CN113302129A

CN113302129A - Power failure detection method and device for unmanned aerial vehicle and unmanned aerial vehicle

Info

Publication number: CN113302129A
Application number: CN202080008643.4A
Authority: CN
Inventors: 贾向华; 王璐; 王晓亮
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2021-08-24
Also published as: WO2022067463A1

Abstract

A power failure detection method of an unmanned aerial vehicle comprises the following steps: acquiring the rotating speeds or electrical parameters of a plurality of driving motors when the unmanned aerial vehicle is in a hovering state; determining whether the driving motor in the plurality of driving motors is abnormally mounted or whether the propeller in the plurality of propellers is broken according to the rotating speed or the electrical parameter of the plurality of driving motors; and if the driving motor installation abnormality of the plurality of driving motors or the breakage of the propellers of the plurality of propellers is determined, executing a first safety response operation. By collecting the working parameters of the plurality of driving motors when the unmanned aerial vehicle is in a hovering state and judging whether the driving motors in the plurality of driving motors are abnormally installed or whether the propellers in the plurality of propellers are broken based on the working parameters of the plurality of driving motors, the abnormal installation of the driving motors or the damage of the propellers can be found in time, and the potential safety hazard can be avoided.

Description

Power failure detection method and device for unmanned aerial vehicle and unmanned aerial vehicle

Technical Field

The invention relates to the technical field of control, in particular to a power failure detection method and device for an unmanned aerial vehicle and the unmanned aerial vehicle.

Background

Unmanned vehicles have been developed in recent years, and are applied to various fields, for example, unmanned vehicles are often used for agricultural surveying, topographic mapping, film shooting, etc., unmanned vehicles are often used for underwater shooting, underwater sample collection, etc., which can greatly improve the working efficiency of the corresponding fields. Due to installation manufacturing, collision and the like, the installation angle of the driving motor of the unmanned aerial vehicle may be abnormal, for example, in a normal situation, the driving motor should be vertically installed, and due to manufacturing error or collision, the driving motor may deviate from a vertical direction. In addition, the propeller driven by the motor may be broken. At present, the fault detection of the motor of the unmanned aerial vehicle mainly detects the state of the motor through an electric regulation system to detect whether the state of the motor is normal or not, but the problem of abnormal installation or screw fracture of a driving motor of the unmanned aerial vehicle cannot be detected. .

Disclosure of Invention

The embodiment of the invention provides a power failure detection method and device for an unmanned aerial vehicle and the unmanned aerial vehicle, which are used for solving at least one of the technical problems.

In a first aspect, an embodiment of the present invention provides a power failure detection method for an unmanned aerial vehicle, where the unmanned aerial vehicle includes a power system for providing flight power, the power system includes a plurality of driving motors and a plurality of propellers driven by the driving motors, and the method includes:

acquiring the rotating speeds or electrical parameters of the plurality of driving motors when the unmanned aerial vehicle is in a hovering state;

determining whether a driving motor of the plurality of driving motors is abnormally mounted or whether a propeller of the plurality of propellers is broken according to the rotating speed or the electrical parameter of the plurality of driving motors;

and if the driving motor in the plurality of driving motors is determined to be abnormally installed or the propellers in the plurality of propellers are broken, executing a first safety response operation.

In a second aspect, the present invention provides a power failure detection apparatus for an unmanned aerial vehicle, the unmanned aerial vehicle including a power system for providing flight power, the power system including a plurality of drive motors and a plurality of propellers driven by the plurality of drive motors, the apparatus comprising:

at least one processor;

and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform:

In a third aspect, the present invention provides an unmanned aerial vehicle comprising:

a movable body, and

the power failure detection device of the unmanned aerial vehicle according to any one of the preceding embodiments mounted on the movable body.

In a fourth aspect, an embodiment of the present invention provides a storage medium, where one or more programs including execution instructions are stored, where the execution instructions can be read and executed by an electronic device (including but not limited to a computer, a server, or a network device, etc.) to perform any one of the above-described power failure detection methods for an unmanned aerial vehicle according to the present invention.

In a fifth aspect, the present invention also provides a computer program product, which includes a computer program stored on a storage medium, the computer program including program instructions that, when executed by a computer, cause the computer to execute any one of the above-mentioned power failure detection methods for an unmanned aerial vehicle.

The embodiment of the invention has the beneficial effects that: the embodiment is that the working parameters (rotating speed or electrical parameters) of the plurality of driving motors are acquired when the unmanned aerial vehicle is in the hovering state, and whether the driving motors in the plurality of driving motors are abnormally installed or whether the propellers in the plurality of propellers are broken is reversely deduced based on the consistency analysis of the working parameters of the plurality of driving motors, so that the abnormal motor installation or the propeller damage condition can be timely found, and the potential safety hazard can be avoided.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow chart of one embodiment of a power failure detection method of an unmanned aerial vehicle of the present disclosure;

FIG. 2 is a flow chart of another embodiment of a power failure detection method of an UAV of the present invention;

FIG. 3 is a flow chart of another embodiment of a power failure detection method of an UAV of the present invention;

FIG. 4 is a flow chart of another embodiment of a power failure detection method of an UAV of the present invention;

FIG. 5 is a flow chart of another embodiment of a power failure detection method of an UAV of the present invention;

FIG. 6 is a flow chart of another embodiment of a power failure detection method of an UAV of the present invention;

FIG. 7 is a flow chart of another embodiment of a power failure detection method of an UAV of the present invention;

FIG. 8 is a flow chart of another embodiment of a power failure detection method of an UAV of the present invention;

FIG. 9 is a flow chart of another embodiment of a power failure detection method of an UAV of the present invention;

FIG. 10 is a flow chart of another embodiment of a power failure detection method of an UAV of the present invention;

FIG. 11 is a flow chart of another embodiment of a power failure detection method of an UAV of the present invention;

FIG. 12 is a flow chart of another embodiment of a power failure detection method of an UAV of the present invention;

fig. 13 is a schematic structural view of an embodiment of the unmanned aerial vehicle according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The invention provides a power failure detection method of an unmanned aerial vehicle, a device for executing the power failure detection method of the unmanned aerial vehicle and the unmanned aerial vehicle (such as a quad-rotor unmanned aerial vehicle) provided with the device. In the following embodiments of the present invention, an unmanned aerial vehicle is taken as an example to explain the unmanned aerial vehicle as a quad-rotor unmanned aerial vehicle.

As shown in fig. 1, an embodiment of the present invention provides a power failure detection method for an unmanned aerial vehicle including a power system providing flight power, the power system including a plurality of drive motors and a plurality of propellers driven by the plurality of drive motors, the method including the steps of:

and step S10, acquiring the rotating speeds or electrical parameters of the plurality of driving motors when the unmanned aerial vehicle is in the hovering state.

Exemplarily, the hovering state of the quad-rotor aircraft means that the quad-rotor aircraft is in a static state in the air by means of power generated by driving four propellers by four driving motors, and does not move in the horizontal direction and the vertical direction.

For example, the unmanned aerial vehicle is further provided with an electric tuning system (each driving motor corresponds to one electric tuning system) corresponding to a plurality of driving motors (each driving motor drives a respective propeller), and the flight control system of the unmanned aerial vehicle can acquire state information of the motors, such as rotating speed, current, voltage and the like, in real time through the electric tuning system.

Illustratively, for a quad-rotor drone, the plurality of drive motors are four drive motors and the plurality of propellers are four propellers. The rotating speeds of the four driving motors are respectively R1-R4, the electrical parameters comprise voltage parameters and/or current parameters, the voltage parameters of the four driving motors are respectively U1-U4, and the current parameters of the four driving motors are respectively I1-I4.

And step S20, determining whether the driving motor in the plurality of driving motors is abnormally mounted or whether the propeller in the plurality of propellers is broken according to the rotating speed or the electrical parameter of the plurality of driving motors.

For example, it is possible to determine whether there is a motor with an abnormal installation among the four driving motors or whether there is a broken propeller among the plurality of propellers by determining the rotation speeds R1 to R4 of the four driving motors. Alternatively, it may be determined whether there is a motor with an abnormal installation among the four driving motors or whether there is a broken propeller among the plurality of propellers by determining the voltage parameters U1 to U4 (or the current parameters I1 to I4) of the four driving motors.

And step S30, if the driving motor installation of the plurality of driving motors is determined to be abnormal or the propellers of the plurality of propellers are broken, executing a first safety response operation.

When the unmanned aerial vehicle is in a hovering state and the plurality of driving motors are normally installed and the plurality of propellers are intact, the plurality of driving motors of the unmanned aerial vehicle are required to drive the plurality of propellers at approximately equivalent operating parameters (rotating speed or voltage or current) so as to provide approximately equivalent power to maintain the hovering state of the unmanned aerial vehicle. If the installation angle of one drive motor is deviated from that of other drive motors or one drive motor is damaged, in order to normally reach a hovering state, the flight control system can automatically change the working parameters (rotating speed or voltage or current) of the one drive motor, so that the working parameters of the flight control system are different from those of the other drive motors.

The embodiment is that the working parameters (rotating speed or electrical parameters) of the plurality of driving motors are acquired when the unmanned aerial vehicle is in the hovering state, and whether the driving motors in the plurality of driving motors are abnormally installed or whether the propellers in the plurality of propellers are broken is reversely deduced based on the consistency analysis of the working parameters of the plurality of driving motors, so that the abnormal motor installation or the propeller damage condition can be timely found, and the potential safety hazard can be avoided.

In one embodiment, performing a first security response operation includes: and sending first prompt information to a control terminal in communication connection with the unmanned aerial vehicle so as to enable the control terminal to display a first prompt notice.

For example, the control terminal may be a remote controller configured with the unmanned aerial vehicle, the remote controller may be provided with a display screen and/or an indicator light, and after the remote controller receives the first prompt message, the first prompt message is displayed on the display screen (the first prompt message may be one or a combination of text prompt, voice prompt, picture prompt, video prompt, or moving picture prompt, and the like, which is not limited in this respect), or the indicator light is controlled to light according to a preset mode.

Illustratively, the control terminal can also be a combination of a remote controller and a smart phone. The smart phone is installed on the remote controller and is in communication connection with the remote controller, and the remote controller is in communication connection with the unmanned aerial vehicle to receive data information sent by the unmanned aerial vehicle. And after the remote controller receives the first prompt message, controlling the smart phone to display the first prompt notice. The remote controller can be further provided with an indicator light, and after receiving the first prompt message, the remote controller controls the lighting according to a preset mode.

In one embodiment, performing a first security response operation includes: and controlling the unmanned aerial vehicle to land or return.

In the embodiment, when the driving motor with abnormal installation or the damaged propeller is judged to exist on the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to land or return, and the safety of the unmanned aerial vehicle is ensured in time.

As shown in fig. 2, which is a flowchart of an embodiment of the method for detecting a fault of an unmanned aerial vehicle according to the present invention, in this embodiment, the step S20 determines whether a driving motor of the plurality of driving motors is abnormally mounted or whether a propeller of the plurality of propellers is broken according to the rotation speed or the electrical parameter of the plurality of driving motors, including:

and step S21, determining the consistent degree of the rotation speeds of the plurality of driving motors according to the rotation speeds of the plurality of driving motors.

For example, for a quad-rotor drone, the rotation speeds of the four driving motors R1 to R4 respectively can be compared with the rotation speeds of the four driving motors R1 to R4 to determine the degree of rotation speed coincidence. For example, the rotational speeds of the respective drive motors may be compared with the average or median rotational speed determined from the four drive motors, respectively, to determine the degree of rotational speed coincidence. For example, the rotation speeds of the four driving motors may be compared pairwise, and a pair of driving motors with the largest rotation speed difference is selected to determine the degree of rotation speed coincidence.

And step S22, if the rotating speed consistency degree meets the preset rotating speed consistency degree condition, determining that the driving motors in the plurality of driving motors are abnormally installed or the propellers in the plurality of propellers are broken.

Illustratively, the rotation speed coincidence degree preset condition is a judgment condition for judging the presence of mounting abnormality or breakage in the plurality of drive motors or the plurality of propellers. When the rotation speed coincidence degree determined in step S21 satisfies the rotation speed coincidence degree preset condition, it is determined that there is a drive motor of an abnormal installation among the plurality of drive motors or that there is a broken or broken propeller among the plurality of propellers.

Or,

and step S23, determining the consistency degree of the electrical parameters of the plurality of driving motors according to the electrical parameters of the plurality of driving motors.

Illustratively, the electrical parameters include voltage parameters and/or current parameters, for a quad-rotor drone, the voltage parameters of the four driving motors are respectively U1 to U4, and the current parameters of the four driving motors are respectively I1 to I4, and the degree of coincidence of the electrical parameters can be determined by comparing the voltage parameters U1 to U4 (and/or the current parameters I1 to I4) of the four driving motors.

For example, the voltage parameter (and/or the current parameter) of each driving motor may be compared with the average value of the voltage parameters (and/or the current parameters) or the median voltage parameter (and/or the current parameter) determined according to the four driving motors, respectively, to determine the degree of coincidence of the electrical parameters.

For example, the voltage parameters (and/or the current parameters) of the four driving motors may be compared two by two, and a pair of driving motors with the largest difference in rotation speed may be selected to determine the degree of consistency of the electrical parameters.

And step S24, if the consistency degree of the electrical parameters meets the preset condition of the consistency degree of the electrical parameters, determining that the installation of the driving motors in the plurality of driving motors is abnormal or the propellers in the plurality of propellers are broken.

Illustratively, the preset condition of the degree of coincidence of the electrical parameters is a judgment condition for judging the presence of mounting abnormality or breakage in the plurality of drive motors or the plurality of propellers. When the degree of coincidence of the electrical parameters determined in step S23 satisfies the preset condition of the degree of coincidence of the electrical parameters, it is determined that there is a drive motor of an abnormal installation among the plurality of drive motors or that there is a broken or broken propeller among the plurality of propellers.

In this embodiment, the degree of consistency between the plurality of rotational speeds (or the plurality of electrical parameters) of the plurality of driving motors of the unmanned aerial vehicle is used to accurately find the driving motor which shows an abnormality, so as to determine whether there is a motor which is abnormally mounted or a broken propeller among the plurality of driving motors or the plurality of propellers.

As shown in fig. 3, which is a flowchart of an embodiment of the method for detecting a fault of an unmanned aerial vehicle according to the present invention, in this embodiment, the step S21 determines a degree of coincidence between the rotation speeds of the plurality of driving motors according to the rotation speeds of the plurality of driving motors, including:

step S211, determining a first characteristic rotating speed of the rotating speeds of the plurality of driving motors, wherein the first characteristic rotating speed is an average rotating speed or a median rotating speed.

Illustratively, for a quad-rotor drone, the average speed is: (R1+ R2+ R3+ R4)/4. The median rotation speed may be a rotation speed value midway between R1 through R4, for example, if R1 < R2 ═ R3 < R4, the median rotation speed is R2 or R3; if R1 < R2 < R3 < R4, the median rotation speed is R2 or R3, or the smaller one of R2 and R3 which is different from the average rotation speed is determined as the median rotation speed.

And S212, determining a second characteristic rotating speed of the rotating speeds of the plurality of driving motors, wherein the second characteristic rotating speed is the lowest rotating speed and/or the highest rotating speed.

For example, the drive motor with the lowest rotation speed and the drive motor with the highest rotation speed are selected first, and then the lowest rotation speed and the highest rotation speed are compared with the average rotation speed or the middle rotation speed determined in step S211, respectively, and a rotation speed closer to the average rotation speed or the middle rotation speed is selected as the second characteristic rotation speed.

For example, when the first characteristic rotation speed is an average rotation speed, the lowest rotation speed is R1, the highest rotation speed is R4, and the difference between R1 and the average rotation speed is greater than the difference between R4 and the average rotation speed, it is determined that the lowest rotation speed R1 is the second characteristic rotation speed; when the first characteristic rotating speed is the middle rotating speed, the lowest rotating speed is R1, the highest rotating speed is R4, and the difference value between R1 and the middle rotating speed is larger than the difference value between R4 and the middle rotating speed, the lowest rotating speed R1 is determined to be the second characteristic rotating speed.

For example, after determining the first comparison difference between the minimum rotation speed R1 and the first characteristic rotation speed and the second comparison difference between the maximum rotation speed R4 and the first characteristic rotation speed, if the first comparison difference and the second comparison difference are not much different (for example, the ratio of the smaller to the larger is greater than 0.9), the second characteristic rotation speed is the minimum rotation speed and the maximum rotation speed. The present embodiment can detect the situation that the driving motor or the propeller corresponding to the lowest rotation speed and the highest rotation speed respectively has abnormality.

Step S213, determining that a first rotation speed difference between the first characteristic rotation speed and the second characteristic rotation speed is a rotation speed consistency degree of the plurality of driving motors, and if the first rotation speed difference is greater than or equal to a first preset rotation speed difference threshold, determining that the rotation speed consistency degree meets a preset rotation speed consistency degree condition.

Illustratively, when the second characteristic rotation speed is the lowest rotation speed or the highest rotation speed, step S213 includes: and determining that a first rotating speed difference value between the first characteristic rotating speed and the second characteristic rotating speed is the rotating speed consistency degree of the plurality of driving motors, and if the first rotating speed difference value is greater than or equal to a first preset rotating speed difference threshold value, determining that the rotating speed consistency degree meets a rotating speed consistency degree preset condition.

Illustratively, when the second characteristic rotation speed is the lowest rotation speed and the highest rotation speed, step S213 includes: determining that the rotating speed difference value between the first characteristic rotating speed and the lowest rotating speed is the rotating speed consistency degree of the plurality of driving motors, and if the rotating speed difference value is greater than or equal to a first preset rotating speed difference threshold value, determining that the rotating speed consistency degree meets the rotating speed consistency degree preset condition; and determining that the rotating speed difference value between the first characteristic rotating speed and the highest rotating speed is the rotating speed consistency degree of the plurality of driving motors, and if the rotating speed difference value is larger than or equal to a first preset rotating speed difference threshold value, determining that the rotating speed consistency degree meets the rotating speed consistency degree preset condition.

In some embodiments, the step S21 of determining the degree of coincidence of the rotation speeds of the plurality of driving motors according to the rotation speeds of the plurality of driving motors includes determining a difference between a maximum rotation speed and a minimum rotation speed among the rotation speeds of the plurality of driving motors as the degree of coincidence of the rotation speeds of the plurality of driving motors, and determining that the degree of coincidence of the rotation speeds satisfies a preset condition of the degree of coincidence of the rotation speeds when the difference is greater than or equal to a preset threshold value of the rotation speeds.

In this embodiment, when the difference between the maximum rotation speed and the minimum rotation speed of the plurality of driving motors is large enough (defined by a preset rotation speed threshold, and a specific value is different according to different types of unmanned aerial vehicles, which is not limited by the present invention), an abnormal driving motor installed or a damaged or broken propeller inevitably exists in the plurality of driving motors or the plurality of propellers. The power failure of the unmanned aerial vehicle can be detected more quickly and accurately based on the embodiment.

As shown in fig. 4, which is a flowchart of an embodiment of the method for detecting a fault of an unmanned aerial vehicle of the present invention, in this embodiment, the step S23 determines a degree of coincidence of the electrical parameters of the plurality of driving motors according to the electrical parameters of the plurality of driving motors, including:

step S231, determining a first characteristic electrical parameter of the plurality of driving motors, wherein the first characteristic electrical parameter is an average electrical parameter or a median electrical parameter.

For example, when the electrical parameter is a voltage parameter, the average voltage parameter is: (U1+ U2+ U3+ U4)/4. The median voltage parameter is the voltage parameter with the middle value from U1 to U4. For example, if U1 < U2 ═ U3 < U4, the median voltage parameter is U2 or U3; if the U1 < U2 < U3 < U4, the median voltage parameter is U2 or U3, or the smaller one of the U2 and U3 which is different from the average voltage parameter is determined as the median voltage parameter.

For example, when the electrical parameter is a current parameter, the average current parameter is: (I1+ I2+ I3+ I4)/4. The median current parameter is the current parameter with the middle value from I1 to I4. For example, if I1 < I2 ═ I3 < I4, the median current parameter is I2 or I3; if I1 < I2 < I3 < I4, the median current parameter is I2 or I3, or the smaller of I2 and I3 which is different from the average current parameter is determined to be the median current parameter.

For example, when the electrical parameter is a voltage parameter and a current parameter, the average voltage parameter or the median voltage parameter and the average current parameter or the median current parameter are determined simultaneously according to the above method.

Step S232, determining a second characteristic electrical parameter of the plurality of driving motors, wherein the second characteristic electrical parameter is a lowest electrical parameter and/or a highest electrical parameter.

For example, when the electrical parameter is a voltage parameter, the driving motor with the minimum voltage parameter and the maximum voltage parameter is selected first, and then the minimum voltage and the maximum voltage are compared with the average voltage parameter or the median voltage parameter determined in step S211, respectively, and a voltage closer to the average voltage parameter or the median voltage parameter is selected as the second characteristic electrical parameter.

For example, when the first characteristic electrical parameter is an average voltage parameter, the minimum voltage is U1, the maximum voltage is U4, and the difference between U1 and the average voltage parameter is greater than the difference between U4 and the average voltage, the minimum voltage U1 is determined to be the second characteristic electrical parameter; when the first characteristic electrical parameter is a middle electrical parameter, the minimum voltage is U1, the maximum voltage is U4, and the difference between U1 and the middle voltage parameter is greater than the difference between U4 and the middle voltage parameter, the minimum voltage U1 is determined to be a second characteristic electrical parameter.

Illustratively, after determining a first comparison difference between the minimum voltage U1 and the first characteristic electrical parameter and a second comparison difference between the maximum voltage U4 and the first characteristic electrical parameter, if the first comparison difference and the second comparison difference differ by a small amount (e.g., the ratio of the smaller to the larger is greater than 0.9), the second characteristic electrical parameter is the minimum voltage and the maximum voltage.

For example, when the electrical parameter is a current parameter, the driving motor with the minimum current parameter and the maximum voltage parameter is selected first, and then the minimum current and the maximum current are compared with the average current parameter or the median current parameter determined in step S211, respectively, and a current closer to the average current parameter or the median current parameter is selected as the second characteristic electrical parameter.

For example, when the first characteristic electrical parameter is an average current parameter, the minimum current is I1, the maximum current is I4, and the difference between I1 and the average current parameter is greater than the difference between I4 and the average current, the minimum current I1 is determined as the second characteristic electrical parameter; when the first characteristic electrical parameter is a medium current parameter, the minimum current is I1, the maximum current is I4, and the difference between I1 and the medium current parameter is greater than the difference between I4 and the medium current parameter, the minimum current I1 is determined to be a second characteristic electrical parameter.

Illustratively, after determining a first comparison difference between the minimum current I1 and the first characteristic current parameter and a second comparison difference between the maximum current I4 and the first characteristic current parameter, if the first comparison difference and the second comparison difference differ by a small amount (e.g., the ratio of the smaller to the larger is greater than 0.9), the second characteristic electrical parameter is the minimum current and the maximum current.

For example, when the electrical parameters are a voltage parameter and a current parameter, the second characteristic electrical parameters of the plurality of driving motors are determined according to the method in the foregoing embodiment.

Step S233, determining a first electrical parameter difference between the first characteristic electrical parameter and the second characteristic electrical parameter as an electrical parameter consistency degree of the plurality of driving motors, and if the first electrical parameter difference is greater than or equal to a first preset electrical parameter difference threshold, determining that the electrical parameter consistency degree meets a preset electrical parameter consistency degree condition.

For example, when the second characteristic electrical parameter is a minimum voltage or a maximum voltage, the step S213 includes: and determining a first voltage parameter difference value between the first characteristic voltage parameter and the second characteristic voltage parameter as the electrical parameter consistency degree of the plurality of driving motors, and if the first voltage parameter difference value is greater than or equal to a first preset electrical parameter difference threshold value, determining that the electrical parameter consistency degree meets the electrical parameter consistency degree preset condition.

Illustratively, when the second characteristic rotation speed is a minimum voltage or a maximum voltage, step S213 includes: determining a voltage parameter difference value between the first characteristic voltage parameter and the minimum voltage as an electrical parameter consistency degree of the plurality of driving motors, and if the voltage parameter difference value is greater than or equal to a first preset electrical parameter difference threshold value, determining that the electrical parameter consistency degree meets an electrical parameter consistency degree preset condition; and determining that the voltage parameter difference between the first characteristic voltage parameter and the maximum voltage is the electrical parameter consistency degree of the plurality of driving motors, and if the voltage parameter difference is greater than or equal to a first preset electrical parameter difference threshold, determining that the electrical parameter consistency degree meets the electrical parameter consistency degree preset condition.

For example, when the second characteristic electrical parameter is the minimum current or the maximum current, the step S213 includes: and determining a first current parameter difference value between the first characteristic current parameter and the second characteristic current parameter as the electrical parameter consistency degrees of the plurality of driving motors, and if the first current parameter difference value is greater than or equal to a first preset electrical parameter difference threshold value, determining that the electrical parameter consistency degrees meet the electrical parameter consistency degree preset condition.

Illustratively, when the second characteristic rotational speed is a minimum current or a maximum current, step S213 includes: determining a current parameter difference value between the first characteristic current parameter and the minimum current as an electrical parameter consistency degree of a plurality of driving motors, and if the current parameter difference value is greater than or equal to a first preset electrical parameter difference threshold value, determining that the electrical parameter consistency degree meets an electrical parameter consistency degree preset condition; and determining the voltage parameter difference between the first characteristic current parameter and the maximum current as the electrical parameter consistency degree of the plurality of driving motors, and if the current parameter difference is greater than or equal to a first preset electrical parameter difference threshold, determining that the electrical parameter consistency degree meets the electrical parameter consistency degree preset condition.

In some embodiments, the step S23 of determining the electrical parameter consistency degrees of the plurality of driving motors according to the electrical parameters of the plurality of driving motors includes determining a difference between a maximum electrical parameter and a minimum electrical parameter of the electrical parameters of the plurality of driving motors as the electrical parameter consistency degrees of the plurality of driving motors, and determining that the electrical parameter consistency degrees satisfy an electrical parameter consistency degree preset condition when the difference is greater than or equal to a preset electrical parameter threshold value.

In this embodiment, when the difference between the maximum electrical parameter and the minimum electrical parameter of the plurality of driving motors is large enough (defined by a preset electrical parameter threshold, and a specific value is different according to different types of unmanned aerial vehicles, which is not limited by the present invention), an abnormal driving motor or a damaged or broken propeller inevitably exists in the plurality of driving motors or the plurality of propellers. The power failure of the unmanned aerial vehicle can be detected more quickly and accurately based on the embodiment.

As shown in fig. 5, in some embodiments of the power failure detection method of an unmanned aerial vehicle of the present invention, the first safety response operation is performed in step S30, including:

and step S31, if the first rotating speed difference value is greater than or equal to a first preset rotating speed difference threshold value and smaller than a second preset rotating speed difference threshold value, sending first prompt information to the control terminal of the communication connection of the unmanned aerial vehicle so that the control terminal can display a first prompt notice.

For example, the control terminal may be a remote controller, or may be a combination of a remote controller and a mobile terminal (e.g., a smart phone, a tablet computer), and the like, which is not limited in this respect.

The first prompt notification may be an alarm prompt message displayed on a display screen of the remote controller or an alarm prompt message displayed on a display screen of the mobile terminal. The alarm prompt information can be one or combination of more of characters, pictures, moving pictures, videos, voices and the like.

And step S32, if the first rotating speed difference value is larger than or equal to a second preset rotating speed difference threshold value, controlling the unmanned aerial vehicle to land or return.

In the embodiment, the warning of different fault levels of the unmanned aerial vehicle is realized by setting the first preset rotating speed difference threshold value and the second preset rotating speed difference threshold value. The larger the first rotation speed difference value between the first characteristic rotation speed and the second characteristic rotation speed of the rotation speeds of the plurality of drive motors, the higher the fault level of the unmanned aerial vehicle is indicated.

In this embodiment, when the first differential rotational speed value is greater than or equal to the first preset differential rotational speed threshold value and less than the second preset differential rotational speed threshold value, the corresponding fault level is relatively low, the emergency degree is relatively low, and the current flight is not greatly affected, so that the adopted measures are to send prompt information to the control terminal of the unmanned aerial vehicle in communication connection to display a first prompt notification by the controller, prompt an operator to take corresponding measures, for example, complete the current flight mission as soon as possible, and then control the unmanned aerial vehicle to return to the home and perform maintenance. When the first rotating speed difference value is greater than or equal to the second preset rotating speed difference threshold value, the corresponding fault level is relatively high, the emergency degree is relatively high, and therefore the aircraft is directly controlled to land or return, so that potential dangers (such as crash and the like) are avoided to the maximum extent.

As shown in fig. 6, in some embodiments of the power failure detection method of an unmanned aerial vehicle of the present invention, the first safety response operation is performed in step S30, including:

step S31', if the first electrical parameter difference value is greater than or equal to a first preset electrical parameter difference threshold value and less than a second preset electrical parameter difference threshold value, send a first prompt message to a control terminal of the unmanned aerial vehicle communication connection so that the control terminal displays a first prompt notification.

For example, the alarm condition satisfied by the first electrical parameter difference in this step corresponds to a case where the failure level is relatively low.

And step S32', if the first electrical parameter difference is greater than or equal to a second preset electrical parameter difference threshold value, controlling the unmanned aerial vehicle to land or return.

For example, the alarm condition satisfied by the first electrical parameter difference in this step corresponds to a case where the failure level is relatively high.

In this embodiment, the alarm of different fault levels of the unmanned aerial vehicle is realized by setting the first preset electrical parameter difference threshold value and the second preset electrical parameter difference threshold value.

In this embodiment, the electrical parameter may be a voltage parameter and/or a current parameter.

When the electrical parameters include both voltage parameters and current parameters, a first preset voltage parameter difference threshold and a second preset voltage parameter difference threshold corresponding to the voltage parameters and a first preset current parameter difference threshold and a second preset current parameter difference threshold corresponding to the current parameters are respectively configured. Whether the first electrical parameter difference corresponding to the voltage parameter satisfies the alarm condition or the first electrical parameter difference corresponding to the current parameter satisfies the alarm condition, a corresponding alarm is given. The alarm condition is a judgment condition comparing with the magnitude between the first preset electrical parameter difference threshold and the second preset electrical parameter difference threshold. In addition, when the first electrical parameter difference value corresponding to the voltage parameter and the current parameter both satisfy the alarm condition, the control operation corresponding to the higher fault level is preferentially performed.

As shown in fig. 7, in some embodiments of the power failure detection method of an unmanned aerial vehicle of the present invention, the method further includes:

and S40, acquiring the rotating speed or the electrical parameters of the plurality of driving motors when the unmanned aerial vehicle is in the flight state.

Exemplarily, each driving motor is configured with one electric speed regulator in the unmanned aerial vehicle, a plurality of electric speed regulators form an electric speed regulation system, each electric speed regulator pushes state information of the driving motor, and the flight control system acquires the state information of the driving motor, such as rotating speed or electric parameters.

Illustratively, the flight state refers to a state in which the unmanned aerial vehicle has horizontal or vertical movement in the air. For a quad-rotor unmanned aerial vehicle, the rotating speeds R1-R4 of four driving motors when the quad-rotor unmanned aerial vehicle is in a flight state, or electrical parameters are obtained. The electrical parameters are voltage parameters U1-U4 and/or current parameters I1-I4.

And S50, determining whether the working state of the corresponding driving motor is abnormal according to the rotating speed or the electrical parameter of each driving motor in the plurality of driving motors.

For example, for a quad-rotor unmanned aerial vehicle, whether the working state of the driving motor is abnormal or not is determined according to the respective rotating speed or electrical parameters of the four driving motors.

And S60, if the working state of the driving motor in the plurality of driving motors is abnormal, executing a second safety response operation.

For example, various operating parameters of each driving motor of the unmanned aerial vehicle in a normal operating state are matched with each other, for example, a corresponding relation exists between a rotating speed and an electrical parameter. Whether the working state of each driving motor is abnormal or not is rapidly detected by collecting the rotating speed or the electrical parameter of each driving motor for judgment.

In some embodiments, performing a second security response operation comprises: and sending second prompt information to the control terminal which is in communication connection with the unmanned aerial vehicle so as to enable the control terminal to display a second prompt notice.

For example, the control terminal may be a remote controller configured with the unmanned aerial vehicle, the remote controller may be provided with a display screen and/or an indicator light, and after the remote controller receives the second prompt message, the second prompt message is displayed on the display screen (the second prompt message may be one or a combination of text prompt, voice prompt, picture prompt, video prompt, or moving picture prompt, and the like, which is not limited in this respect), or the indicator light is controlled to light according to a preset mode.

Illustratively, the control terminal can also be a combination of a remote controller and a smart phone. The smart phone is installed on the remote controller and is in communication connection with the remote controller, and the remote controller is in communication connection with the unmanned aerial vehicle to receive data information sent by the unmanned aerial vehicle. And after the remote controller receives the second prompt message, controlling the smart phone to display a second prompt notice. And an indicator light can be further configured on the remote controller, and the remote controller is controlled to be lightened according to a preset mode after receiving the second prompt message.

In some embodiments, performing a second security response operation comprises: and controlling the unmanned aerial vehicle to land or return.

In some embodiments, the step S10 obtains the rotation speeds or the electrical parameters of the plurality of driving motors when the unmanned aerial vehicle is in the hovering state, including:

when the working state of each driving motor in the plurality of driving motors is normal, the rotating speed or the electrical parameter of the plurality of driving motors when the unmanned aerial vehicle is in the hovering state is obtained.

In this embodiment, before the unmanned aerial vehicle is subjected to fault detection in the hovering state to obtain the rotation speeds or the electrical parameters of the plurality of driving motors, whether the working state of each driving motor is normal is detected, and only when it is determined that the plurality of driving motors are all working normally, subsequent fault detection is further performed. The situation that the driving motor is judged to be abnormal in installation or the propeller is broken or damaged due to the abnormal work of the driving motor is avoided.

As shown in fig. 8, in some embodiments of the power failure detection method of an unmanned aerial vehicle of the present invention, the step S50 of determining whether the operating state of the corresponding drive motor is abnormal according to the rotation speed of each of the plurality of drive motors includes:

and step S51, calculating the reference electrical parameter of the corresponding driving motor according to the rotating speed of each driving motor in the plurality of driving motors.

Illustratively, the flight control can acquire the real-time state of each motor on the airplane through a communication line between the flight control and the electric controller. After the flight control system acquires the state information of the single motor, the state of the single motor can be monitored according to the relationship between the state information, and the specific implementation mode is as follows. Under the normal working condition of the motor of the unmanned aerial vehicle, the relation between the current and the rotating speed is shown as the formula (1):

wherein s is the rotation speed of the driving motor, I is the current of the driving motor, and A, B and C are constants. In the motor design and test stage, specific current can be input to the motor through a bench test under the normal working condition of the driving motor to obtain corresponding rotating speed, and then constants A, B and C in the formula can be obtained. The above is also the relationship between the rotation speed and the current of the motor in the normal operating state.

And step S52, acquiring the actual electrical parameters of each driving motor in the plurality of driving motors, which are acquired by the sensor.

Step S53, determining that the working state of the corresponding driving motor is abnormal when a second electrical parameter difference value between the reference electrical parameter and the actual electrical parameter corresponding to the same driving motor is greater than or equal to a third preset electrical parameter difference threshold value.

In this embodiment, a reference electrical parameter of the corresponding driving motor is first calculated according to the rotation speed of the driving motor, and then whether the corresponding driving motor is abnormal is determined according to whether the reference electrical parameter is consistent with an actual electrical parameter of the same driving motor collected by the sensor (for example, whether a difference between the reference electrical parameter and the actual electrical parameter is smaller than a preset difference).

As shown in fig. 9, in some embodiments of the power failure detection method of the unmanned aerial vehicle of the present invention, the step S50 of determining whether the operating state of the corresponding driving motor is abnormal according to the electrical parameter of each of the plurality of driving motors includes:

and step S51', calculating the reference rotating speed of the corresponding driving motor according to the electrical parameter of each driving motor in the plurality of driving motors.

Step S52', acquiring the actual rotating speed of each driving motor in the plurality of driving motors acquired by the sensor;

step S53', when a second rotation speed difference between the reference rotation speed and the actual rotation speed corresponding to the same drive motor is greater than or equal to a third preset rotation speed difference threshold, it is determined that the operating state of the corresponding drive motor is abnormal.

In this embodiment, the reference rotation speed of the corresponding driving motor is calculated according to the electrical parameter of the driving motor, and then whether the corresponding driving motor is abnormal is determined according to whether the reference rotation speed is consistent with the actual rotation speed of the same driving motor collected by the sensor (for example, whether the difference between the reference rotation speed and the actual rotation speed is smaller than a preset difference).

As shown in fig. 10, in some embodiments of the power failure detection method of an unmanned aerial vehicle of the present invention, step S60 performs a second safety response operation including:

step S61, when a second electrical parameter difference value between the reference electrical parameter and the actual electrical parameter corresponding to the same driving motor is greater than or equal to a third preset electrical parameter difference threshold value and smaller than a fourth preset electrical parameter difference threshold value, sending second prompt information to a control terminal in communication connection with the unmanned aerial vehicle so that the control terminal displays a second prompt notification;

and step S62, when the second electrical parameter difference value is larger than a fourth preset electrical parameter difference threshold value, controlling the unmanned aerial vehicle to land or return.

In this embodiment, the third preset electrical parameter difference threshold value and the fourth preset electrical parameter difference threshold value are set to alarm different fault levels of the unmanned aerial vehicle. The larger the first rotation speed difference value between the first characteristic rotation speed and the second characteristic rotation speed of the rotation speeds of the plurality of drive motors, the higher the fault level of the unmanned aerial vehicle is indicated.

As shown in fig. 11, in some embodiments of the power failure detection method of an unmanned aerial vehicle of the present invention, step S60 performs a second safety response operation including:

step S61', when a second rotation speed difference value between the reference rotation speed and the actual rotation speed corresponding to the same driving motor is greater than or equal to a third preset rotation speed difference threshold value and less than a fourth preset rotation speed difference threshold value, sending second prompt information to a control terminal in communication connection with the unmanned aerial vehicle so that the control terminal displays a second prompt notification;

and step S62', when the second rotation speed difference value is greater than or equal to the fourth preset rotation speed difference threshold value, controlling the unmanned aerial vehicle to land or return.

In the embodiment, the warning of different fault levels of the unmanned aerial vehicle is realized by setting the third preset rotating speed difference threshold value and the fourth preset rotating speed difference threshold value.

As shown in fig. 12, it is a flowchart of a power failure detection method for an unmanned aerial vehicle according to the present invention, where the method is applicable to a control device of the unmanned aerial vehicle, for example, the unmanned aerial vehicle is an unmanned aerial vehicle, and the corresponding control device is a flight control device, and the method includes:

the instruction flow of the present invention is shown in fig. 5, and it can be seen that the method mainly comprises the following steps: the electric control system pushes motor state information, the flight control system acquires the motor state information, the flight control system judges the state of a single motor, the flight control system judges the states of a plurality of electric controls, the flight control system issues a protection behavior instruction, and the APP displays a fault state.

The electric adjusting system is connected with a corresponding motor and can issue a PWM instruction to the motor to control the motor to rotate. Meanwhile, real-time information such as current, voltage, rotating speed and the like of the motor can be acquired. The electric tuning system can push various state information of the motor to the flight control system through a communication line between the electric tuning system and the flight control system.

The flight control can acquire the real-time state of each motor on the airplane through a communication line between the flight control and the electric controller.

After the flight control system acquires the state information of the single motor, the state of the single motor can be monitored according to the relationship between the state information, and the specific implementation mode is as follows. Under the normal working condition of the motor of the unmanned aerial vehicle, the relation between the current and the rotating speed is shown as the formula (1):

wherein s is the motor rotation speed, I is the motor current, and A, B and C are constants. In the stage of designing and testing the motor, specific current can be input into the motor through a bench test under the normal working condition of the motor to obtain corresponding rotating speed, and then constants A, B and C in a formula can be obtained. The above is also the relationship between the rotation speed and the current of the motor in the normal operating state.

In the actual work of the unmanned aerial vehicle, the flight control system can acquire the actual rotating speed s of a single motor, and the corresponding normal current is I1 under the condition of the rotating speed through a formula (1). Meanwhile, the actual current obtained by the flight control to the motor is I2. If the difference between the actual current and the theoretical current is too large, the motor can be judged to be in a fault state, and protective measures such as return flight or landing need to be executed. A two-stage protection threshold value needs to be set, and when the difference value exceeds a one-stage threshold value, a user is prompted to manually control the return flight of the airplane; and when the difference value exceeds the secondary threshold value, the fault state is a serious fault state, the airplane is controlled to land, and a user is prompted.

The flight control system can obtain the state information of all the motors and can carry out cross detection on the states of all the motors. The specific detection method comprises the following steps: theoretically, when the airplane suspends, the output of each motor is basically consistent, and the motors can be in a relatively consistent working state. The flight control system can sense the hovering state of the airplane and judge the state of each motor when the airplane hovers. Calculating the mean value s of all the motor rotating speeds₀At the current mean value i₀To supply each electricityThe difference is done with above-mentioned mean value to the actual rotational speed of machine and electric current, confirms the biggest motor of difference to judge whether the difference of electric current and rotational speed exceeds the threshold value, if exceed the threshold value, then judge that this motor has the installation problem, can be with this fault information propelling movement to APP, and then the suggestion user inspects and maintains, in time troubleshooting.

Through the single motor detection and the cross detection of the motors, the fault state of the single motor and the cross detection state of the motors can be accurately judged, protective measures are given in time, and a user is prompted to remove the fault.

In some embodiments, the present invention also provides a power failure detection apparatus for an unmanned aerial vehicle, the unmanned aerial vehicle including a power system providing flight power, the power system including a plurality of drive motors and a plurality of propellers driven by the plurality of drive motors, the apparatus comprising:

at least one processor;

In some embodiments, the processor is further configured to: and sending first prompt information to a control terminal in communication connection with the unmanned aerial vehicle so as to enable the control terminal to display a first prompt notice.

In some embodiments, the processor is further configured to: and controlling the unmanned aerial vehicle to land or return.

In some embodiments, the processor is further configured to:

determining the consistency degree of the rotating speeds of the plurality of driving motors according to the rotating speeds of the plurality of driving motors;

if the rotating speed consistency degree meets the rotating speed consistency degree preset condition, determining that the driving motors in the plurality of driving motors are abnormally installed or the propellers in the plurality of propellers are broken; or,

determining the consistency degree of the electrical parameters of the plurality of driving motors according to the electrical parameters of the plurality of driving motors;

and if the consistency degree of the electrical parameters meets the preset condition of the consistency degree of the electrical parameters, determining that the driving motors in the plurality of driving motors are abnormally installed or the propellers in the plurality of propellers are broken.

In some embodiments, the processor is further configured to:

determining a first characteristic rotating speed of rotating speeds of the plurality of driving motors, wherein the first characteristic rotating speed is an average rotating speed or a median rotating speed;

determining a second characteristic rotation speed of the rotation speeds of the plurality of driving motors, wherein the second characteristic rotation speed is the lowest rotation speed or the highest rotation speed;

and determining that a first rotation speed difference value between the first characteristic rotation speed and the second characteristic rotation speed is the rotation speed consistency degree of the plurality of driving motors, and if the first rotation speed difference value is greater than or equal to a first preset rotation speed difference threshold value, determining that the rotation speed consistency degree meets the preset rotation speed consistency degree condition.

In some embodiments, the processor is further configured to:

determining a first characteristic electrical parameter of the plurality of driving motors, wherein the first characteristic electrical parameter is an average electrical parameter or a median electrical parameter;

determining a second characteristic electrical parameter of the plurality of driving motors, wherein the second characteristic electrical parameter is a lowest electrical parameter or a highest electrical parameter;

and determining a first electrical parameter difference value between the first characteristic electrical parameter and the second characteristic electrical parameter as the electrical parameter consistency degrees of the plurality of driving motors, and if the first electrical parameter difference value is greater than or equal to a first preset electrical parameter difference threshold value, determining that the electrical parameter consistency degrees meet the electrical parameter consistency degree preset condition.

In some embodiments, the processor is further configured to:

if the first rotation speed difference value is greater than or equal to a first preset rotation speed difference threshold value and smaller than a second preset rotation speed difference threshold value, sending first prompt information to a control terminal of the unmanned aerial vehicle in communication connection so that the control terminal can display a first prompt notice;

and if the first rotating speed difference value is greater than or equal to a second preset rotating speed difference threshold value, controlling the unmanned aerial vehicle to land or return.

In some embodiments, the processor is further configured to:

if the first electrical parameter difference value is greater than or equal to a first preset electrical parameter difference threshold value and smaller than a second preset electrical parameter difference threshold value, sending first prompt information to a control terminal in communication connection with the unmanned aerial vehicle so that the control terminal displays a first prompt notice;

and if the first electrical parameter difference value is greater than or equal to a second preset electrical parameter difference threshold value, controlling the unmanned aerial vehicle to land or return.

In some embodiments, the processor is further configured to:

acquiring the rotating speeds or electrical parameters of the plurality of driving motors when the unmanned aerial vehicle is in a flight state;

determining whether the working state of the corresponding driving motor is abnormal or not according to the rotating speed or the electrical parameter of each driving motor in the plurality of driving motors;

and executing a second safety response operation if the working state of the driving motor in the plurality of driving motors is abnormal.

In some embodiments, the processor is further configured to: and sending second prompt information to a control terminal in communication connection with the unmanned aerial vehicle so as to enable the control terminal to display a second prompt notice.

In some embodiments, the processor is further configured to: and when the working state of each driving motor in the plurality of driving motors is normal, acquiring the rotating speed or the electrical parameters of the plurality of driving motors when the unmanned aerial vehicle is in a hovering state.

In some embodiments, the processor is further configured to:

calculating a reference electrical parameter of the corresponding driving motor according to the rotating speed of each driving motor in the plurality of driving motors;

acquiring actual electrical parameters of each driving motor in the plurality of driving motors, which are acquired by a sensor;

and when a second electrical parameter difference value between the reference electrical parameter and the actual electrical parameter corresponding to the same driving motor is greater than or equal to a third preset electrical parameter difference threshold value, determining that the working state of the corresponding driving motor is abnormal.

In some embodiments, the processor is further configured to:

calculating the reference rotating speed of the corresponding driving motor according to the electrical parameter of each driving motor in the plurality of driving motors;

acquiring the actual rotating speed of each driving motor in the plurality of driving motors acquired by a sensor;

and when a second rotating speed difference value between the reference rotating speed and the actual rotating speed corresponding to the same driving motor is greater than or equal to a third preset rotating speed difference threshold value, determining that the working state of the corresponding driving motor is abnormal.

In some embodiments, the processor is further configured to:

when a second electrical parameter difference value between the reference electrical parameter and the actual electrical parameter corresponding to the same driving motor is greater than or equal to a third preset electrical parameter difference threshold value and smaller than a fourth preset electrical parameter difference threshold value, sending second prompt information to a control terminal in communication connection with the unmanned aerial vehicle so that the control terminal displays a second prompt notification;

and when the second electrical parameter difference value is larger than a fourth preset electrical parameter difference threshold value, controlling the unmanned aerial vehicle to land or return.

In some embodiments, the processor is further configured to:

when a second rotating speed difference value between the reference rotating speed and the actual rotating speed corresponding to the same driving motor is greater than or equal to a third preset rotating speed difference threshold value and smaller than a fourth preset rotating speed difference threshold value, sending second prompt information to a control terminal of the unmanned aerial vehicle in communication connection so that the control terminal can display a second prompt notice;

and when the second rotation speed difference value is greater than or equal to the fourth preset rotation speed difference threshold value, controlling the unmanned aerial vehicle to land or return.

In some embodiments, the present invention also provides an unmanned aerial vehicle comprising:

a movable body, and

In some embodiments, the present invention further provides a storage medium having a computer program stored thereon, wherein the computer program is configured to implement the steps of the method according to any of the preceding embodiments when executed by a processor.

As shown in fig. 13, a schematic structural diagram of an embodiment of the unmanned aerial vehicle provided by the present invention includes: a movable body 600, and an unmanned aerial vehicle control device according to any of the preceding embodiments mounted on the movable body 600.

It should be noted that for simplicity of explanation, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will appreciate that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention. In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A method of power failure detection for an unmanned aerial vehicle, the unmanned aerial vehicle including a power system that provides flight power, the power system including a plurality of drive motors and a plurality of propellers driven by the plurality of drive motors, the method comprising:

2. The method of claim 1, wherein performing a first security response operation comprises:

and sending first prompt information to a control terminal in communication connection with the unmanned aerial vehicle so as to enable the control terminal to display a first prompt notice.

3. The method of claim 1, wherein performing a first security response operation comprises: and controlling the unmanned aerial vehicle to land or return.

4. The method of claim 1, wherein said determining whether a drive motor of the plurality of drive motors is abnormally mounted or a propeller of the plurality of propellers is broken according to a rotational speed or an electrical parameter of the plurality of drive motors comprises:

5. The method of claim 4, wherein said determining a degree of rotational speed coincidence of the plurality of drive motors based on the rotational speeds of the plurality of drive motors comprises:

determining a second characteristic rotation speed of the rotation speeds of the plurality of driving motors, wherein the second characteristic rotation speed is a lowest rotation speed and/or a highest rotation speed;

6. The method of claim 4, wherein said determining a degree of conformity of the electrical parameters of the plurality of drive motors based on the electrical parameters of the plurality of drive motors comprises:

determining a second characteristic electrical parameter of the plurality of driving motors, wherein the second characteristic electrical parameter is a lowest electrical parameter and/or a highest electrical parameter;

7. The method of claim 5, wherein performing the first security response operation comprises:

8. The method of claim 6, wherein performing the first security response operation comprises:

9. The method according to any one of claims 1-8, further comprising:

10. The method of claim 9, wherein performing a second security response operation comprises:

and sending second prompt information to a control terminal in communication connection with the unmanned aerial vehicle so as to enable the control terminal to display a second prompt notice.

11. The method of claim 9, wherein performing a second security response operation comprises: and controlling the unmanned aerial vehicle to land or return.

12. The method according to claim 9, wherein the obtaining of the rotation speed or the electrical parameter of the plurality of driving motors when the unmanned aerial vehicle is in the hovering state comprises:

and when the working state of each driving motor in the plurality of driving motors is normal, acquiring the rotating speed or the electrical parameters of the plurality of driving motors when the unmanned aerial vehicle is in a hovering state.

13. The method of claim 9, wherein determining whether the operating state of the corresponding drive motor is abnormal based on the rotational speed of each of the plurality of drive motors comprises:

14. The method of claim 9, wherein determining whether the operating state of the corresponding drive motor is abnormal according to the electrical parameter of each of the plurality of drive motors comprises:

15. The method of claim 13, wherein performing a second security response operation comprises:

16. The method of claim 14, wherein performing a second security response operation comprises:

17. A power failure detection apparatus for an unmanned aerial vehicle, the unmanned aerial vehicle including a power system that provides flight power, the power system including a plurality of drive motors and a plurality of propellers driven by the plurality of drive motors, the apparatus comprising:

at least one processor;

18. The apparatus of claim 17, wherein the processor is specifically configured to:

19. The apparatus of claim 17, wherein the processor is specifically configured to: and controlling the unmanned aerial vehicle to land or return.

20. The apparatus of claim 17, wherein the processor is specifically configured to:

21. The apparatus of claim 20, wherein the processor is specifically configured to:

22. The apparatus of claim 20, wherein the processor is specifically configured to:

23. The apparatus of claim 21, wherein the processor is further configured to:

24. The apparatus of claim 22, wherein the processor is specifically configured to:

25. The apparatus according to any of claims 17-24, wherein the processor is further configured to:

26. The apparatus of claim 25, wherein the processor is specifically configured to:

27. The apparatus of claim 25, wherein the processor is specifically configured to: and controlling the unmanned aerial vehicle to land or return.

28. The apparatus of claim 25, wherein the processor is specifically configured to:

29. The apparatus of claim 25, wherein the processor is specifically configured to:

30. The apparatus of claim 25, wherein the processor is specifically configured to:

31. The apparatus of claim 29, wherein the processor is specifically configured to:

32. The apparatus of claim 30, wherein the processor is specifically configured to:

33. An unmanned aerial vehicle comprising:

a movable body, and

a power failure detection apparatus of an unmanned aerial vehicle according to any one of claims 17 to 32 mounted on the movable body.

34. A storage medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 16.