CN108860594A - Fold propeller control method, device and equipment - Google Patents
Fold propeller control method, device and equipment Download PDFInfo
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- CN108860594A CN108860594A CN201810645079.1A CN201810645079A CN108860594A CN 108860594 A CN108860594 A CN 108860594A CN 201810645079 A CN201810645079 A CN 201810645079A CN 108860594 A CN108860594 A CN 108860594A
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- motor
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- propeller
- folding propeller
- folding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
- B64C1/063—Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The present invention provides a kind of folding propeller control method, device and equipment, the method includes：Before unmanned plane takes off, when at least two blades for folding propeller are undeployed, controller sends control to the motor and folds the driving signal that propeller is unfolded, and the driving signal is used for driving motor accelerated service；Reach maximum in the revolving speed that monitoring obtains the motor to get rid of at paddle revolving speed and the foldings propeller in working condition undeployed, drives the decelerating through motor operating；Wherein the maximum gets rid of the departure rotary speed that paddle revolving speed is less than the unmanned plane；The process for driving the motor accelerated service and driving the decelerating through motor operating is repeated, until the working condition that at least two blades for folding propeller are all unfolded is obtained until monitoring.The present invention realizes that Automatic-expanding folds propeller before take-off by controlling before unmanned plane takes off motor, avoids unmanned plane in the case where propeller undeployed and rollings takeoff bring rollover risk.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field more particularly to a kind of folding propeller control method, device and set
It is standby.
Background technique
With scientific and technological level and the improvement of people's living standards, people require the various aspects of performance of unmanned plane more next
Higher, unmanned plane miniaturization is a main trend of current civilian Development of UAV.The development of unmanned plane miniaturization is adapted to, nothing is used for
Man-machine folding propeller comes into being, for example, folding unmanned plane is commonly equipped with folding propeller.
It folding propeller and generally comprises blade and paddle folder, paddle folder is used for fixed blade, and blade arbitrarily can be folded and be opened,
To save the occupied space of unmanned plane.But existing folding propeller, the problems such as due to production technology, the leaf produced
Damping between piece and paddle folder is not quite similar.Some meetings are more loose and some comparisons is tight.Nobody is installed to propeller will be folded
It after on the motor of machine, generally requires user and opens the blade being folded manually, just can be carried out process of taking off, otherwise, forget in user
Note is opened in the case that propeller or propeller be not opened into the state being fully deployed, if directly control unmanned plane carry out it is winged
Row is easy to that the rollover of unmanned plane occurs in flight course.This phenomenon not only increases unmanned plane because of the wind of rollover damage
Danger, and influence the operating experience of user.
Therefore, need it is a kind of can effectively doubling coiled coil paddle the method that is manipulated of expansion, to guarantee unmanned plane
Winged reliability.
Summary of the invention
The present invention provides a kind of folding propeller control method, device and equipment, by before unmanned plane takes off to driving
The motor for folding propeller rotation is controlled, and Automatic-expanding before take-off may be implemented and fold propeller, simplify artificial behaviour
Make, avoid unmanned plane in the case where propeller undeployed rolling takeoff bring rollover risk.
The first aspect of the present invention provides a kind of folding propeller control method, applied to the motor of unmanned plane, the electricity
The output shaft of machine is connected with the folding propeller, and the folding propeller includes that paddle presss from both sides and be foldably connected to the paddle folder
At least two blades even, the method includes：Before unmanned plane takes off, at least two blade for folding propeller
When undeployed, controller sends the control driving signal for folding propeller and being unfolded to the motor, and the driving signal is used
In the driving motor accelerated service；Reach maximum in the revolving speed that monitoring obtains the motor and gets rid of paddle revolving speed and the folding spiral
When paddle is in working condition undeployed, the decelerating through motor is driven to operate；Wherein the maximum gets rid of paddle revolving speed less than the nothing
Man-machine departure rotary speed；The process for driving the motor accelerated service and driving the decelerating through motor operating is repeated, until
Until monitoring obtains the working condition that at least two blade for folding propeller is all unfolded.
Optionally, the method also includes：The motor is controlled to fast status triggering；Wherein, the controller is to institute
It states motor and sends the control driving signal for folding propeller expansion, the driving signal is for driving the motor to accelerate fortune
It subcontracts and includes：According to the first control electric current, motor accelerated service since initial speed is driven.
Optionally, described according to the first control electric current, drive motor accelerated service since initial speed to include：It presses
The first control electric current of the motor is determined according to following formula：
i1=α0t0+b0
Wherein, i1Indicate the first control electric current of the motor, t0It indicates at the first time, α0、b0Respectively described
One control electric current i1With the first time t0The parameter of variation, α0Greater than zero, b0More than or equal to zero.
Optionally, reach before maximum gets rid of paddle revolving speed in the revolving speed of the motor and further include：Increase in the revolving speed of the motor
During adding, detect whether at least two blade for folding propeller is all unfolded；If described in detecting at least
Two blades are not unfolded all, then according to remaining blade quantity undeployed, adjust the first control electric current of the motor
Order of magnitude；If detecting, at least two blade is all unfolded, and stops sending the driving letter to the motor
Number.
Optionally, reach maximum in the revolving speed for obtaining the motor in monitoring and get rid of paddle revolving speed and the folding propeller
When being in working condition undeployed, before driving the decelerating through motor to operate, further include：The electricity is determined according to following formula
Second control electric current of machine：
i2=Ib
Wherein, i2Indicate the second control electric current of the motor, IbIndicate i1In the first time t0Interior maximum
Value.
Optionally, the revolving speed for obtaining the motor in monitoring reaches maximum and gets rid of at paddle revolving speed and the folding propeller
In working condition undeployed, the decelerating through motor is driven to operate；Wherein the maximum gets rid of paddle revolving speed less than the unmanned plane
Departure rotary speed, specifically include：Determine that the third of the motor controls electric current according to following formula：
i3=α1t2+b1
Wherein, i3Indicate the third control electric current of the motor, t2Indicate third time, α1、b1Respectively described
Three control electric current i3With the third time t2The parameter of variation, α1Less than zero.
Optionally, reach maximum in the revolving speed that monitoring obtains the motor to get rid of at paddle revolving speed and the folding propeller not
When the working condition of expansion, the decelerating through motor operating is driven to further include：During the revolving speed of the motor reduces, detection
Whether at least two blade for folding propeller is all unfolded；If detecting the inwhole exhibitions of at least two blade
It opens, then according to remaining blade quantity undeployed, adjusts the order of magnitude of the third control electric current of the motor；If inspection
It measures at least two blade to be all unfolded, then stops sending the driving signal to the motor.
Optionally, all whether expansion specifically includes the detection at least two blade for folding propeller：
During the motor acceleration or deceleration, the aperture of the every blade for folding propeller is monitored；Judge the folding spiral shell
The aperture of every blade of paddle is revolved whether in default open range；If the aperture of the every blade for folding propeller is equal
In default open range, it is determined that the blade for folding propeller is all unfolded, otherwise, it determines the folding propeller
Blade is not unfolded all.
Optionally, the lower limit value of the default open range is greater than or equal to the maximum opening for folding propeller blade
70%.
The second aspect of the present invention provides a kind of folding propeller control device, applied to the motor of unmanned plane, the electricity
The output shaft of machine is connected with the folding propeller, and the folding propeller includes that paddle presss from both sides and be foldably connected to the paddle folder
At least two blades, described device includes：Sending module, before taking off for unmanned plane, described in the folding propeller
When at least two blades are undeployed, controller sends the control driving signal for folding propeller and being unfolded, institute to the motor
Driving signal is stated for driving the motor accelerated service；Drive module, the revolving speed for obtaining the motor in monitoring reach
Maximum gets rid of paddle revolving speed and when the folding propeller is in working condition undeployed, and the decelerating through motor is driven to operate；Wherein
The maximum gets rid of the departure rotary speed that paddle revolving speed is less than the unmanned plane；Execution module adds for repeating the driving motor
Speed operating and the process for driving the decelerating through motor operating obtain at least two leaf for folding propeller until monitoring
Until the working condition that piece is all unfolded.
Optionally, further include：The motor is controlled to fast status triggering；Wherein, the controller is sent out to the motor
It send and controls the driving signal for folding propeller expansion, the driving signal includes for driving the motor accelerated service：
According to the first control electric current, motor accelerated service since initial speed is driven.
Optionally, described according to the first control electric current, drive motor accelerated service since initial speed to include：It presses
The first control electric current of the motor is determined according to following formula：
i1=α0t0+b0
Wherein, i1Indicate the first control electric current of the motor, t0It indicates at the first time, α0、b0Respectively described
One control electric current i1With the first time t0The parameter of variation, α0Greater than zero, b0More than or equal to zero.
Optionally, described device further includes：Detection module, for detecting during the revolving speed of the motor is increased
Whether at least two blade for folding propeller is all unfolded；Module is adjusted, if for detecting described at least two
A blade is not unfolded all, then according to remaining blade quantity undeployed, adjusts the first control electric current of the motor
Order of magnitude；Stopping modular, if stopping sending to the motor for detecting that at least two blade is all unfolded
The driving signal.
Optionally, reach maximum in the revolving speed for obtaining the motor in monitoring and get rid of paddle revolving speed and the folding propeller
When being in working condition undeployed, drive the decelerating through motor operate the step of before, further include：It is determined according to following formula
Second control electric current of the motor：
i2=Ib
Wherein, i2Indicate the second control electric current of the motor, IbIndicate i1In the first time t0Interior maximum
Value.
Optionally, the drive module is specifically used for：Determine that the third of the motor controls electric current according to following formula：
i3=α1t2+b1
Wherein, i3Indicate the third control electric current of the motor, t2Indicate third time, α1、b1Respectively described
Three control electric current i3With the third time t2The parameter of variation, α1Less than zero.
Optionally, the detection module is also used to detect the folding spiral shell during revolving speed of the motor reduces
Whether at least two blade of rotation paddle is all unfolded；If the adjustment module is also used to detect at least two blade
Not all expansion adjust the absolute value of the third control electric current of the motor then according to remaining blade quantity undeployed
Size；If the stopping modular is also used to detect that blade is all unfolded, stop sending the driving signal to the motor.
Optionally, all whether expansion specifically includes the detection at least two blade for folding propeller：
During the motor acceleration or deceleration, the aperture of the every blade for folding propeller is monitored；Judge the folding spiral shell
The aperture of every blade of paddle is revolved whether in default open range；If the aperture of the every blade for folding propeller is equal
In default open range, it is determined that the blade for folding propeller is all unfolded, otherwise, it determines the folding propeller
Blade is not unfolded all.
Optionally, the lower limit value of the default open range is greater than or equal to the maximum opening for folding propeller blade
70%.
The third aspect of the present invention provides a kind of unmanned plane, including：Fuselage；The horn being connected with the fuselage；It is mounted on
Motor on the horn；Fold propeller, be connected with the output shaft of the motor, the foldings propeller include paddle press from both sides with
It is foldably connected at least two blades of the paddle folder；Memory；Processor；And computer program；Wherein, the meter
Calculation machine program store in the memory, and be configured as by the processor execute first aspect present invention and its it is any can
Method described in scheme is selected, to control the folding propeller.
The fourth aspect of the present invention provides a kind of electronic equipment readable storage medium storing program for executing, including：Program, when it is in electronic equipment
When upper operation, so that electronic equipment executes method described in first aspect present invention and its any optinal plan.
Folding propeller control method, device and equipment provided by the invention, before being taken off by unmanned plane, in the folding
When the blade of propeller is undeployed, controller sends the control driving signal for folding propeller and being unfolded, institute to the motor
Driving signal is stated for driving the motor accelerated service；It monitors the revolving speed of motor in real time and folds the deployment conditions of propeller,
And when motor speed reaches maximum and gets rid of paddle revolving speed and folding propeller still undeployed, the decelerating through motor is controlled, to avoid nobody
Machine takes off in the case where folding propeller undeployed and causes to turn on one's side, and repeats to control after the motor accelerates later and slow down
Process, until the folding propeller of unmanned plane is unfolded.In this way, realizing the Automatic-expanding before unmanned plane takes off folds propeller,
Manual operation is not only simplified, and phenomenon of turning on one's side caused by avoiding unmanned plane due to the blade for folding propeller is undeployed.
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 any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the application scenario diagram provided in an embodiment of the present invention for folding propeller control method；
Fig. 2 is the flow chart of the folding propeller control method shown in an exemplary embodiment of the invention；
Fig. 3 is the schematic diagram of the control curent change of motor in embodiment illustrated in fig. 2；
Fig. 4 is the structure chart of the folding propeller control device shown in an exemplary embodiment of the invention；
Fig. 5 is the structure chart of the unmanned plane shown in an exemplary embodiment of the 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 skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
In the description of the present application, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for describe the application and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.In addition, term " first ", " second " are only
For descriptive purposes, it is not understood to indicate or imply relative importance.
In the description of the present application, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in application.
As long as in addition, the non-structure each other of technical characteristic involved in the application different embodiments disclosed below
It can be combined with each other at conflict.
Referring to Fig. 1, for the application scenario diagram provided in an embodiment of the present invention for folding propeller control method.The present invention is real
The propeller control method for applying example offer, can be applied to the motor of unmanned plane, by controlling before unmanned plane takes off to motor
System realizes the folding propeller of Automatic-expanding unmanned plane before take-off, so as to avoid nothing in the case where propeller undeployed
The risk of man-machine bring rollover of rollinging takeoff.As shown in Figure 1, the structure of the unmanned plane 500 includes 400, four, fuselage from machine
The horn 300 that body 400 extends and the Power Component being respectively installed on each horn 300.Unmanned plane 500 can also include cloud
Platform (not shown), the holder are installed on the bottom of fuselage 400, and holder can carry high-definition digital camera or other equipment to meet
The specific demand of user.In one embodiment of this invention, horn 300 is fixedly connected with fuselage 400, it is preferable that horn 300
It is integrally formed with fuselage 400.In other possible embodiments, horn 300 can be can be unfolded or fold relative to fuselage 400
Mode be connected with fuselage 400.For example, horn 300 can be connected by a rotating shaft mechanism with fuselage 400, to realize horn 300
It can be unfolded or fold relative to fuselage 400.
The Power Component is used to provide power for the unmanned plane 500.In one embodiment of this invention, the power
Component includes motor 100 and the propeller 200 that is mounted on motor 100, and each propeller 200 is in corresponding motor 100
Driving under be rotated to produce make unmanned plane 500 fly lift or thrust.Each propeller include paddle folder and it is foldable
Ground is connected at least two blades of the paddle folder.The Power Component can also include that horn 300 or fuselage 400 is arranged in
Internal electron speed regulator (not shown), electron speed regulator are used to be believed according to the throttle that throttle control or throttle generator generate
Number generate for controlling the motor control signal of motor speed with obtain unmanned plane 500 needs flying speed or flight attitude.
In one implementation, throttle control or throttle generator can be the flight control modules of unmanned plane 500.
Flight control modules perceive the environment around unmanned plane 500 by various sensors, and control the flight of unmanned plane 500.Flight
Control module can be processing module (processing unit), specific integrated circuit (Application Specific
Integrated Circuit, ASIC) or field programmable gate array (Field Programmable Gate Array,
FPGA)。
When instruction of the user by the flight attitude of remote controler input control unmanned plane 500 etc., the winged control of unmanned plane 500
Module sends a throttle signal to electric tuned plate, and electric tuned plate receives the throttle signal, generate and to motor send for motor into
The motor control signal of the revolving speed of row starting and control motor operation etc..
It include the control circuit component being made of electronic components such as MCU in the fuselage 400, the control circuit component packet
Multiple control modules are included, e.g., for controlling the Power Component work to control the flight control of 500 flight attitude of unmanned plane
Molding block, for the locating module for the unmanned plane 500 that navigates, and for handling the letter of environment acquired in related airborne equipment
The data processing module etc. of breath.The embodiment of the present invention for ease of description, attached drawing only show portion relevant to the embodiment of the present invention
Part.
As shown in Fig. 2, be a kind of folding propeller control method provided in this embodiment, flow diagram, this method
It can be applied to the motor 100 of unmanned plane shown in FIG. 1, this method includes：
Step S101：Before unmanned plane takes off, fold propeller at least two blade it is undeployed when, controller to
Motor sends the driving signal that control folds propeller expansion, and driving signal is used for driving motor accelerated service.
Herein, controller can integrate in the inside of unmanned plane, be also possible to peripheral control unit, and driving signal can basis
The characteristic of the unmanned plane is preset, and before unmanned plane takes off, for example, loading onto folding propeller on motor, (propeller is in
Folded state), unmanned plane booting enters to fast logic (i.e. motor is with the logic state of the stabilization of speed operation of a certain fixation), control
Device processed sends driving signal to motor, and motor is set itself according to driving signal, so that motor Foldable propeller is opened
It starts to move and gets rid of paddle process, specifically, driving signal is used for first driving motor accelerated service, motor Foldable propeller rotational
In the process, revolving speed is bigger, easier to throw the blade for folding propeller away, therefore, can accelerate control ginseng by sending to motor
Number, so that motor accelerated service, and then the accelerated service of Foldable propeller carries out getting rid of paddle process.Manual operation is simplified, is mentioned
High user experience.In some implementations, the controller is the electron speed regulator being electrically connected with motor.
Step S102：Reach maximum in the revolving speed that monitoring obtains motor to get rid of at paddle revolving speed and folding propeller undeployed
When working condition, driving motor, which slows down, to be operated；The wherein maximum departure rotary speed for getting rid of paddle revolving speed and being less than unmanned plane.
Specifically, in order to realize that the propeller of unmanned plane takes off in the state that blade is all unfolded, to guarantee nobody
The flight safety of machine needs that maximum is arranged for motor and gets rid of paddle revolving speed, will not take off while to guarantee that unmanned plane gets rid of paddle.Therefore,
Setting maximum gets rid of paddle revolving speed, and the maximum gets rid of the departure rotary speed that paddle revolving speed is less than unmanned plane, accelerates the process for getting rid of paddle in motor
In, it needs to monitor in real time the revolving speed of motor and folds the expansion situation of propeller, if the revolving speed in motor reaches maximum and gets rid of paddle
When revolving speed, folding propeller is still undeployed, then needs driving motor to slow down and operate, unmanned plane paddle is prevented not to be unfolded all and rise
Fly, and accelerates to get rid of paddle process into next after making decelerating through motor.
Step S103：The process for repeating driving motor accelerated service and driving motor deceleration operating, until monitoring
Until the working condition that at least two blade for folding propeller is all unfolded.
Specifically, if reaching the control process after maximum gets rid of paddle revolving speed and slowed down by acceleration in motor, spiral is folded
Paddle is still undeployed, in order to guarantee energy unfolded propeller before taking off, then gets rid of paddle control process into next, that is, repeats
The process of driving motor accelerated service and driving motor deceleration operating, after controlling motor acceleration Foldable propeller operating
Slow down again operating, until unfolded propeller, then no longer sends driving signal to motor.As shown in figure 3, control can be passed through
The current or voltage of motor controls the driving signal of motor, and Fig. 3 shows motor during getting rid of paddle by taking current control as an example
Control electric current i at any time t variation schematic diagram, state 1 indicate during paddle is got rid of in first acceleration and deceleration motor control electricity
Variable condition is flowed, wherein t first increases and reduces afterwards control electric current i at any time.State n is indicated during paddle is got rid of in n-th of acceleration and deceleration
The control curent change state of motor, Tn indicate to drive the motor for folding propeller " state n " from Startup time to completion used
Total time, if folding propeller after state 1 and being still in inwhole unfolded states, motor can carry out multiple acceleration and deceleration
Process carries out getting rid of paddle, i.e., in time Tn, can be according to progress of multiple state of a controls to the motor from state 1 to state n
Current control, until the folding propeller is all unfolded.In practical application scene, the spy for folding propeller can be comprehensively considered
Property determine driving signal, such as the value of n determine according to actual needs, however, it is determined that n=2, that is, motor needs 2 during getting rid of paddle
The process of a acceleration and deceleration can just be fully deployed folding propeller；During this 2 acceleration and deceleration, motor is in boost phase and deceleration rank
The runing time of section may be the same or different, and the control current amplitude of setting equally can be the same or different, finally
The result is that can under to fast state effectively open fold propeller.If the controller is arranged inside unmanned plane, whole
A paddle process of getting rid of can not be controlled the interference of equipment (such as remote controler of unmanned plane) instruction by peripheral hardware.Fold propeller expansion
Afterwards, motor can keep current rotating speed to operate, and also can according to need and carry out unmanned plane takeoff phase.
Optionally, further include：Motor is controlled to fast status triggering；Wherein, controller sends control to motor and folds spiral shell
The driving signal of paddle expansion is revolved, driving signal includes for driving motor accelerated service：According to the first control electric current, driving motor
The accelerated service since initial speed.
In practical application scene, unmanned plane to before taking off, can control motor and run with a certain revolving speed after booting, this
State is referred to as to fast state.When unmanned plane is in when fast state, folding propeller may be undeployed, can control at this time
Driving folds the motor of propeller to start to get rid of paddle process to fast status triggering.It specifically, can before unmanned plane starts to get rid of paddle
The motor low-speed running for folding propeller is driven for a period of time first to allow, as an initial speed greater than zero is arranged in motor,
(i.e. under fast state) in the state that motor possesses initial speed, according still further to the first control electric current, driving motor turns from initial
Speed starts accelerated service, and Foldable propeller carries out getting rid of paddle process, to guarantee the stability of motor operation, prevents control system
It is abnormal, increase the reliability of unmanned plane.For example, as shown in figure 3, each gets rid of the corresponding state n of paddle process.The control electricity of motor
It is increased since certain initial current value for flowing, and the beginning of paddle process is got rid of corresponding to each, motor possesses one
Initial speed greater than zero.Optionally, according to the first control electric current, accelerated service can be by since initial speed for driving motor
The first control electric current of motor is determined according to following formula：
i1=α0t0+b0
Wherein, i1Indicate the first control electric current of motor, t0It indicates at the first time, α0、b0Respectively first control electric current i1
With first time t0The parameter of variation, α0Greater than zero, b0More than or equal to zero.
It should be noted that in specific application environment unmanned plane gets rid of paddle process can exist since original state
When folding propeller has just loaded onto motor, motor begins to get rid of paddle process from stationary state booting, and initial speed can wait at this time
In zero, that is, the accelerated service since when the initial speed of motor is zero of paddle process is got rid of, can so allow the motor of unmanned plane from opening
Machine, which rises to quickly enter, gets rid of paddle process, in order to rapidly enter takeoff phase, is conducive to the situation that reply needs to scramble, increases
The strong conformability of unmanned plane.
Optionally, reach before maximum gets rid of paddle revolving speed in the revolving speed of motor and further include：In the increased process of the revolving speed of motor
In, whether at least two blade that detection folds propeller is all unfolded；If detecting, at least two blade is not complete
Portion's expansion adjusts the order of magnitude of the first control electric current of motor then according to remaining blade quantity undeployed；If detecting
At least two blade is all unfolded, then stops sending driving signal to motor.
In practical applications, the blade applied to the folding propeller of unmanned plane can be two panels, be also possible to multi-disc, when
When being multi-disc, since the clamping degree of each blade may be different, reach before maximum gets rid of paddle revolving speed in the revolving speed of motor,
During paddle is got rid of in motor acceleration, it is possible to a part of blade has been unfolded, and not every blade is unfolded, such as
For possessing the folding propeller of three pieces blade, wherein a piece of be unfolded, but it is undeployed to there remains two panels, in this case,
There is still a need for continue to get rid of paddle process.Therefore the expansion quantity of the blade of propeller can be folded with real-time detection, and can be according to surplus
Remaining blade quantity undeployed, the order of magnitude for the first control electric current that the adjustment of adaptability is sent to motor are suitable to control
The operating status of the control motor of answering property, and then the energy consumption of unmanned plane is reduced, improve energy utilization rate.In practical application scene
In, the blade clamping degree that unmanned plane folds propeller is not quite similar, some lesser blades of clamping degree, it is possible in motor
Revolving speed increase during just all expansion, stopping that at this time can be in due course have sent driving signal to motor, that is, stop getting rid of
Paddle process, to reduce energy consumption, paddle efficiency is got rid of in raising.
Optionally, reach maximum in the revolving speed for obtaining motor in monitoring to get rid of at paddle revolving speed and folding propeller undeployed
When working condition, driving motor slows down before operating, further includes：The second control electric current of motor is determined according to following formula：
i2=Ib
Wherein, i2Indicate the second control electric current of motor, IbIndicate i1In first time t0Interior maximum value.
Specifically, as shown in figure 3, during motor accelerated service carries out getting rid of paddle, if motor speed has reached maximum
Paddle revolving speed is got rid of, folding propeller is still undeployed, then can allow motor that maximum is maintained to get rid of paddle rotation speed operation preset time period, not only may be used
To accelerate to get rid of paddle speed, and motor stabilizing can be promoted to run, prevent control system from occurring abnormal, enhance the reliable of unmanned plane
Property.
Optionally, reach maximum in the revolving speed that monitoring obtains motor to get rid of at paddle revolving speed and folding propeller in work undeployed
When making state, driving motor, which slows down, to be operated；The wherein maximum departure rotary speed for getting rid of paddle revolving speed and being less than unmanned plane, specifically includes：According to
Following formula determines the third control electric current of motor：
i3=α1t2+b1
Wherein, i3Indicate that the third of motor controls electric current, t2Indicate third time, α1、b1Respectively third controls electric current i3
With third time t2The parameter of variation, α1Less than zero.
Below by taking " state 1 " in Fig. 3 as an example, driving signal in the folding propeller control method in the present embodiment is set
Surely it is described in detail：
In Fig. 3, accelerate control parameter that can be set according to following expression formula：
Wherein, the relationship between coefficient can be expressed as：
Wherein i indicates the revolving speed of motor, α0Indicate the second acceleration, b0Indicate the second initial speed, α1Indicate that third accelerates
Degree, b1The minimum speed that motor reaches in moderating process in the case where expression state 1, Iα、Ib、Ic、Id, respectively indicate time point
A, the control current value of b, c, d each point time corresponding motor, the first time of motor acceleration maintain maximum to get rid of paddle rotation speed operation
The second time and deceleration the third time, can be set as needed, avoid too long and influence user experience.
Optionally, reach maximum in the revolving speed that monitoring obtains motor to get rid of at paddle revolving speed and folding propeller in work undeployed
When making state, driving motor, which slows down to operate, further includes：During the revolving speed of motor reduces, detection folds the described of propeller
Whether at least two blades are all unfolded；If detecting, at least two blade is not unfolded all, according to remaining undeployed
Blade quantity, adjust motor third control electric current order of magnitude；If detecting at least two blades whole exhibition
It opens, then stops sending driving signal to motor.
In practical applications, the blade applied to the folding propeller of unmanned plane can be two panels, be also possible to multi-disc, when
When being multi-disc, since the clamping degree of each blade may be different, during the revolving speed of motor reduces, it is possible to one
Leaflet piece has been unfolded, and not every blade is unfolded, such as the folding propeller for possessing three pieces blade, wherein
It is a piece of to be unfolded, but it is undeployed to there remains two panels, in this case, it is still desirable to continue to get rid of paddle process.It therefore can be real-time
Detection detection folds the expansion quantity of the blade of propeller, and can be according to remaining blade quantity undeployed, the tune of adaptability
The whole absolute value to the third of motor control electric current to control the operating status of the control motor of adaptability, and then reduces nobody
The energy consumption of machine improves energy utilization rate.Blade lesser for some clamping degrees, it is possible to increase process in the revolving speed of motor
In just all expansion, stopping that at this time can be in due course have sent driving signal to motor, that is, stop getting rid of paddle process, to reduce energy
Paddle efficiency is got rid of in consumption, raising.
Optionally, whether at least two blade that detection folds propeller is all unfolded to specifically include：In motor plus
In speed or moderating process, monitoring folds the aperture of every blade of propeller；Judgement folds the aperture of every blade of propeller
Whether in default open range；If folding the aperture of every blade of propeller in default open range, it is determined that
At least two blade for folding propeller is all unfolded, otherwise, it determines folding at least two blade of propeller not
All expansion.
In practical application scene, whether at least two blade for folding propeller is unfolded, and can pass through reality
When monitor the aperture of every blade to realize, specifically, situation can be actually used, a default open range be generated, in electricity
During machine acceleration or deceleration, monitoring folds the aperture of every blade of propeller, if folding opening for every blade of propeller
Degree is in default open range, it is determined that at least two blade for folding propeller is all unfolded, and otherwise, folds spiral
At least two blade of paddle is not unfolded all, so easy can judge whether open up in folding propeller.
Optionally, the lower limit value for presetting open range is greater than or equal to the 70% of the maximum opening for folding propeller blade.
Proved according to practical application experience and experimental data, fold the blade of propeller aperture reach maximum opening 70% or
When 80%, unmanned plane will not turn on one's side substantially because blade is not switched on, it can be by the lower limit value of default open range
It is set greater than or equal to the 70% of the maximum opening for folding propeller blade, in this way, without being really expanded to blade opening
It is maximum, it is also ensured that the stability of unmanned plane improves efficiency of energy utilization.
Folding propeller control method provided in this embodiment, before being taken off by unmanned plane, in the blade for folding propeller
When undeployed, controller sends control to motor and folds the driving signal that propeller is unfolded, and driving signal adds for driving motor
Speed operating；It monitors the revolving speed of motor in real time and folds the deployment conditions of propeller, and reach maximum in motor speed and get rid of paddle revolving speed
And fold propeller it is still undeployed when, the decelerating through motor is controlled, to avoid unmanned plane in the case where folding propeller undeployed
It takes off and causes to turn on one's side, repeat the process for controlling and slowing down after the motor accelerates later, until the folding propeller of unmanned plane
Expansion.In this way, realizing the Automatic-expanding before unmanned plane takes off folds propeller, manual operation is not only simplified, and avoid
Unmanned plane due to the blade for folding propeller is undeployed caused by turn on one's side phenomenon.
The present embodiment provides a kind of folding propeller control device, applied to the motor of unmanned plane, the output shaft of motor with
It folds propeller to be connected, as shown in figure 4, for according to the structure chart of the folding propeller control device of the present embodiment, device includes：
Sending module 301, drive module 302, execution module 303 etc., wherein
Sending module 301, before taking off for unmanned plane, when at least two blade for folding propeller is undeployed,
Controller sends control to motor and folds the driving signal that propeller is unfolded, and driving signal is used for driving motor accelerated service；
Drive module 302, for monitoring obtain motor revolving speed reach maximum get rid of paddle revolving speed and fold propeller at
When working condition undeployed, driving motor slows down operating；The wherein maximum departure rotary speed for getting rid of paddle revolving speed and being less than unmanned plane；
Execution module 303, for repeating the process of driving motor accelerated service and driving motor deceleration operating, until
Until monitoring obtains folding the working condition that propeller is all unfolded.
Optionally, further include：Motor is controlled to fast status triggering；Wherein, controller sends control to motor and folds spiral shell
The driving signal of paddle expansion is revolved, driving signal includes for driving motor accelerated service：According to the first control electric current, driving motor
The accelerated service since initial speed.
Optionally, according to the first control electric current, driving motor accelerated service since initial speed includes：According to following public affairs
Formula determines the first control electric current of motor：
i1=α0t0+b0
Wherein, i1Indicate the first control electric current of motor, t0It indicates at the first time, α0、b0Respectively first control electric current i1
With first time t0The parameter of variation, α0Greater than zero, b0More than or equal to zero.
Optionally, device further includes：Detection module 304, for during the revolving speed of motor is increased, detection to fold spiral shell
Whether at least two blade of rotation paddle is all unfolded；Module 305 is adjusted, if for detecting at least two blade not
All expansion adjust the order of magnitude of the first control electric current of motor then according to remaining blade quantity undeployed；Stop mould
Block 306, if stopping sending driving signal to motor for detecting that at least two blade is all unfolded.
Optionally, reach maximum in the revolving speed for obtaining motor in monitoring to get rid of at paddle revolving speed and folding propeller undeployed
When working condition, driving motor slows down before operating, further includes：The second control electric current of motor is determined according to following formula：
i2=Ib
Wherein, i2Indicate the second control electric current of motor, IbIndicate i1In first time t0Interior maximum value.
Optionally, drive module 302 is specifically used for：Determine that the third of motor controls electric current according to following formula：
i3=α1t2+b1
Wherein, i3Indicate that the third of motor controls electric current, t2Indicate third time, α1、b1Respectively third controls electric current i3
With third time t2The parameter of variation, α1Less than zero.
Optionally, detection module 304 is also used to during the revolving speed of motor reduces, and detection folds the described of propeller
Whether at least two blades are all unfolded；If adjustment module 305 is also used to detect that at least two blade is not unfolded all,
Then according to remaining blade quantity undeployed, the order of magnitude of the third control electric current of motor is adjusted；Stopping modular 306 is also used
If stopping sending driving signal to motor in detecting at least two blade all expansion.
Optionally, whether at least two blade that detection folds propeller is all unfolded to specifically include：In motor plus
In speed or moderating process, monitoring folds the aperture of every blade of propeller；Judgement folds the aperture of every blade of propeller
Whether in default open range；If folding the aperture of every blade of propeller in default open range, it is determined that
At least two blade for folding propeller is all unfolded, otherwise, it determines folding at least two blade of propeller not
All expansion.
Optionally, the lower limit value for presetting open range is greater than or equal to the 70% of the maximum opening for folding propeller blade.
The corresponding associated description of the step of related description can correspond to referring to figs. 2 and 3 and effect understood, herein
It does not do and excessively repeats.
Folding propeller control device provided in this embodiment, before being taken off by unmanned plane, in the blade for folding propeller
When undeployed, controller sends control to motor and folds the driving signal that propeller is unfolded, and driving signal adds for driving motor
Speed operating；It monitors the revolving speed of motor in real time and folds the deployment conditions of propeller, and reach maximum in motor speed and get rid of paddle revolving speed
And fold propeller it is still undeployed when, the decelerating through motor is controlled, to avoid unmanned plane in the case where folding propeller undeployed
It takes off and causes to turn on one's side, repeat the process for controlling and slowing down after the motor accelerates later, until the folding propeller of unmanned plane
Expansion.In this way, realizing the Automatic-expanding before unmanned plane takes off folds propeller, manual operation is not only simplified, and avoid
Unmanned plane due to the blade for folding propeller is undeployed caused by turn on one's side phenomenon.
The present embodiment provides a kind of unmanned planes, as shown in figure 5, including：At least one processor 41, memory 42 and folding
Propeller 43 takes a processor as an example in Fig. 5, processor 41, memory 42 and folds propeller 43 and is connected by bus 40,
Memory 42 is stored with the instruction that can be executed by least one processor 41, and instruction is executed by least one processor 41, so that
At least one processor 41 executes the folding propeller control method such as Fig. 2 and Fig. 3 in embodiment 1, folds spiral 43 with control
Get rid of slurry.
The corresponding associated description of the step of related description can correspond to referring to figs. 2 and 3 and effect understood, herein
It does not do and excessively repeats.
Unmanned plane provided in this embodiment, before being taken off by unmanned plane, when the blade for folding propeller is undeployed, control
Device sends control to motor and folds the driving signal that propeller is unfolded, and driving signal is used for driving motor accelerated service；Prison in real time
It controls the revolving speed of motor and folds the deployment conditions of propeller, and reach maximum in motor speed and get rid of paddle revolving speed and folding propeller still
When undeployed, the decelerating through motor is controlled, take off in the case where folding propeller undeployed to avoid unmanned plane and causes to turn on one's side,
The process for controlling and slowing down after the motor accelerates is repeated later, until the folding propeller of unmanned plane is unfolded.In this way, realizing
Automatic-expanding folds propeller before unmanned plane takes off, and not only simplifies manual operation, and avoids unmanned plane because folding spiral shell
The blade for revolving paddle it is undeployed and caused by turn on one's side phenomenon.
The embodiment of the invention also provides a kind of electronic equipment readable storage medium storing program for executing, including：Program, when it is in electronic equipment
When upper operation, so that all or part of the process of method in above-described embodiment can be performed in electronic equipment.Wherein, storage medium can be
Magnetic disk, CD, read-only memory (Read-OnlyMemory, ROM), random access memory (Random Access
Memory, RAM), flash memory (Flash Memory), hard disk (Hard Disk Drive, abbreviation：) or solid state hard disk HDD
(Solid-State Drive, SSD) etc.；Storage medium can also include the combination of the memory of mentioned kind.
Although being described in conjunction with the accompanying the embodiment of the present invention, those skilled in the art can not depart from the present invention
Spirit and scope in the case where various modifications and variations can be made, such modifications and variations are each fallen within by appended claims institute
Within the scope of restriction.
Claims (20)
1. a kind of folding propeller control method, applied to the motor of unmanned plane, the output shaft of the motor and the folding spiral shell
It revolves paddle to be connected, the propeller that folds includes paddle folder and at least two blades for being foldably connected to the paddle folder, feature
It is, the method includes：
Before unmanned plane takes off, when at least two blade for folding propeller is undeployed, controller is to the motor
The control driving signal for folding propeller expansion is sent, the driving signal is for driving the motor accelerated service；
Reach maximum in the revolving speed that monitoring obtains the motor to get rid of at paddle revolving speed and the folding propeller in work undeployed
When state, the decelerating through motor is driven to operate；Wherein the maximum gets rid of the departure rotary speed that paddle revolving speed is less than the unmanned plane；
Repeat the process for driving the motor accelerated service and driving the decelerating through motor operating, until monitoring obtain it is described
Until the working condition that at least two blade of folding propeller is all unfolded.
2. folding propeller control method according to claim 1, which is characterized in that further include：Control the motor from
To fast status triggering；Wherein, the controller sends the control driving signal for folding propeller and being unfolded, institute to the motor
Driving signal is stated for driving the motor accelerated service to include：
According to the first control electric current, motor accelerated service since initial speed is driven.
3. folding propeller control method according to claim 2, which is characterized in that it is described to control electric current according to first,
Motor accelerated service since initial speed is driven to include：
The first control electric current of the motor is determined according to following formula：
i1=α0t0+b0
Wherein, i1Indicate the first control electric current of the motor, t0It indicates at the first time, α0、b0Respectively described first control
Electric current i processed1With the first time t0The parameter of variation, α0Greater than zero, b0More than or equal to zero.
4. folding propeller control method according to claim 3, which is characterized in that reach most in the revolving speed of the motor
Further include before getting rid of paddle revolving speed greatly：
During the revolving speed of the motor is increased, whether all at least two blade for folding propeller is detected
Expansion；
If detecting, at least two blade is not unfolded all, according to remaining blade quantity undeployed, adjusts the electricity
The order of magnitude of the first control electric current of machine；
If detecting, at least two blade is all unfolded, and stops sending the driving signal to the motor.
5. folding propeller control method according to claim 3 or 4, which is characterized in that obtain institute in monitoring described
The revolving speed for stating motor reaches maximum and gets rid of paddle revolving speed and when the folding propeller is in working condition undeployed, drives the electricity
Machine slows down before operating, further includes：
The second control electric current of the motor is determined according to following formula：
i2=Ib
Wherein, i2Indicate the second control electric current of the motor, IbIndicate i1In the first time t0Interior maximum value.
6. folding propeller control method according to claim 5, which is characterized in that described to obtain the motor in monitoring
Revolving speed reach maximum and get rid of paddle revolving speed and when the folding propeller is in working condition undeployed, drive the decelerating through motor
Operating；Wherein the maximum gets rid of the departure rotary speed that paddle revolving speed is less than the unmanned plane, specifically includes：
Determine that the third of the motor controls electric current according to following formula：
i3=α1t2+b1
Wherein, i3Indicate the third control electric current of the motor, t2Indicate third time, α1、b1The respectively described third control
Electric current i processed3With the third time t2The parameter of variation, α1Less than zero.
7. folding propeller control method according to claim 6, which is characterized in that obtain turning for the motor in monitoring
Speed reaches maximum and gets rid of paddle revolving speed and when the foldings propeller is in working condition undeployed, drives the decelerating through motor operating
Further include：
During the revolving speed of the motor reduces, whether all at least two blade for folding propeller is detected
Expansion；
If detecting, at least two blade is not unfolded all, according to remaining blade quantity undeployed, adjusts the electricity
The order of magnitude of the third control electric current of machine；
If detecting, at least two blade is all unfolded, and stops sending the driving signal to the motor.
8. the folding propeller control method according to claim 4 or 7, which is characterized in that the detection folding
All whether expansion specifically includes at least two blade of propeller：
During the motor acceleration or deceleration, the aperture of the every blade for folding propeller is monitored；
Judge the aperture of the every blade for folding propeller whether in default open range；
If the aperture of the every blade for folding propeller is in default open range, it is determined that the folding propeller
Blade is all unfolded, otherwise, it determines the blade for folding propeller is not unfolded all.
9. folding propeller control method according to claim 8, which is characterized in that the lower limit of the default open range
Value is greater than or equal to the 70% of the maximum opening for folding propeller blade.
10. a kind of folding propeller control device, applied to the motor of unmanned plane, the output shaft of the motor and the folding spiral shell
It revolves paddle to be connected, the propeller that folds includes paddle folder and at least two blades for being foldably connected to the paddle folder, feature
It is, described device includes：
Sending module, before taking off for unmanned plane, when at least two blade for folding propeller is undeployed, control
Device sends the control driving signal for folding propeller and being unfolded to the motor, and the driving signal is for driving the motor
Accelerated service；
Drive module, for monitoring obtain the motor revolving speed reach maximum get rid of at paddle revolving speed and the folding propeller
When working condition undeployed, the decelerating through motor is driven to operate；Wherein the maximum gets rid of paddle revolving speed less than the unmanned plane
Departure rotary speed；
Execution module, for repeating the process for driving the motor accelerated service and driving the decelerating through motor operating, directly
Until monitoring obtains the working condition that at least two blade for folding propeller is all unfolded.
11. folding propeller control device according to claim 10, which is characterized in that further include：Control the motor
From to fast status triggering；Wherein, the controller sends the control driving signal for folding propeller and being unfolded to the motor,
The driving signal is for driving the motor accelerated service to include：
According to the first control electric current, motor accelerated service since initial speed is driven.
12. folding propeller control device according to claim 11, which is characterized in that described according to the first control electricity
Stream, drives motor accelerated service since initial speed to include：
The first control electric current of the motor is determined according to following formula：
i1=α0t0+b0
Wherein, i1Indicate the first control electric current of the motor, t0It indicates at the first time, α0、b0Respectively described first control
Electric current i processed1With the first time t0The parameter of variation, α0Greater than zero, b0More than or equal to zero.
13. folding propeller control device according to claim 12, which is characterized in that described device further includes：
Detection module, for during the revolving speed of the motor is increased, detecting described at least the two of the folding propeller
Whether a blade is all unfolded；
Module is adjusted, if for detecting that at least two blade is not unfolded all, according to the remaining number of blade undeployed
Amount adjusts the order of magnitude of the first control electric current of the motor；
Stopping modular, if stopping sending the drive to the motor for detecting that at least two blade is all unfolded
Dynamic signal.
14. folding propeller control device according to claim 13, which is characterized in that it is described obtain in monitoring it is described
The revolving speed of motor reaches maximum and gets rid of paddle revolving speed and when the folding propeller is in working condition undeployed, drives the motor
Slow down before the step of operating, further includes：
The second control electric current of the motor is determined according to following formula：
i2=Ib
Wherein, i2Indicate the second control electric current of the motor, IbIndicate i1In the first time t0Interior maximum value.
15. folding propeller control device according to claim 14, which is characterized in that the drive module is specifically used
In：
Determine that the third of the motor controls electric current according to following formula：
i3=α1t2+b1
Wherein, i3Indicate the third control electric current of the motor, t2Indicate third time, α1、b1The respectively described third control
Electric current i processed3With the third time t2The parameter of variation, α1Less than zero.
16. folding propeller control device according to claim 15, which is characterized in that the detection module is also used to
During the revolving speed of the motor reduces, detect whether at least two blade for folding propeller is all unfolded；
If the adjustment module is also used to detect that at least two blade is not unfolded all, according to remaining leaf undeployed
Piece quantity adjusts the order of magnitude of the third control electric current of the motor；
If the stopping modular is also used to detect that at least two blade is all unfolded, stop sending institute to the motor
State driving signal.
17. folding propeller control device described in 3 or 16 according to claim 1, which is characterized in that the detection folding
All whether expansion specifically includes at least two blade of coiled coil paddle：
During the motor acceleration or deceleration, the aperture of the every blade for folding propeller is monitored；
Judge the aperture of the every blade for folding propeller whether in default open range；
If the aperture of the every blade for folding propeller is in default open range, it is determined that the folding propeller
Blade is all unfolded, otherwise, it determines the blade for folding propeller is not unfolded all.
18. folding propeller control device according to claim 17, which is characterized in that under the default open range
Limit value is greater than or equal to the 70% of the maximum opening for folding propeller blade.
19. a kind of unmanned plane, which is characterized in that including：
Fuselage；
The horn being connected with the fuselage；
The motor being mounted on the horn；
Propeller is folded, is connected with the output shaft of the motor, the folding propeller includes paddle folder and is foldably connected
To at least two blades of paddle folder；
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor as right is wanted
Method described in asking any one of 1~9, to control the folding propeller.
20. a kind of electronic equipment readable storage medium storing program for executing, which is characterized in that including：Program, when it runs on an electronic device,
So that electronic equipment perform claim requires 1~9 described in any item methods.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810645079.1A CN108860594B (en) | 2018-06-21 | 2018-06-21 | Fold propeller control method, device and equipment |
| PCT/CN2018/113015 WO2019242197A1 (en) | 2018-06-21 | 2018-10-31 | Folding propeller control method and apparatus, and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810645079.1A CN108860594B (en) | 2018-06-21 | 2018-06-21 | Fold propeller control method, device and equipment |
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| CN108860594B CN108860594B (en) | 2019-09-10 |
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| Publication number | Publication date |
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| CN108860594B (en) | 2019-09-10 |
| WO2019242197A1 (en) | 2019-12-26 |
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