CN206039299U

CN206039299U - Agricultural unmanned aerial vehicle , electronic governor and control system thereof

Info

Publication number: CN206039299U
Application number: CN201621029555.XU
Authority: CN
Inventors: 周长兴; 蓝求; 刘万启
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2016-08-31
Filing date: 2016-08-31
Publication date: 2017-03-22
Anticipated expiration: 2026-08-31

Abstract

The utility model provides an agricultural unmanned aerial vehicle, electronic governor and control system thereof, relates to the electronic governor technique. The control system who is applied to electronic governor includes: interior detecting element for detect electronic governor's operational environment humidity, and the controller, be connected with interior detecting element communication, wherein, interior detecting element sends the operational environment humidity that detects to controller, and the controller confirms according to operational environment humidity whether electronic governor is in abnormal state. Electronic governor's operational environment humidity is detected through interior detecting element, through the controller according to operational environment humidity, confirm whether electronic governor is in abnormal state, intake or have the comdenstion water in can in time discovering electronic governor, so that after confirming that electronic governor is in abnormal state, in time take the safeguard measure, and then the short circuit phenomenon that helps avoiding electronic governor to lead to because of intaking, it breaks down or fried machine to help avoiding to intake the unmanned vehicles who leads to because of electronic governor.

Description

Agriculture unmanned plane, electron speed regulator and its control system

Technical field

This utility model is related to electron speed regulator technology, more particularly to agriculture unmanned plane, electron speed regulator and its control system System.

Background technology

Unmanned vehicle abbreviation unmanned plane, is manipulated not using radio robot or itself presetting apparatus Manned aircraft, has the advantages that maneuverability, reacts quick, unmanned flight.Unmanned vehicle be commonly used to military field and Civil area, specifically in meteorological, agricultural, the field such as explore, photograph, taking precautions against natural calamities, go on patrol and apply widely.

Unmanned vehicle can include：Motor, electron speed regulator, Inertial Measurement Unit, flight controller and remote control unit； Remote control unit is used for receiving the telecommand of operator's input；Flight controller refers to for the remote control received according to remote control unit Order and the corresponding flight control instruction of flight attitude parameter determination of Inertial Measurement Unit detecting, and it is sent to electronic speed regulation Device；Electron speed regulator adjusts the flight of unmanned vehicle for the rotation according to the flight control instruction controlled motor for receiving Attitude, so that unmanned vehicle realizes its function such as take photo by plane, follow the trail of or spray insecticide under corresponding flight attitude.

Existing unmanned vehicle, is particularly applied to the agriculture unmanned plane of agriculture field, it will usually to electron speed regulator Seal, water-proofing treatment.However, when sealing, water-proofing treatment break down failure cause electron speed regulator water inlet or due to day When gas reason makes electron speed regulator there is condensed water phenomenon, electron speed regulator and the external world cannot be known in electron speed regulator Water inlet, now take off by force unmanned vehicle or continuation flight, easily causes the subelement of electron speed regulator short circuit occur existing As, and then cause unmanned vehicle to break down or even aircraft bombing.

Utility model content

For drawbacks described above of the prior art, agriculture unmanned plane, electron speed regulator and its control that this utility model is provided System processed, whether there is water in can judging electron speed regulator in time, help avoid because of nothing caused by electron speed regulator water inlet People's aircraft breaks down or aircraft bombing.

One side of the present utility model is to provide a kind of control system for being applied to electron speed regulator, including：Interior inspection Element is surveyed, for detecting the working environment humidity of the electron speed regulator；And controller, connect with the interior detecting element communication Connect；The working environment of the controller is identical with the working environment of the interior detecting element；Wherein, the interior detecting element will be examined Survey the working environment humidity send the controller to, the controller according to the working environment humidity, it is determined that described Whether electron speed regulator is in abnormality.

Further, the interior detecting element includes following at least one：Humidity sensor, Temperature Humidity Sensor, wet sensitive Electric capacity, humistor.

Further, the working environment humidity includes following at least one：It is wet in the housing of the electron speed regulator Degree, the humidity around the electron speed regulator.

Further, the controller is connected with flight controller communication；The flight controller is for it is determined that described Electron speed regulator changes the mode of operation of unmanned vehicle after abnormality.

Further, when the unmanned vehicle is in state of flight, the controller controls the unmanned vehicle Into safeguard protection state.

Further, the safeguard protection state includes following at least one：Landing, makes a return voyage, and forbids to abnormal electronics Speed regulator is powered, airbag opening, opens glider system.

Further, when the unmanned vehicle remains static, the controller forbids the unmanned vehicle Take off.

Further, the controller can be connected with power-supply management system communication, and the power-supply management system is used for true The fixed electron speed regulator after abnormality is forbidden powering the electron speed regulator.

Further, after it is determined that the electron speed regulator is in abnormality, the controller sends alarm command.

Further, also including alarm, the controller is connected with alarm communication, and the alarm is used for connecing The alarm command is received, and alarm is sent according to the alarm command.

Further, the alarm includes following at least one：Display lamp, buzzer.

Other side of the present utility model is to provide a kind of electron speed regulator, including：Shell；And control system, peace It is mounted in the inside the shell；Wherein, the control system is the control system for being applied to electron speed regulator described in aforementioned any one.

Another aspect of the present utility model is to provide a kind of agriculture unmanned plane, including：Frame；

Motor, in the frame, for providing flying power；And aforementioned electronic speed regulator, with the motor Electrical connection, for controlling the working condition of the motor.

Further, the electron speed regulator is multiple, the controller and flight controller of the plurality of electron speed regulator Communication connection；The flight controller for it is determined that one or more described electron speed regulator is after the abnormality, Control the agriculture unmanned plane land, make a return voyage, forbidding powering abnormal electron speed regulator, airbag opening, opening gliding Device is forbidden taking off.

Further, the electron speed regulator is multiple, controller and the power management system of the plurality of electron speed regulator System communication connection；When the power-supply management system is in abnormality for one or more described electron speed regulator, forbid Abnormal electron speed regulator is powered.

Agriculture unmanned plane, electron speed regulator and its control system that this utility model is provided, are detected by interior detecting element The working environment humidity of electron speed regulator, by controller according to the working environment humidity, determines that the electron speed regulator is It is no to intake or exist condensed water in finding electron speed regulator in time in abnormality, in order to it is determined that electronics is adjusted Fast device after abnormality is taken protective measure in time, and then helps avoid electron speed regulator because short caused by water inlet Road phenomenon, helps avoid because caused by electron speed regulator water inlet, unmanned vehicle breaks down or aircraft bombing.

Description of the drawings

Fig. 1 is the first structure schematic diagram of control system provided in an embodiment of the present invention；

Fig. 2 is the structural representation of control system provided in an embodiment of the present invention and flight controller；

Fig. 3 is the structural representation of control system provided in an embodiment of the present invention and power-supply management system；

Fig. 4 is the structural representation of control system provided in an embodiment of the present invention and ground control terminal；

Fig. 5 is the second structural representation of control system provided in an embodiment of the present invention；

Fig. 6 is control system provided in an embodiment of the present invention and ground control terminal, the structural representation of flight controller；

Fig. 7 is the structural representation of control system provided in an embodiment of the present invention and memorizer；

Fig. 8 is the first structure schematic diagram of agriculture unmanned plane provided in an embodiment of the present invention；

Fig. 9 is the structural representation of motor and electron speed regulator in agriculture unmanned plane provided in an embodiment of the present invention；

Figure 10 is the second structural representation of agriculture unmanned plane provided in an embodiment of the present invention；

Figure 11 is the 3rd structural representation of agriculture unmanned plane provided in an embodiment of the present invention.

Wherein, 100- controllers；200- flight controllers；300- power-supply management systems；400- ground control terminal；500- Alarm；600- memorizeies；Detecting element in 710-；The outer detecting elements of 720-；800- frames；900- motors.

Specific embodiment

It is for making purpose, technical scheme and the advantage of this utility model embodiment clearer, new below in conjunction with this practicality Accompanying drawing in type embodiment, is clearly and completely described to the technical scheme in this utility model embodiment, it is clear that retouched The embodiment stated is a part of embodiment of this utility model, rather than the embodiment of whole.

Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment for being obtained, belongs to the scope of this utility model protection.In the case where not conflicting, following enforcement Feature in example and embodiment can be mutually combined.

It should be noted that in description of the present utility model, it is different that term " first ", " second " are only used for convenient description Part, and it is not intended that indicating or implying ordering relation, relative importance or implicit indicate indicated technical characteristic Quantity.Thus, define " first ", at least one this feature can be expressed or be implicitly included to the feature of " second ".

Embodiment one

Fig. 1 is the first structure schematic diagram of control system provided in an embodiment of the present invention；Fig. 1 is refer to, the present embodiment is carried For a kind of control system, for unmanned vehicle, it is characterised in that include：Interior detecting element 710, for detecting electronic speed regulation The working environment humidity of device；And controller 100, it is connected with the communication of interior detecting element 710；The working environment of controller 100 with The working environment of interior detecting element 710 is identical.

Wherein, interior detecting element 710 sends the working environment humidity of detection to controller 100, and controller 100 is according to work Make ambient humidity, determine electron speed regulator whether in abnormality.

In the present embodiment, for the concrete structure of controller 100 and interior detecting element 710 is not limited, art technology Personnel can be configured according to specific design requirement, as long as above-mentioned functions effect can be realized, be will not be described here.

Control system can include a controller 100, and the controller 100 can be the microcontroller of electron speed regulator itself Device, with the circuit of simplified control system.Control system can also include 100 cooperation of multiple controllers；Wherein, the first control Device can be the microcontroller of electron speed regulator, and second controller can be the controller 100 being independently arranged.

Electron speed regulator can include that speed probe, electricity adjust the units such as controller, adjustment of rotational speed potentiometer, insurance circuit Part, speed probe, electricity adjust the elements such as controller, adjustment of rotational speed potentiometer, insurance circuit be arranged on same with controller 100 In one confined space, the working environment humidity of electron speed regulator refers to the humidity in the confined space；Working environment humidity is concrete Relative humidity or absolute humidity, concrete manifestation shape of the present embodiment to the working environment humidity of electron speed regulator can be shown as Formula is not specifically limited, as long as the variable quantity of the humidity of the working environment of electron speed regulator can be reacted.The present embodiment pair It is not specifically limited in the structure of confined space, those skilled in the art can be configured according to specific design requirement, only Can realize the function of controller 100 is installed.

Wherein, for according to working environment humidity, the present embodiment judges whether electron speed regulator is in the tool of abnormality Body determination methods are not limited, and those skilled in the art can be configured according to specific design requirement.For example：Will be current Working environment humidity is contrasted with the front working environment humidity for once obtaining, if the two differs or the first difference of the two More than the first preset difference value, it is determined that whether electron speed regulator is in abnormality；Or, by adjacent, default acquisition number of times Interior working environment humidity is stored, and determines the working environment humidity of maximum of which working environment humidity and minimum, if two Second difference of person is more than the second preset difference value, it is determined that whether electron speed regulator is in abnormality.The present embodiment is for One preset difference value and the second preset difference value are not specifically limited, and those skilled in the art can be carried out according to specific design requirement Arrange.

Additionally, determining that electron speed regulator, after abnormality, can be determined by operator or flight controller Corresponding Preservation tactics, after avoiding intaking because of electron speed regulator, caused by continuing normal flight, there is event in unmanned vehicle Barrier or aircraft bombing.The present embodiment is not specifically limited for Preservation tactics, and those skilled in the art can be according to specific design Demand is configured.

It should be noted that：The control system that the present embodiment is provided, the electronic speed regulation being applicable not only in unmanned vehicle Device, can be applicable to other equipment for being provided with electron speed regulator；The present embodiment and following embodiments are flown with being applied to nobody Control system is illustrated as a example by row device.

The control system that the present embodiment is provided, detects the working environment humidity of electron speed regulator by interior detecting element 710, By controller 100 according to the working environment humidity, determine that the electron speed regulator, can be timely whether in abnormality It was found that intake in electron speed regulator or there is condensed water, in order to it is determined that electron speed regulator is after abnormality, and When take protective measure, and then help avoid electron speed regulator because of short circuit phenomenon caused by water inlet, help avoid because of electronics Caused by speed regulator water inlet, unmanned vehicle breaks down or aircraft bombing.

Embodiment two

On the basis of embodiment one, interior detecting element 710 can include following at least one：Humidity sensor, it is warm and humid Degree sensor, humicap, humistor.Additionally, interior detecting element 710 can also be produced for other can change with humidity The element of outer signals change, will not be described here.

Interior detecting element 710 can be used for the humidity for detecting electron speed regulator working environment at interval of preset time period.Its In, interior detecting element 710 can receive autonomous setting of the operator to preset time period.Can for the setting of preset time period With similar with the setting that the time of acquisition calculates, the description in embodiment 15 specifically may be referred to, be will not be described here.

In unmanned vehicle state of flight, interior detecting element 710 can be with real-time detection electron speed regulator working environment Humidity.In unmanned vehicle state of flight, external environment condition humidity can also be obtained in real time, or obtains outside with predeterminated frequency Ambient humidity, such as atmospheric humidity, when atmospheric humidity exceedes atmospheric humidity threshold value, 710 real-time detection of detecting element in triggering Take the operation of the working environment humidity of electron speed regulator.

In the present embodiment, each electron speed regulator can arrange multiple interior detecting elements 710, so that in wherein individual interior inspection When surveying element 710 and failing, can be with by detecting pregnant detection in other, it is ensured that controller 100 can get electricity in time The working environment humidity of sub- speed regulator.

Embodiment three

On the basis of embodiment one or embodiment two, further, working environment humidity includes following at least one：Electricity Humidity in the housing of sub- speed regulator, the humidity around electron speed regulator.

Wherein, when the element in electron speed regulator is sealingly disposed in housing, working environment humidity is in the housing Humidity.When the element in electron speed regulator is respectively provided with circuit boards, and the circuit board is directly installed on unmanned vehicle, Working environment humidity is the humidity around the circuit board, namely the humidity of circuit board place environment；For example：When the circuit board it is direct When in motor mount, working environment humidity is the humidity in motor mount.

It is understandable that：Those skilled in the art can also embody the work of electron speed regulator using other modes Ambient humidity, as long as the variable quantity of the humidity of the working environment of electron speed regulator can be reacted, will not be described here.

Example IV

On the basis of aforementioned any embodiment, further, controller 100 specifically for by working environment humidity with it is pre- If humidity is contrasted, and when working environment humidity is more than default humidity, determines that electron speed regulator is in abnormality.

In the present embodiment, when working environment humidity is absolute humidity, humidity is preset for default absolute humidity；Work as building ring When border humidity is relative humidity, humidity is preset for default relative humidity.The present embodiment is not limited for the occurrence of default humidity Fixed, those skilled in the art can be configured according to the actual requirements.It is understandable that：According to the actual requirements, operator Default humidity can be adjusted；In order to protect the element in electron speed regulator, operator adjusting default humidity When whole, the default humidity of operator's input is necessarily less than or is equal to maximum preset humidity, and maximum preset humidity is to make The maximal humidity of the element normal work in electron speed regulator.

Additionally, according to working environment humidity and the difference of default humidity, can divide to the abnormality of electron speed regulator Grade, takes corresponding protection plan in order to the operator on flight controller or ground according to the grade of abnormality Slightly.For example：The difference (working environment humidity deducts the value obtained by default humidity) of working environment humidity and default humidity is less than the During three preset difference values, the abnormality of electron speed regulator is one-level abnormality；When working environment humidity and the difference of default humidity When value is more than the 3rd preset difference value and is less than four preset difference values, the abnormality of electron speed regulator is two grades of abnormalities.

Working environment humidity is contrasted with default humidity by the control system that the present embodiment is provided by controller 100, When working environment humidity is more than default humidity, determine that electron speed regulator is in abnormality in time, electron speed regulator is in abnormal Condensed water is intake or is existed in state namely electron speed regulator, is short-circuited phenomenon so as to help avoid electron speed regulator, Contribute to operator or unmanned vehicle takes Preservation tactics in time, lead because of electron speed regulator water inlet so as to help avoid The unmanned vehicle of cause breaks down or aircraft bombing.

Embodiment five

Flight controller in the flight course of unmanned vehicle, using the automatic control system of its own, can be to nothing The configuration of people's aircraft, flight attitude and kinematic parameter etc. implement control.Therefore, determine at electron speed regulator in controller 100 The mode of operation of unmanned vehicle after abnormality, can be changed by flight controller.

Fig. 2 is the structural representation of control system provided in an embodiment of the present invention and flight controller；Fig. 2 is refer to, On the basis of previous embodiment any embodiment, controller 100 is connected with the communication of flight controller 200, and flight controller 200 is used In after it is determined that electron speed regulator is in abnormality, change the mode of operation of unmanned vehicle.

In the present embodiment, controller 100 determines that the exception, after abnormality, can be sent to by electron speed regulator Flight controller 200, so that flight controller 200 changes the mode of operation of unmanned vehicle in time, for example：Control unmanned flight Device returns to ground, so as to avoid because caused by electron speed regulator water inlet, unmanned vehicle breaks down or aircraft bombing.The present embodiment For the concrete structure of flight controller 200 is not limited, those skilled in the art can be carried out according to specific design requirement Arrange, as long as above-mentioned functions effect can be realized, will not be described here.

The present embodiment is not specifically limited for the mode of operation after unmanned vehicle change, and those skilled in the art can be with It is configured according to the actual requirements, the mode of operation after change, as long as can reduce or avoid electron speed regulator from sending out because of water inlet Caused by raw short circuit, unmanned vehicle breaks down or aircraft bombing.

Embodiment six

On the basis of previous embodiment four, flight controller 200 is specifically for being in state of flight in unmanned vehicle When, control unmanned vehicle enters safeguard protection state.Wherein, safeguard protection state includes following at least one：Landing, returns Boat, forbids powering abnormal electron speed regulator, and airbag opening opens glider system.

In the present embodiment, after it is determined that electron speed regulator is in abnormality, unmanned vehicle can be according to itself journey Sequence control device preferentially enters one of which safeguard protection state, for the safeguard protection state that unmanned vehicle is preferentially entered, Those skilled in the art can be configured according to actual needs, for example：Unmanned vehicle preferentially can be forbidden to abnormal electricity Sub- speed regulator is powered, airbag opening or open glider system.Then, unmanned vehicle can be with according to the ground for receiving The remote signal of operator's input that face control terminal sends, changes the mode of operation of unmanned vehicle, for example：Can basis The remote signal that the ground control terminal for receiving sends, control unmanned vehicle are landed immediately or are maked a return voyage immediately.

Or, it is after it is determined that electron speed regulator is in abnormality, wet according to the working environment that electron speed regulator is current Degree determines that unmanned vehicle enters any safeguard protection state.For example：The current working environment humidity of electron speed regulator exceedes During default humidity first threshold, unmanned vehicle makes a return voyage immediately；The current working environment humidity of electron speed regulator exceedes default wet During degree Second Threshold, unmanned vehicle lands immediately；The current working environment humidity of electron speed regulator exceedes default humidity control three During threshold value, unmanned vehicle is forbidden powering abnormal electron speed regulator；Wherein, first threshold, Second Threshold, the 3rd threshold value are equal It is unequal；The present embodiment is not specifically limited for the size of first threshold, Second Threshold, the 3rd threshold value, originally possesses technology people Member can be configured according to the actual requirements.

It is understandable that：Those skilled in the art can also protect electron speed regulator using other modes, as long as Caused unmanned vehicle breaks down or aircraft bombing because water inlet is short-circuited can to reduce or avoid electron speed regulator, Will not be described here.

In the present embodiment, controller 100 determines electron speed regulator after abnormality, by flight controller 200 Control unmanned vehicle enters safeguard protection state, can be prevented effectively from short circuit phenomenon caused by electron speed regulator water inlet, so as to Contribute to reducing or avoid because unmanned vehicle breaks down or aircraft bombing caused by electron speed regulator short circuit.

Embodiment seven

On the basis of example IV, when unmanned vehicle remains static, flight controller 200 specifically forbids nothing People's aircraft takeoff.

In the present embodiment, when unmanned vehicle remains static, that is, unmanned vehicle does not also have on the ground When taking off, if according to the working environment humidity of electron speed regulator, determining that unmanned vehicle is in abnormality, then flight controller 200 forbid unmanned vehicle to take off, and break down or aircraft bombing after being prevented effectively from unmanned vehicle flight.

The present embodiment forbids the concrete mode that unmanned vehicle takes off not limit flight controller 200, this area skill Art personnel can be configured according to the actual requirements；For example：Forbid powering the flight controller of unmanned vehicle, forbid nobody The electric motor starting of aircraft, or automatically exit from the accumulator of unmanned vehicle etc..

In the present embodiment, controller 100 determines electron speed regulator after abnormality, by flight controller 200 Forbid unmanned vehicle to take off, can be prevented effectively from electron speed regulator water inlet caused by short circuit phenomenon, so as to contribute to reduce or Person is avoided because caused by electron speed regulator short circuit, unmanned vehicle breaks down or aircraft bombing.

Embodiment eight

Fig. 3 is the structural representation of control system provided in an embodiment of the present invention and power-supply management system；Refer to Fig. 3, On the basis of aforementioned any embodiment, controller 100 is connected with the communication of power-supply management system 300, and power-supply management system 300 is used In it is determined that electron speed regulator after abnormality is forbidden powering electron speed regulator.

Power-supply management system 300 is generally used for power supply is effectively distributed to the different parts of unmanned vehicle, can reduce Energy consumption when part is idle, reaches energy-conservation purpose.Therefore, in the present embodiment, controller 100 determines electron speed regulator in abnormal After state, the exception can be sent to power-supply management system 300, by the power-supply management system 300 control power supply disconnect with The electrical connection of electron speed regulator.For the concrete structure of power-supply management system 300 is not limited, those skilled in the art can be with root It is configured according to specific design requirement, as long as above-mentioned functions effect can be realized, will not be described here.

Controller 100 can be connected with power-supply management system 300, the communication of flight controller 200 respectively, when controller 100 Determine that electron speed regulator, after abnormality, can be forbidden powering electron speed regulator by power-supply management system 300, and by Flight controller 200 control unmanned vehicle land, make a return voyage, airbag opening or opening glider system.

In the present embodiment, controller 100 determines electron speed regulator after abnormality, by power-supply management system 300 forbid powering electron speed regulator, can be prevented effectively from short circuit phenomenon caused by electron speed regulator water inlet, so as to contribute to subtracting Less or avoid because electron speed regulator short circuit caused by unmanned vehicle break down or aircraft bombing.

Embodiment nine

On the basis of aforementioned any embodiment, after it is determined that electron speed regulator is in abnormality, operation can be pointed out Personnel's electron speed regulator exception, takes corresponding protective measure in time in order to operator.Further, controller 100 is gone back For determining that electron speed regulator, after abnormality, sends alarm command.

In the present embodiment, after it is determined that electron speed regulator is in abnormality, unmanned vehicle can be according to itself journey Sequence control device preferentially enters one of which safeguard protection state, for example：Unmanned vehicle preferentially can be forbidden to abnormal electricity Sub- speed regulator is powered, airbag opening or open glider system；Meanwhile, unmanned vehicle is by sending alarm command prompting Operator's electron speed regulator on ground is in abnormality, is changed by ground control terminal in order to operator in time The mode of operation of unmanned vehicle, for example：Land immediately or make a return voyage immediately.

Or, when the working environment humidity of electron speed regulator is more than default four threshold value of humidity control, unmanned vehicle can be with Alarm command is preferentially sent, then, unmanned vehicle is changed according to the telecommand that the ground control terminal for receiving sends Mode of operation；When the working environment humidity of electron speed regulator is more than default five threshold value of humidity control, unmanned vehicle can basis Itself presetting apparatus preferentially enters one of which safeguard protection state, meanwhile, reminded on ground by sending alarm command Operator's electron speed regulator be in abnormality, nobody is changed by ground control terminal in time in order to operator winged The mode of operation of row device；Wherein, the 4th threshold value is less than the 5th threshold value.The present embodiment is not done and is had for the 4th threshold value and the 5th threshold value Body is limited, and those skilled in the art can be configured according to actual needs.

It should be noted that the controller 100 in the present embodiment can be one or more；With the control in the present embodiment As a example by device processed 100 is 3：First controller can be used for the working environment humidity for obtaining electron speed regulator；First controller can For according to working environment humidity, judging electron speed regulator whether in abnormality；First controller is determined for Electron speed regulator sends alarm command after abnormality.

In the present embodiment, determine that electron speed regulator, after abnormality, sends alarm command by controller 100, Can remind the operator's electron speed regulator on ground in abnormality in time, change nobody in time in order to operator The mode of operation of aircraft, is short-circuited phenomenon so as to help avoid electron speed regulator.

Embodiment ten

Operator generally on ground manipulate unmanned vehicle by remote control equipment such as remote control, with science and technology not Disconnected development and progress, the operator on ground can also manipulate unmanned vehicle by intelligent terminal such as mobile phone, panel computers. Therefore, in order to remind the operator's electron speed regulator on ground in abnormality in time, alarm command is sent, for example, to Ground control terminal sends alarm command.

Fig. 4 is the structural representation of control system provided in an embodiment of the present invention and ground control terminal；Refer to Fig. 4, On the basis of previous embodiment nine, controller 100 is connected with the communication of ground control terminal 400；Controller 100 is specifically for true Determine electron speed regulator in abnormality when, earthward control terminal 400 send alarm command；Ground control terminal 400 is used for Alarm command is received, and alarm is sent according to alarm command.

Wherein, ground control terminal 400 can be the intelligent terminal such as remote control, mobile phone, panel computer.The present embodiment for Ground control terminal 400 sends the concrete mode of alarm and does not limit, and those skilled in the art can be carried out according to actual needs Arrange.After it is determined that electron speed regulator is in abnormality, earthward the transmission of control terminal 400 warning refers to unmanned vehicle Order, ground control terminal 400 sends alarm according to the alarm command to operator, so that operator take protection to arrange in time Apply.

For example：Ground control terminal 400 can send voice alarm to operator, and voice alarm can be for " electricity is adjusted different Often " or the tinkle of bells, operator can carry out personal settings according to the hobby of oneself to voice alarm；Or, ground control Terminal 400 can be flashed to operator by display lamp and send alarm；Or ground control terminal 400 is in the display screen of itself Upper display " electricity is adjusted abnormal " or the pattern identification of display electron speed regulator.It is preferred that when the working environment of electron speed regulator is wet When degree is higher, the sound higher (loudness of sound is bigger) of voice alarm, the flicker frequency of display lamp is higher.Additionally, operator Member is also an option that ground control terminal 400 is sent in mode the present embodiment of alarm, determines electron speed regulator in controller 100 After abnormality, and alarm command is sent, alarm, energy are sent according to the alarm command by ground control terminal 400 It is enough to remind the operator's electron speed regulator on ground to be in abnormality in time, controlled by ground in order to operator in time Terminal processed 400 changes the mode of operation of unmanned vehicle, is short-circuited phenomenon so as to help avoid electron speed regulator.

Embodiment 11

Fig. 5 is the second structural representation of control system provided in an embodiment of the present invention；Fig. 5 is refer to, in embodiment nine On the basis of, controller 100 is connected with the communication of alarm 500, and alarm 500 is arranged on unmanned vehicle；Controller 100 has When body is used for determining that electron speed regulator is in abnormality, alarm command is sent to the alarm 500 that unmanned vehicle is carried；Report Alert device 500 is used for receiving alarm command, and sends alarm according to alarm command.It is preferred that alarm 500 can include such as down to Few one kind：Display lamp, buzzer.

The present embodiment is not limited for the concrete structure of alarm 500, and those skilled in the art can be according to specific Design requirement is configured, as long as above-mentioned functions effect can be realized, will not be described here.

In the present embodiment, after the alarm that unmanned vehicle is carried receives alarm command, buzzer sounding or instruction Lamp flashes；It is preferred that when the working environment humidity of electron speed regulator is higher, the sound that buzzer sends is higher, display lamp Flicker frequency is higher.

Unmanned vehicle can earthward control terminal and the alarm for itself carrying send alarm command simultaneously so that ground Face control terminal and the alarm for itself carrying all send alarm, it is to avoid what ground control terminal or unmanned vehicle itself were carried Alarm breaks down and cannot send alarm, causes operator know that electron speed regulator is in abnormality in time, from And ensure that operator can grasp the abnormality of electron speed regulator in time.

In the present embodiment, electron speed regulator is determined after abnormality in controller 100, and sends alarm command, Alarm is sent according to the alarm command by alarm 500, can be reminded in time at the operator's electron speed regulator on ground In abnormality, change the mode of operation of unmanned vehicle in order to operator in time by ground control terminal 400, so as to Help avoid electron speed regulator to be short-circuited phenomenon.

Embodiment 12

Fig. 4 is continued referring to, on the basis of aforementioned any embodiment, controller 100 is communicated with ground control terminal 400 Connection, when ground control terminal 400 is used for determining that electron speed regulator is in abnormality, working environment humidity is shown, Send corresponding distant by ground control terminal to unmanned vehicle according to the working environment humidity in time in order to operator Control instruction.

Wherein, ground control terminal 400 can be provided with display screen, and the display screen can be touch display screen or liquid crystal Display screen.The present embodiment is not limited for the concrete structure of ground control terminal 400, and those skilled in the art can be according to concrete Design requirement be configured, as long as above-mentioned functions effect can be realized, will not be described here.

In the present embodiment, ground control terminal 400 can show the relative humidity of the working environment of electron speed regulator or exhausted To humidity, or, show the working environment of electrical equipment speed regulator and the difference of default humidity.Show definitely wet with ground control terminal As a example by degree：When the absolute humidity of electron speed regulator is in the range of the first absolute humidity, operator can be controlled by ground Terminal 400 sends the telecommand that control unmanned vehicle makes a return voyage immediately to unmanned vehicle；It is absolute wet when electron speed regulator When degree is in the range of the second absolute humidity, operator can be sent to unmanned vehicle by ground control terminal 400 and be controlled The telecommand that unmanned vehicle lands immediately；Wherein, the maximum of the first absolute humidity scope can be less than or equal to the The minima of two absolute humidity scopes.

It is preferred that while ground control terminal 400 shows the working environment humidity of electron speed regulator, ground control terminal 400 or unmanned vehicle itself carry alarm send alarm, to be further ensured that operator can grasp electricity in time The abnormality of sub- speed regulator.

Ground control terminal in ground control terminal in the present embodiment, with embodiment ten is that the control of same ground is whole End；Or, the ground control terminal in the ground control terminal in the present embodiment, with embodiment nine is two independent ground controls Terminal processed.

In the present embodiment, electron speed regulator is determined after abnormality, by ground control terminal in controller 100 Working environment humidity is shown by 400, can remind the working environment of operator's electron speed regulator on ground wet in time Degree is abnormal, and electron speed regulator is in abnormality, changes nobody by ground control terminal 400 in time in order to operator and flies The mode of operation of row device, is short-circuited phenomenon so as to help avoid electron speed regulator.

Embodiment 13

Fig. 6 is control system provided in an embodiment of the present invention and ground control terminal, the structural representation of flight controller； Fig. 6 is refer to, on the basis of aforementioned any embodiment, controller 100 is connected with the communication of ground control terminal 400, ground control Terminal processed 400 is connected with the communication of flight controller 200.

Flight controller 200 is used for determining electron speed regulator after abnormality, and in unmanned vehicle flight shape During state, earthward control terminal 400 sends the first inquiry instruction；Ground control terminal 400 is used for receiving operator according to the First telecommand of one inquiry instruction input, and the first telecommand is sent to into flight controller 200；Flight controller 200 for the mode of operation according to the first telecommand control unmanned vehicle.

In the present embodiment, in the flight course of unmanned vehicle, however, it is determined that electron speed regulator is in abnormality, then may be used First inquiry instruction is sent with earthward control terminal 400, and is ask according to the first inquiry instruction by ground control terminal 400 Ask whether user changes the mode of operation of unmanned vehicle；Receive the feedback of ground control terminal 400 operator's input the One telecommand, the first telecommand can be landing instruction, instruction of making a return voyage, forbid instruction etc. of powering to electron speed regulator；Root According to receiving after the first telecommand, correspondingly can control unmanned vehicle and land, make a return voyage, forbidding supplying electron speed regulator Electricity.

Wherein, the present embodiment asks the user whether the mode of operation of change unmanned vehicle to ground control terminal 400 Implementation is not specifically limited, and those skilled in the art can be configured according to actual needs；For example：Ground control terminal 400 can show "Yes" and "No" function choosing-item first, and after operator click on "Yes", ground control terminal 400 shows The function choosing-item such as " landing ", " making a return voyage ", " power-off " is clicked on for operator, or after operator click on "Yes", nothing People's aircraft enters safeguard protection state.

Or, it is preferred that when electron speed regulator working environment humidity and default humidity difference more than or equal to the During six threshold values, unmanned vehicle is automatically into safeguard protection state；When the working environment humidity and default humidity of electron speed regulator Difference be less than six threshold values when, unmanned plane earthward control terminal 400 send first inquiry instruction.It is big for the 6th threshold value Little, the present embodiment is not specifically limited, and those skilled in the art can be configured according to actual needs.Unmanned vehicle may be used also To receive the instruction that operator are configured to the 6th threshold value.

Further, it is also possible to pass through the mode of operation of the reception operator's setting unmanned vehicle of ground control terminal 400 The instruction of change pattern.For example：Can receive operator by ground control terminal 400 input, it is determined that electronic speed regulation After device is in abnormality, instruction of the unmanned vehicle automatically into safeguard protection state；Or, unmanned vehicle can connect Receive operator by the input of ground control terminal 400, it is determined that electron speed regulator is after the abnormality, unmanned plane to Ground control terminal 400 sends the instruction of inquiry instruction.

Ground control terminal in ground control terminal in the present embodiment, with embodiment nine is that the control of same ground is whole End；Or, the ground control terminal in the ground control terminal in the present embodiment, with embodiment ten is two independent ground controls Terminal processed.

In the present embodiment, electron speed regulator is determined after abnormality, by ground control terminal in controller 100 400 are interacted with the operator on ground in time so that operator pass through ground control terminal 400 and flight control in time Device processed 200 changes the mode of operation of unmanned vehicle, is short-circuited phenomenon so as to help avoid electron speed regulator.

Embodiment 14

Fig. 6 is continued referring to, on the basis of aforementioned any embodiment, controller 100 is communicated with ground control terminal 400 Connection, ground control terminal 400 are connected with the communication of flight controller 200.

Controller 100 is used for determining electron speed regulator after abnormality, and in unmanned vehicle resting state, Earthward control terminal 400 sends the second inquiry instruction；Ground control terminal 400 is used for receiving operator according to the second inquiry Second telecommand of instruction input, and the second telecommand is sent to into flight controller 200；Flight controller 200 is used for The mode of operation of unmanned vehicle is controlled so as to allow the operator to according to current practical situation according to the second telecommand Determine the mode of operation of unmanned vehicle.Or, in unmanned vehicle resting state, directly static unmanned vehicle takes off, To protect to unmanned vehicle.

In the present embodiment, when unmanned vehicle is not taken off on the ground, however, it is determined that electron speed regulator is in abnormal shape State, then earthward can send the second inquiry instruction by control terminal 400, by ground control terminal 400 according to the second inquiry instruction Ask the user whether to forbid unmanned vehicle to take off；Receive operator's input that ground control terminal 400 feeds back second is distant Control instruction, the second telecommand can be to forbid instruction of taking off, and forbid unmanned vehicle to take off according to the second telecommand.

Wherein, the present embodiment is for asking the user whether to forbid the implementation taken off to be not specifically limited, this area skill Art personnel can be configured according to actual needs；For example：Ground control terminal 400 can show "Yes" and "No" function first Option, after operator click on "Yes", unmanned vehicle is forbidden taking off.

Embodiment 15

Fig. 7 is the structural representation of control system provided in an embodiment of the present invention and memorizer；Fig. 7 is refer to, aforementioned On the basis of any embodiment, determine that electron speed regulator, after abnormality, is placed on dry environment by electron speed regulator In, or after being dried process to electron speed regulator, if the working environment humidity of electron speed regulator recovers normal, nobody Aircraft can be with normal flight；But abnormality before causes damage to the element in electrical equipment speed regulator.

Therefore, controller 100 is connected with the communication of memorizer 600, and memorizer 600 is used for determining electron speed regulator in abnormal After state, the working environment humidity of electron speed regulator is stored.

The present embodiment is not limited to the concrete structure of memorizer 600, and those skilled in the art can be according to specifically setting Meter demand is configured, as long as above-mentioned functions effect can be realized, will not be described here.The memorizer 600 of the present embodiment The storage medium that can be integrated in a certain element of electron speed regulator, or the storage medium being independently arranged.

In the present embodiment, the condensed water that can be caused for weather reason due to due to electron speed regulator exception, or The airtight waterproof of electron speed regulator processes failure；Therefore, while the working environment humidity of electron speed regulator is stored, can be with Storage obtains the date of the working environment humidity, for judging during maintenance that the reason for electron speed regulator is abnormal provides foundation.Additionally, also Mark such as serial number of electron speed regulator etc. can be stored.

In the present embodiment, determine that electron speed regulator, after abnormality, is deposited by memorizer 600 in controller 100 The abnormal working environment humidity of storage, provides foundation for the follow-up maintenance to electrical equipment speed regulator.

Embodiment 16

In foregoing embodiments, for the frequency of the working environment humidity for obtaining electron speed regulator is not limited, this area Technical staff can be configured according to specific design requirement.On the basis of aforementioned any embodiment, controller 100 is used for The working environment humidity of electron speed regulator is obtained at interval of preset time period.

Wherein, unmanned vehicle can receive autonomous setting of the operator to preset time period.Operator can be with root It is configured according to the frequency of the working environment humidity being actually needed to obtaining electron speed regulator.It is preferred that can be flown according to nobody The mode of operation of row device, is configured to section interval time.

For example：In unmanned vehicle resting state, as weather reason or artificial origin etc. are likely to cause nobody Aircraft is intake, therefore, when unmanned vehicle remains static, electron speed regulator can be obtained at interval of first time period Working environment humidity；And when unmanned vehicle is in state of flight, electronic speed regulation can be obtained at interval of second time period The working environment humidity of device；Wherein, first time period is more than second time period.Wherein, unmanned vehicle resting state refers to nothing The state that people's aircraft does not fly, for example：The travel position of unmanned vehicle, receiving state of unmanned vehicle etc..

Or, external environment condition humidity, such as atmospheric humidity can also be obtained, and is determined according to the external environment condition humidity for obtaining Obtain the preset time period of the working environment humidity of electron speed regulator.For example：When external environment condition humidity is more than seven threshold values, often It is spaced the working environment humidity of the 3rd time period acquisition electron speed regulator；When external environment condition humidity is more than eight threshold values, per The working environment humidity of electron speed regulator is obtained every the 4th time period；Wherein, the 8th threshold value is more than the 7th threshold value, the 3rd time period Less than the 4th time period.

Additionally, those skilled in the art can also be configured to preset time period using other modes, as long as can The working environment humidity of electron speed regulator is obtained, be will not be described here.

In the present embodiment, the working environment humidity of electron speed regulator is obtained by controller 100 at interval of preset time period, No matter in unmanned vehicle state of flight or resting state so that controller 100 can find electron speed regulator in time Abnormality, be short-circuited phenomenon so as to help avoid electron speed regulator.

Embodiment 17

On the basis of aforementioned any embodiment, as unmanned vehicle is typically to fly in outdoor environment, work as outdoor When the humidity of environment is higher, electron speed regulator is easily caused to be intake.Therefore, controller 100 can be also used for obtaining electronics in real time The working environment humidity of speed regulator so as to find that in time electron speed regulator is in abnormality, in order to unmanned vehicle or Person operator take Preservation tactics in time.

Additionally, in unmanned vehicle state of flight, external environment condition humidity can also be obtained in real time, or with predeterminated frequency External environment condition humidity is obtained, such as atmospheric humidity, when atmospheric humidity exceedes atmospheric humidity threshold value, triggers unmanned vehicle real-time Obtain the operation of the working environment humidity of electron speed regulator.

In the present embodiment, in unmanned vehicle state of flight, the work of electron speed regulator is obtained in real time by controller 100 Make ambient humidity so that controller 100 can find the abnormality of electron speed regulator in time, so as to help avoid electronics Speed regulator is short-circuited phenomenon.

Embodiment 18

Speed regulator is a kind of self-checking device, can automatically increase or decrease the confession of power source according to the load variations of power source Should be able to measure, enable power source and run with stable rotating speed；Wherein, power source can be the power-equipments such as electromotor, motor.Adjust Difference of the fast device according to its principle, can be divided into mechanical type, pneumatic type, fluid pressure type and electronic type etc..Due to electronic speed regulation utensil There is transient speed change little, sharing of load can be carried out automatically, the adaptability required to complex control is good, and need not start Machine drive the advantages of, its each field especially unmanned vehicle technical field application widely.

The present embodiment provides a kind of electron speed regulator, including：Shell；And it is arranged on the control system of inside the shell.

Wherein, control system is the control system in aforementioned any embodiment, its structure, function and previous embodiment class Seemingly, here is omitted.

In the present embodiment, shell can have the performance of sealing waterproof, so as to the controller 100 for inside the shell, provide one Individual confined space.The present embodiment is not specifically limited for the structure of shell, and those skilled in the art can be according to actual needs It is configured.

Additionally, inside the shell is also provided with torque sensor, adjustment of rotational speed potentiometer and executor, the output shaft of driver Can be connected with the ratch of injection pump by adjusting connecting rod；In the course of work of electron speed regulator, by adjustment of rotational speed current potential The rotating speed that device setting needs, torque sensor can be by the actual speeds of the gear ring measurement motor on its flywheel, and by the reality Border rotating speed is sent to controller 100, and actual speed is compared by controller 100 with setting speed, and according to the difference for comparing The output shaft rotation of executor, output shaft is driven to pull injection pump ratch by adjusting connecting rod, carry out the regulation of fuel delivery, to reach To the purpose for keeping this setting speed.

The electron speed regulator that the present embodiment is provided, the working environment humidity of the electron speed regulator obtained by controller 100, And electron speed regulator is judged whether in abnormality, whether intake during electron speed regulator can be judged in time, with the presence or absence of cold Solidifying water, helps avoid electron speed regulator because of short circuit phenomenon caused by water inlet, and then helps avoid because of electron speed regulator water inlet Caused unmanned vehicle breaks down or aircraft bombing.

Embodiment 19

On the basis of previous embodiment 18, controller 100 is additionally operable to obtain the installation environment humidity of electron speed regulator, Working environment humidity is contrasted with installation environment humidity, and when working environment humidity is more than installation environment humidity, really Electron speed regulator is determined in abnormality；Wherein, humidity of the working environment humidity for inside the shell；Installation environment humidity is outside shell Humidity.

In the present embodiment, the humidity outside shell can be atmospheric humidity, it is preferred that the humidity outside shell is for installing electricity The humidity of the receiving space of sub- speed regulator.When working environment humidity is absolute humidity, installation environment humidity is also absolute humidity； When working environment humidity is relative humidity, installation environment humidity is also relative humidity.

Additionally, controller 100 can be adjusted to electronics with the difference according to working environment humidity and installation environment humidity The abnormality divided rank of fast device, in order to flight controller 200 or the operator on ground according to abnormality Grade takes corresponding Preservation tactics.For example：(working environment humidity is deducted the difference of working environment humidity and installation environment humidity Value obtained by installation environment humidity) less than three preset difference values when, the abnormality of electron speed regulator is one-level abnormality；When When the difference of working environment humidity and installation environment humidity is more than the 3rd preset difference value and is less than four preset difference values, electronic speed regulation The abnormality of device is two grades of abnormalities.

Working environment humidity is entered with installation environment humidity by the electron speed regulator that the present embodiment is provided by controller 100 Row contrast, when working environment humidity is more than mounting ring shape humidity, determines that electron speed regulator is in abnormality, electronic speed regulation in time Device is intake in being in abnormality namely electron speed regulator or exists condensed water, so as to help avoid electron speed regulator generation Short circuit phenomenon, contributes to operator or unmanned vehicle takes Preservation tactics in time, adjusts because of electronics so as to help avoid Caused by fast device water inlet, unmanned vehicle breaks down or aircraft bombing.

Embodiment 20

On the basis of previous embodiment 19, outer detecting element on the outside of shell, is provided with；Outer detecting element and controller 100 communication connections, for detecting the installation environment humidity of electron speed regulator.

Wherein, outer detecting element is may be mounted at for installing in the receiving space of electron speed regulator；Or outer detection unit Part is may be mounted on the lateral wall of shell.Outer detecting element can include following at least one：Humidity sensor, humiture are passed Sensor, humicap, humistor.When outer detecting element is Temperature Humidity Sensor, the appearance of electron speed regulator can also be detected Receive the temperature in space.

Outer detecting element can be used for the installation environment humidity of real-time detection electron speed regulator；Or, outer detecting element is used In the installation environment humidity that can detect electron speed regulator at interval of preset time period, so as to the abnormality for elevator speed governor Judgement provide foundation.

It is preferred that in the state of flight of unmanned vehicle, outer detecting element can be used for real-time detection electron speed regulator Installation environment humidity；In the resting state of unmanned vehicle, outer detecting element can be used at interval of preset time period detection electricity The installation environment humidity of sub- speed regulator.

Or, when installation environment humidity is more than eight threshold values, outer detecting element is at interval of the first preset time period The installation environment humidity of detection electron speed regulator；When installation environment is more than nine threshold values, outer detecting element is at interval of the Two preset time periods detect the installation environment humidity of electron speed regulator；When installation environment humidity is more than ten threshold values, outer detection Element is used for the installation environment humidity of real-time detection electron speed regulator.

The present embodiment is not specifically limited for preset time period, and those skilled in the art can be actually needed with foundation and be carried out Arrange.Additionally, electron speed regulator can also receive operator for the autonomous setting of preset time period.

The electron speed regulator that the present embodiment is provided, detects the installation environment humidity of electron speed regulator by outer detecting element, Judge electron speed regulator whether in abnormal shape in order to pass through controller 100 according to working environment humidity and installation environment humidity State, is short-circuited phenomenon so as to help avoid electron speed regulator, contributes to operator or unmanned vehicle is taken in time Preservation tactics, help avoid because caused by electron speed regulator water inlet, unmanned vehicle breaks down or aircraft bombing.

Embodiment 21

On the basis of ten eight to two ten any embodiment of previous embodiment, interior detecting element 710, installed in inside the shell. Wherein, interior detecting element 710 is may be mounted on the medial wall of shell, or on the circuit board of inside the shell；Interior detection Element 710 can include following at least one：Humidity sensor, Temperature Humidity Sensor, humicap, humistor.Interior detection Element 710 in unmanned vehicle state of flight, the humidity of real-time detection electron speed regulator working environment；Or, interior inspection Element 710 is surveyed for, in unmanned vehicle resting state, electron speed regulator working environment being obtained at interval of preset time period Humidity.Realizing process and realizing that effect is identical with above-described embodiment 17 for the interior detecting element 710 of the present embodiment, specifically may be used With reference to above statement content, will not be described here.

The electron speed regulator of the present embodiment, detects the working environment humidity of electron speed regulator by interior detecting element 710, with It is easy to controller 100 whether to judge electron speed regulator in abnormality according to working environment humidity, so as to help avoid electricity Sub- speed regulator is short-circuited phenomenon, contributes to operator or unmanned vehicle takes Preservation tactics in time, help avoid Because caused by electron speed regulator water inlet, unmanned vehicle breaks down or aircraft bombing.

Embodiment 22

Agriculture unmanned plane is the agriculture unmanned plane for agriculture and forestry plant protection, is typically provided with sprinkling system on agriculture unmanned plane System, sprinkling system is for spraying insecticide to agriculture and forestry plant.

Fig. 8 is the first structure schematic diagram of agriculture unmanned plane provided in an embodiment of the present invention；Fig. 9 is carried for the embodiment of the present invention For agriculture unmanned plane in motor and electron speed regulator structural representation；Fig. 8-9 are refer to, and with continued reference to Fig. 1, this enforcement Example provides a kind of agriculture unmanned plane, including：Frame 800；Motor 900, in frame 800, for providing flying power；With And electron speed regulator, electrically connect with motor 900, for the working condition of controlled motor 900.

Wherein, electron speed regulator is the electronic speed regulation in any embodiment in 10 eight to embodiment 21 of previous embodiment Device, its structure, function are similar with previous embodiment, and here is omitted.In the present embodiment, frame 800 can include：Center Frame, the landing chassis of centrally disposed frame bottom, and the horn arranged around centre frame；Horn can be used for carry propeller, Motor 900 and electron speed regulator；Centre frame can be used for carrying battery and each sensor assembly.

Additionally, agriculture unmanned plane can also include：Sprinkling system, the structure and function of sprinkling system can be with prior arts In be similar to.For example：Sprinkling system can include water tank, water pump and sparge pipe, and water tank is liquid to be sprayed for holding, and water pump is used for Liquid flowing is driven, sparge pipe is arranged around frame 800, and sparge pipe is provided with shower nozzle with spraying liquid.

The agriculture unmanned plane that the present embodiment is provided, the working environment humidity of the electron speed regulator obtained by controller 100, And electron speed regulator is judged whether in abnormality, whether intake during electron speed regulator can be judged in time, with the presence or absence of cold Solidifying water, helps avoid electron speed regulator because of short circuit phenomenon caused by water inlet, and then helps avoid because of electron speed regulator water inlet Caused agriculture unmanned plane breaks down or aircraft bombing.

Embodiment 23

Figure 10 is the second structural representation of agriculture unmanned plane provided in an embodiment of the present invention；Figure 10 is refer to, aforementioned On the basis of embodiment 22, frame 800 is provided with the accommodation space for installing electron speed regulator, is provided with outer in accommodation space Detecting element 720；Outer detecting element 720 is connected with the communication of controller 100, and the installation environment for detecting electron speed regulator is wet Degree.Wherein, accommodation space includes following at least one：The horn inner chamber of agriculture unmanned plane, the centre frame of agriculture unmanned plane or Motor mount.

Outer detecting element 720 can include following at least one：It is humidity sensor, Temperature Humidity Sensor, humicap, wet Quick resistance.Outer detecting element 720 can be with the installation environment humidity of real-time detection electron speed regulator；Or, outer detecting element 720 For detecting the installation environment humidity of electron speed regulator at interval of preset time period.

The above-mentioned steps realized by the outer detecting element 720 of the present embodiment are realized process and realize effect with above-mentioned reality Apply example 20 identical, specifically refer to above statement content, will not be described here.

The agriculture unmanned plane that the present embodiment is provided, by installing outer detecting element 720 in the accommodation space of frame 800, The installation environment humidity of electron speed regulator is detected by outer detecting element 720, it is wet according to working environment in order to pass through controller 100 Whether degree judges electron speed regulator in abnormality with installation environment humidity, short so as to help avoid electron speed regulator generation Road phenomenon, contributes to operator or agriculture unmanned plane takes Preservation tactics in time, helps avoid and enters because of electron speed regulator Caused by water, agriculture unmanned plane breaks down or aircraft bombing.

Embodiment 24

Propeller can also be rotor, be the prevailing lift part of agriculture unmanned plane, can be by the rotative power of power source It is converted into propulsive force.As agriculture unmanned plane is provided with sprinkling system, and carry liquid, cause the weight of agriculture unmanned plane compared with Greatly.Therefore, agriculture unmanned plane generally includes multiple propellers, and each propeller is equipped with power source, correspondingly, each power source It also is provided with electron speed regulator.

Figure 11 is the 3rd structural representation of agriculture unmanned plane provided in an embodiment of the present invention；Figure 11 is refer to, aforementioned On the basis of embodiment 22 or embodiment 23, agriculture unmanned plane can include：Multiple electron speed regulators, Duo Ge electricity The controller 100 of sub- speed regulator is connected with the communication of flight controller 200.

Wherein, flight controller 200 is for it is determined that one or more electron speed regulator is after the abnormality, control System agriculture unmanned plane land, makes a return voyage, forbid powering abnormal electron speed regulator, airbag opening, opening glider system or Person forbids taking off.

In the present embodiment, when agriculture unmanned plane is in state of flight, any controller 100 determines that electron speed regulator is in After abnormality, the abnormality is reported into flight controller 200, agriculture unmanned plane drop is controlled by flight controller 200 Fall, make a return voyage, forbidding powering abnormal electron speed regulator, airbag opening or opening glider system.In agriculture unmanned plane When remaining static, any controller 100 determines that electron speed regulator, after abnormality, the abnormality is reported Flight controller 200, forbids agriculture unmanned plane to take off by flight controller 200.

Agriculture unmanned plane in the present embodiment, controller 100 determine electron speed regulator after the abnormality, can be by The exception is sent to flight controller 200, controls agriculture unmanned plane by flight controller 200 and lands, makes a return voyage, forbidding to exception Electron speed regulator is powered, airbag opening, open and glider system or forbid taking off, so as to avoid intaking because of electron speed regulator Caused agriculture unmanned plane breaks down or aircraft bombing.

Embodiment 25

Figure 11 is refer to, on the basis of previous embodiment 22 or embodiment 23, agriculture unmanned plane can be with Including：Multiple electron speed regulators, the controller 100 of multiple electron speed regulators are connected with the communication of power-supply management system 300；Power supply pipe When reason system 300 is in abnormality for one or more electron speed regulator, forbid powering abnormal electron speed regulator.

In the present embodiment, determine that electron speed regulator, can be by the exception after abnormality in any controller 100 State reporting to power-supply management system 300, by the company of 300 deenergization of power-supply management system and the abnormal electron speed regulator Connect, to avoid electron speed regulator because water inlet is short-circuited phenomenon.

Agriculture unmanned plane in the present embodiment, controller 100 determine electron speed regulator after the abnormality, can be by The exception is sent to flight controller 200, forbids powering abnormal electron speed regulator by power-supply management system 300, so as to keep away Exempt from because caused by electron speed regulator water inlet, agricultural unmanned plane breaks down or aircraft bombing.

Finally it should be noted that：Various embodiments above is only illustrating the technical solution of the utility model, rather than which is limited System；Although being described in detail to this utility model with reference to foregoing embodiments, one of ordinary skill in the art should Understand：Which still can be modified to the technical scheme described in foregoing embodiments, or to which part or whole Technical characteristic carries out equivalent；And these modifications or replacement, do not make the essence of appropriate technical solution depart from this practicality new The scope of each embodiment technical scheme of type.

Claims

1. a kind of control system for being applied to electron speed regulator, it is characterised in that include：

Interior detecting element, for detecting the working environment humidity of the electron speed regulator；And

Controller, is connected with the interior detecting element communication；The work of the working environment of the controller and the interior detecting element Make environment identical；

Wherein, the interior detecting element sends the working environment humidity for detecting to the controller, the controller root According to the working environment humidity, determine the electron speed regulator whether in abnormality.

2. the control system for being applied to electron speed regulator according to claim 1, it is characterised in that the interior detecting element Including following at least one：Humidity sensor, Temperature Humidity Sensor, humicap, humistor.

3. the control system for being applied to electron speed regulator according to claim 1, it is characterised in that the working environment is wet Degree is including following at least one：Humidity in the housing of the electron speed regulator, the humidity around the electron speed regulator.

4. the control system for being applied to electron speed regulator according to claim 1, it is characterised in that the controller with fly Line control unit communication connection；The flight controller is for it is determined that the electron speed regulator is after the abnormality, changing The mode of operation of unmanned vehicle.

5. the control system for being applied to electron speed regulator according to claim 4, it is characterised in that in the unmanned flight When device is in state of flight, the controller controls the unmanned vehicle and enters safeguard protection state.

6. the control system for being applied to electron speed regulator according to claim 5, it is characterised in that the safeguard protection shape State includes following at least one：Landing, makes a return voyage, and forbids powering abnormal electron speed regulator, and airbag opening opens gliding Device.

7. the control system for being applied to electron speed regulator according to claim 4, it is characterised in that in the unmanned flight When device remains static, the controller forbids the unmanned vehicle to take off.

8. the control system for being applied to electron speed regulator according to claim 1, it is characterised in that the controller can With power-supply management system communication be connected, the power-supply management system be used for determine the electron speed regulator be in abnormality it Afterwards, forbid powering the electron speed regulator.

9. the control system for being applied to electron speed regulator according to claim 1, it is characterised in that it is determined that the electronics After abnormality, the controller sends alarm command to speed regulator.

10. the control system for being applied to electron speed regulator according to claim 9, it is characterised in that also including alarm, The controller is connected with alarm communication, and the alarm is used for receiving the alarm command, and according to the warning Instruction sends alarm.

11. control systems for being applied to electron speed regulator according to claim 10, it is characterised in that the alarm bag Include following at least one：Display lamp, buzzer.

12. a kind of electron speed regulators, it is characterised in that include：

Shell；And

Control system, installed in the inside the shell；

Wherein, the control system is the control system for being applied to electron speed regulator described in aforementioned any one of claim 1-11 System.

13. a kind of agriculture unmanned planes, it is characterised in that include：

Frame；

Motor, in the frame, for providing flying power；And

Electron speed regulator described in claim 12, is electrically connected with the motor, for controlling the working condition of the motor.

14. agriculture unmanned planes according to claim 13, it is characterised in that the electron speed regulator is for multiple, described more The controller of individual electron speed regulator is connected with flight controller communication；The flight controller for it is determined that one or more The electron speed regulator after abnormality controls the agriculture unmanned plane and lands, makes a return voyage, forbidding adjusting abnormal electronics Fast device is powered, airbag opening, open and glider system or forbid taking off.

15. agriculture unmanned planes according to claim 13, it is characterised in that the electron speed regulator is for multiple, described more The controller of individual electron speed regulator is connected with power-supply management system communication；The power-supply management system is used for one or more institute State electron speed regulator in abnormality when, forbid powering abnormal electron speed regulator.