CN107076775B - Wind speed measurement method, system and the unmanned vehicle of unmanned vehicle - Google Patents
Wind speed measurement method, system and the unmanned vehicle of unmanned vehicle Download PDFInfo
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- CN107076775B CN107076775B CN201680002569.9A CN201680002569A CN107076775B CN 107076775 B CN107076775 B CN 107076775B CN 201680002569 A CN201680002569 A CN 201680002569A CN 107076775 B CN107076775 B CN 107076775B
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- 238000000691 measurement method Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 claims abstract description 31
- 238000001514 detection method Methods 0.000 claims description 21
- 230000004083 survival effect Effects 0.000 claims description 20
- 238000013459 approach Methods 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/02—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring forces exerted by the fluid on solid bodies, e.g. anemometer
- G01P5/06—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring forces exerted by the fluid on solid bodies, e.g. anemometer using rotation of vanes
- G01P5/07—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring forces exerted by the fluid on solid bodies, e.g. anemometer using rotation of vanes with electrical coupling to the indicating device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The embodiment of the present invention provides wind speed measurement method, system and the unmanned vehicle of a kind of unmanned vehicle, the unmanned vehicle includes the motor of propeller and the driving propeller rotational, the described method includes: obtain the revolving speed of the motor of the unmanned vehicle, wherein the revolving speed be the propeller windward when the motor revolving speed；According to the revolving speed of the motor, the wind speed of the current environment of the unmanned vehicle is determined.It is thereby achieved that determine the wind speed under current environment by unmanned vehicle, avoid wind speed it is excessive when take off unmanned vehicle rashly and cause security risk, ensure that the flight safety of unmanned vehicle.
Description
Technical field
The present embodiments relate to air vehicle technique field more particularly to a kind of wind speed measurement method of unmanned vehicle,
System and unmanned vehicle.
Background technique
Aircraft usually works in the sky, therefore aircraft is taking off, flight, will receive in the links such as landing aerial
The influence of wind.If wind speed is excessive, the phenomenon that will necessarily bringing security risk to the flight of aircraft, seriously will cause aircraft bombing.
Summary of the invention
The embodiment of the present invention provides wind speed measurement method, system and the unmanned vehicle of a kind of unmanned vehicle, for surveying
Try the wind speed under the current environment of unmanned vehicle.
In a first aspect, the embodiment of the present invention provides a kind of wind speed measurement method of unmanned vehicle, the unmanned vehicle
Motor including propeller and the driving propeller rotational, which comprises obtain the motor of the unmanned vehicle
Revolving speed, wherein the revolving speed be the propeller windward when the motor revolving speed；According to the revolving speed of the motor, institute is determined
State the wind speed of the current environment of unmanned vehicle.
Optionally, the control mode of the motor is no approach sensor.
Optionally, the revolving speed of the motor for obtaining the unmanned vehicle, comprising: detect the electrical ginseng of the motor
Number；According to the electrical parameter of the motor, the revolving speed of the motor is obtained.
Optionally, the electrical parameter is counter electromotive force.
Optionally, the electrical parameter according to the motor, obtains the revolving speed of the motor, comprising: according to described anti-
Electromotive force obtains the angular rate of the motor；According to the angular rate, the electric period of the motor is obtained；According to described
The electric period obtains the revolving speed of the motor.
Optionally, the control mode of the motor is to have approach sensor.
Optionally, the motor is equipped with sensor, the revolving speed of the motor for obtaining the unmanned vehicle, comprising: inspection
Survey the detection information of the sensor；According to the detection information of the sensor, the revolving speed of the motor is obtained.
Optionally, the detection information is the electric period when motor rotates.
Optionally, the motor has powered on, and the motor is not driven.
Optionally, the revolving speed of the motor for obtaining the unmanned vehicle includes: to obtain propeller when institute windward
State the maximum (top) speed of motor.
Optionally, the motor is driven, and is rotated with preset rotation speed.
Optionally, the revolving speed of the motor for obtaining the unmanned vehicle, comprising: obtain the first revolving speed of the motor
With the second revolving speed, wherein first revolving speed is the maximum (top) speed that rotates under the influence of the wind of the motor, described second
Revolving speed is the minimum speed that the motor rotates under the influence of the wind；According to first revolving speed and second revolving speed,
Obtain the mean speed of the motor.
Optionally, the revolving speed according to the motor determines the wind speed of the current environment of the unmanned vehicle, packet
Include: according to the preset model of preset revolving speed and the corresponding relationship of wind speed, the corresponding wind speed of revolving speed for obtaining the motor is institute
State the wind speed of the current environment of unmanned vehicle.
Optionally, the method also includes: the wind speed is shown by display interface.
Optionally, the revolving speed according to the motor determines the wind speed of the current environment of the unmanned vehicle, packet
Include: according to the revolving speed of the motor whether be greater than with the preset rotation speed, determine whether the wind speed is greater than default survival wind speed,
Wherein the preset rotation speed is corresponding with the default survival wind speed.
Optionally, the method also includes: when the wind speed is greater than default survival wind speed, carry out warning note.
Optionally, the warning note is issued by the remote controler of the unmanned vehicle or the unmanned vehicle.
Second aspect, the embodiment of the present invention provide a kind of wind speed measurement system of unmanned vehicle, the unmanned vehicle
Motor including propeller and the driving propeller rotational, the wind speed measurement system includes: one or more processors,
It collectively or individually works, the processor is electrically connected with the motor, and is used for: obtaining the electricity of the unmanned vehicle
The revolving speed of machine, wherein the revolving speed be the propeller windward when the motor revolving speed；According to the revolving speed of the motor, determine
The wind speed of the current environment of the unmanned vehicle.
Optionally, the control mode of the motor is no approach sensor.
Optionally, the processor is specifically used for: detecting the electrical parameter of the motor, and according to the electrical property of the motor
Parameter determines the revolving speed of the motor.
Optionally, the electrical parameter is counter electromotive force.
Optionally, processor is specifically used for: according to the counter electromotive force, obtaining the angular rate of the motor；According to institute
Angular rate is stated, the electric period of the motor is obtained；According to the electric period, the revolving speed of the motor is obtained.
Optionally, the control mode of the motor is approach sensor.
Optionally, the motor is equipped with sensor, and the processor is specifically used for detecting the detection information of the sensor,
And according to the detection information of the sensor, the revolving speed of the motor is obtained.
Optionally, the detection information is the electric period when motor rotates.
Optionally, the motor has powered on, and the motor is not driven.
Optionally, the maximum (top) speed of the motor when processor is specifically used for obtaining the propeller windward.
Optionally, the motor is driven, and is rotated with preset rotation speed.
Optionally, the processor is specifically used for: the first revolving speed and the second revolving speed of the motor is obtained, wherein described
One revolving speed is the maximum (top) speed that the motor rotates under the influence of the wind, and second revolving speed is the motor in the wind
Under the influence of the minimum speed that rotates；According to first revolving speed and second revolving speed, the mean speed of the motor is obtained.
Optionally, the processor is specifically used for the preset model according to preset revolving speed and the corresponding relationship of wind speed, obtains
Taking the corresponding wind speed of the revolving speed of the motor is the wind speed of the current environment of the unmanned vehicle.
Optionally, the system also includes display screen, the display screen is connect with the processor communication；The display screen
For showing the information of the wind speed.
Optionally, the processor be specifically used for according to the revolving speed of the motor whether be greater than with the preset rotation speed, really
Whether the fixed wind speed is greater than default survival wind speed, wherein the preset rotation speed is corresponding with the default survival wind speed.
Optionally, the system also includes warning device, the warning device is connect with the processor communication；The report
Alarm device is used to carry out warning note when the wind speed is greater than default survival wind speed.
Optionally, the warning device is set on the remote controler of the unmanned vehicle or the unmanned vehicle.
The third aspect, the embodiment of the present invention provide a kind of unmanned vehicle, the unmanned vehicle include propeller and
Drive the motor of the propeller rotational, and the wind speed measurement system of the unmanned vehicle such as second aspect of the present invention offer.
Wind speed measurement method, system and the unmanned vehicle of unmanned vehicle provided in an embodiment of the present invention, pass through acquisition
The revolving speed of the motor of the unmanned vehicle, wherein the revolving speed be the propeller windward when the motor revolving speed；According to
The revolving speed of the motor determines the wind speed of the current environment of the unmanned vehicle.It is thereby achieved that true by unmanned vehicle
Determine the wind speed under current environment, avoid wind speed it is excessive when take off unmanned vehicle rashly and cause security risk, ensure that nothing
The flight safety of people's aircraft.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of the wind speed measurement method for the unmanned vehicle that the embodiment of the present invention one provides；
Fig. 2 is the flow chart of the wind speed measurement method of unmanned vehicle provided by Embodiment 2 of the present invention；
Fig. 3 is the flow chart of the wind speed measurement method for the unmanned vehicle that the embodiment of the present invention three provides；
Fig. 4 is the flow chart of the wind speed measurement method for the unmanned vehicle that the embodiment of the present invention four provides；
Fig. 5 is the flow chart of the wind speed measurement method for the unmanned vehicle that the embodiment of the present invention five provides；
Fig. 6 is the structural schematic diagram of the wind speed measurement system for the unmanned vehicle that the embodiment of the present invention one provides；
Fig. 7 is the structural schematic diagram of unmanned vehicle provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is the flow chart of the wind speed measurement method for the unmanned vehicle that the embodiment of the present invention one provides, as shown in Figure 1,
The method of the present embodiment may include:
S101, obtain unmanned vehicle motor revolving speed, wherein the revolving speed be propeller windward when the motor
Revolving speed.
S102, according to the revolving speed of the motor, determine the wind speed of the current environment of the unmanned vehicle.
In the present embodiment, unmanned vehicle includes the motor of propeller and the driving propeller rotational.It is winged at nobody
The propeller of row device windward when, wind can drive propeller rotational, and the rotation of propeller causes the rotation of motor, and the wind speed of wind is got over
Greatly, the rotation of wind driving propeller is faster, and correspondingly, the revolving speed of motor also can be bigger.Therefore, the present embodiment it is available
The propeller of unmanned vehicle windward when the unmanned vehicle motor revolving speed, due to the shadow of the wind speed of the revolving speed wind-engaging of motor
It rings, therefore, the present embodiment can determine the wind speed of the current environment of the unmanned vehicle according to the revolving speed of the motor.
Optionally, the control mode of motor can be no approach sensor.
Optionally, the control mode of motor can be to have approach sensor.
The present embodiment, the revolving speed of the motor by obtaining the unmanned vehicle, wherein the revolving speed is the propeller
The revolving speed of motor when windward；According to the revolving speed of the motor, the wind speed of the current environment of the unmanned vehicle is determined.Cause
This, realizes the wind speed determined under current environment by unmanned vehicle, avoid wind speed it is excessive when take off rashly unmanned flight
Device and cause security risk, ensure that the flight safety of unmanned vehicle.
Fig. 2 is the flow chart of the wind speed measurement method of unmanned vehicle provided by Embodiment 2 of the present invention, as shown in Fig. 2,
The control mode of motor in the present embodiment is no approach sensor, and the method for the present embodiment may include:
S201, detection propeller windward when motor electrical parameter.
S202, according to the electrical parameter of the motor, obtain the revolving speed of the motor.
In the present embodiment, unmanned vehicle includes the motor of propeller and the driving propeller rotational.Wherein, it obtains
Unmanned vehicle propeller windward when motor a kind of feasible implementation of revolving speed may include S201 and S202.Specifically
Ground, unmanned vehicle propeller windward when, wind can drive propeller rotational, and the rotation of propeller causes the rotation of motor,
The wind speed of wind is bigger, and wind drives the rotation of propeller faster, and correspondingly, the revolving speed of motor also can be bigger.Moreover, motor turns
It is dynamic that the electrical parameter of motor is caused to change.Therefore, the electrical parameter of motor when the present embodiment detects propeller windward, then
According to the electrical parameter of motor, obtain the corresponding revolving speed of the electrical parameter be the motor propeller windward when revolving speed.
Above-mentioned electrical parameter can be the counter electromotive force of motor, or the electric current etc. of motor.
By taking electrical parameter is counter electromotive force as an example, correspondingly, a kind of feasible implementation of S202 may include:
S2021-S2023。
S2021, according to the counter electromotive force, obtain the angular rate of the motor.
In the present embodiment, according to the counter electromotive force of motor, the angular rate of the motor is obtained.Wherein, a kind of implementation
Are as follows: the angular rate of the motor is obtained according to the counter electromotive force of motor and formula (1).
ξ=ω × k (1)
Wherein, ξ is the counter electromotive force of motor, and ω is the angular rate of motor, and k is constant.K is the structural parameters phase of motor
It closes.
It should be noted that the present embodiment is not limited to obtain the angular rate of motor using above-mentioned formula (1).
S2022, according to the angular rate, obtain the electric period of the motor.
In the present embodiment, after the angular rate for obtaining motor, according to the angular rate of the motor, the electricity week of motor is obtained
Phase.Wherein, a kind of implementation are as follows: the electric period of motor is obtained according to the angular rate of motor and formula (2).
Wherein, the ω is angular rate, and the T is the electric period.
It should be noted that the present embodiment is not limited to obtain the electric period of motor using above-mentioned formula (2).
S2023, according to the electric period, obtain the revolving speed of the motor.
In the present embodiment, after the electric period for obtaining motor, according to the electric period of the motor, the revolving speed of motor is obtained.Its
In, a kind of implementation are as follows: the revolving speed of motor is obtained according to the electric period of motor and formula (3).
Wherein, speed (RPM) indicate motor revolving speed, unit be rev/min (Revolutions Per minute,
RPM), the T is the electric period, and the n is mechanical number of pole-pairs.Wherein, the iron core number of the magnet number and stator of n and motor
It is related.
It should be noted that the present embodiment is not limited to obtain the revolving speed of motor using above-mentioned formula (3).
S203, according to the revolving speed of the motor, determine the wind speed of the current environment of the unmanned vehicle.
In the present embodiment, the specific implementation process of S203 may refer to the associated description in embodiment illustrated in fig. 1, herein not
It repeats again.
In conclusion the present embodiment realizes the wind speed determined under current environment by unmanned vehicle, wind speed is avoided
Rashly it takes off unmanned vehicle when excessive and causes security risk, ensure that the flight safety of unmanned vehicle.
Fig. 3 is the flow chart of the wind speed measurement method for the unmanned vehicle that the embodiment of the present invention three provides, as shown in figure 3,
The control mode of motor in the present embodiment is to have approach sensor, and the method for the present embodiment may include:
S301, detect motor sensor detection information.
S302, according to the detection information of the sensor, obtain the revolving speed of the motor.
In the present embodiment, unmanned vehicle includes the motor of propeller and the driving propeller rotational.Wherein, it obtains
Unmanned vehicle propeller windward when motor a kind of feasible implementation of revolving speed may include S301 and S302.Specifically
Ground, unmanned vehicle propeller windward when, wind can drive propeller rotational, and the rotation of propeller causes the rotation of motor,
The wind speed of wind is bigger, and wind drives the rotation of propeller faster, and correspondingly, the revolving speed of motor also can be bigger.Moreover, the present embodiment
Motor be equipped with sensor, the sensor of motor can sense the rotation of motor.Therefore, the present embodiment detects the inspection of the sensor
Measurement information, then according to the detection information of sensor, obtain the corresponding revolving speed of the detection information be the motor propeller windward
When revolving speed.
Optionally, electric period when above-mentioned detection information can rotate for motor, or electricity when motor rotates
Stream, voltage etc..
S303, according to the revolving speed of the motor, determine the wind speed of the current environment of the unmanned vehicle.
In the present embodiment, the specific implementation process of S303 may refer to the associated description in embodiment illustrated in fig. 1, herein not
It repeats again.
In conclusion the present embodiment realizes the wind speed determined under current environment by unmanned vehicle, wind speed is avoided
Rashly it takes off unmanned vehicle when excessive and causes security risk, ensure that the flight safety of unmanned vehicle.
Fig. 4 is the flow chart of the wind speed measurement method for the unmanned vehicle that the embodiment of the present invention four provides, as shown in figure 4,
The motor of unmanned vehicle in the present embodiment has powered on, and the motor is not driven.The method of the present embodiment may include:
S401, it has been powered in the motor of unmanned vehicle, and when the motor is not driven, has obtained the spiral shell of unmanned vehicle
The maximum (top) speed of motor when revolving paddle windward.
S402, according to the maximum (top) speed of the motor, determine the wind speed of the current environment of the unmanned vehicle.
In the present embodiment, unmanned vehicle includes the motor of propeller and the driving propeller rotational.Wherein, nobody
The motor of aircraft has powered on, and illustrates that propeller-driven motor rotates when wind drives propeller rotational.And motor is not driven,
The revolving speed for illustrating the motor under calm environment is 0, and the rotation that motor occurs in the environment of having wind is entirely current environment
The influence of leeward.Therefore, the available propeller in unmanned vehicle of the present embodiment windward when the unmanned vehicle motor
Maximum (top) speed.The maximum (top) speed of motor can most reflect the influence of the wind speed of wind in such a scenario, and therefore, the present embodiment can be with
According to the maximum (top) speed of the motor, the wind speed of the current environment of the unmanned vehicle is determined.
Optionally, the maximum (top) speed of motor can be using scheme shown in S201 and S202 in embodiment as shown in Figure 2
It obtains.Correspondingly, the maximum (top) speed of motor is obtained by the maximum counter electromotive force of motor.
Optionally, the maximum (top) speed of motor can be using scheme shown in S301 and S302 in embodiment as shown in Figure 3
It obtains.Correspondingly, the maximum (top) speed of motor was obtained by the maximum electric period of motor.
In conclusion the present embodiment realizes the wind speed determined under current environment by unmanned vehicle, wind speed is avoided
Rashly it takes off unmanned vehicle when excessive and causes security risk, ensure that the flight safety of unmanned vehicle.
Fig. 5 is the flow chart of the wind speed measurement method for the unmanned vehicle that the embodiment of the present invention five provides, as shown in figure 5,
The motor of unmanned vehicle in the present embodiment is driven, and is rotated with preset rotation speed.The method of the present embodiment may include:
S501, it is driven in the motor of unmanned vehicle, when rotating with preset rotation speed, obtains the motor of unmanned vehicle
First revolving speed and the second revolving speed, wherein first revolving speed is the maximum (top) speed that the motor rotates under the influence of the wind,
Second revolving speed is the minimum speed that the motor rotates under the influence of the wind.
S502, according to first revolving speed and second revolving speed, obtain the mean speed of the motor.
S503, according to the mean speed of the motor, determine the wind speed of the current environment of the unmanned vehicle.
In the present embodiment, unmanned vehicle includes the motor of propeller and the driving propeller rotational.Wherein, nobody
The motor of aircraft is driven and motor is rotated with preset rotation speed.The revolving speed of motor will turn under calm environment to be default
Speed.And the rotation that motor occurs in the environment of having wind will receive the influence of current environment leeward, may increase may also reduce.
Therefore, the maximum (top) speed (referred to as the first revolving speed) that the available motor of the present embodiment rotates under the influence of wind, the maximum (top) speed
E.g. the stress surface of propeller windward when revolving speed, wind plays acceleration to propeller at this time.The present embodiment can also obtain
The minimum speed (referred to as the second revolving speed) for taking motor to rotate under the influence of wind, which is, for example, the stress surface of propeller
The back side windward when revolving speed, wind plays decelerating effect to propeller at this time.Then according to first revolving speed and described second
Revolving speed obtains the mean speed of the motor, to eliminate the influence of preset rotation speed.The mean speed of the motor be the first revolving speed with
The half of the sum of second revolving speed.The mean speed of motor can most reflect the influence of the wind speed of wind in such a scenario, therefore,
The present embodiment can determine the wind speed of the current environment of the unmanned vehicle according to the mean speed of the motor.
Optionally, the first revolving speed of motor and the second revolving speed can be using S201 and S202 in embodiment as shown in Figure 2
Shown in scheme obtain.Correspondingly, the first revolving speed of motor is obtained by the maximum counter electromotive force of motor, the second of motor
Revolving speed is obtained by the minimum reaction gesture of motor.
Optionally, the first revolving speed of motor and the second revolving speed can be using S301 and S302 in embodiment as shown in Figure 3
Shown in scheme obtain.Correspondingly, the first revolving speed of motor was obtained by the maximum electric period of motor, second turn of motor
Speed was obtained by the minimum electric period of motor.
In conclusion the present embodiment realizes the wind speed determined under current environment by unmanned vehicle, wind speed is avoided
Rashly it takes off unmanned vehicle when excessive and causes security risk, ensure that the flight safety of unmanned vehicle.
On the basis of above-mentioned each method embodiment of the invention, optionally, according to the revolving speed of the motor, the nothing is determined
A kind of feasible implementation of the wind speed of the current environment of people's aircraft are as follows: according to the corresponding relationship of preset revolving speed and wind speed
Preset model, obtain the motor the corresponding wind speed of revolving speed be the unmanned vehicle current environment wind speed.It is optional
Ground, the present embodiment also pass through display interface and show the wind speed, to notify the wind speed of user's current environment, avoid wind speed is excessive from also driving
Dynamic unmanned vehicle takes off, and guarantees the flight safety of unmanned vehicle.
On the basis of above-mentioned each method embodiment of the invention, optionally, according to the revolving speed of the motor, the nothing is determined
A kind of feasible implementation of the wind speed of the current environment of people's aircraft are as follows: whether be greater than and institute according to the revolving speed of the motor
Preset rotation speed is stated, determines whether the wind speed is greater than default survival wind speed, wherein the preset rotation speed and the default safety wind
Speed is corresponding.The present embodiment is provided with a default survival wind speed, which presets
Revolving speed determines whether the revolving speed of the motor is greater than the preset rotation speed, when the revolving speed for determining the motor is big in the revolving speed for obtaining motor
When the preset rotation speed, it can determine that the wind speed under current environment is greater than the default survival wind speed.When the revolving speed for determining the motor
When no more than the preset rotation speed, the wind speed under current environment can be determined no more than the default survival wind speed.
Optionally, the present embodiment carries out warning note when the wind speed under current environment is greater than default survival wind speed.To mention
Show that the wind speed under user's current environment has been more than survival wind speed.
Optionally, the warning note is issued by the remote controler of the unmanned vehicle or the unmanned vehicle.
Wherein, the unmanned vehicle, which issues warning note, may is that the motor oscillating for controlling the unmanned vehicle, send out
Preset alarm sound out；Alternatively, controlling the buzzer of the unmanned vehicle, preset alarm sound is issued；Alternatively, control it is described nobody
The head lamp and/or tail light of flying machine issue default light.
Wherein, the remote controler of the unmanned vehicle, which issues police instruction, may is that the finger for controlling the remote controler
Show lamp, issues preset sound；Alternatively, controlling the buzzer of the remote controler, preset sound is issued；Alternatively, controlling the remote control
The display screen of device shows presupposed information.
Fig. 6 is the structural schematic diagram of the wind speed measurement system for the unmanned vehicle that the embodiment of the present invention one provides, nobody flies
Row device includes the motor of propeller and the driving propeller rotational, as shown in fig. 6, the system of the present embodiment may include:
One or more processors 11, collectively or individually work, and the processor 11 is electrically connected with the motor, and is used for:
Obtain the revolving speed of the motor of the unmanned vehicle, wherein the revolving speed be the propeller windward when the motor revolving speed；
According to the revolving speed of the motor, the wind speed of the current environment of the unmanned vehicle is determined.
One processor 11 is only shown in Fig. 6.The processor 11 can be the controller of electron speed regulator, or be nothing
The flight controller of people's aircraft.Certainly, the processor 11 or multiple, controller including electron speed regulator and
The flight controller of unmanned vehicle.
Optionally, the control mode of the motor is no approach sensor.
Optionally, the processor 11 is specifically used for: detecting the electrical parameter of the motor, and according to the electricity of the motor
Property parameter determines the revolving speed of the motor.
Optionally, the electrical parameter is counter electromotive force.
Optionally, processor 11 is specifically used for:
According to the counter electromotive force, the angular rate of the motor is obtained；
According to the angular rate, the electric period of the motor is obtained；
According to the electric period, the revolving speed of the motor is obtained.
Optionally, the control mode of the motor is approach sensor.
Optionally, the motor is equipped with sensor, and the processor 11 is specifically used for detecting the detection letter of the sensor
Breath, and according to the detection information of the sensor, obtain the revolving speed of the motor.
Optionally, the detection information is the electric period when motor rotates.
Optionally, the motor has powered on, and the motor is not driven.
Optionally, the maximum (top) speed of the motor when processor 11 is specifically used for obtaining the propeller windward.
Optionally, the motor is driven, and is rotated with preset rotation speed.
Optionally, the processor 11 is specifically used for: the first revolving speed and the second revolving speed of the motor is obtained, wherein described
First revolving speed is the maximum (top) speed that the motor rotates under the influence of the wind, and second revolving speed is the motor described
The minimum speed rotated under the influence of wind；According to first revolving speed and second revolving speed, obtains the average of the motor and turn
Speed.
Optionally, the processor 11 is specifically used for the preset model according to preset revolving speed and the corresponding relationship of wind speed,
The corresponding wind speed of revolving speed of the motor is obtained as the wind speed of the current environment of the unmanned vehicle.
Optionally, the system of the present embodiment further includes display screen 12, the display screen 12 and 11 communication link of processor
It connects；The display screen 12 is used to show the information of the wind speed.
Optionally, the processor 11 be specifically used for according to the revolving speed of the motor whether be greater than with the preset rotation speed,
Determine whether the wind speed is greater than default survival wind speed, wherein the preset rotation speed is corresponding with the default survival wind speed.
Optionally, the system of the present embodiment further includes warning device 13, and the warning device 13 and the processor 11 are logical
Letter connection；The warning device 13 is used to carry out warning note when the wind speed is greater than default survival wind speed.
Optionally, the warning device 13 is set on the remote controler of the unmanned vehicle or the unmanned vehicle.
The system of the present embodiment can be used for executing the technical solution of the above-mentioned each method embodiment of the present invention, realize former
Reason is similar with technical effect, and details are not described herein again.
Fig. 7 is the structural schematic diagram of unmanned vehicle provided in an embodiment of the present invention, as shown in fig. 7, the nothing of the present embodiment
People's aircraft includes: the wind speed inspection of motor 30 and unmanned vehicle that propeller 20 and the driving propeller 20 rotate
Examining system 40.Wherein, the wind speed measurement system 40 of unmanned vehicle can use the structure of embodiment illustrated in fig. 6, accordingly,
The technical solution of the above-mentioned each method embodiment of the present invention can be executed, it is similar that the realization principle and technical effect are similar, no longer superfluous herein
It states.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned include: read-only memory (English:
Read-Only Memory, referred to as: ROM), random access memory (English: Random Access Memory, referred to as:
RAM), the various media that can store program code such as magnetic or disk.
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 (26)
1. a kind of wind speed measurement method of unmanned vehicle, the unmanned vehicle includes propeller and the driving propeller
The motor of rotation, which is characterized in that the described method includes:
Obtain the revolving speed of the motor of the unmanned vehicle, wherein the revolving speed be the propeller windward when the motor turn
Speed；
According to the revolving speed of the motor, the wind speed of the current environment of the unmanned vehicle is determined；
Wherein, the method also includes:
When the wind speed is greater than default survival wind speed, warning note is carried out；
Wherein, the motor is driven, and is rotated with preset rotation speed；The revolving speed of the motor for obtaining the unmanned vehicle, packet
It includes:
The first revolving speed and the second revolving speed of the motor are obtained, wherein first revolving speed is influence of the motor in the wind
The maximum (top) speed of lower rotation, second revolving speed are the minimum speed that the motor rotates under the influence of the wind；
According to first revolving speed and second revolving speed, the mean speed of the motor is obtained.
2. the method according to claim 1, wherein the control mode of the motor is no approach sensor.
3. according to the method described in claim 2, it is characterized in that, the revolving speed of the motor for obtaining the unmanned vehicle,
Include:
Detect the electrical parameter of the motor；
According to the electrical parameter of the motor, the revolving speed of the motor is obtained.
4. according to the method described in claim 3, it is characterized in that, the electrical parameter is counter electromotive force.
5. according to the method described in claim 4, it is characterized in that, the electrical parameter according to the motor, described in acquisition
The revolving speed of motor, comprising:
According to the counter electromotive force, the angular rate of the motor is obtained；
According to the angular rate, the electric period of the motor is obtained；
According to the electric period, the revolving speed of the motor is obtained.
6. the method according to claim 1, wherein the control mode of the motor is to have approach sensor.
7. according to the method described in claim 6, it is characterized in that, the motor be equipped with sensor, it is described obtain it is described nobody
The revolving speed of the motor of aircraft, comprising:
Detect the detection information of the sensor；
According to the detection information of the sensor, the revolving speed of the motor is obtained.
8. the method according to the description of claim 7 is characterized in that the detection information is the electricity week when motor rotates
Phase.
9. method according to any one of claims 1 to 8, which is characterized in that the revolving speed according to the motor, really
The wind speed of the current environment of the fixed unmanned vehicle, comprising:
According to the preset model of preset revolving speed and the corresponding relationship of wind speed, the corresponding wind speed of revolving speed for obtaining the motor is institute
State the wind speed of the current environment of unmanned vehicle.
10. according to the method described in claim 9, it is characterized by further comprising:
The wind speed is shown by display interface.
11. method according to any one of claims 1 to 8, which is characterized in that the revolving speed according to the motor, really
The wind speed of the current environment of the fixed unmanned vehicle, comprising:
According to the revolving speed of the motor whether be greater than with the preset rotation speed, determine whether the wind speed is greater than default safety wind
Speed, wherein the preset rotation speed is corresponding with the default survival wind speed.
12. method according to claim 1-8, which is characterized in that the warning note is by the unmanned flight
The remote controler of device or the unmanned vehicle issues.
13. a kind of wind speed measurement system of unmanned vehicle, the unmanned vehicle includes propeller and the driving spiral
The motor of paddle rotation, which is characterized in that the wind speed measurement system includes:
One or more processors collectively or individually work, and the processor is electrically connected with the motor, and is used for:
Obtain the revolving speed of the motor of the unmanned vehicle, wherein the revolving speed be the propeller windward when the motor turn
Speed；
According to the revolving speed of the motor, the wind speed of the current environment of the unmanned vehicle is determined；
Wherein, the wind speed measurement system further includes warning device, and the warning device is connect with the processor communication；
The warning device is used to carry out warning note when the wind speed is greater than default survival wind speed；
The motor is driven, and is rotated with preset rotation speed；The processor is specifically used for:
The first revolving speed and the second revolving speed of the motor are obtained, wherein first revolving speed is influence of the motor in the wind
The maximum (top) speed of lower rotation, second revolving speed are the minimum speed that the motor rotates under the influence of the wind；According to institute
The first revolving speed and second revolving speed are stated, the mean speed of the motor is obtained.
14. system according to claim 13, which is characterized in that the control mode of the motor is no approach sensor.
15. system according to claim 14, which is characterized in that the processor is specifically used for: detecting the motor
Electrical parameter, and determine according to the electrical parameter of the motor revolving speed of the motor.
16. system according to claim 15, which is characterized in that the electrical parameter is counter electromotive force.
17. system according to claim 16, which is characterized in that the processor is specifically used for:
According to the counter electromotive force, the angular rate of the motor is obtained；
According to the angular rate, the electric period of the motor is obtained；
According to the electric period, the revolving speed of the motor is obtained.
18. system according to claim 13, which is characterized in that the control mode of the motor is approach sensor.
19. system according to claim 18, which is characterized in that the motor is equipped with sensor, the processing implement body
For detecting the detection information of the sensor, and according to the detection information of the sensor, the revolving speed of the motor is obtained.
20. system according to claim 19, which is characterized in that the detection information is the electricity week when motor rotates
Phase.
21. system described in 3-20 any one according to claim 1, which is characterized in that the processor is specifically used for basis
The preset model of the corresponding relationship of preset revolving speed and wind speed, obtain the motor the corresponding wind speed of revolving speed be it is described nobody fly
The wind speed of the current environment of row device.
22. system according to claim 21, which is characterized in that it further include display screen, the display screen and the processing
Device communication connection；
The display screen is used to show the information of the wind speed.
23. system described in 3-20 any one according to claim 1, which is characterized in that the processor is specifically used for basis
The revolving speed of the motor whether be greater than with the preset rotation speed, determine whether the wind speed is greater than default survival wind speed, wherein institute
It is corresponding with the default survival wind speed to state preset rotation speed.
24. system according to claim 23, which is characterized in that the warning device is set to the unmanned vehicle or institute
It states on the remote controler of unmanned vehicle.
25. system described in 3-20 any one according to claim 1, which is characterized in that the processor is electron speed regulator
Controller, or the flight controller for unmanned vehicle.
26. a kind of unmanned vehicle, which is characterized in that the unmanned vehicle includes that propeller and the driving propeller turn
Dynamic motor, and the wind speed measurement system of the unmanned vehicle as described in claim 13-25 any one.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/107212 WO2018094682A1 (en) | 2016-11-25 | 2016-11-25 | Wind speed detection method and system for unmanned aerial vehicle, and unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107076775A CN107076775A (en) | 2017-08-18 |
| CN107076775B true CN107076775B (en) | 2019-04-30 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201680002569.9A Expired - Fee Related CN107076775B (en) | 2016-11-25 | 2016-11-25 | Wind speed measurement method, system and the unmanned vehicle of unmanned vehicle |
Country Status (2)
| Country | Link |
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| CN (1) | CN107076775B (en) |
| WO (1) | WO2018094682A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020051757A1 (en) * | 2018-09-11 | 2020-03-19 | 深圳市道通智能航空技术有限公司 | Wind speed calculation method and device, unmanned aerial vehicle and unmanned aerial vehicle assembly |
| WO2020237659A1 (en) * | 2019-05-31 | 2020-12-03 | 深圳市大疆创新科技有限公司 | Wind speed determining method and system, aircraft, and computer readable storage medium |
| CN112946314A (en) * | 2019-11-26 | 2021-06-11 | 上海峰飞航空科技有限公司 | Unmanned vehicles and airspeed meter thereof |
| CN115343500B (en) | 2021-05-12 | 2024-07-26 | 中光电智能机器人股份有限公司 | Wind speed detection system and wind speed detection method |
| TWI779602B (en) * | 2021-05-12 | 2022-10-01 | 中光電智能機器人股份有限公司 | Wind speed detection system and wind speed detection method |
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| CN101000361A (en) * | 2006-12-28 | 2007-07-18 | 山东省科学院海洋仪器仪表研究所 | Wind analog device |
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| Publication number | Publication date |
|---|---|
| WO2018094682A1 (en) | 2018-05-31 |
| CN107076775A (en) | 2017-08-18 |
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