoustical signal, produces rotor vibrations corresponding with self-inspection
The first frequency range sound wave.And for example, the alarm signal produced when the throttle signal of unmanned plane is abnormal, correspondence alarm audible signal,
Sounding drive signal extremely corresponding with throttle signal is sent to motor under the triggering of alarm audible signal, rotor is shaken
Movable property gives birth to the sound wave of the second frequency range corresponding with throttle abnormal alarm.For another example, the unmanned plane hardware as caused by Inertial Measurement Unit
Abnormal cue, correspondence prompting audible signal, under the triggering of prompting audible signal, sends and has to the motor of unmanned plane
The corresponding sounding drive signal of unmanned plane hardware anomalies caused by Inertial Measurement Unit, produces rotor vibrations different with hardware
Normal corresponding 3rd frequency range sound wave.Alleged, the frequency of the first frequency range sound wave, the second frequency range sound wave and the 3rd frequency range sound wave is different.
The different running status correspondence motor of unmanned plane sends different frequency range or different types of sound wave, so that operator according to setting in advance
The extremely corresponding sound wave of each running status set learns the running status of unmanned plane, more easily judges the event of unmanned plane
Where barrier.
In embodiments of the present invention, unmanned plane can include modules on unmanned plane in the self-inspection during starting up
The detection of (control like flying, electric tune, head etc.).It is understood that in the self-inspection of unmanned plane can also comprising throttle signal and/or
IMU detection, when detecting throttle signal exception or IMU is abnormal, then promotes motor to send corresponding sound wave and is alarmed.When
After self-inspection terminates, unmanned plane still can detect throttle signal and IMU in real time or every special time, once exception is detected, then
Alarmed accordingly.In the embodiment of the present invention, motor sends the premise of sound wave and is in start but not state of flight for unmanned plane.
When unmanned plane detected in flight course throttle signal and/or IMU it is abnormal when, motor will not sounding, unmanned plane can pass through
The mode of flashing light is alarmed.
To determine whether the signal that receives is audible signal, makes the feedback of the running status of unmanned plane more accurate, can
In the embodiment of choosing, between step S10 and step S20, it can also include：
S30. judge whether audible signal is effective, if audible signal is effectively, into step S20；If audible signal
It is invalid, then into step S40.
In the particular embodiment, one flag bit can be set for audible signal, the sounding is judged by flag bit
Whether signal is effective.For example, it is assumed that the audible signal got is self-inspection audible signal, when unmanned plane starts self-inspection, work as self-inspection
Normally, i.e., when fault-free occurs, i.e. the corresponding flag bit set of the audible signal is " 1 ", now, shows that the audible signal has
Effect, can further promote motor to send the normal corresponding sound wave of self-inspection, to point out user's unmanned plane current operating conditions normal；
When the corresponding flag bit of audible signal is reset to " 0 ", show that the audible signal is invalid, now motor will not sounding.And for example, it is false
If the audible signal got is alarm audible signal, when the throttle signal of unmanned plane is abnormal, the corresponding mark of the audible signal
Will position position is " 1 ", now, shows that the audible signal effectively, can further promote motor to send throttle signal extremely corresponding
Sound wave, to point out the throttle signal of the current unmanned plane of user to have exception；When the throttle signal of unmanned plane is without exception, the sounding
The corresponding flag bit of signal is reset to " 0 ", and now the audible signal is invalid, and motor will not sounding.It is understood that judging oil
Whether whether abnormal implementation process can be between 1.1ms-2.0ms, to work as week for the cycle of detection throttle signal to gate signal
When phase is in the range of 1.1ms-2.0ms, then throttle signal is normal；When the cycle is not in the range of 1.1ms-2.0ms, then throttle
Abnormal signal.For another example, it is assumed that the audible signal got is prompting audible signal, when the IMU of unmanned plane causes unmanned plane extremely
During hardware anomalies, the corresponding flag bit set of the audible signal is " 1 ", now, shows that the audible signal effectively, can be further
Motor is promoted to send the extremely corresponding sound waves of IMU, to point out the IMU of the current unmanned plane of user to have exception；When unmanned plane IMU without
When abnormal, the corresponding flag bit of the audible signal is reset to " 0 ", and now the audible signal is invalid, and motor will not sounding.
S40. the turn signal rotated for controlled motor is exported to the motor of unmanned plane.
In embodiments of the present invention, when step S30 judges that audible signal is invalid, now motor will not sounding, can
To think that the running status of unmanned plane is normal, unmanned plane can be flown.At this point it is possible to be used for the motor output of unmanned plane
The turn signal that controlled motor is rotated, makes unmanned plane initially enter state of flight.Optionally, the turn signal can be control
The remote control of unmanned plane during flying processed is sent to the microcontroller of unmanned plane, then is exported by microcontroller to motor, to control
Motor processed is rotated.
In an alternate embodiment of the invention, as shown in Fig. 2 motor outputs and hair of the step S20 according to audible signal to unmanned plane
The embodiment of the corresponding sounding drive signal of acoustical signal may comprise steps of：
S21. sounding packet corresponding with audible signal is called according to audible signal.
S22. the indication signal of preset frequency electric current corresponding with audible signal is generated using sounding packet.
S23. sounding drive signal corresponding with audible signal is determined according to indication signal, and exported to the motor of unmanned plane
Sounding drive signal.
The principle of output sounding drive signal is described in detail below in conjunction with Fig. 2-Fig. 4, when microcontroller is getting use
When the audible signal of unmanned plane running status is characterized, microcontroller can call corresponding according to different audible signals
Sounding packet, sounding packet is used to trigger the indication signal that microcontroller produces frequency current corresponding with audible signal.
As shown in Figure 3 and Figure 4, Fig. 3 show the oscillogram of the current signal of a certain audible signal correspondence generation, and Fig. 4 show motor
The spectrogram of the sound wave of current signal correspondence output according to Fig. 3.In the present embodiment, the frequency of electric current and different use
Corresponded in the audible signal for characterizing unmanned plane running status, indication signal can be produced corresponding pulsewidth by timer and be adjusted
The switch of transistor (such as mosfet transistor) in signal processed, controlled motor realizes that rotor vibrations are sent and the electric current
The sound wave of frequency corresponding frequencies or species.
Sounding drive signal corresponding with audible signal is exported to unmanned plane motor under the triggering of the audible signal of acquisition,
Motor goes out sound wave corresponding with audible signal, presets the running status of the corresponding different unmanned plane of sound wave of different frequency range,
It is thus possible to which only relying on unmanned plane oneself motor sends the running status that specific frequency sound learns unmanned plane, it need not can add
If extra acoustic control module, only relying on unmanned plane oneself motor and sending specific sound more can effectively learn the fortune of unmanned plane
Row state, reduces the weight, power consumption and cost of unmanned plane, and then, realize it is effective, simply pass on nobody to user
Running status.
The embodiment of the present invention additionally provides a kind of motor sound-producing device of unmanned plane, as shown in figure 5, the device includes：
Acquiring unit 10, for obtaining audible signal, audible signal is used to indicate that the motor of unmanned plane to carry out sounding；First
Output unit 20, for exporting sounding drive signal corresponding with audible signal to the motor of unmanned plane according to audible signal, with
Motor is set to produce sound wave corresponding with audible signal, wherein, the running status of different sound wave correspondence unmanned planes is different.
In an alternate embodiment of the invention, audible signal include it is following any one：Self-inspection audible signal, for characterizing unmanned plane
The self-test signal of self-inspection generation in start-up course；Alarm audible signal, throttle signal for characterizing unmanned plane is abnormal
Alarm signal；Point out audible signal, the cue for characterizing the unmanned plane hardware anomalies as caused by Inertial Measurement Unit.
In an alternate embodiment of the invention, the first output unit 20 can include：
Subelement is called, for calling sounding packet corresponding with audible signal according to audible signal；Generate subelement,
For the indication signal for the electric current that preset frequency corresponding with audible signal is generated using sounding packet；Subelement is exported, is used
Sounding drive signal is exported in the sounding drive signal according to indication signal determination and audible signal, and to the motor of unmanned plane.
In an alternate embodiment of the invention, the motor sound-producing device of unmanned plane can also include：
Judging unit 30, for judging whether audible signal is effective；First output unit is specifically for when judging unit 30
When judging that audible signal is effective, sounding driving corresponding with audible signal is exported to the motor of unmanned plane according to audible signal and believed
Number.
In an alternate embodiment of the invention, the motor sound-producing device of unmanned plane can also include：Second output unit 40, for working as
When judging unit 30 judges that audible signal is invalid, the turn signal rotated for controlled motor is exported to the motor of unmanned plane.
The embodiment of the present invention further provides a kind of unmanned plane, as shown in fig. 6, the unmanned plane includes：
Unmanned plane body 100；Microcontroller 200, is arranged in unmanned plane body 100, for according in above-described embodiment
The motor vocal technique generation sounding drive signal of the unmanned plane of description；Motor 300, for according to the generation pair of sounding drive signal
The sound wave answered.
Wherein, the number of motor 300 can be one or more, can be determined according to the number of unmanned plane propeller.
The motor vocal technique of unmanned plane is performed by the microcontroller being arranged in unmanned plane body, makes motor according to micro-
The signal that controller is sent performs corresponding action, it is thus possible to need not add extra acoustic control module, only relies on unmanned plane certainly
Body motor, which sends specific sound, more can effectively learn the running status of unmanned plane, reduce weight, the power consumption of unmanned plane
And cost, and then, realize effective, simple to the unmanned running status of user's reception and registration.
Although being described in conjunction with the accompanying embodiments of the present invention, those skilled in the art can not depart from this hair
Various modification can be adapted in the case of bright spirit and scope and modification, and such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (11)
1. a kind of motor vocal technique of unmanned plane, it is characterised in that including：
Audible signal is obtained, the audible signal is used to indicate that the motor of unmanned plane to carry out sounding；
Sounding drive signal corresponding with the audible signal is exported to the motor of the unmanned plane according to the audible signal, with
The motor is set to produce sound wave corresponding with the audible signal, wherein, the running status of the corresponding unmanned plane of different sound waves is not
Together.
2. the motor vocal technique of unmanned plane as claimed in claim 1, it is characterised in that the audible signal includes following
Meaning is a kind of：
Self-inspection audible signal, the self-test signal for characterizing self-inspection generation of the unmanned plane in start-up course；
Alarm audible signal, the alarm signal of the throttle signal exception for characterizing unmanned plane；
Point out audible signal, the cue for characterizing the unmanned plane hardware anomalies as caused by Inertial Measurement Unit.
3. the motor vocal technique of unmanned plane as claimed in claim 1 or 2, it is characterised in that described to be believed according to the sounding
Number corresponding with audible signal sounding drive signal is exported to the motor of the unmanned plane, including：
Sounding packet corresponding with the audible signal is called according to the audible signal；
The indication signal of the electric current of preset frequency corresponding with the audible signal is generated using the sounding packet；
Sounding drive signal with the audible signal is determined according to the indication signal, and exported to the motor of the unmanned plane
The sounding drive signal.
4. the motor vocal technique of the unmanned plane as described in claim any one of 1-3, it is characterised in that in the acquisition sounding
It is described that sounding drive corresponding with the audible signal is exported to the motor of the unmanned plane according to the audible signal after signal
Before dynamic signal, in addition to：
Judge whether the audible signal is effective；
If the audible signal effectively, perform it is described according to motor output from the audible signal to the unmanned plane with
The step of audible signal corresponding sounding drive signal.
5. the motor vocal technique of unmanned plane as claimed in claim 4, it is characterised in that
If the audible signal is invalid, exports and believe for the rotation for controlling the motor to rotate to the motor of the unmanned plane
Number.
6. a kind of motor sound-producing device of unmanned plane, it is characterised in that including：
Acquiring unit, for obtaining audible signal, the audible signal is used to indicate that the motor of unmanned plane to carry out sounding；
First output unit, for corresponding with the audible signal to the motor output of the unmanned plane according to the audible signal
Sounding drive signal so that the motor produces corresponding with audible signal sound wave, wherein, the corresponding nothing of different sound waves
Man-machine running status is different.
7. the motor sound-producing device of unmanned plane as claimed in claim 6, it is characterised in that the audible signal includes following
Meaning is a kind of：
Self-inspection audible signal, the self-test signal for characterizing self-inspection generation of the unmanned plane in start-up course；
Alarm audible signal, the alarm signal of the throttle signal exception for characterizing unmanned plane；
Point out audible signal, the cue for characterizing the unmanned plane hardware anomalies as caused by Inertial Measurement Unit.
8. the motor sound-producing device of unmanned plane as claimed in claims 6 or 7, it is characterised in that first output unit includes：
Subelement is called, for calling sounding packet corresponding with the audible signal according to the audible signal；
Subelement is generated, for the electric current using sounding packet generation preset frequency corresponding with the audible signal
Indication signal；
Export subelement, for according to the indication signal determine with the sounding drive signal of the audible signal, and to described
The motor of unmanned plane exports the sounding drive signal.
9. the motor sound-producing device of the unmanned plane as described in claim any one of 6-8, it is characterised in that also include：
Judging unit, for judging whether the audible signal is effective；
First output unit is specifically for when the judging unit judges that the audible signal is effective, according to the hair
Acoustical signal exports sounding drive signal corresponding with the audible signal to the motor of unmanned plane.
10. the motor sound-producing device of unmanned plane as claimed in claim 9, it is characterised in that also include：
Second output unit, for when the judging unit judges that the audible signal is invalid, to the electricity of the unmanned plane
Machine exports the turn signal for controlling the motor to rotate.
11. a kind of unmanned plane, it is characterised in that including：
Unmanned plane body；
Microcontroller, is arranged in the unmanned plane body, for the unmanned plane according to any one in claim 1-5
Motor vocal technique generation sounding drive signal；
Motor, for producing corresponding sound wave according to the sounding drive signal.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108375986A (en) * | 2018-03-30 | 2018-08-07 | 深圳市道通智能航空技术有限公司 | Control method, device and the terminal of unmanned plane |
| WO2019047539A1 (en) * | 2017-09-06 | 2019-03-14 | 深圳市道通智能航空技术有限公司 | Method and device for sounding by means of motor, electronic variator and unmanned aerial vehicle |
| WO2019056181A1 (en) * | 2017-09-19 | 2019-03-28 | 深圳市大疆创新科技有限公司 | Method and device for positioning unmanned aerial vehicle, and electric adjustment and power system, and unmanned aerial vehicle system |
| CN110673640A (en) * | 2019-10-21 | 2020-01-10 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control method, device, equipment and storage medium |
| WO2020062180A1 (en) * | 2018-09-29 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Electric motor state monitoring apparatus and electric motor state monitoring method |
| CN115993813A (en) * | 2023-03-20 | 2023-04-21 | 深圳市好盈科技股份有限公司 | Motor ringing control method and device |
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| CN108375986A (en) * | 2018-03-30 | 2018-08-07 | 深圳市道通智能航空技术有限公司 | Control method, device and the terminal of unmanned plane |
| WO2020062180A1 (en) * | 2018-09-29 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Electric motor state monitoring apparatus and electric motor state monitoring method |
| CN110673640A (en) * | 2019-10-21 | 2020-01-10 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control method, device, equipment and storage medium |
| CN110673640B (en) * | 2019-10-21 | 2022-02-08 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle control method, device, equipment and storage medium |
| CN115993813A (en) * | 2023-03-20 | 2023-04-21 | 深圳市好盈科技股份有限公司 | Motor ringing control method and device |
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