CN107074356A

CN107074356A - Signal wire multiplexing process method, unmanned vehicle, electron speed regulator and its MCU

Info

Publication number: CN107074356A
Application number: CN201680002459.2A
Authority: CN
Inventors: 蓝求; 周长兴; 潘道辉
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2016-01-22
Filing date: 2016-01-22
Publication date: 2017-08-18
Anticipated expiration: 2036-01-22
Also published as: CN107074356B; WO2017124432A1

Abstract

A kind of signal wire multiplexing process method, applied to electron speed regulator (1003), the electron speed regulator (1003) includes the micro-control unit MCU (11 being connected to each other, 21,31,41) and binding post (12,22,32,42), signal of communication input line accesses the binding post (12,22,32 with throttle control signal input line, 42) the signal multiplexing terminal (121,221,321 in, 421), methods described includes：Obtain the characteristic information that signal is transmitted on the signal multiplexing terminal (121,221,321,421)；According to the characteristic information, determine to transmit the type of signal on the signal multiplexing terminal (121,221,321,421)；According to the type that signal is transmitted on the signal multiplexing terminal (121,221,321,421), handled accordingly.Signal wire multiplexing process method, unmanned vehicle, electron speed regulator and its MCU (11 provided, 21,31,41), signal of communication input line and throttle control signal input line can share same terminal, at least one terminal can be saved, space is effectively saved, the cost of electron speed regulator is reduced.

Description

Signal wire multiplexing processing method, unmanned aerial vehicle, electronic speed regulator and MCU thereof

Technical Field

The invention relates to the technical field of aircrafts, in particular to a signal line multiplexing processing method, an unmanned aerial vehicle, an electronic speed regulator and an MCU (microprogrammed control unit) thereof.

Background

The electronic speed regulator is one of the most important parts in the aircraft and is used for driving a motor in the aircraft to rotate so as to realize starting, stopping, speed regulation and the like of the aircraft.

In the prior art, an electronic speed regulator needs to be connected with a flight controller when the electronic speed regulator works normally, and specifically, a wiring terminal is arranged in the electronic speed regulator and comprises an accelerator control signal input terminal and an accelerator control signal ground terminal, wherein the accelerator control signal input terminal is connected with an accelerator control signal input line of the flight controller and controls a motor to normally rotate by receiving an accelerator control signal sent by the flight controller; when the electronic speed regulator needs to be upgraded or parameters need to be changed, the electronic speed regulator needs to be connected with an upper computer, therefore, a communication signal receiving terminal, a communication signal sending terminal and a communication signal grounding terminal need to be arranged in a wiring terminal of the electronic speed regulator, and the communication signal receiving terminal and the communication signal sending terminal are respectively connected with a communication signal input line and a communication signal output line of the upper computer so as to realize data transmission.

The prior art has the disadvantages that at least five terminals are required to be arranged in the electronic speed regulator in order to ensure normal work and firmware upgrading, so that the electronic speed regulator occupies larger space and has higher cost.

Disclosure of Invention

The embodiment of the invention provides a signal line multiplexing processing method, which is applied to an electronic speed regulator, wherein the electronic speed regulator comprises a Micro Control Unit (MCU) and a wiring terminal which are connected with each other, a communication signal input line and an accelerator control signal input line are both connected to a signal multiplexing terminal in the wiring terminal, and the method comprises the following steps:

acquiring characteristic information of a transmission signal on the signal multiplexing terminal;

determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and

and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

The embodiment of the invention also provides an MCU of the electronic speed regulator, which comprises a processor and pins, wherein the pins of the MCU are used for being connected with the wiring terminals of the electronic speed regulator so as to receive signals transmitted from a communication signal input line or an accelerator control signal input line from the signal multiplexing terminals of the wiring terminals;

the processor is configured to acquire characteristic information of a transmission signal on the signal multiplexing terminal; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

An embodiment of the present invention further provides an electronic governor, including: the MCU and the wiring terminal; the MCU comprises a processor and a pin, the pin of the MCU is connected with the wiring terminal, and a communication signal input line and an accelerator control signal input line are both connected to a signal multiplexing terminal in the wiring terminal;

An embodiment of the present invention provides an unmanned aerial vehicle, including: the system comprises a motor, a propeller, a flight controller and an electronic speed regulator;

the electronic speed regulator is connected with the flight controller and is used for controlling the motor to rotate according to an accelerator control signal sent by the flight controller;

the motor is connected with the propeller to drive the propeller to rotate under the control of the electronic speed regulator.

According to the signal line multiplexing processing method, the unmanned aerial vehicle, the electronic speed regulator and the MCU thereof, the signal multiplexing terminal is arranged in the wiring terminal of the electronic speed regulator, the throttle control signal input line of the flight controller and the communication signal input line of the upper computer can be connected to the signal multiplexing terminal in the wiring terminal, the type of the signal is determined according to the characteristic information by acquiring the characteristic information of the signal transmitted on the signal multiplexing terminal, and corresponding processing is carried out according to the type of the signal, so that the communication signal input line and the throttle control signal input line can share the same terminal, at least one terminal can be saved, the space is effectively saved, and the cost of the electronic speed regulator is reduced.

Drawings

Fig. 1 is a flowchart of a signal line multiplexing processing method according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an electronic speed regulator in a signal line multiplexing processing method according to an embodiment of the present invention;

fig. 3 is a flowchart of a signal line multiplexing processing method according to a second embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to a second embodiment of the present invention;

fig. 5 is a flowchart of a signal line multiplexing processing method according to a third embodiment of the present invention;

fig. 6 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to a third embodiment of the present invention;

fig. 7 is a flowchart of a signal line multiplexing processing method according to a fourth embodiment of the present invention;

fig. 8 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to a fourth embodiment of the present invention;

fig. 9 is a schematic structural diagram of an unmanned aerial vehicle according to a tenth embodiment of the present invention.

Reference numerals:

11-MCU 12-connecting terminal 121-signal multiplexing terminal

21-MCU 211-throttle control signal input pin 212-communication signal receiving pin 213-communication signal sending pin 214-ground pin 22-wiring terminal 221-signal multiplexing terminal 222-communication signal receiving terminal 223-ground terminal

31-MCU 311-Signal multiplexing Pin 312-communication Signal transmitting Pin 313-ground Pin 32-wire terminal 321-Signal multiplexing terminal 322-communication Signal receiving terminal 323-ground terminal

41-MCU 411-multiplexing pin 412-grounding pin 42-wiring terminal 421-signal multiplexing terminal 422-grounding terminal

1001-motor 1002-propeller 1003-electronic speed regulator

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Example one

The embodiment of the invention provides a signal line multiplexing processing method. Fig. 1 is a flowchart of a signal line multiplexing processing method according to an embodiment of the present invention. As shown in fig. 1, the method in this embodiment may include:

and step 101, acquiring characteristic information of the transmission signal on the signal multiplexing terminal 121.

Specifically, the method in this embodiment may be applied to an electronic speed regulator, and fig. 2 is a schematic structural diagram of the electronic speed regulator in the signal line multiplexing processing method according to an embodiment of the present invention, and as shown in fig. 2, the electronic speed regulator may include an MCU (micro controller Unit) 11 and a connection terminal 12, which are connected to each other. The main body for executing the method in the embodiment can be the MCU11 in the electronic speed regulator.

The electronic speed regulator can be respectively connected with the flight controller and the upper computer through a wiring terminal 12, and when the electronic speed regulator is connected with the flight controller, the electronic speed regulator can control the motor to rotate so as to realize the flight function of the aircraft; when the electronic speed regulator is connected with an upper computer, communication functions such as firmware upgrading, parameter setting and the like can be realized.

In this embodiment, the connection terminal 12 of the electronic speed regulator may include a signal multiplexing terminal 121, and both an accelerator control signal input line of the flight controller and a communication signal input line of the upper computer may be connected to the signal multiplexing terminal 121 in the connection terminal 12, so as to implement a multiplexing function of the signal multiplexing terminal 121.

In the case where the electronic governor is not operating, the signal multiplexing terminal 121 of the connection terminal 12 may not connect any input line. When the motor of the aircraft needs to be controlled to rotate, a throttle control signal input line of the flight controller can be connected with the signal multiplexing terminal 121. When upgrading or parameter setting is required, a communication signal input line of the upper computer can be connected with the signal multiplexing terminal 121.

When a signal passes through the signal multiplexing terminal 121, the characteristic information of the signal transmitted through the signal multiplexing terminal 121 can be obtained. The signal may be an analog signal or a digital signal. The characteristic information may be a frequency, a pulse width, a voltage, a current, and the like of the signal, or may be data information included in the signal.

Step 102, determining the type of the signal transmitted on the signal multiplexing terminal 121 according to the characteristic information.

The signal types can include throttle control signals, communication signals and the like. When the signal multiplexing terminal 121 of the connection terminal 12 is connected to an accelerator control signal input line of the flight controller, a signal transmitted on the signal multiplexing terminal 121 is an accelerator control signal. When the signal multiplexing terminal 121 is connected to a communication signal input line of an upper computer, a signal transmitted on the signal multiplexing terminal 121 is a communication signal.

Specifically, the correspondence between the characteristic information and the type of the signal may be set in advance according to actual needs. When the characteristic information of the signal transmitted through the signal multiplexing terminal 121 is acquired, the type of the signal transmitted through the signal multiplexing terminal 121 may be determined according to the correspondence relationship.

For example, the signal may be an analog signal, and if the voltage value of the signal is less than 5V, the type of the signal is considered as a communication signal, and if the voltage value of the signal is greater than 5V, the type of the signal is considered as a throttle control signal. Or, the signal may be a digital signal, and in the digital signal, if a certain flag bit is 0, the type of the signal is considered as a communication signal, and if the flag bit is 1, the type of the signal is considered as an accelerator control signal.

Those skilled in the art can set the corresponding relationship between the characteristic information and the type of the signal according to the specific structure and the actual needs of the electronic governor, the flight controller, and the upper computer, which is not limited in this embodiment.

And 103, performing corresponding processing according to the type of the signal transmitted on the signal multiplexing terminal 121.

Specifically, if the type of the signal is an accelerator control signal, it is indicated that a flight controller is currently connected to the electronic speed regulator, and at this time, the motor can be controlled to rotate according to the signal sent by the flight controller, so that the normal flight of the aircraft is realized. If the type of the signal is a communication signal, it indicates that the host computer is currently connected with the electronic governor, and at this time, communication data transmission, such as firmware upgrade or parameter modification, may be performed according to the signal sent by the host computer.

The specific implementation modes of controlling the motor to rotate according to the signal sent by the flight controller and transmitting data according to the signal sent by the upper computer belong to the prior art, and are not described herein again.

In practical application, when a user needs to control the aircraft to normally fly, an accelerator control signal input line of the flight controller can be connected with a signal multiplexing terminal 121 in the wiring terminal 12, and the MCU can automatically identify the type of the signal according to the signal transmitted on the signal multiplexing terminal 121 and control the motor of the aircraft to rotate according to the signal, thereby realizing the normal flight of the aircraft. When a user needs to upgrade firmware of the MCU or modify parameters, a communication signal input line of the upper computer can be connected with a signal multiplexing terminal 121 in the wiring terminal 12, the MCU can automatically identify the type of the signal according to the signal transmitted on the signal multiplexing terminal 121 and carry out data communication according to the signal, so that the functions of firmware upgrading and parameter modification are realized.

According to the signal line multiplexing processing method provided by the embodiment, the signal multiplexing terminal 121 is arranged in the wiring terminal 12 of the electronic speed regulator, the throttle control signal input line of the flight controller and the communication signal input line of the upper computer can be connected to the signal multiplexing terminal 121 in the wiring terminal 12, the type of the signal is determined according to the characteristic information by acquiring the characteristic information of the transmission signal on the signal multiplexing terminal 121, and corresponding processing is performed according to the type of the signal, so that the communication signal input line and the throttle control signal input line can share the same terminal, at least one terminal can be saved, the space is effectively saved, and the cost of the electronic speed regulator is reduced.

Example two

The second embodiment of the invention provides a signal line multiplexing processing method. In this embodiment, on the basis of the technical solution provided in the first embodiment, four pins are provided in the MCU to be electrically connected to the flight controller and the upper computer. Fig. 3 is a flowchart of a signal line multiplexing processing method according to a second embodiment of the present invention. As shown in fig. 3, the method in this embodiment may include:

step 201, obtaining characteristic information of signals received on the accelerator control signal input pin 211.

Fig. 4 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to a second embodiment of the present invention. As shown in fig. 4, the electronic governor in this embodiment may include a micro control unit MCU21 and a connection terminal 22 connected to each other.

The MCU21 may include a throttle control signal input pin 211, a communication signal receive pin 212, a communication signal transmit pin 213, and a ground pin 214. The connection terminal 22 may include a signal multiplexing terminal 221, a communication signal receiving terminal 222, and a ground terminal 223. The communication signal input line of the upper computer and the throttle control signal input line of the flight controller can be connected to the signal multiplexing terminal 221 in the wiring terminal 22.

The signal multiplexing terminal 221 is connected to the throttle control signal input pin 211 and the communication signal receiving pin 212, respectively. The communication signal transmission pin 213 is connected to the communication signal reception terminal 222. The ground pin 214 is connected to the ground terminal 223.

When a signal passes through the throttle control signal input pin 211, the characteristic information of the signal received by the throttle control signal input pin 211 can be acquired. Since the throttle control signal input pin 211 is connected to the signal multiplexing terminal 221, the signals passing through the throttle control signal input pin 211 and the signal multiplexing terminal 221 are the same. The acquired characteristic information of the signals received by the throttle control signal input pin 211 is the characteristic information of the signals transmitted by the signal multiplexing terminal 221.

Step 202, determining the type of the transmission signal on the signal multiplexing terminal 221 according to the characteristic information.

The throttle control signal transmitted on the throttle control signal input line of the existing flight controller is mostly a signal with fixed frequency and adjustable high-level pulse width within a certain range (usually 1ms-2ms), and the larger the pulse width of the signal is, the higher the rotating speed of the control motor of the electronic speed regulator is. Since the throttle control signal is similar to a PWM (Pulse Width Modulation) wave or a PPM (Pulse Position Modulation) wave, the control method may also be called PWM control or PPM control. However, the communication signal is used for data transmission, and the frequency is not fixed and the pulse width is irregular, so in this embodiment, whether the type of the transmission signal on the signal multiplexing terminal 221 is the throttle control signal or the communication signal may be determined by the signal frequency and/or the signal pulse width of the signal.

Specifically, the characteristic information may be a signal frequency and/or a signal pulse width of a signal transmitted on the signal multiplexing terminal 221, and correspondingly, determining the type of the signal transmitted on the signal multiplexing terminal 221 according to the characteristic information in this step may specifically include:

if the signal frequency and/or the signal pulse width of the signal are within the corresponding preset range, determining the signal as an accelerator control signal; and if the signal frequency and/or the signal pulse width of the signal are not in the corresponding preset range, determining the signal to be a communication signal.

For example, the type of signal may be determined by frequency. And if the frequency is within the corresponding preset range, the signal is considered as the throttle control signal. And if the frequency is not in the corresponding preset range, the signal is considered as a communication signal, and the preset range corresponding to the frequency can be set according to actual needs.

Alternatively, the type of signal may be determined by the pulse width. And if the pulse width is within the corresponding preset range, the signal is considered as an accelerator control signal. If the pulse width is not within the corresponding preset range, the signal is considered as a communication signal, and the preset range corresponding to the pulse width can be set according to actual needs.

Of course, the type of the signal can be comprehensively judged by the frequency and the pulse width. And if the frequency and the pulse width are both in the corresponding preset range, the signal is considered as the throttle control signal. If the frequency is not within the corresponding preset range, or the pulse width is not within the corresponding preset range, or both are not within the corresponding preset ranges, the signal is considered as a communication signal, and the preset range corresponding to the frequency and the preset range corresponding to the pulse width can be set according to actual needs.

In this embodiment, the type of the signal transmitted on the signal multiplexing terminal 221 can be determined by detecting whether the signal frequency and/or the signal pulse width of the signal are within the corresponding range by using the characteristics of the frequency and the pulse width of the throttle control signal, which is simple and convenient, and does not need to change the use habit of the user. Of course, the type of the signal transmitted on the signal multiplexing terminal 221 can be determined by other means, and is not limited herein.

Step 203, if the signal is an accelerator control signal, controlling the motor to rotate by using the accelerator control signal; if the signal is a communication signal, the communication signal is received from the communication signal receiving pin 212, and communication data transmission is performed according to the communication signal.

Specifically, when the electronic governor is connected to the flight controller, the throttle control signal input line of the flight controller may be connected to the signal multiplexing terminal 221 in the connection terminal 22 of the electronic governor, and the ground line of the flight controller may be connected to the ground terminal 223 in the connection terminal 22. Because the throttle control signal input pin 211 of the MCU21 of the electronic governor is connected to the signal multiplexing terminal 221, and the signal received by the throttle control signal input pin 211 is the throttle control signal sent by the flight controller, the motor can be controlled to rotate directly according to the signal received by the throttle control signal input pin 211.

When the electronic speed regulator is connected with an upper computer, a communication signal input line of the upper computer can be connected with a signal multiplexing terminal 221 in a connecting terminal 22 of the electronic speed regulator, a communication signal receiving line of the upper computer can be connected with a communication signal receiving terminal 222 in the connecting terminal 22, and a ground line of the upper computer can be connected with a ground terminal 223 of the connecting terminal 22. Since the communication signal receiving pin 212 of the MCU21 is connected to the signal multiplexing terminal 221, the communication signal transmitting pin 213 is connected to the communication signal receiving terminal 222, and the ground pin 214 is connected to the ground terminal 223, the MCU21 can transmit communication data to an upper computer through the communication signal transmitting pin 213 and receive the communication data transmitted by the upper computer through the communication signal receiving pin 212, thereby implementing functions such as firmware upgrade and parameter setting.

In the signal line multiplexing method provided in this embodiment, the MCU21 is provided with an accelerator control signal input pin 211 and a communication signal receiving pin 212, and the signal multiplexing terminal 221 of the connection terminal 22 is connected to the accelerator control signal input pin 211 and the communication signal receiving pin 212, respectively. When the signal transmitted on the signal multiplexing terminal 221 is a throttle control signal, the signal is received through the throttle control signal input pin 211 and the motor is controlled to rotate. When the signal transmitted on the signal multiplexing terminal 221 is a communication signal, the signal is received through the communication signal receiving pin 212 and communication data transmission is performed, the control mode is simple, the throttle control and the communication data transmission are not interfered with each other, and the stability of the system is high.

EXAMPLE III

The third embodiment of the invention provides a signal line multiplexing processing method. In this embodiment, on the basis of the technical solution provided in the first embodiment, three pins are provided in the MCU for electrically connecting with the flight controller and the upper computer. Fig. 5 is a flowchart of a signal line multiplexing processing method according to a third embodiment of the present invention. As shown in fig. 5, the method in this embodiment may include:

step 301, obtaining the characteristic information of the signal received on the signal multiplexing pin 311.

Fig. 6 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method provided by a third embodiment of the present invention. As shown in fig. 6, the electronic governor in the present embodiment may include a micro control unit MCU31 and the connection terminal 32 connected to each other.

The MCU31 includes a signal multiplexing pin 311, a communication signal transmitting pin 312, and a ground pin 313, the connection terminal 32 includes a signal multiplexing terminal 321, a communication signal receiving terminal 322, and a ground terminal 323, and both a communication signal input line of the upper computer and a throttle control signal input line of the flight controller can be connected to the signal multiplexing terminal 321 in the connection terminal 32. The signal multiplexing terminal 321 is connected to the signal multiplexing pin 311. The communication signal transmission pin 312 is connected to the communication signal reception terminal 322. The ground pin 313 is connected to the ground terminal 323.

When a signal passes through the signal multiplexing pin 311, the characteristic information of the signal received at the signal multiplexing pin 311 can be obtained. Since the signal multiplexing terminal 321 is connected to the signal multiplexing pin 311, the signal multiplexing pin 311 and the signal multiplexing terminal 321 pass through the same signal. The obtained characteristic information of the signal received at the signal multiplexing pin 311 is the characteristic information of the signal transmitted at the signal multiplexing terminal 321.

Step 302, determining the type of the signal transmitted on the signal multiplexing terminal 321 according to the characteristic information.

Specifically, the characteristic information may be signal type indication information carried in a signal transmitted on the signal multiplexing terminal 321, and correspondingly, determining the type of the signal transmitted on the signal multiplexing terminal 321 according to the characteristic information in this step may specifically include:

if the signal type indication information is first indication information, determining that the signal is a communication signal; and if the signal type indication information is second indication information, determining that the signal is an accelerator control signal. The first indication information and the second indication information can be set according to actual needs.

Or, if the signal type indication information is first indication information, determining that the signal is a communication signal; and if the signal type indication information is empty, determining that the signal is an accelerator control signal. Considering that the electronic speed regulator is usually in a normal working state and the interactive communication with the upper computer is not common, the transmission of the communication signal can be regarded as a special condition, only the indication information is added in the communication signal, but the indication information is not added in the throttle control signal transmitted in the normal working state, so that the signaling load can be effectively reduced, and the processing speed of the electronic speed regulator is improved.

Of course, the type of the signal may be determined in other ways in the present embodiment, and is not limited herein.

And step 303, performing corresponding processing according to the type of the signal transmitted on the signal multiplexing terminal 321.

Specifically, if the signal is an accelerator control signal, the accelerator control signal is adopted to control the motor to rotate; and if the signal is a communication signal, carrying out communication data transmission according to the communication signal.

In the signal line multiplexing method provided by this embodiment, the MCU31 is provided with a signal multiplexing pin 311, and the signal multiplexing terminal 321 of the connection terminal 32 is connected to the signal multiplexing pin 311. When the signal transmitted on the signal multiplexing terminal 321 is a throttle control signal, the signal multiplexing pin 311 receives the signal and controls the motor to rotate. When the signal transmitted on the signal multiplexing terminal 321 is a communication signal, the signal is received through the signal multiplexing pin 311 and communication data transmission is performed. The multiplexing function of receiving the throttle control signal and the communication signal is realized by using the same pin of the MCU31, the number of pins of the MCU31 is reduced, and the system space is saved.

Example four

The fourth embodiment of the invention provides a signal line multiplexing processing method. In this embodiment, on the basis of the technical solution provided in the first embodiment, two pins are provided in the MCU and used for electrically connecting with the flight controller and the upper computer. Fig. 7 is a flowchart of a signal line multiplexing processing method according to a fourth embodiment of the present invention. As shown in fig. 7, the method in this embodiment may include:

step 401, obtaining the characteristic information of the signal received on the multiplexing pin 411.

Fig. 8 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to a fourth embodiment of the present invention. As shown in fig. 8, the electronic governor in the present embodiment may include a micro control unit MCU41 and a connection terminal 42 connected to each other.

The MCU41 includes a multiplexing pin 411 and a ground pin 412; the connecting terminal 42 includes a signal multiplexing terminal 421 and a ground terminal 422, an accelerator control signal input line of the flight controller, a communication signal input line and a communication signal output line of the upper computer are all connected to the signal multiplexing terminal 421, the signal multiplexing terminal 421 is connected to the multiplexing pin 411, and the ground pin 412 is connected to the ground terminal 422.

When a signal passes through the multiplexing pin 411, the characteristic information of the signal received on the multiplexing pin 411 can be obtained. Since the multiplexing terminal is connected to the signal multiplexing pin 411, the signal passing through the multiplexing pin 411 and the signal multiplexing terminal 421 is the same. The obtained characteristic information of the signal received at the multiplexing pin 411 is the characteristic information of the signal transmitted at the signal multiplexing terminal 421.

Step 402, determining the type of the signal transmitted on the signal multiplexing terminal 421 according to the characteristic information.

Specifically, there may be various methods for determining the type of the transmission signal on the signal multiplexing terminal 421. For example, the determination may be performed through a signal frequency and/or a signal pulse width of the signal, or may be performed through signal type indication information carried in the signal, or may be performed through other manners, which is not limited in this embodiment.

Step 403, according to the type of the signal transmitted on the signal multiplexing terminal 421, corresponding processing is performed.

And if the signal is an accelerator control signal, controlling the motor to rotate by adopting the accelerator control signal. For example, the throttle control signal may be a PWM wave through which the MCU41 can control the motor to rotate, or the throttle control signal may be a digital signal representing the rotation state of the motor, and the MCU41 may generate a corresponding PWM wave according to the digital signal and control the motor to rotate by using the PWM wave.

And if the signal is a communication signal, carrying out communication data transmission according to the communication signal. Specifically, a first communication signal may be received from the multiplexing pin 411, and after the first communication signal is parsed, a corresponding second communication signal is fed back from the multiplexing pin 411 to complete communication data transmission.

In practical applications, when it is determined that the signal transmitted through the signal multiplexing terminal 421 is a communication signal, the multiplexing pin 411 may be multiplexed as a receiving pin to receive the communication signal sent by the upper computer. After receiving and analyzing the communication signal, multiplexing the multiplexing pin 411 into a sending pin, sending the communication signal to be replied to an upper computer from the multiplexing pin 411, and multiplexing the communication signal into a receiving pin after sending for receiving the communication signal. Thus, the entire system only needs the multiplexing pin 411 and the grounding pin 412 to receive and transmit the communication signals, and the system is further simplified.

In the signal line multiplexing processing method provided by this embodiment, the MCU41 is provided with the multiplexing pin 411, the signal multiplexing terminal 421 of the connection terminal 42 is connected to the multiplexing pin 411, and the throttle control signal input line of the flight controller, the communication signal input line of the upper computer, and the communication signal output line can all be connected to the signal multiplexing terminal 421, so that the functions of receiving the throttle control signal sent by the flight controller, receiving the communication signal sent by the upper computer, and sending the communication signal to the upper computer can be realized through the multiplexing pin 411, the number of pins of the MCU41 is reduced, and the system space is saved.

EXAMPLE five

The fifth embodiment of the invention provides an MCU of an electronic speed regulator. The MCU comprises a processor and pins, and the pins of the MCU are used for being connected with the wiring terminals of the electronic speed regulator so as to receive signals transmitted from a communication signal input line or an accelerator control signal input line from the signal multiplexing terminals of the wiring terminals.

The structure and the connection relationship of the MCU provided by the fifth embodiment of the present invention can be seen in fig. 2. The specific principles and implementations are similar to the embodiments and are not described herein again.

The functions of the processor of the MCU in this embodiment may be implemented by software or hardware modules. For example, the characteristic information may be a signal voltage, the type of the signal is determined according to the characteristic information, the determination may be performed by a comparator, corresponding processing is performed according to the type of the signal, and the determination may be performed by a switch. Alternatively, the characteristic information may be a signal frequency, and the type of the signal is determined according to the signal frequency, and may be implemented by a counter, a timer, and a comparator.

The MCU provided by the embodiment comprises a processor and a pin, wherein the pin is used for being connected with a connecting terminal of the electronic speed regulator so as to receive a signal transmitted from a communication signal input line or an accelerator control signal input line from a signal multiplexing terminal of the connecting terminal, the type of the signal is determined according to the characteristic information by acquiring the characteristic information of the signal transmitted on the signal multiplexing terminal, and corresponding processing is carried out according to the type of the signal, so that the communication signal input line and the accelerator control signal input line can share the same terminal, at least one terminal can be saved, the space is effectively saved, and the cost of the electronic speed regulator is reduced.

Further, the characteristic information may be a signal frequency and/or a signal pulse width of a transmission signal on the signal multiplexing terminal; accordingly, the processor may be configured to: acquiring the signal frequency and/or the signal pulse width of a transmission signal on the signal multiplexing terminal; if the signal frequency and/or the signal pulse width of the signal are/is within the corresponding preset range, determining that the signal is an accelerator control signal, and if the signal frequency and/or the signal pulse width of the signal are/is not within the corresponding preset range, determining that the signal is a communication signal; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

Or, the characteristic information may be signal type indication information carried in a transmission signal on the signal multiplexing terminal; accordingly, the processor may be configured to: acquiring signal type indication information carried in a transmission signal on the signal multiplexing terminal; if the signal type indication information is first indication information, determining that the signal is a communication signal, if the signal type indication information is second indication information, determining that the signal is an accelerator control signal, or if the signal type indication information is first indication information, determining that the signal is a communication signal, and if the signal type indication information is empty, determining that the signal is an accelerator control signal; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

Further, the processor may be configured to: acquiring characteristic information of a transmission signal on the signal multiplexing terminal; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and if the signal is an accelerator control signal, controlling the motor to rotate by using the accelerator control signal, and if the signal is a communication signal, performing communication data transmission according to the communication signal.

EXAMPLE six

The sixth embodiment of the invention provides an MCU of an electronic speed regulator. On the basis of the technical scheme provided by the fifth embodiment, the pins of the MCU may include an accelerator control signal input pin, a communication signal receiving pin, a communication signal transmitting pin, and a ground pin; the throttle control signal input pin and the communication signal receiving pin are respectively used for being connected with a signal multiplexing terminal of the wiring terminal; the communication signal sending pin is used for being connected with a communication signal receiving terminal of the wiring terminal; the grounding pin is used for being connected with a grounding terminal of the wiring terminal.

The processor may be configured to obtain characteristic information of a signal received at the throttle control signal input pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; if the signal is an accelerator control signal, the accelerator control signal is adopted to control the motor to rotate, and if the signal is a communication signal, the communication signal is received from the communication signal receiving pin, and communication data transmission is carried out according to the communication signal.

The structure and the connection relationship of the MCU provided by the sixth embodiment of the present invention can be seen in fig. 4. The specific principle and implementation are similar to those of the second embodiment, and are not described herein again.

The MCU that this embodiment provided is provided with throttle control signal input pin and communication signal and receives the pin, binding post's signal multiplex terminal with throttle control signal input pin and communication signal receive the pin and connect respectively, work as when the signal of transmission is throttle control signal on the signal multiplex terminal, through throttle control signal input pin received signal and control motor rotate, work as when the signal of transmission is communication signal on the signal multiplex terminal, through communication signal receives pin received signal and carries out communication data transmission, and control mode is simpler, throttle control and communication data transmission two parts mutual noninterference, and the stability of system is higher.

EXAMPLE seven

The seventh embodiment of the invention provides an MCU of an electronic speed regulator. On the basis of the technical scheme provided by the fifth embodiment, the pins of the MCU may include a signal multiplexing pin, a communication signal transmission pin, and a ground pin; the signal multiplexing pin is used for being connected with a signal multiplexing terminal of the wiring terminal; the communication signal sending pin is used for being connected with a communication signal receiving terminal of the wiring terminal; the grounding pin is used for being connected with a grounding terminal of the wiring terminal.

The processor may be configured to obtain characteristic information of a received signal on the signal multiplexing pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

The structure and the connection relationship of the MCU provided by the seventh embodiment of the present invention can be seen in fig. 6. The specific principle and implementation are similar to those of the third embodiment, and are not described herein again.

The MCU provided by the embodiment is provided with a signal multiplexing pin, a signal multiplexing terminal of a wiring terminal is connected with the signal multiplexing pin, when a signal transmitted on the signal multiplexing terminal is an accelerator control signal, the signal multiplexing pin is used for receiving the signal and controlling the motor to rotate, and when the signal transmitted on the signal multiplexing terminal is a communication signal, the signal multiplexing pin is used for receiving the signal and transmitting communication data, so that the multiplexing function of receiving the accelerator control signal and the communication signal is realized by using the same pin of the MCU, the number of pins of the MCU is reduced, and the system space is saved.

Example eight

The eighth embodiment of the invention provides an MCU of an electronic speed regulator. On the basis of the technical scheme provided by the fifth embodiment, the pins of the MCU may include a multiplexing pin and a ground pin; the multiplexing pin is used for being connected with the signal multiplexing pin of the wiring terminal, and the grounding pin is used for being connected with the grounding terminal of the wiring terminal.

The processor may be configured to obtain characteristic information of a received signal on the multiplexing pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; if the signal is an accelerator control signal, the accelerator control signal is adopted to control the motor to rotate, if the signal is a communication signal, a first communication signal is received from the multiplexing pin, and after the first communication signal is analyzed, a corresponding second communication signal is fed back from the multiplexing pin to complete communication data transmission.

The structure and the connection relationship of the MCU provided by the eighth embodiment of the present invention can be seen in fig. 8. The specific principle and implementation thereof are similar to those of the fourth embodiment, and are not described herein again.

The MCU provided by the embodiment is provided with the multiplexing pin, the signal multiplexing terminal of the wiring terminal is connected with the multiplexing pin, and the throttle control signal input line of the flight controller, the communication signal input line and the communication signal output line of the upper computer can be connected with the signal multiplexing terminal, so that the functions of receiving the throttle control signal sent by the flight controller, receiving the communication signal sent by the upper computer and sending the communication signal to the upper computer can be realized through the multiplexing pin, the number of pins of the MCU is reduced, and the system space is saved.

Example nine

An embodiment of the present invention provides an electronic governor, including: the MCU and the wiring terminal; the MCU comprises a processor and a pin, the pin of the MCU is connected with the wiring terminal, and a communication signal input line and an accelerator control signal input line are both connected to a signal multiplexing terminal in the wiring terminal; the processor is configured to acquire characteristic information of a transmission signal on the signal multiplexing terminal; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

The structure, function and connection relationship of each component of the electronic speed regulator of the present embodiment are similar to those of the fifth embodiment, and are not described herein again.

The electronic speed regulator provided by the embodiment comprises the MCU and the wiring terminal, wherein a pin of the MCU is connected with the wiring terminal of the electronic speed regulator so as to receive a signal transmitted from a communication signal input line or an accelerator control signal input line from a signal multiplexing terminal of the wiring terminal, the type of the signal is determined according to the characteristic information by acquiring the characteristic information of the signal transmitted from the signal multiplexing terminal, and corresponding processing is performed according to the type of the signal, so that the communication signal input line and the accelerator control signal input line can share the same terminal, at least one terminal can be saved, the space is effectively saved, and the cost of the electronic speed regulator is reduced.

Further, the characteristic information is the signal frequency and/or the signal pulse width of the transmission signal on the signal multiplexing terminal; accordingly, the processor may be configured to: acquiring the signal frequency and/or the signal pulse width of a transmission signal on the signal multiplexing terminal; if the signal frequency and/or the signal pulse width of the signal are/is within the corresponding preset range, determining that the signal is an accelerator control signal, and if the signal frequency and/or the signal pulse width of the signal are/is not within the corresponding preset range, determining that the signal is a communication signal; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

Further, the characteristic information is signal type indication information carried in a transmission signal on the signal multiplexing terminal; accordingly, the processor may be configured to: acquiring signal type indication information carried in a transmission signal on the signal multiplexing terminal; if the signal type indication information is first indication information, determining that the signal is a communication signal, if the signal type indication information is second indication information, determining that the signal is an accelerator control signal, or if the signal type indication information is first indication information, determining that the signal is a communication signal, and if the signal type indication information is empty, determining that the signal is an accelerator control signal; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

On the basis of the technical scheme provided by the ninth embodiment, preferably, the pins of the MCU include a throttle control signal input pin, a communication signal receiving pin, a communication signal transmitting pin, and a ground pin; the wiring terminal comprises the signal multiplexing terminal, a communication signal receiving terminal and a grounding terminal; the signal multiplexing terminal is respectively connected with the throttle control signal input pin and the communication signal receiving pin; the communication signal sending pin is connected with the communication signal receiving terminal; the ground pin is connected to the ground terminal.

On the basis of the technical solution provided in the ninth embodiment, preferably, the pins of the MCU include a signal multiplexing pin, a communication signal transmission pin, and a ground pin; the wiring terminal comprises the signal multiplexing terminal, a communication signal receiving terminal and a grounding terminal; the signal multiplexing terminal is connected with the signal multiplexing pin; the communication signal sending pin is connected with the communication signal receiving terminal; the ground pin is connected to the ground terminal.

On the basis of the technical solution provided in the ninth embodiment, preferably, the pins of the MCU include a multiplexing pin and a ground pin; the wiring terminal comprises the signal multiplexing terminal and a grounding terminal; the communication signal input line, the throttle control signal input line and the communication signal output line are all connected to the signal multiplexing terminal; the signal multiplexing terminal is connected with the multiplexing pin; the ground pin is connected to the ground terminal.

Example ten

The embodiment of the invention provides an unmanned aerial vehicle. Fig. 9 is a schematic structural diagram of an unmanned aerial vehicle according to a tenth embodiment of the present invention. As shown in fig. 9, the unmanned aerial vehicle in this embodiment may include: a motor 1001, a propeller 1002, a flight controller, and an electronic governor 1003;

the electronic speed regulator 1003 is connected with the flight controller, is electrically connected with the motor 1001, and is used for controlling the motor 1001 to rotate according to an accelerator control signal sent by the flight controller;

the motor 1001 is connected with the propeller 1002 to drive the propeller 1002 to rotate under the control of the electronic governor 1003.

Wherein, the electronic speed regulator 1003 includes: the MCU and the wiring terminal; the MCU comprises a processor and a pin, the pin of the MCU is connected with the wiring terminal, and a communication signal input line and an accelerator control signal input line are both connected to a signal multiplexing terminal in the wiring terminal;

The electronic governor 1003 of the present embodiment may be disposed below the motor 1001 or in another suitable place of the aircraft. The structure, function and connection relationship of each component in the electronic governor 1003 are similar to those in the fifth embodiment, and are not described again here.

The unmanned aerial vehicle provided by the embodiment comprises an MCU and a wiring terminal, wherein a pin of the MCU is connected with the wiring terminal of the electronic speed regulator 1003 so as to receive a signal transmitted from a communication signal input line or an accelerator control signal input line from a signal multiplexing terminal of the wiring terminal, the type of the signal is determined according to the characteristic information by acquiring the characteristic information of the signal transmitted on the signal multiplexing terminal, and corresponding processing is performed according to the type of the signal, so that the communication signal input line and the accelerator control signal input line can share the same terminal, at least one terminal can be saved, the space is effectively saved, and the cost of the electronic speed regulator 1003 is reduced.

Further, the characteristic information may be a signal frequency and/or a signal pulse width of a transmission signal on the signal multiplexing terminal.

Accordingly, the processor may be configured to: acquiring the signal frequency and/or the signal pulse width of a transmission signal on the signal multiplexing terminal; if the signal frequency and/or the signal pulse width of the signal are/is within the corresponding preset range, determining that the signal is an accelerator control signal, and if the signal frequency and/or the signal pulse width of the signal are/is not within the corresponding preset range, determining that the signal is a communication signal; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

Further, the characteristic information may be signal type indication information carried in a transmission signal on the signal multiplexing terminal.

Accordingly, the processor may be configured to: acquiring signal type indication information carried in a transmission signal on the signal multiplexing terminal; if the signal type indication information is first indication information, determining that the signal is a communication signal, if the signal type indication information is second indication information, determining that the signal is an accelerator control signal, or if the signal type indication information is first indication information, determining that the signal is a communication signal, and if the signal type indication information is empty, determining that the signal is an accelerator control signal; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

Further, the processor may be configured to: acquiring characteristic information of a transmission signal on the signal multiplexing terminal; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; if the signal is an accelerator control signal, the accelerator control signal is used for controlling the motor 1001 to rotate, and if the signal is a communication signal, communication data transmission is performed according to the communication signal.

On the basis of the technical solution provided by the above-mentioned embodiment, preferably, the pins of the MCU include a throttle control signal input pin, a communication signal receiving pin, a communication signal transmitting pin, and a ground pin.

The wiring terminal comprises the signal multiplexing terminal, a communication signal receiving terminal and a grounding terminal.

The signal multiplexing terminal is respectively connected with the throttle control signal input pin and the communication signal receiving pin.

The communication signal transmission pin is connected to the communication signal reception terminal.

The ground pin is connected to the ground terminal.

The processor is configured to acquire characteristic information of a received signal on the throttle control signal input pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; if the signal is an accelerator control signal, the accelerator control signal is used for controlling the motor 1001 to rotate, and if the signal is a communication signal, the communication signal is received from the communication signal receiving pin, and communication data transmission is performed according to the communication signal.

On the basis of the technical solution provided by the above-mentioned embodiment, preferably, the pins of the MCU include a signal multiplexing pin, a communication signal transmission pin, and a ground pin.

The signal multiplexing terminal is connected with the signal multiplexing pin.

The ground pin is connected to the ground terminal.

The processor is configured to obtain characteristic information of a received signal on the signal multiplexing pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

On the basis of the technical solution provided by the above embodiment, preferably, the pins of the MCU include a multiplexing pin and a ground pin.

The wiring terminal comprises the signal multiplexing terminal and a grounding terminal. The communication signal input line, the throttle control signal input line and the communication signal output line are all connected into the signal multiplexing terminal.

The signal multiplexing terminal is connected with the multiplexing pin.

The ground pin is connected to the ground terminal.

The processor is configured to obtain characteristic information of a received signal on the multiplexing pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; if the signal is an accelerator control signal, the accelerator control signal is used for controlling the motor 1001 to rotate, if the signal is a communication signal, a first communication signal is received from the multiplexing pin, and after the first communication signal is analyzed, a corresponding second communication signal is fed back from the multiplexing pin to complete communication data transmission.

In the embodiments provided in the present invention, it should be understood that the disclosed related devices and methods can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A signal wire multiplexing processing method is applied to an electronic speed regulator, the electronic speed regulator comprises a Micro Control Unit (MCU) and a wiring terminal which are connected with each other, and a signal multiplexing terminal in the wiring terminal is selectively connected with a communication signal input wire of an upper computer or a throttle control signal input wire of a flight controller, and the method comprises the following steps:

2. The method according to claim 1, wherein the characteristic information is a signal frequency and/or a signal pulse width of a transmission signal on the signal multiplexing terminal;

the determining the type of the transmission signal on the signal multiplexing terminal according to the characteristic information comprises:

if the signal frequency and/or the signal pulse width of the signal are within the corresponding preset range, determining the signal as an accelerator control signal;

and if the signal frequency and/or the signal pulse width of the signal are not in the corresponding preset range, determining the signal to be a communication signal.

3. The method according to claim 1, wherein the characteristic information is signal type indication information carried in a transmission signal on the signal multiplexing terminal;

if the signal type indication information is first indication information, determining that the signal is a communication signal; if the signal type indication information is second indication information, determining that the signal is an accelerator control signal;

or,

if the signal type indication information is first indication information, determining that the signal is a communication signal; and if the signal type indication information is empty, determining that the signal is an accelerator control signal.

4. The method according to any one of claims 1 to 3, wherein the performing corresponding processing according to the type of the signal transmitted on the signal multiplexing terminal comprises:

if the signal is an accelerator control signal, the accelerator control signal is adopted to control the motor to rotate;

and if the signal is a communication signal, carrying out communication data transmission according to the communication signal.

5. The method of claim 4, wherein the MCU comprises a throttle control signal input pin, a communication signal receiving pin, a communication signal transmitting pin and a ground pin, and the wiring terminal comprises the signal multiplexing terminal, a communication signal receiving terminal and a ground terminal; the signal multiplexing terminal is respectively connected with the throttle control signal input pin and the communication signal receiving pin; the communication signal sending pin is connected with the communication signal receiving terminal; the ground pin is connected to the ground terminal.

6. The method according to claim 5, wherein the obtaining of the characteristic information of the signal transmitted on the signal multiplexing terminal specifically includes:

acquiring characteristic information of a received signal on the throttle control signal input pin;

correspondingly, the performing communication data transmission according to the communication signal specifically includes:

and receiving a communication signal from the communication signal receiving pin, and carrying out communication data transmission according to the communication signal.

7. The method of claim 4, wherein the MCU comprises a signal multiplexing pin, a communication signal transmitting pin and a ground pin, and the connection terminal comprises the signal multiplexing terminal, a communication signal receiving terminal and a ground terminal; the signal multiplexing terminal is connected with the signal multiplexing pin; the communication signal sending pin is connected with the communication signal receiving terminal; the ground pin is connected to the ground terminal.

8. The method according to claim 7, wherein the obtaining of the characteristic information of the signal transmitted on the signal multiplexing terminal specifically includes:

and acquiring characteristic information of the received signal on the signal multiplexing pin.

9. The method of claim 4, wherein the MCU comprises a multiplexing pin and a ground pin; the wiring terminal comprises the signal multiplexing terminal and a grounding terminal, wherein the communication signal input line, the throttle control signal input line and the communication signal output line are all connected into the signal multiplexing terminal, the signal multiplexing terminal is connected with the multiplexing pin, and the grounding pin is connected with the grounding terminal.

10. The method according to claim 9, wherein the obtaining of the characteristic information of the signal transmitted on the signal multiplexing terminal specifically includes:

acquiring characteristic information of a received signal on the multiplexing pin;

and receiving a first communication signal from the multiplexing pin, and after the first communication signal is analyzed, feeding back a corresponding second communication signal from the multiplexing pin to complete communication data transmission.

11. The MCU of the electronic speed regulator is characterized by comprising a processor and pins, wherein the pins of the MCU are used for being connected with a wiring terminal of the electronic speed regulator so as to receive signals transmitted from a communication signal input line or a throttle control signal input line from a signal multiplexing terminal of the wiring terminal;

12. The MCU of claim 11, wherein the characteristic information is a signal frequency and/or a signal pulse width of a transmission signal on the signal multiplexing terminal;

accordingly, the processor is configured to: acquiring the signal frequency and/or the signal pulse width of a transmission signal on the signal multiplexing terminal; if the signal frequency and/or the signal pulse width of the signal are/is within the corresponding preset range, determining that the signal is an accelerator control signal, and if the signal frequency and/or the signal pulse width of the signal are/is not within the corresponding preset range, determining that the signal is a communication signal; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

13. The MCU of claim 11, wherein the characteristic information is signal type indication information carried in a transmission signal on the signal multiplexing terminal;

accordingly, the processor is configured to: acquiring signal type indication information carried in a transmission signal on the signal multiplexing terminal; if the signal type indication information is first indication information, determining that the signal is a communication signal, if the signal type indication information is second indication information, determining that the signal is an accelerator control signal, or if the signal type indication information is first indication information, determining that the signal is a communication signal, and if the signal type indication information is empty, determining that the signal is an accelerator control signal; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

14. An MCU according to any of claims 11-13, wherein the processor is configured to: acquiring characteristic information of a transmission signal on the signal multiplexing terminal; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and if the signal is an accelerator control signal, controlling the motor to rotate by using the accelerator control signal, and if the signal is a communication signal, performing communication data transmission according to the communication signal.

15. The MCU of claim 14, wherein the pins of the MCU comprise a throttle control signal input pin, a communication signal receiving pin, a communication signal transmitting pin and a ground pin;

the throttle control signal input pin and the communication signal receiving pin are respectively used for being connected with a signal multiplexing terminal of the wiring terminal; the communication signal sending pin is used for being connected with a communication signal receiving terminal of the wiring terminal; the grounding pin is used for being connected with a grounding terminal of the wiring terminal.

16. The MCU of claim 15, wherein the processor is configured to obtain characteristic information of a received signal on the throttle control signal input pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; if the signal is an accelerator control signal, the accelerator control signal is adopted to control the motor to rotate, and if the signal is a communication signal, the communication signal is received from the communication signal receiving pin, and communication data transmission is carried out according to the communication signal.

17. The MCU of claim 14, wherein the pins of the MCU comprise a signal multiplexing pin, a communication signal transmission pin and a ground pin;

the signal multiplexing pin is used for being connected with a signal multiplexing terminal of the wiring terminal; the communication signal sending pin is used for being connected with a communication signal receiving terminal of the wiring terminal; the grounding pin is used for being connected with a grounding terminal of the wiring terminal.

18. The MCU of claim 17, wherein the processor is configured to obtain characteristic information of a received signal on the signal multiplexing pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

19. The MCU of claim 14, wherein the pins of the MCU comprise a multiplexing pin and a ground pin;

the multiplexing pin is used for being connected with the signal multiplexing pin of the wiring terminal, and the grounding pin is used for being connected with the grounding terminal of the wiring terminal.

20. The MCU of claim 19, wherein the processor is configured to obtain characteristic information of a received signal on the multiplexing pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; if the signal is an accelerator control signal, the accelerator control signal is adopted to control the motor to rotate, if the signal is a communication signal, a first communication signal is received from the multiplexing pin, and after the first communication signal is analyzed, a corresponding second communication signal is fed back from the multiplexing pin to complete communication data transmission.

21. An electronic governor, comprising: the MCU and the wiring terminal; the MCU comprises a processor and pins, the pins of the MCU are connected with the wiring terminals, and signal multiplexing terminals in the wiring terminals can be selectively and electrically connected with a communication signal input line or an accelerator control signal input line;

22. The electronic governor of claim 21, wherein the characteristic information is a signal frequency and/or a signal pulse width of a transmission signal on the signal multiplexing terminal;

23. The electronic governor of claim 21, wherein the characteristic information is signal type indication information carried in a transmission signal on the signal multiplexing terminal;

24. The electronic governor of any of claims 21-23, wherein the processor is configured to: acquiring characteristic information of a transmission signal on the signal multiplexing terminal; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and if the signal is an accelerator control signal, controlling the motor to rotate by using the accelerator control signal, and if the signal is a communication signal, performing communication data transmission according to the communication signal.

25. The electronic governor of claim 24, wherein the pins of the MCU include a throttle control signal input pin, a communication signal receiving pin, a communication signal transmitting pin, and a ground pin;

the wiring terminal comprises the signal multiplexing terminal, a communication signal receiving terminal and a grounding terminal;

the signal multiplexing terminal is respectively connected with the throttle control signal input pin and the communication signal receiving pin;

the communication signal sending pin is connected with the communication signal receiving terminal;

the ground pin is connected to the ground terminal.

26. The electronic governor of claim 25, wherein the processor is configured to obtain characteristic information of a signal received at the throttle control signal input pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; if the signal is an accelerator control signal, the accelerator control signal is adopted to control the motor to rotate, and if the signal is a communication signal, the communication signal is received from the communication signal receiving pin, and communication data transmission is carried out according to the communication signal.

27. The electronic governor of claim 24, wherein the pins of the MCU include a signal multiplexing pin, a communication signal transmission pin, and a ground pin;

the signal multiplexing terminal is connected with the signal multiplexing pin;

the ground pin is connected to the ground terminal.

28. The electronic governor of claim 27, wherein the processor is configured to obtain information about characteristics of the signals received at the signal multiplexing pins; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

29. The electronic governor of claim 24, wherein the pins of the MCU include a multiplex pin and a ground pin;

the wiring terminal comprises the signal multiplexing terminal and a grounding terminal; the communication signal input line, the throttle control signal input line and the communication signal output line are all connected to the signal multiplexing terminal;

the signal multiplexing terminal is connected with the multiplexing pin;

the ground pin is connected to the ground terminal.

30. The electronic governor of claim 29, wherein the processor is configured to obtain information characterizing the signal received at the multiplexing pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; if the signal is an accelerator control signal, the accelerator control signal is adopted to control the motor to rotate, if the signal is a communication signal, a first communication signal is received from the multiplexing pin, and after the first communication signal is analyzed, a corresponding second communication signal is fed back from the multiplexing pin to complete communication data transmission.

31. An unmanned aerial vehicle, comprising: the system comprises a motor, a propeller, a flight controller and an electronic speed regulator;

the motor is connected with the propeller to drive the propeller to rotate under the control of the electronic speed regulator;

wherein the electronic governor includes: the MCU and the wiring terminal; the MCU comprises a processor and pins, the pins of the MCU are connected with the wiring terminals, and signal multiplexing terminals in the wiring terminals can be selectively and electrically connected with a communication signal input line or an accelerator control signal input line;

32. The UAV according to claim 31 wherein the characteristic information is a signal frequency and/or a signal pulse width of a transmission signal on the signal multiplexing terminal;

33. The unmanned aerial vehicle of claim 31, wherein the characteristic information is signal type indication information carried in a transmission signal on the signal multiplexing terminal;

34. The UAV of any one of claims 31-33 wherein the processor is configured to: acquiring characteristic information of a transmission signal on the signal multiplexing terminal; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and if the signal is an accelerator control signal, controlling the motor to rotate by using the accelerator control signal, and if the signal is a communication signal, performing communication data transmission according to the communication signal.

35. The UAV of claim 34 wherein the pins of the MCU comprise a throttle control signal input pin, a communication signal receiving pin, a communication signal transmitting pin and a ground pin;

the ground pin is connected to the ground terminal.

36. The UAV of claim 35 wherein the processor is configured to obtain characteristic information of a signal received at the throttle control signal input pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; if the signal is an accelerator control signal, the accelerator control signal is adopted to control the motor to rotate, and if the signal is a communication signal, the communication signal is received from the communication signal receiving pin, and communication data transmission is carried out according to the communication signal.

37. The UAV of claim 34, wherein the pins of the MCU comprise a signal multiplexing pin, a communication signal transmission pin, and a ground pin;

the signal multiplexing terminal is connected with the signal multiplexing pin;

the ground pin is connected to the ground terminal.

38. The UAV of claim 37, wherein the processor is configured to obtain characteristic information of a received signal at the signal multiplexing pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; and carrying out corresponding processing according to the type of the transmission signal on the signal multiplexing terminal.

39. The UAV of claim 34 wherein the pins of the MCU comprise a multiplexing pin and a ground pin;

the signal multiplexing terminal is connected with the multiplexing pin;

the ground pin is connected to the ground terminal.

40. The UAV of claim 39, wherein the processor is configured to obtain characteristic information of a received signal at the multiplexing pin; determining the type of a transmission signal on the signal multiplexing terminal according to the characteristic information; if the signal is an accelerator control signal, the accelerator control signal is adopted to control the motor to rotate, if the signal is a communication signal, a first communication signal is received from the multiplexing pin, and after the first communication signal is analyzed, a corresponding second communication signal is fed back from the multiplexing pin to complete communication data transmission.