CN107074356B - Signal wire multiplexing process method, unmanned vehicle, electron speed regulator and its MCU - Google Patents
Signal wire multiplexing process method, unmanned vehicle, electron speed regulator and its MCU Download PDFInfo
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- CN107074356B CN107074356B CN201680002459.2A CN201680002459A CN107074356B CN 107074356 B CN107074356 B CN 107074356B CN 201680002459 A CN201680002459 A CN 201680002459A CN 107074356 B CN107074356 B CN 107074356B
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- 238000000034 method Methods 0.000 title claims abstract description 85
- 230000008569 process Effects 0.000 title claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 313
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- 238000012546 transfer Methods 0.000 claims description 32
- 230000005540 biological transmission Effects 0.000 claims description 23
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- 238000010586 diagram Methods 0.000 description 10
- 238000010168 coupling process Methods 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 3
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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
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Control By Computers (AREA)
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 (11,21 being connected to each other, 31, and connecting terminal (12,22,32 41), 42), signal of communication input line and throttle control signal input line access the connecting terminal (12,22,32,42) the signal multiplexing terminal (121 in, 221,321,421), the described method includes: obtaining the signal multiplexing terminal (121,221,321,421) characteristic information of signal is transmitted on；According to the characteristic information, the type that signal is transmitted on the signal multiplexing terminal (121,221,321,421) is determined；According to the type for transmitting signal on the signal multiplexing terminal (121,221,321,421), perform corresponding processing.Provided signal wire multiplexing process method, unmanned vehicle, electron speed regulator and its MCU (11,21,31,41), 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, reduces the cost of electron speed regulator.
Description
Technical field
The present invention relates to vehicle technology field more particularly to a kind of signal wire multiplexing process methods, unmanned vehicle, electricity
Sub- governor and its MCU.
Background technique
Electron speed regulator is one of most important component in aircraft, for driving the motor in aircraft to rotate, with reality
Existing aircraft start and stop and speed regulation etc..
In the prior art, electron speed regulator is in normal work, it is necessary to it is connect with flight controller, specifically, electronics
Connecting terminal is provided in governor, connecting terminal includes throttle control signal input terminal and throttle control signal ground terminal
The throttle control signal input line of son, the throttle control signal input terminal and flight controller connects, and is flown by receiving
The throttle control signal that controller is sent controls motor normal rotation；When electron speed regulator needs to upgrade or change parameter
When, need to connect with host computer, therefore, in the connecting terminal of electron speed regulator also need to be provided with signal of communication receiving terminal,
Signal of communication sends terminal and signal of communication ground terminal, and the signal of communication receiving terminal and signal of communication send terminal point
It is not connect with the signal of communication input line of host computer and signal of communication output line, to realize that data are transmitted.
It is in place of the deficiencies in the prior art, in order to guarantee normal work and firmware upgrade, needs in electron speed regulator
At least five terminals are set, larger space, and higher cost are occupied.
Summary of the invention
The embodiment of the present invention provides a kind of signal wire multiplexing process method, and the method is applied to electron speed regulator, described
Electron speed regulator includes the micro-control unit MCU and connecting terminal being connected to each other, signal of communication input line and throttle control signal
Input line accesses the signal multiplexing terminal in the connecting terminal, which comprises
Obtain the characteristic information that signal is transmitted on the signal multiplexing terminal；
According to the characteristic information, the type that signal is transmitted on the signal multiplexing terminal is determined；And
According to the type for transmitting signal on the signal multiplexing terminal, perform corresponding processing.
The embodiment of the present invention also provides a kind of MCU of electron speed regulator, and the MCU includes processor and pin, the MCU
Pin for being connect with the connecting terminal of the electron speed regulator, to be received from the signal multiplexing terminal of the connecting terminal
The signal transmitted from signal of communication input line or throttle control signal input line；
The processor is configured as obtaining the characteristic information that signal is transmitted on the signal multiplexing terminal；According to described
Characteristic information determines the type that signal is transmitted on the signal multiplexing terminal；And it is transmitted according on the signal multiplexing terminal
The type of signal, performs corresponding processing.
The embodiment of the present invention also provides a kind of electron speed regulator, comprising: MCU and connecting terminal；The MCU includes processor
And pin, the pin of the MCU are connect with the connecting terminal, signal of communication input line connects with throttle control signal input line
Enter the signal multiplexing terminal in the connecting terminal；
The processor is configured as obtaining the characteristic information that signal is transmitted on the signal multiplexing terminal；According to described
Characteristic information determines the type that signal is transmitted on the signal multiplexing terminal；And it is transmitted according on the signal multiplexing terminal
The type of signal, performs corresponding processing.
The embodiment of the present invention provides a kind of unmanned vehicle, comprising: motor, propeller, flight controller and electronics tune
Fast device；
The electron speed regulator is connect with the flight controller, the throttle control for being sent according to the flight controller
Signal processed controls the motor rotation；
The motor is connect with the propeller, to drive the propeller to turn under the control of the electron speed regulator
It is dynamic.
Signal wire multiplexing process method, unmanned vehicle, electron speed regulator and its MCU provided in an embodiment of the present invention,
Be provided with signal multiplexing terminal in the connecting terminal of electron speed regulator, the throttle control signal input line of flight controller with it is upper
The signal of communication input line of machine can access the signal multiplexing terminal in the connecting terminal, by obtaining the signal multiplexing end
The characteristic information that signal is transmitted on son, the type of the signal is determined according to the characteristic information, and according to the class of the signal
Type performs corresponding processing, and signal of communication input line and throttle control signal input line is allowed to share same terminal, can
At least one terminal is saved, space is effectively saved, reduces the cost of electron speed regulator.
Detailed description of the invention
Fig. 1 is the flow chart for the signal wire multiplexing process method that the embodiment of the present invention one provides；
The structural schematic diagram of electron speed regulator in the signal wire multiplexing process method that Fig. 2 provides for the embodiment of the present invention one；
Fig. 3 is the flow chart of signal wire multiplexing process method provided by Embodiment 2 of the present invention；
Fig. 4 is the structural schematic diagram of electron speed regulator in signal wire multiplexing process method provided by Embodiment 2 of the present invention；
Fig. 5 is the flow chart for the signal wire multiplexing process method that the embodiment of the present invention three provides；
The structural schematic diagram of electron speed regulator in the signal wire multiplexing process method that Fig. 6 provides for the embodiment of the present invention three；
Fig. 7 is the flow chart for the signal wire multiplexing process method that the embodiment of the present invention four provides；
The structural schematic diagram of electron speed regulator in the signal wire multiplexing process method that Fig. 8 provides for the embodiment of the present invention four；
Fig. 9 is the structural schematic diagram for the unmanned vehicle that the embodiment of the present invention ten provides.
Appended drawing reference:
11-MCU 12- connecting terminal 121- signal multiplexing terminal
21-MCU 211- throttle control signal input pin 212- signal of communication receives pin 213- signal of communication and sends
Pin 214- grounding pin 22- connecting terminal 221- signal multiplexing terminal 222- signal of communication receiving terminal 223- ground connection
Terminal
31-MCU 311- signal multiplexing pin 312- signal of communication sends pin 313- grounding pin 32- connecting terminal
321- signal multiplexing terminal 322- signal of communication receiving terminal 323- ground terminal
41-MCU 411- multiplexing pins 412- grounding pin 42- connecting terminal 421- signal multiplexing terminal 422- connects
Ground terminal
1001- motor 1002- propeller 1003- electron speed regulator
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Embodiment one
The embodiment of the present invention one provides a kind of signal wire multiplexing process method.Fig. 1 is the letter that the embodiment of the present invention one provides
The flow chart of number line multiplexing process method.As shown in Figure 1, the method in the present embodiment, may include:
Step 101 obtains the characteristic information that signal is transmitted on signal multiplexing terminal 121.
Specifically, the method in the present embodiment can be applied to electron speed regulator, and Fig. 2 is what the embodiment of the present invention one provided
The structural schematic diagram of electron speed regulator in signal wire multiplexing process method, as shown in Fig. 2, the electron speed regulator may include that
The MCU (Microcontroller Unit, micro-control unit) 11 and connecting terminal 12 of this connection.Method holds in the present embodiment
Row main body can be the MCU11 in the electron speed regulator.
The electron speed regulator can be connect with flight controller and host computer respectively by connecting terminal 12, when electronics tune
When fast device is connect with flight controller, it can control motor rotation, realize the flight function of aircraft；When electron speed regulator with it is upper
When the machine connection of position, communication function such as firmware upgrade, parameter setting etc. may be implemented.
In the present embodiment, the connecting terminal 12 of the electron speed regulator may include signal multiplexing terminal 121, flight control
The throttle control signal input line of device and the signal of communication input line of host computer can access the signal in the connecting terminal 12
It is multiplexed terminal 121, to realize the multiplexing function of signal multiplexing terminal 121.
In the idle situation of electron speed regulator, the signal multiplexing terminal 121 of the connecting terminal 12 can be not connected to
Any input line.It, can be by the throttle control signal input line of flight controller when the motor for needing to control aircraft rotates
It is connect with the signal multiplexing terminal 121.It, can be defeated by the signal of communication of host computer when carrying out upgrading or parameter setting
Enter line to connect with the signal multiplexing terminal 121.
When thering is signal to pass through on the signal multiplexing terminal 121, transmitted on the available signal multiplexing terminal 121
The characteristic information of signal.The signal can be analog signal, be also possible to digital signal.The characteristic information can be described
Frequency, pulsewidth, voltage, electric current of signal etc. are also possible to data information included in signal.
Step 102, according to the characteristic information, determine on the signal multiplexing terminal 121 transmit signal type.
The type of the signal may include throttle control signal and signal of communication etc..When the signal of the connecting terminal 12
When multiplexing terminal 121 is connect with the throttle control signal input line of flight controller, transmitted on the signal multiplexing terminal 121
Signal is throttle control signal.It is described when the signal multiplexing terminal 121 is connect with the signal of communication input line of host computer
The signal transmitted on signal multiplexing terminal 121 is signal of communication.
Specifically, the corresponding relationship of the type of characteristic information and signal can be set previously according to actual needs.It is obtaining
When getting the characteristic information for transmitting signal on the signal multiplexing terminal 121, the letter can be determined according to the corresponding relationship
Number multiplexing terminal 121 on transmit signal type.
For example, the signal can be analog signal, if the voltage value of the signal is less than 5V, then it is assumed that the signal
Type is signal of communication, if the voltage value of the signal is greater than 5V, then it is assumed that the type of the signal is throttle control signal.Or
Person, the signal can be digital signal, in the digital signal, if a certain flag bit is 0, then it is assumed that the class of the signal
Type is signal of communication, if the flag bit is 1, then it is assumed that the type of the signal is throttle control signal.
Those skilled in the art can according to electron speed regulator, flight controller, host computer specific structure and practical need
Come be arranged characteristic information and signal type corresponding relationship, the present embodiment to this with no restriction.
Step 103, according on the signal multiplexing terminal 121 transmit signal type, perform corresponding processing.
Specifically, if the type of the signal is throttle control signal, illustrate currently to be connected with electron speed regulator is
Flight controller, the signal control motor that can be sent at this time according to the flight controller rotate, and realize the normal of aircraft
Flight.If the type of the signal is signal of communication, illustrate currently to be connected with electron speed regulator is host computer, at this time can be with
Communication data transfer, such as firmware updating or modification parameter etc. are carried out according to the signal that the host computer is sent.
Motor rotation is controlled according to the signal that flight controller is sent and is counted according to the signal that host computer is sent
The prior art is belonged to according to the specific implementation of transmission, details are not described herein again.
It in practical applications, can be by the throttle control of flight controller when user needs to control normal vehicle operation
Signal input line processed is connect with the signal multiplexing terminal 121 in connecting terminal 12, and MCU can be according to the signal multiplexing terminal
The type of signal described in the signal automatic identification transmitted on 121, and rotated according to the motor that the signal controls aircraft, it realizes
The normal flight of aircraft.It, can be by host computer when user needs to carry out firmware upgrade to MCU or need to modify parameter
Signal of communication input line connect with the signal multiplexing terminal 121 in connecting terminal 12, MCU can be according to the signal multiplexing end
The type of signal described in the signal automatic identification transmitted on son 121, and data communication is carried out according to the signal, realize firmware liter
Grade, the function of parameter modification.
Signal wire multiplexing process method provided in this embodiment is provided with signal in the connecting terminal 12 of electron speed regulator
It is multiplexed terminal 121, the throttle control signal input line of flight controller and the signal of communication input line of host computer can access institute
The signal multiplexing terminal 121 in connecting terminal 12 is stated, transmits the feature letter of signal on the signal multiplexing terminal 121 by obtaining
Breath, the type of the signal is determined according to the characteristic information, and perform corresponding processing according to the type of the signal, so that
Signal of communication input line and throttle control signal input line can share same terminal, can save at least one terminal, effectively
Space has been saved, the cost of electron speed regulator is reduced.
Embodiment two
Second embodiment of the present invention provides a kind of signal wire multiplexing process methods.The present embodiment is the skill provided in embodiment one
On the basis of art scheme, setting is used to be electrically connected with flight controller and host computer realization there are four pin in MCU.Fig. 3 is
The flow chart of signal wire multiplexing process method provided by Embodiment 2 of the present invention.As shown in figure 3, the method in the present embodiment, it can
To include:
Step 201 obtains the characteristic information that signal is received on throttle control signal input pin 211.
Fig. 4 is the structural schematic diagram of electron speed regulator in signal wire multiplexing process method provided by Embodiment 2 of the present invention.
As shown in figure 4, the electron speed regulator in the present embodiment, may include the micro-control unit MCU21 and connecting terminal being connected to each other
22。
The MCU21 may include throttle control signal input pin 211, signal of communication reception pin 212, signal of communication
Send pin 213 and grounding pin 214.The connecting terminal 22 may include signal multiplexing terminal 221, signal of communication reception
Terminal 222 and ground terminal 223.The signal of communication input line of host computer and the throttle control signal input line of flight controller
It can access the signal multiplexing terminal 221 in the connecting terminal 22.
The signal multiplexing terminal 221 receives pin 212 with the throttle control signal input pin 211 and signal of communication
It is separately connected.The signal of communication sends pin 213 and connect with the signal of communication receiving terminal 222.The grounding pin 214
It is connect with the ground terminal 223.
When thering is signal to pass through on throttle control signal input pin 211, the available throttle control signal input
The characteristic information of signal is received on pin 211.Due to the throttle control signal input pin 211 and the signal multiplexing terminal
221 connections, therefore, the signal passed through on the throttle control signal input pin 211 and the signal multiplexing terminal 221 is phase
With.The characteristic information of signal, the as described signal multiplexing are received on the throttle control signal input pin 211 got
The characteristic information of signal is transmitted on terminal 221.
Step 202, according to the characteristic information, determine on signal multiplexing terminal 221 transmit signal type.
The throttle control signal transmitted in the throttle control signal input line of existing flight controller be mostly frequency fix,
High pulse width adjustable signal in a certain range (usually 1ms-2ms), the pulsewidth of signal is bigger, electron speed regulator control
The revolving speed of motor is higher.Since this throttle control signal is similar to PWM (Pulse Width Modulation, pulse width tune
System) wave or PPM (Pulse Position Modulation, pulse position modulation) wave, therefore this control mode can claim again
For PWM control or PPM control.And signal of communication is transmitted for data, often frequency is all not fixed, and pulsewidth is also irregular, therefore,
In the present embodiment, it can determine to transmit on the signal multiplexing terminal 221 by the signal frequency and/or signal pulsewidth of signal
The type of signal is throttle control signal or signal of communication.
Specifically, the characteristic information can for transmit on the signal multiplexing terminal 221 signal signal frequency and/or
Signal pulsewidth, correspondingly, determining according to the characteristic information in this step and transmitting signal on the signal multiplexing terminal 221
Type can specifically include:
If the signal frequency and/or signal pulsewidth of the signal are in corresponding preset range, it is determined that the signal is
Throttle control signal；If the signal frequency and/or signal pulsewidth of the signal be not in corresponding preset range, it is determined that described
Signal is signal of communication.
For example, the judgement of the type of signal can be carried out by frequency.If frequency is recognized in corresponding preset range
It is throttle control signal for the signal.If frequency is not in corresponding preset range, then it is assumed that the signal is signal of communication,
The corresponding preset range of frequency can be arranged according to actual needs.
Alternatively, the judgement of the type of signal can be carried out by pulsewidth.If pulsewidth is recognized in corresponding preset range
It is throttle control signal for the signal.If pulsewidth is not in corresponding preset range, then it is assumed that the signal is signal of communication,
The corresponding preset range of pulsewidth can also be arranged according to actual needs.
It is of course also possible to by frequency and pulsewidth come the type of comprehensive descision signal.If frequency and pulsewidth are corresponding
In preset range, then it is assumed that the signal is throttle control signal.If frequency is not in corresponding preset range or pulsewidth does not exist
In corresponding preset range, or both not in corresponding preset range, then it is assumed that the signal is signal of communication, frequency pair
The corresponding preset range of preset range and pulsewidth answered can be arranged according to actual needs.
In the present embodiment, the frequency of throttle control signal and the characteristic of pulsewidth can use, by the signal for detecting signal
Whether frequency and/or signal pulsewidth determine the type of transmission signal on signal multiplexing terminal 221, letter in corresponding range
Singly, conveniently, and the use habit of user is had no need to change.It is of course also possible to determine signal multiplexing terminal otherwise
The type of signal is transmitted on 221, herein with no restriction.
If step 203, the signal are throttle control signal, using throttle control signal control motor rotation；
If the signal is signal of communication, is received from the signal of communication and receive signal of communication on pin 212, and according to the communication
Signal carries out communication data transfer.
Specifically, when the electron speed regulator connects flight controller, the throttle control signal input of flight controller
Line can be connect with the signal multiplexing terminal 221 in the connecting terminal 22 of electron speed regulator, the ground wire of flight controller with it is described
Ground terminal 223 in connecting terminal 22 connects.Due to the throttle control signal input pin of the MCU21 of the electron speed regulator
211 connect with the signal multiplexing terminal 221, and the signal that the throttle control signal input pin 211 receives is described
Therefore the throttle control signal that flight controller is sent can directly connect according on the throttle control signal input pin 211
The signal received rotates to control motor.
When the electron speed regulator connects host computer, the signal of communication input line of host computer can be with electron speed regulator
Signal multiplexing terminal 221 in connecting terminal 22 connects, and the signal of communication of host computer receives line can be with the connecting terminal 22
In signal of communication receiving terminal 222 connect, the ground wire of host computer can connect with the ground terminal 223 of the connecting terminal 22
It connects.It is connect since the signal of communication of the MCU21 receives pin 212 with the signal multiplexing terminal 221, the signal of communication hair
Pin 213 is sent to connect with the signal of communication receiving terminal 222, the grounding pin 214 is connect with the ground terminal 223,
Therefore, MCU21 can send pin 213 by the signal of communication to send communication data to host computer, pass through the communication
Signal receives pin 212 to receive the communication data that the host computer is sent, to realize the function such as firmware upgrade, parameter setting
Energy.
Signal wire multiplexing process method provided in this embodiment, is provided with throttle control signal input pin in MCU21
211 and signal of communication receive pin 212, the signal multiplexing terminal 221 of connecting terminal 22 and the throttle control signal, which input, to be drawn
Foot 211 and signal of communication receive pin 212 and are separately connected.When the signal transmitted on the signal multiplexing terminal 221 is throttle control
When signal processed, signal is received by the throttle control signal input pin 211 and controls motor rotation.When the signal multiplexing
When the signal transmitted on terminal 221 is signal of communication, the reception signal of pin 212 is received by the signal of communication and is communicated
Data transmission, control mode is fairly simple, and Throttle Opening Control and communication data transfer two parts are not interfere with each other, the stability of system compared with
It is high.
Embodiment three
The embodiment of the present invention three provides a kind of signal wire multiplexing process method.The present embodiment is the skill provided in embodiment one
On the basis of art scheme, setting is used to be electrically connected with flight controller and host computer realization there are three pin in MCU.Fig. 5 is
The flow chart for the signal wire multiplexing process method that the embodiment of the present invention three provides.As shown in figure 5, the method in the present embodiment, it can
To include:
Step 301 obtains the characteristic information that signal is received on signal multiplexing pin 311.
The structural schematic diagram of electron speed regulator in the signal wire multiplexing process method that Fig. 6 provides for the embodiment of the present invention three.
As shown in fig. 6, the electron speed regulator in the present embodiment, may include the micro-control unit MCU31 and connecting terminal being connected to each other
32。
The MCU31 includes that signal multiplexing pin 311, signal of communication send pin 312 and grounding pin 313, described
Connecting terminal 32 includes signal multiplexing terminal 321, signal of communication receiving terminal 322 and ground terminal 323, the communication of host computer
The throttle control signal input line of signal input line and flight controller can access the signal multiplexing in the connecting terminal 32
Terminal 321.The signal multiplexing terminal 321 is connect with the signal multiplexing pin 311.The signal of communication sends pin 312
It is connect with the signal of communication receiving terminal 322.The grounding pin 313 is connect with the ground terminal 323.
When having signal to pass through on signal multiplexing pin 311, signal is received on the available signal multiplexing pin 311
Characteristic information.Since the signal multiplexing terminal 321 is connect with the signal multiplexing pin 311, the signal multiplexing
The signal passed through on pin 311 and the signal multiplexing terminal 321 is identical.The signal multiplexing pin 311 got
The upper characteristic information for receiving signal, the characteristic information of signal is transmitted on the as described signal multiplexing terminal 321.
Step 302, according to the characteristic information, determine on the signal multiplexing terminal 321 transmit signal type.
Specifically, the characteristic information can be the signal entrained by being transmitted in signal on the signal multiplexing terminal 321
Type indication information, correspondingly, determining according to the characteristic information in this step and transmitting letter on the signal multiplexing terminal 321
Number type, can specifically include:
If the signal type instruction information is the first instruction information, it is determined that the signal is signal of communication；If described
Signal type indicates that information is second indication information, it is determined that the signal is throttle control signal.The first instruction information
It can be arranged according to actual needs with second indication information.
Alternatively, if signal type instruction information is the first instruction information, it is determined that the signal is signal of communication；If
The signal type instruction information is sky, it is determined that the signal is throttle control signal.In view of electron speed regulator is usually located
In normal operating conditions, it is of little use with interactively communicating for host computer, therefore, the transmission of signal of communication is considered as special circumstances,
Only add instruction information in the communication signal, and instruction information be not added in the throttle control signal transmitted in normal operation,
Signaling traffic load can be effectively reduced, the processing speed of electron speed regulator is improved.
Certainly, the type of signal can also be determined in the present embodiment otherwise, herein with no restriction.
Step 303, according on the signal multiplexing terminal 321 transmit signal type, perform corresponding processing.
Specifically, if the signal is throttle control signal, using throttle control signal control motor rotation；If
The signal is signal of communication, then carries out communication data transfer according to the signal of communication.
Signal wire multiplexing process method provided in this embodiment, is provided with signal multiplexing pin 311, wiring in MCU31
The signal multiplexing terminal 321 of terminal 32 is connect with the signal multiplexing pin 311.It is transmitted when on the signal multiplexing terminal 321
Signal when being throttle control signal, pass through the signal multiplexing pin 311 and receive signal and control motor rotation.When the letter
When the signal that transmits is signal of communication on number multiplexing terminal 321, signal is received by the signal multiplexing pin 311 and is led to
Letter data transmission.The multiplexing function of receiving throttle control signal and receive signal of communication is realized using the same pin of MCU31,
The pin number for reducing MCU31, has saved system space.
Example IV
The embodiment of the present invention four provides a kind of signal wire multiplexing process method.The present embodiment is the skill provided in embodiment one
On the basis of art scheme, setting is used to be electrically connected with flight controller and host computer realization there are two pin in MCU.Fig. 7 is
The flow chart for the signal wire multiplexing process method that the embodiment of the present invention four provides.As shown in fig. 7, the method in the present embodiment, it can
To include:
Step 401 obtains the characteristic information that signal is received in multiplexing pins 411.
The structural schematic diagram of electron speed regulator in the signal wire multiplexing process method that Fig. 8 provides for the embodiment of the present invention four.
As shown in figure 8, the electron speed regulator in the present embodiment, may include the micro-control unit MCU41 and connecting terminal being connected to each other
42。
The MCU41 includes multiplexing pins 411 and grounding pin 412；The connecting terminal 42 includes signal multiplexing terminal
421 and ground terminal 422, the throttle control signal input line of flight controller, the signal of communication input line of host computer and logical
Letter signal output line can access the signal multiplexing terminal 421, the signal multiplexing terminal 421 and the multiplexing pins 411
Connection, the grounding pin 412 are connect with the ground terminal 422.
When having signal to pass through in multiplexing pins 411, the feature letter of signal is received in the available multiplexing pins 411
Breath.Since the multiplexing terminal is connect with the signal multiplexing pin 411, the multiplexing pins 411 and the signal are multiple
It is identical with the signal passed through on terminal 421.The characteristic information of signal is received in the multiplexing pins 411 got, i.e.,
For the characteristic information for transmitting signal on the signal multiplexing terminal 421.
Step 402, according to the characteristic information, determine on signal multiplexing terminal 421 transmit signal type.
Specifically, it is determined that the type for transmitting signal on signal multiplexing terminal 421 can be there are many method.For example, can lead to
Signal frequency and/or the signal pulsewidth of signal are crossed to determine, alternatively, can indicate information by the signal type carried in signal
Determine, can also determine otherwise, the present embodiment to this with no restriction.
Step 403, according on the signal multiplexing terminal 421 transmit signal type, perform corresponding processing.
If the signal is throttle control signal, using throttle control signal control motor rotation.Specific control
Motor rotation mode can there are many, for example, the throttle control signal can be PWM wave, MCU41 can be by described
PWM wave rotates to control motor, alternatively, the throttle control signal can be the digital signal of characterization motor rotary state, institute
Corresponding PWM wave can be generated according to the digital signal by stating MCU41, and motor rotation is controlled using the PWM wave.
If the signal is signal of communication, communication data transfer is carried out according to the signal of communication.Specifically, Ke Yicong
The first signal of communication is received in the multiplexing pins 411, after parsing to first signal of communication, from the multiplexing
Corresponding second signal of communication is fed back on pin 411, to complete communication data transfer.
In practical applications, it when determining the signal transmitted on the signal multiplexing terminal 421 is signal of communication, can incite somebody to action
The multiplexing pins 411 are multiplexed with reception pin, receive the signal of communication that host computer is sent.Signal of communication is received and parsed through
Afterwards, then by the multiplexing pins 411 it is multiplexed with transmission pin, the signal of communication replied will be needed to send out from the multiplexing pins 411
Host computer is given, is sent rear re-multiplexing to receive pin, for receiving signal of communication.In this way, whole system only needs again
Sending and receiving for signal of communication can be realized with pin 411 and grounding pin 412, further simplify system.
Signal wire multiplexing process method provided in this embodiment, is provided with multiplexing pins 411, connecting terminal in MCU41
42 signal multiplexing terminal 421 is connect with the multiplexing pins 411, the throttle control signal input line of flight controller, upper
The signal of communication input line and signal of communication output line of machine can access the signal multiplexing terminal 421, therefore, can pass through institute
State multiplexing pins 411 realize receive flight controller send throttle control signal, receive host computer send signal of communication, to
Host computer sends the function of signal of communication, reduces the pin number of MCU41, has saved system space.
Embodiment five
The embodiment of the present invention five provides a kind of MCU of electron speed regulator.The MCU includes processor and pin, the MCU
Pin for being connect with the connecting terminal of the electron speed regulator, to be received from the signal multiplexing terminal of the connecting terminal
The signal transmitted from signal of communication input line or throttle control signal input line.
The processor is configured as obtaining the characteristic information that signal is transmitted on the signal multiplexing terminal；According to described
Characteristic information determines the type that signal is transmitted on the signal multiplexing terminal；And it is transmitted according on the signal multiplexing terminal
The type of signal, performs corresponding processing.
The structure and connection relationship for the MCU that the embodiment of the present invention five provides may refer to Fig. 2.Its concrete principle and realization side
Formula is similar with embodiment one, and details are not described herein again.
The function of the processor of MCU in the present embodiment can also pass through hardware module reality by software realization
It is existing.For example, the characteristic information can be signal voltage, the type of signal is judged according to characteristic information, can pass through comparator
It realizes, is performed corresponding processing, can be realized by switching according to the type of signal.Alternatively, the characteristic information can
Think signal frequency, the type of signal is judged according to signal frequency, can be realized by counter, timer and comparator.
MCU provided in this embodiment, including processor and pin, the pin is for the wiring with the electron speed regulator
Terminal connection, with defeated received from signal of communication input line or throttle control signal from the signal multiplexing terminal of the connecting terminal
The signal for entering line transmission transmits the characteristic information of signal by obtaining, according to the characteristic information on the signal multiplexing terminal
It determines the type of the signal, and is performed corresponding processing according to the type of the signal, so that signal of communication input line and oil
Gate control signal input line can share same terminal, can save at least one terminal, be effectively saved space, reduce electricity
The cost of sub- governor.
Further, the characteristic information can for transmit on the signal multiplexing terminal signal signal frequency and/or
Signal pulsewidth；Correspondingly, the processor can be configured as: obtaining the signal frequency for transmitting signal on the signal multiplexing terminal
Rate and/or signal pulsewidth；If the signal frequency and/or signal pulsewidth of the signal are in corresponding preset range, it is determined that institute
State signal be throttle control signal, if the signal frequency of the signal and/or signal pulsewidth not in corresponding preset range,
Determine that the signal is signal of communication；And according to the type for transmitting signal on the signal multiplexing terminal, located accordingly
Reason.
Alternatively, the characteristic information can refer to transmit signal type entrained in signal on the signal multiplexing terminal
Show information；Correspondingly, the processor can be configured as: obtaining entrained by being transmitted on the signal multiplexing terminal in signal
Signal type indicates information；If the signal type instruction information is the first instruction information, it is determined that the signal is communication letter
Number, if signal type instruction information is second indication information, it is determined that the signal is throttle control signal, alternatively, if
The signal type instruction information is the first instruction information, it is determined that the signal is signal of communication, if the signal type refers to
Show information for sky, it is determined that the signal is throttle control signal；And according to transmission signal on the signal multiplexing terminal
Type performs corresponding processing.
Further, the processor can be configured as: obtain the feature that signal is transmitted on the signal multiplexing terminal
Information；According to the characteristic information, the type that signal is transmitted on the signal multiplexing terminal is determined；If the signal is throttle control
Signal processed, then using throttle control signal control motor rotation, if the signal is signal of communication, according to the communication
Signal carries out communication data transfer.
Embodiment six
The embodiment of the present invention six provides a kind of MCU of electron speed regulator.On the basis for the technical solution that embodiment five provides
On, the pin of the MCU may include throttle control signal input pin, signal of communication receives pin, signal of communication transmission is drawn
Foot and grounding pin；The throttle control signal input pin and signal of communication receive pin and are respectively used to and the terminals
The signal multiplexing terminal connection of son；The signal of communication sends pin for the signal of communication receiving terminal with the connecting terminal
Connection；The grounding pin with the ground terminal of the connecting terminal for connecting.
The processor can be configured as and obtain the feature letter for receiving signal on the throttle control signal input pin
Breath；According to the characteristic information, the type that signal is transmitted on the signal multiplexing terminal is determined；If the signal is Throttle Opening Control
Signal, then using throttle control signal control motor rotation, if the signal is signal of communication, from the signal of communication
It receives and receives signal of communication on pin, and communication data transfer is carried out according to the signal of communication.
The structure and connection relationship for the MCU that the embodiment of the present invention six provides may refer to Fig. 4.Its concrete principle and realization side
Formula is similar with embodiment two, and details are not described herein again.
MCU provided in this embodiment, is provided with throttle control signal input pin and signal of communication receives pin, terminals
The signal multiplexing terminal of son receives pin with the throttle control signal input pin and signal of communication and is separately connected, when the letter
When the signal that transmits is throttle control signal on number multiplexing terminal, signal is received simultaneously by the throttle control signal input pin
Motor rotation is controlled, when the signal transmitted on the signal multiplexing terminal is signal of communication, is received by the signal of communication
Pin receives signal and carries out communication data transfer, and control mode is fairly simple, Throttle Opening Control and communication data transfer two parts
It does not interfere with each other, the high stability of system.
Embodiment seven
The embodiment of the present invention seven provides a kind of MCU of electron speed regulator.On the basis for the technical solution that embodiment five provides
On, the pin of the MCU may include signal multiplexing pin, signal of communication transmission pin and grounding pin；The signal is multiple
It is used to connect with the signal multiplexing terminal of the connecting terminal with pin；The signal of communication sends pin and is used for and the wiring
The signal of communication receiving terminal of terminal connects；The grounding pin with the ground terminal of the connecting terminal for connecting.
The processor can be configured as the characteristic information for obtaining and receiving signal on the signal multiplexing pin；According to
The characteristic information determines the type that signal is transmitted on the signal multiplexing terminal；And according on the signal multiplexing terminal
The type for transmitting signal, performs corresponding processing.
The structure and connection relationship for the MCU that the embodiment of the present invention seven provides may refer to Fig. 6.Its concrete principle and realization side
Formula is similar with embodiment three, and details are not described herein again.
MCU provided in this embodiment is provided with signal multiplexing pin, the signal multiplexing terminal and the signal of connecting terminal
Multiplexing pins connection, when the signal transmitted on the signal multiplexing terminal is throttle control signal, passes through the signal multiplexing
Pin receives signal and controls motor rotation, when the signal transmitted on the signal multiplexing terminal is signal of communication, passes through institute
It states signal multiplexing pin to receive signal and carry out communication data transfer, reception Throttle Opening Control is realized using the same pin of MCU
Signal and the multiplexing function of receiving signal of communication, reduce the pin number of MCU, have saved system space.
Embodiment eight
The embodiment of the present invention eight provides a kind of MCU of electron speed regulator.On the basis for the technical solution that embodiment five provides
On, the pin of the MCU may include multiplexing pins and grounding pin；The multiplexing pins are for the letter with the connecting terminal
The connection of number multiplexing pins, the grounding pin with the ground terminal of the connecting terminal for connecting.
The processor can be configured as the characteristic information for obtaining and receiving signal in the multiplexing pins；According to described
Characteristic information determines the type that signal is transmitted on the signal multiplexing terminal；If the signal is throttle control signal, use
The throttle control signal control motor rotation receives first from the multiplexing pins if the signal is signal of communication
Signal of communication feeds back corresponding second communication after parsing to first signal of communication from the multiplexing pins
Signal, to complete communication data transfer.
The structure and connection relationship for the MCU that the embodiment of the present invention eight provides may refer to Fig. 8.Its concrete principle and realization side
Formula is similar with example IV, and details are not described herein again.
MCU provided in this embodiment is provided with multiplexing pins, the signal multiplexing terminal of connecting terminal and the multiplexing pins
Connection, the throttle control signal input line of flight controller, the signal of communication input line of host computer and signal of communication output line are equal
It can access the signal multiplexing terminal, therefore, the throttle for receiving flight controller and sending can be realized by the multiplexing pins
It controls signal, the signal of communication for receiving host computer transmission, to the function of host computer transmission signal of communication, reduces the pin of MCU
Number has saved system space.
Embodiment nine
The embodiment of the present invention nine provides a kind of electron speed regulator, comprising: MCU and connecting terminal；The MCU includes processor
And pin, the pin of the MCU are connect with the connecting terminal, signal of communication input line connects with throttle control signal input line
Enter the signal multiplexing terminal in the connecting terminal；The processor is configured as obtaining and transmit on the signal multiplexing terminal
The characteristic information of signal；According to the characteristic information, the type that signal is transmitted on the signal multiplexing terminal is determined；And according to
The type that signal is transmitted on the signal multiplexing terminal, performs corresponding processing.
Structure, function and the connection relationship of each component of the electron speed regulator of the present embodiment are similar with embodiment five, this
Place repeats no more.
Electron speed regulator provided in this embodiment, including MCU and connecting terminal, the pin of the MCU and the electronics tune
The connecting terminal of fast device connects, with from the signal multiplexing terminal of the connecting terminal received from signal of communication input line or throttle
The signal for controlling signal input line transmission transmits the characteristic information of signal by obtaining, according to institute on the signal multiplexing terminal
The type that characteristic information determines the signal is stated, and is performed corresponding processing according to the type of the signal, so that signal of communication
Input line and throttle control signal input line can share same terminal, can save at least one terminal, be effectively saved sky
Between, reduce the cost of electron speed regulator.
Further, the characteristic information is the signal frequency and/or signal that signal is transmitted on the signal multiplexing terminal
Pulsewidth；Correspondingly, the processor can be configured as: obtaining the signal frequency for transmitting signal on the signal multiplexing terminal
And/or signal pulsewidth；If the signal frequency and/or signal pulsewidth of the signal are in corresponding preset range, it is determined that described
Signal is throttle control signal, if the signal frequency of the signal and/or signal pulsewidth not in corresponding preset range, really
The fixed signal is signal of communication；And it according to the type for transmitting signal on the signal multiplexing terminal, performs corresponding processing.
Further, the characteristic information is to transmit signal type entrained in signal on the signal multiplexing terminal to refer to
Show information；Correspondingly, the processor can be configured as: obtaining entrained by being transmitted on the signal multiplexing terminal in signal
Signal type indicates information；If the signal type instruction information is the first instruction information, it is determined that the signal is communication letter
Number, if signal type instruction information is second indication information, it is determined that the signal is throttle control signal, alternatively, if
The signal type instruction information is the first instruction information, it is determined that the signal is signal of communication, if the signal type refers to
Show information for sky, it is determined that the signal is throttle control signal；And according to transmission signal on the signal multiplexing terminal
Type performs corresponding processing.
Further, the processor can be configured as: obtain the feature that signal is transmitted on the signal multiplexing terminal
Information；According to the characteristic information, the type that signal is transmitted on the signal multiplexing terminal is determined；If the signal is throttle control
Signal processed, then using throttle control signal control motor rotation, if the signal is signal of communication, according to the communication
Signal carries out communication data transfer.
On the basis of the technical solution that embodiment nine provides, it is preferred that the pin of the MCU includes Throttle Opening Control letter
Number input pin, signal of communication receive pin, signal of communication sends pin and grounding pin；The connecting terminal includes described
Signal multiplexing terminal, signal of communication receiving terminal and ground terminal；The signal multiplexing terminal and the throttle control signal
Input pin and signal of communication receive pin and are separately connected；The signal of communication sends pin and the signal of communication receiving terminal
Connection；The grounding pin is connect with the ground terminal.
The processor can be configured as and obtain the feature letter for receiving signal on the throttle control signal input pin
Breath；According to the characteristic information, the type that signal is transmitted on the signal multiplexing terminal is determined；If the signal is Throttle Opening Control
Signal, then using throttle control signal control motor rotation, if the signal is signal of communication, from the signal of communication
It receives and receives signal of communication on pin, and communication data transfer is carried out according to the signal of communication.
On the basis of the technical solution that embodiment nine provides, it is preferred that the pin of the MCU includes that signal multiplexing draws
Foot, signal of communication send pin and grounding pin；The connecting terminal includes the signal multiplexing terminal, signal of communication reception
Terminal and ground terminal；The signal multiplexing terminal is connect with the signal multiplexing pin；The signal of communication sends pin
It is connect with the signal of communication receiving terminal；The grounding pin is connect with the ground terminal.
The processor can be configured as the characteristic information for obtaining and receiving signal on the signal multiplexing pin；According to
The characteristic information determines the type that signal is transmitted on the signal multiplexing terminal；And according on the signal multiplexing terminal
The type for transmitting signal, performs corresponding processing.
Embodiment nine provide technical solution on the basis of, it is preferred that the pin of the MCU include multiplexing pins and
Grounding pin；The connecting terminal includes the signal multiplexing terminal and ground terminal；The signal of communication input line, throttle
Control signal input line and signal of communication output line access the signal multiplexing terminal；The signal multiplexing terminal with it is described
Multiplexing pins connection；The grounding pin is connect with the ground terminal.
The processor can be configured as the characteristic information for obtaining and receiving signal in the multiplexing pins；According to described
Characteristic information determines the type that signal is transmitted on the signal multiplexing terminal；If the signal is throttle control signal, use
The throttle control signal control motor rotation receives first from the multiplexing pins if the signal is signal of communication
Signal of communication feeds back corresponding second communication after parsing to first signal of communication from the multiplexing pins
Signal, to complete communication data transfer.
Embodiment ten
The embodiment of the present invention ten provides a kind of unmanned vehicle.Fig. 9 is the unmanned vehicle that the embodiment of the present invention ten provides
Structural schematic diagram.As shown in figure 9, the unmanned vehicle in the present embodiment, may include: motor 1001, propeller 1002, flies
Line control unit and electron speed regulator 1003；
The electron speed regulator 1003 is connect with the flight controller, is electrically connected with the motor 1001, and basis is used for
The throttle control signal that the flight controller is sent controls the motor 1001 and rotates；
The motor 1001 is connect with the propeller 1002, to drive institute under the control of the electron speed regulator 1003
State the rotation of propeller 1002.
Wherein, the electron speed regulator 1003 includes: MCU and connecting terminal；The MCU includes processor and pin, institute
The pin for stating MCU is connect with the connecting terminal, signal of communication input line accessed with throttle control signal input line described in connect
Signal multiplexing terminal in line terminals；
The processor is configured as obtaining the characteristic information that signal is transmitted on the signal multiplexing terminal；According to described
Characteristic information determines the type that signal is transmitted on the signal multiplexing terminal；And it is transmitted according on the signal multiplexing terminal
The type of signal, performs corresponding processing.
The lower section in motor 1001 or other conjunctions of aircraft can be set in the electron speed regulator 1003 of the present embodiment
Suitable place.Structure, function and the connection relationship of each component in electron speed regulator 1003 are similar with embodiment five, herein not
It repeats again.
Unmanned vehicle provided in this embodiment, including MCU and connecting terminal, the pin of the MCU and the electronics tune
The connecting terminal of fast device 1003 connects, with from the signal multiplexing terminal of the connecting terminal received from signal of communication input line or
The signal of throttle control signal input line transmission transmits the characteristic information of signal, root by obtaining on the signal multiplexing terminal
The type of the signal is determined according to the characteristic information, and is performed corresponding processing according to the type of the signal, so that communication
Signal input line and throttle control signal input line can share same terminal, can save at least one terminal, effectively save
Space, reduces the cost of electron speed regulator 1003.
Further, the characteristic information can for transmit on the signal multiplexing terminal signal signal frequency and/or
Signal pulsewidth.
Correspondingly, the processor can be configured as: obtaining the signal frequency for transmitting signal on the signal multiplexing terminal
Rate and/or signal pulsewidth；If the signal frequency and/or signal pulsewidth of the signal are in corresponding preset range, it is determined that institute
State signal be throttle control signal, if the signal frequency of the signal and/or signal pulsewidth not in corresponding preset range,
Determine that the signal is signal of communication；And according to the type for transmitting signal on the signal multiplexing terminal, located accordingly
Reason.
Further, the characteristic information can be the class signal entrained by being transmitted in signal on the signal multiplexing terminal
Type indicates information.
Correspondingly, the processor can be configured as: obtaining entrained by being transmitted on the signal multiplexing terminal in signal
Signal type indicate information；If the signal type instruction information is the first instruction information, it is determined that the signal is communication
Signal, if signal type instruction information is second indication information, it is determined that the signal is throttle control signal, alternatively,
If the signal type instruction information is the first instruction information, it is determined that the signal is signal of communication, if the signal type
Indicate that information is sky, it is determined that the signal is throttle control signal；And signal is transmitted according on the signal multiplexing terminal
Type, perform corresponding processing.
Further, the processor can be configured as: obtain the feature that signal is transmitted on the signal multiplexing terminal
Information；According to the characteristic information, the type that signal is transmitted on the signal multiplexing terminal is determined；If the signal is throttle control
Signal processed is then rotated using throttle control signal control motor 1001, if the signal is signal of communication, according to
Signal of communication carries out communication data transfer.
On the basis of the technical solution that above-described embodiment ten provides, it is preferred that the pin of the MCU includes throttle control
Signal input pin, signal of communication reception pin, signal of communication transmission pin and grounding pin processed.
The connecting terminal includes the signal multiplexing terminal, signal of communication receiving terminal and ground terminal.
The signal multiplexing terminal receives pin with the throttle control signal input pin and signal of communication and is separately connected.
The signal of communication sends pin and connect with the signal of communication receiving terminal.
The grounding pin is connect with the ground terminal.
The processor is configured as obtaining the characteristic information that signal is received on the throttle control signal input pin；
According to the characteristic information, the type that signal is transmitted on the signal multiplexing terminal is determined；If the signal is Throttle Opening Control letter
Number, then it is rotated using throttle control signal control motor 1001, if the signal is signal of communication, is believed from the communication
It number receives and to receive signal of communication on pin, and communication data transfer is carried out according to the signal of communication.
On the basis of the technical solution that above-described embodiment ten provides, it is preferred that the pin of the MCU includes that signal is multiple
Pin and grounding pin are sent with pin, signal of communication.
The connecting terminal includes the signal multiplexing terminal, signal of communication receiving terminal and ground terminal.
The signal multiplexing terminal is connect with the signal multiplexing pin.
The signal of communication sends pin and connect with the signal of communication receiving terminal.
The grounding pin is connect with the ground terminal.
The processor is configured as obtaining the characteristic information that signal is received on the signal multiplexing pin；According to described
Characteristic information determines the type that signal is transmitted on the signal multiplexing terminal；And it is transmitted according on the signal multiplexing terminal
The type of signal, performs corresponding processing.
On the basis of the technical solution that above-described embodiment ten provides, it is preferred that the pin of the MCU includes that multiplexing is drawn
Foot and grounding pin.
The connecting terminal includes the signal multiplexing terminal and ground terminal.The signal of communication input line, throttle
Control signal input line and signal of communication output line access the signal multiplexing terminal.
The signal multiplexing terminal is connect with the multiplexing pins.
The grounding pin is connect with the ground terminal.
The processor is configured as obtaining the characteristic information that signal is received in the multiplexing pins；According to the feature
Information determines the type that signal is transmitted on the signal multiplexing terminal；If the signal is throttle control signal, using described
Throttle control signal controls motor 1001 and rotates, if the signal is signal of communication, receives first from the multiplexing pins
Signal of communication feeds back corresponding second communication after parsing to first signal of communication from the multiplexing pins
Signal, to complete communication data transfer.
In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong
Other modes are crossed to realize.For example, the apparatus embodiments described above are merely exemplary, for example, the module or list
Member division, only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or
Component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point is shown
The mutual coupling, direct-coupling or communication connection shown or discussed can be through some interfaces, between device or unit
Coupling or communication connection are connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that computer disposal
Device (processor) performs all or part of the steps of the method described in the various embodiments of the present invention.And storage medium packet above-mentioned
It includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), the various media that can store program code such as disk or CD.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within 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., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (36)
1. a kind of signal wire multiplexing process method, which is characterized in that the method is applied to electron speed regulator, the electronic speed regulation
Device includes the micro-control unit MCU and connecting terminal being connected to each other, and the signal multiplexing terminal in the connecting terminal is selectively
It is connect with the throttle control signal input line of the signal of communication input line of host computer or flight controller, which comprises
The MCU obtains the characteristic information that signal is transmitted on the signal multiplexing terminal, and the characteristic information is multiple for the signal
With the signal frequency and/or signal pulsewidth for transmitting signal on terminal；
The MCU determines the type that signal is transmitted on the signal multiplexing terminal, the transmission signal according to the characteristic information
Type include throttle control signal and signal of communication；And
The MCU is performed corresponding processing according to the type for transmitting signal on the signal multiplexing terminal；Wherein, if the letter
Number be throttle control signal, then using the throttle control signal control motor rotation；If the signal is signal of communication, root
Communication data transfer is carried out according to the signal of communication.
2. determining that the signal is multiple the method according to claim 1, wherein described according to the characteristic information
With the type for transmitting signal on terminal, comprising:
If the signal frequency and/or signal pulsewidth of the signal are in corresponding preset range, it is determined that the signal is throttle
Control signal；
If the signal frequency and/or signal pulsewidth of the signal be not in corresponding preset range, it is determined that the signal is logical
Believe signal.
3. the method according to claim 1, wherein the characteristic information is to transmit on the signal multiplexing terminal
Entrained signal type indicates information in signal；
It is described according to the characteristic information, determine on the signal multiplexing terminal transmit signal type, comprising:
If the signal type instruction information is the first instruction information, it is determined that the signal is signal of communication；If the signal
Type indication information is second indication information, it is determined that the signal is throttle control signal；
Alternatively,
If the signal type instruction information is the first instruction information, it is determined that the signal is signal of communication；If the signal
Type indication information is sky, it is determined that the signal is throttle control signal.
4. the method according to claim 1, wherein the MCU includes throttle control signal input pin, communication
Signal receives pin, signal of communication sends pin and grounding pin, and the connecting terminal includes the signal multiplexing terminal, leads to
Believe signal receiving end and ground terminal；The signal multiplexing terminal and the throttle control signal input pin and communicate letter
Number receive pin be separately connected；The signal of communication sends pin and connect with the signal of communication receiving terminal；The grounding lead
Foot is connect with the ground terminal.
5. according to the method described in claim 4, it is characterized in that, described obtain transmits signal on the signal multiplexing terminal
Characteristic information specifically includes:
Obtain the characteristic information that signal is received on the throttle control signal input pin；
Correspondingly, described carry out communication data transfer according to the signal of communication, specifically include:
It is received from the signal of communication and receives signal of communication on pin, and communication data transfer is carried out according to the signal of communication.
6. the method according to claim 1, wherein the MCU includes signal multiplexing pin, signal of communication transmission
Pin and grounding pin, the connecting terminal include the signal multiplexing terminal, signal of communication receiving terminal and ground terminal
Son；The signal multiplexing terminal is connect with the signal multiplexing pin；The signal of communication sends pin and the signal of communication
Receiving terminal connection；The grounding pin is connect with the ground terminal.
7. according to the method described in claim 6, it is characterized in that, described obtain transmits signal on the signal multiplexing terminal
Characteristic information specifically includes:
Obtain the characteristic information that signal is received on the signal multiplexing pin.
8. the method according to claim 1, wherein the MCU includes multiplexing pins and grounding pin；It is described to connect
Line terminals include the signal multiplexing terminal and ground terminal, the signal of communication input line, throttle control signal input line
And signal of communication output line accesses the signal multiplexing terminal, the signal multiplexing terminal is connect with the multiplexing pins,
The grounding pin is connect with the ground terminal.
9. according to the method described in claim 8, it is characterized in that, described obtain transmits signal on the signal multiplexing terminal
Characteristic information specifically includes:
Obtain the characteristic information that signal is received in the multiplexing pins；
Correspondingly, described carry out communication data transfer according to the signal of communication, specifically include:
The first signal of communication is received from the multiplexing pins, after parsing to first signal of communication, from described
Corresponding second signal of communication is fed back in multiplexing pins, to complete communication data transfer.
10. a kind of MCU of electron speed regulator, which is characterized in that the MCU includes processor and pin, and the pin of the MCU is used
It is connect in the connecting terminal of the electron speed regulator, to believe from the signal multiplexing terminal of the connecting terminal received from communication
Number input line or the signal of throttle control signal input line transmission；
The processor is configured as obtaining the characteristic information that signal is transmitted on the signal multiplexing terminal, the characteristic information
For the signal frequency and/or signal pulsewidth for transmitting signal on the signal multiplexing terminal；According to the characteristic information, determine described in
The type of signal is transmitted on signal multiplexing terminal, the type of the transmission signal includes throttle control signal and signal of communication；
And it according to the type for transmitting signal on the signal multiplexing terminal, performs corresponding processing；Wherein, if the signal is throttle
Signal is controlled, then using throttle control signal control motor rotation；If the signal is signal of communication, according to described logical
Believe that signal carries out communication data transfer.
11. MCU according to claim 10, which is characterized in that the processor is configured to: obtain the signal multiplexing
The signal frequency and/or signal pulsewidth of signal are transmitted on terminal；If the signal frequency and/or signal pulsewidth of the signal are in correspondence
Preset range in, it is determined that the signal be throttle control signal, if the signal frequency of the signal and/or signal pulsewidth are not
In corresponding preset range, it is determined that the signal is signal of communication；And believe according to being transmitted on the signal multiplexing terminal
Number type, perform corresponding processing.
12. MCU according to claim 10, which is characterized in that the characteristic information is signal multiplexing terminal upload
Entrained signal type indicates information in defeated signal；
Correspondingly, the processor is configured to: it obtains and transmits class signal entrained in signal on the signal multiplexing terminal
Type indicates information；If the signal type instruction information is the first instruction information, it is determined that the signal is signal of communication, if institute
Stating signal type instruction information is second indication information, it is determined that the signal is throttle control signal, alternatively, if the signal
Type indication information is the first instruction information, it is determined that the signal is signal of communication, if signal type instruction information is
It is empty, it is determined that the signal is throttle control signal；And it according to the type for transmitting signal on the signal multiplexing terminal, carries out
Corresponding processing.
13. MCU according to claim 10, which is characterized in that the pin of the MCU includes that throttle control signal input is drawn
Foot, signal of communication receive pin, signal of communication sends pin and grounding pin；
The throttle control signal input pin and signal of communication receive pin and are respectively used to answer with the signal of the connecting terminal
It is connected with terminal；The signal of communication sends pin for connecting with the signal of communication receiving terminal of the connecting terminal；It is described
Grounding pin with the ground terminal of the connecting terminal for connecting.
14. MCU according to claim 13, which is characterized in that the processor is configured as obtaining the Throttle Opening Control
The characteristic information of signal is received on signal input pin；According to the characteristic information, determines and transmitted on the signal multiplexing terminal
The type of signal；If the signal is throttle control signal, using throttle control signal control motor rotation, if described
Signal is signal of communication, then receives from the signal of communication and receive signal of communication on pin, and carried out according to the signal of communication
Communication data transfer.
15. MCU according to claim 10, which is characterized in that the pin of the MCU includes signal multiplexing pin, communication
Signal sends pin and grounding pin；
The signal multiplexing pin with the signal multiplexing terminal of the connecting terminal for connecting；The signal of communication sends pin
It is connect for the signal of communication receiving terminal with the connecting terminal；The grounding pin is for the ground connection with the connecting terminal
Terminal connection.
16. MCU according to claim 15, which is characterized in that the processor is configured as obtaining the signal multiplexing
The characteristic information of signal is received on pin；According to the characteristic information, the class that signal is transmitted on the signal multiplexing terminal is determined
Type；And it according to the type for transmitting signal on the signal multiplexing terminal, performs corresponding processing.
17. MCU according to claim 10, which is characterized in that the pin of the MCU includes multiplexing pins and grounding lead
Foot；
The multiplexing pins with the signal multiplexing pin of the connecting terminal for connecting, and the grounding pin with described for connecing
The ground terminal of line terminals connects.
18. MCU according to claim 17, which is characterized in that the processor is configured as obtaining the multiplexing pins
The upper characteristic information for receiving signal；According to the characteristic information, the type that signal is transmitted on the signal multiplexing terminal is determined；If
The signal is throttle control signal, then using throttle control signal control motor rotation, if the signal is communication letter
Number, then the first signal of communication is received from the multiplexing pins, after parsing to first signal of communication, from described
Corresponding second signal of communication is fed back in multiplexing pins, to complete communication data transfer.
19. a kind of electron speed regulator characterized by comprising MCU and connecting terminal；The MCU includes processor and pin,
The pin of the MCU is connect with the connecting terminal, the signal multiplexing terminal in the connecting terminal can selectively with it is logical
Believe signal input line or the electrical connection of throttle control signal input line；
The processor is configured as obtaining the characteristic information that signal is transmitted on the signal multiplexing terminal, the characteristic information
For the signal frequency and/or signal pulsewidth for transmitting signal on the signal multiplexing terminal；According to the characteristic information, determine described in
The type of signal is transmitted on signal multiplexing terminal, the type of the transmission signal includes throttle control signal and signal of communication；
And it according to the type for transmitting signal on the signal multiplexing terminal, performs corresponding processing；Wherein, if the signal is throttle
Signal is controlled, then using throttle control signal control motor rotation；If the signal is signal of communication, according to described logical
Believe that signal carries out communication data transfer.
20. electron speed regulator according to claim 19, which is characterized in that the processor is configured to: described in acquisition
The signal frequency and/or signal pulsewidth of signal are transmitted on signal multiplexing terminal；If the signal frequency and/or signal arteries and veins of the signal
Width is in corresponding preset range, it is determined that the signal is throttle control signal, if the signal frequency and/or letter of the signal
Width feel the pulse not in corresponding preset range, it is determined that the signal is signal of communication；And according to the signal multiplexing terminal
The type of upper transmission signal, performs corresponding processing.
21. electron speed regulator according to claim 19, which is characterized in that the characteristic information is the signal multiplexing end
Signal type entrained in signal is transmitted on son indicates information；
Correspondingly, the processor is configured to: it obtains and transmits class signal entrained in signal on the signal multiplexing terminal
Type indicates information；If the signal type instruction information is the first instruction information, it is determined that the signal is signal of communication, if institute
Stating signal type instruction information is second indication information, it is determined that the signal is throttle control signal, alternatively, if the signal
Type indication information is the first instruction information, it is determined that the signal is signal of communication, if signal type instruction information is
It is empty, it is determined that the signal is throttle control signal；And it according to the type for transmitting signal on the signal multiplexing terminal, carries out
Corresponding processing.
22. electron speed regulator according to claim 19, which is characterized in that the pin of the MCU includes Throttle Opening Control letter
Number input pin, signal of communication receive pin, signal of communication sends pin and grounding pin；
The connecting terminal includes the signal multiplexing terminal, signal of communication receiving terminal and ground terminal；
The signal multiplexing terminal receives pin with the throttle control signal input pin and signal of communication and is separately connected；
The signal of communication sends pin and connect with the signal of communication receiving terminal；
The grounding pin is connect with the ground terminal.
23. electron speed regulator according to claim 22, which is characterized in that the processor is configured as described in acquisition
The characteristic information of signal is received on throttle control signal input pin；According to the characteristic information, the signal multiplexing end is determined
The type of signal is transmitted on son；If the signal is throttle control signal, turned using throttle control signal control motor
It is dynamic, if the signal is signal of communication, is received from the signal of communication and receive signal of communication on pin, and according to the communication
Signal carries out communication data transfer.
24. electron speed regulator according to claim 19, which is characterized in that the pin of the MCU includes that signal multiplexing draws
Foot, signal of communication send pin and grounding pin；
The connecting terminal includes the signal multiplexing terminal, signal of communication receiving terminal and ground terminal；
The signal multiplexing terminal is connect with the signal multiplexing pin；
The signal of communication sends pin and connect with the signal of communication receiving terminal；
The grounding pin is connect with the ground terminal.
25. electron speed regulator according to claim 24, which is characterized in that the processor is configured as described in acquisition
The characteristic information of signal is received on signal multiplexing pin；According to the characteristic information, determines and transmitted on the signal multiplexing terminal
The type of signal；And it according to the type for transmitting signal on the signal multiplexing terminal, performs corresponding processing.
26. electron speed regulator according to claim 19, which is characterized in that the pin of the MCU include multiplexing pins and
Grounding pin；
The connecting terminal includes the signal multiplexing terminal and ground terminal；The signal of communication input line, Throttle Opening Control
Signal input line and signal of communication output line access the signal multiplexing terminal；
The signal multiplexing terminal is connect with the multiplexing pins；
The grounding pin is connect with the ground terminal.
27. electron speed regulator according to claim 26, which is characterized in that the processor is configured as described in acquisition
The characteristic information of signal is received in multiplexing pins；According to the characteristic information, determines and transmit signal on the signal multiplexing terminal
Type；If the signal is throttle control signal, using throttle control signal control motor rotation, if the signal
For signal of communication, then the first signal of communication is received from the multiplexing pins, carry out parsing it to first signal of communication
Afterwards, corresponding second signal of communication is fed back, from the multiplexing pins to complete communication data transfer.
28. a kind of unmanned vehicle characterized by comprising motor, propeller, flight controller and electron speed regulator；
The electron speed regulator is connect with the flight controller, the Throttle Opening Control letter for being sent according to the flight controller
Number control motor rotation；
The motor is connect with the propeller, to drive the propeller rotational under the control of the electron speed regulator；
Wherein, the electron speed regulator includes: MCU and connecting terminal；The MCU includes processor and pin, and the MCU's draws
Foot is connect with the connecting terminal, the signal multiplexing terminal in the connecting terminal can selectively with signal of communication input line
Or throttle control signal input line electrical connection；
The processor is configured as obtaining the characteristic information that signal is transmitted on the signal multiplexing terminal, the characteristic information
For the signal frequency and/or signal pulsewidth for transmitting signal on the signal multiplexing terminal；According to the characteristic information, determine described in
The type of signal is transmitted on signal multiplexing terminal, the type of the transmission signal includes throttle control signal and signal of communication；
And it according to the type for transmitting signal on the signal multiplexing terminal, performs corresponding processing；Wherein, if the signal is throttle
Signal is controlled, then using throttle control signal control motor rotation；If the signal is signal of communication, according to described logical
Believe that signal carries out communication data transfer.
29. unmanned vehicle according to claim 28, which is characterized in that the processor is configured to: described in acquisition
The signal frequency and/or signal pulsewidth of signal are transmitted on signal multiplexing terminal；If the signal frequency and/or signal arteries and veins of the signal
Width is in corresponding preset range, it is determined that the signal is throttle control signal, if the signal frequency and/or letter of the signal
Width feel the pulse not in corresponding preset range, it is determined that the signal is signal of communication；And according to the signal multiplexing terminal
The type of upper transmission signal, performs corresponding processing.
30. unmanned vehicle according to claim 28, which is characterized in that the characteristic information is the signal multiplexing end
Signal type entrained in signal is transmitted on son indicates information；
Correspondingly, the processor is configured to: it obtains and transmits class signal entrained in signal on the signal multiplexing terminal
Type indicates information；If the signal type instruction information is the first instruction information, it is determined that the signal is signal of communication, if institute
Stating signal type instruction information is second indication information, it is determined that the signal is throttle control signal, alternatively, if the signal
Type indication information is the first instruction information, it is determined that the signal is signal of communication, if signal type instruction information is
It is empty, it is determined that the signal is throttle control signal；And it according to the type for transmitting signal on the signal multiplexing terminal, carries out
Corresponding processing.
31. unmanned vehicle according to claim 28, which is characterized in that the pin of the MCU includes Throttle Opening Control letter
Number input pin, signal of communication receive pin, signal of communication sends pin and grounding pin；
The connecting terminal includes the signal multiplexing terminal, signal of communication receiving terminal and ground terminal；
The signal multiplexing terminal receives pin with the throttle control signal input pin and signal of communication and is separately connected；
The signal of communication sends pin and connect with the signal of communication receiving terminal；
The grounding pin is connect with the ground terminal.
32. unmanned vehicle according to claim 31, which is characterized in that the processor is configured as described in acquisition
The characteristic information of signal is received on throttle control signal input pin；According to the characteristic information, the signal multiplexing end is determined
The type of signal is transmitted on son；If the signal is throttle control signal, turned using throttle control signal control motor
It is dynamic, if the signal is signal of communication, is received from the signal of communication and receive signal of communication on pin, and according to the communication
Signal carries out communication data transfer.
33. unmanned vehicle according to claim 28, which is characterized in that the pin of the MCU includes that signal multiplexing draws
Foot, signal of communication send pin and grounding pin；
The connecting terminal includes the signal multiplexing terminal, signal of communication receiving terminal and ground terminal；
The signal multiplexing terminal is connect with the signal multiplexing pin；
The signal of communication sends pin and connect with the signal of communication receiving terminal；
The grounding pin is connect with the ground terminal.
34. unmanned vehicle according to claim 33, which is characterized in that the processor is configured as described in acquisition
The characteristic information of signal is received on signal multiplexing pin；According to the characteristic information, determines and transmitted on the signal multiplexing terminal
The type of signal；And it according to the type for transmitting signal on the signal multiplexing terminal, performs corresponding processing.
35. unmanned vehicle according to claim 28, which is characterized in that the pin of the MCU include multiplexing pins and
Grounding pin；
The connecting terminal includes the signal multiplexing terminal and ground terminal；The signal of communication input line, Throttle Opening Control
Signal input line and signal of communication output line access the signal multiplexing terminal；
The signal multiplexing terminal is connect with the multiplexing pins；
The grounding pin is connect with the ground terminal.
36. unmanned vehicle according to claim 35, which is characterized in that the processor is configured as described in acquisition
The characteristic information of signal is received in multiplexing pins；According to the characteristic information, determines and transmit signal on the signal multiplexing terminal
Type；If the signal is throttle control signal, using throttle control signal control motor rotation, if the signal
For signal of communication, then the first signal of communication is received from the multiplexing pins, carry out parsing it to first signal of communication
Afterwards, corresponding second signal of communication is fed back, from the multiplexing pins to complete communication data transfer.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/071743 WO2017124432A1 (en) | 2016-01-22 | 2016-01-22 | Signal line multiplexing processing method, unmanned aircraft, electronic governor and mcus thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107074356A CN107074356A (en) | 2017-08-18 |
| CN107074356B true CN107074356B (en) | 2019-09-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680002459.2A Expired - Fee Related CN107074356B (en) | 2016-01-22 | 2016-01-22 | Signal wire multiplexing process method, unmanned vehicle, electron speed regulator and its MCU |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107074356B (en) |
| WO (1) | WO2017124432A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111279283A (en) * | 2018-12-27 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Control method and device, unmanned aerial vehicle and storage medium |
| CN109614033A (en) * | 2019-01-22 | 2019-04-12 | 芯海科技（深圳）股份有限公司 | It is a kind of while detecting the circuit of analog signal and digital signal, device and method |
| CN110597753A (en) * | 2019-10-16 | 2019-12-20 | 广东科瑞德电气科技有限公司 | Circuit with reusable communication interface |
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| CN1464755A (en) * | 2002-06-28 | 2003-12-31 | 华为技术有限公司 | Communication method between base station of radio communication system |
| JP2007060513A (en) * | 2005-08-26 | 2007-03-08 | Kansai Electric Power Co Inc:The | Method for common use of transmission line, and communication method |
| CN202168025U (en) * | 2011-06-17 | 2012-03-14 | 时臻 | Electron speed regulator of double-station multi-mode direct current brushless motor |
| CN203303653U (en) * | 2013-05-25 | 2013-11-27 | 刘友辉 | Electronic speed regulator with independent programming interface |
| CN203827230U (en) * | 2014-03-20 | 2014-09-10 | 温州大学 | Non-inductive brushless DC (direct current) motor speed regulator for multi-rotor unmanned aerial vehicle |
| CN204871616U (en) * | 2015-07-30 | 2015-12-16 | 珠海市双捷科技有限公司 | Wired unmanned aerial vehicle driving system of high -power high voltage electric drive |
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| US20100001670A1 (en) * | 2008-07-03 | 2010-01-07 | Honeywell International Inc., | Single-chip brushless motor controller |
| CN201601780U (en) * | 2010-03-17 | 2010-10-06 | 青岛海信电器股份有限公司 | Multi-signal multiplexing interface circuit and television with the same |
| US9507704B2 (en) * | 2014-06-13 | 2016-11-29 | Sandisk Technologies Llc | Storage module and method for determining ready/busy status of a plurality of memory dies |
| CN205366086U (en) * | 2016-01-22 | 2016-07-06 | 深圳市大疆创新科技有限公司 | Electronic governor and adopt this electronic governor's unmanned vehicles |
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2016
- 2016-01-22 CN CN201680002459.2A patent/CN107074356B/en not_active Expired - Fee Related
- 2016-01-22 WO PCT/CN2016/071743 patent/WO2017124432A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1464755A (en) * | 2002-06-28 | 2003-12-31 | 华为技术有限公司 | Communication method between base station of radio communication system |
| JP2007060513A (en) * | 2005-08-26 | 2007-03-08 | Kansai Electric Power Co Inc:The | Method for common use of transmission line, and communication method |
| CN202168025U (en) * | 2011-06-17 | 2012-03-14 | 时臻 | Electron speed regulator of double-station multi-mode direct current brushless motor |
| CN203303653U (en) * | 2013-05-25 | 2013-11-27 | 刘友辉 | Electronic speed regulator with independent programming interface |
| CN203827230U (en) * | 2014-03-20 | 2014-09-10 | 温州大学 | Non-inductive brushless DC (direct current) motor speed regulator for multi-rotor unmanned aerial vehicle |
| CN204871616U (en) * | 2015-07-30 | 2015-12-16 | 珠海市双捷科技有限公司 | Wired unmanned aerial vehicle driving system of high -power high voltage electric drive |
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| Publication number | Publication date |
|---|---|
| CN107074356A (en) | 2017-08-18 |
| WO2017124432A1 (en) | 2017-07-27 |
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