CN206282146U - A kind of unmanned plane and wearable device - Google Patents
A kind of unmanned plane and wearable device Download PDFInfo
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- CN206282146U CN206282146U CN201621258630.XU CN201621258630U CN206282146U CN 206282146 U CN206282146 U CN 206282146U CN 201621258630 U CN201621258630 U CN 201621258630U CN 206282146 U CN206282146 U CN 206282146U
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Abstract
The utility model discloses a kind of unmanned plane and wearable device, unmanned plane includes：Fuselage, it is arranged on the winged control plate on fuselage, support arm is additionally provided with fuselage, motor and propeller are provided with support arm, motor is used to drive connected propeller to rotate, and sound transducer is provided with each support arm, and sound transducer is connected with winged control plate, voice signal when collection propeller runs, flies to be provided with control plate：Signal acquiring unit, the voice signal for obtaining sound transducer collection；State of flight judging unit, for processing voice signal, obtains the current running status of propeller, and the state of flight of unmanned plane is determined according to the running status of propeller.By setting sound transducer on unmanned plane support arm, the voice signal of propeller is gathered, then calculate the state of flight of unmanned plane, so that more convenient carry out preferably flight control to unmanned plane, improve the controllability and security during unmanned plane during flying.
Description
Technical field
The utility model is related to unmanned air vehicle technique field, and in particular to a kind of unmanned plane and wearable device.
Background technology
Unmanned plane is a kind of not manned vehicle based on wireless remote control or itself programme-control.Existing unmanned plane exists
, it is necessary to state of flight is passed back into control centre under state of flight；In addition, in flight course, unmanned plane is also required to according to flight
Situation, actively or passively change of flight state come obtain desired flight path or ensure unmanned plane inherently safe.However, existing
Due to lacking the technical scheme to unmanned plane during flying state-detection in technology, the flight control of unmanned plane is influenceed, cause unmanned plane
Controllability and security in flight course is poor.
Utility model content
The utility model provides a kind of unmanned plane and wearable device to solve unmanned plane during flying process in the prior art
In the poor problem of controllability and security.
According to one side of the present utility model, there is provided a kind of unmanned plane, unmanned plane includes：Fuselage, is arranged on fuselage
On winged control plate, support arm is additionally provided with fuselage, motor and propeller are provided with support arm, motor is connected thereto for driving
Propeller rotation,
Sound transducer is provided with each support arm,
Sound transducer is connected with winged control plate, for gathering voice signal when propeller runs；
Fly to be provided with control plate：
Signal acquiring unit, the voice signal for obtaining sound transducer collection；
State of flight judging unit, for processing voice signal, obtains the current running status of propeller, and root
According to the running status of propeller, the state of flight of unmanned plane is determined.
According to other side of the present utility model, there is provided a kind of wearable device, the wearable device includes：
Wireless communication module, the operating state signal of the propeller for receiving unmanned plane transmission；
Flight remote control module, for processing operating state signal after obtain the running status of propeller, according to spiral shell
The running status of oar is revolved, generation is flown distant accordingly when determining the state of flight and the state of flight exception when unmanned plane of unmanned plane
Control instruction, unmanned plane is sent to by wireless communication module by flight telecommand, and control unmanned plane performs corresponding flight behaviour
Make.
The beneficial effects of the utility model are：Unmanned plane of the present utility model, by least one support in unmanned plane
Sound transducer is set on arm, the voice signal of the propeller operation of sound transducer collection is then obtained, voice signal is entered
Row treatment, obtains the running status of propeller；According to the running status of propeller, the state of flight of unmanned plane is determined.Thus, may be used
It is the flight control system of unmanned plane to realize that the running status using propeller is detected and judged to unmanned plane during flying state
System grasp the current state of flight of unmanned plane simultaneously carry out that corresponding flight control provides may, it is to avoid mistake is carried out to unmanned plane
Flight control by mistake, improves the controllability and security during unmanned plane during flying.
Brief description of the drawings
Fig. 1 is a kind of structural representation of unmanned plane of the utility model one embodiment；
Fig. 2 is a kind of structured flowchart of unmanned plane of the utility model one embodiment；
Fig. 3 is that a kind of flow of the detection method of unmanned plane during flying state of another one embodiment of the utility model is illustrated
Figure；
Fig. 4 is that a kind of flow of the detection method of unmanned plane during flying state of the utility model another embodiment is illustrated
Figure；
Fig. 5 is a kind of structured flowchart of wearable device of the utility model one embodiment.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.Conversely, there is provided these embodiments are able to be best understood from the disclosure, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
Embodiment one
Fig. 1 is a kind of structural representation of unmanned plane of the utility model one embodiment, and Fig. 2 is the utility model one
A kind of structured flowchart of unmanned plane of embodiment, says below in conjunction with Fig. 1 and Fig. 2 to the structure of the unmanned plane of the present embodiment
It is bright.
Referring to Fig. 1, the unmanned plane of the present embodiment is four rotor wing unmanned aerial vehicles, and unmanned plane includes：Fuselage, is arranged on fuselage
Fly control plate, support arm 103 be additionally provided with fuselage, be provided with motor and propeller 101 on support arm 103, motor be used to driving with
The propeller 101 of its connection is rotated, and sound transducer 102, sound transducer 102 and winged control are provided with each support arm 103
Plate is connected, the operation voice signal for gathering propeller；
Referring to Fig. 2, fly to be provided with control plate：Signal acquiring unit 201, the spiral for obtaining the collection of sound transducer 102
Voice signal when oar runs；
State of flight judging unit 202, for processing voice signal, obtains the current running status of propeller,
And according to the running status of propeller, determine the state of flight of unmanned plane.
In one embodiment of the present utility model, sound transducer 102 is microphone；Referring to Fig. 2, microphone is four
(the MIC A, MIC B, MIC C and the MIC D that illustrate in Fig. 2), four microphones are separately positioned on four support arms of unmanned plane
On 103.
Signal acquiring unit 201 specifically for：Obtain the voice signal of microphone collection；
State of flight judging unit 202 specifically for：Voice signal to obtaining is processed, and obtains the frequency of voice signal
Rate value, and the real-time tachometer value of propeller is calculated according to frequency values, real-time tachometer value is entered with speed setting threshold range
Row compares, if tachometer value is in speed setting threshold range in real time, it is determined that the state of propeller is normal, if rotating speed in real time
Value exceeds speed setting threshold range, it is determined that the abnormal state of propeller；Or, sound letter is calculated according to voice signal
The frequency values and range value at number current time, and according to frequency values and range value frequency values corresponding with previous moment and range value
Comparative result obtain the running status of propeller.
Specifically, state of flight judging unit 202 can be calculated the width at voice signal current time according to voice signal
The difference between the frequency values and previous moment frequency values at the voice signal current time of microphone is calculated after angle value and frequency values,
If difference is less than the range value of previous moment more than the first predetermined threshold value and the range value at current time, it is determined that at propeller
In penetrating oar abnormality；If difference is less than the width of previous moment less than or equal to the first predetermined threshold value and the range value at current time
During angle value, it is determined that propeller is in disconnected oar abnormality；Or, calculate the range value at the voice signal current time of microphone
With the difference of previous moment range value, if difference is less than previous moment more than the second predetermined threshold value and the frequency values at current time
Frequency values when, determine propeller be in stuck abnormality.
In the present embodiment, microphone is oppositely arranged with the perforate on support arm surface, the axis direction in the hole that quiets down of microphone
Axis direction from propeller on support arm is different；The axis of propeller on the axis direction and support arm in the hole that quiets down of microphone
The span of the angle in direction is [90 °, 180 °].
Also, the perforate direction between each microphone also can be different, for example, two receipts of microphone on diagonal
The axis direction of acoustic aperture is identical, and the axis direction in the hole that quiets down of adjacent two microphones is different.
Note：Signal acquiring unit 201 and state of flight judging unit 202 can be integrated in a chip, or
Two single chips, are not restricted to this.
Referring to Fig. 2, it is preferable that be additionally provided with data transmission unit 203, data in the winged control plate of the unmanned plane of the present embodiment
Transmission unit 203 abnormal state information is sent to the remote control on ground so that distant when the abnormal state of propeller is determined
Control device performs corresponding flight control operation according to abnormal state information.
In practical application, the signal acquiring unit 201 of the present embodiment can be included using analog-digital converter, the analog-digital converter
The acquisition interface that multiple is connected with microphone respectively, the voice signal for obtaining microphone, and the sound letter to getting
Number sampled, filtered, analog-to-digital conversion process.
Embodiment two
Fig. 3 is a kind of schematic flow sheet of the detection method of unmanned plane during flying state of the utility model one embodiment,
Referring to Fig. 3, the detection method of the unmanned plane during flying state of the present embodiment comprises the following steps：
Step S301, sets propeller running status collector, propeller fortune at least one support arm of unmanned plane
Row state acquisition device is used to gather the operating state signal of propeller；
Step S302, obtains the operating state signal of the propeller of propeller running status collector collection；
Step S303, is processed operating state signal, obtains the running status of propeller；
Step S304, according to the running status of propeller, determines the state of flight of unmanned plane.
Note, specific steps here can be realized by corresponding functional unit in unmanned plane.
Understand as shown in Figure 3, the detection method of the unmanned plane during flying state of the present embodiment is by obtaining the operation of propeller
Status signal, obtains the running status of propeller, thus, the most direct and most useful letter required for having obtained flight control
Breath, the i.e. running state information of propeller, and then the state of flight of unmanned plane is determined according to the status information of propeller, it is convenient
Corresponding flight control is carried out to unmanned plane, the controllability and security of unmanned plane is improve.
Embodiment three
In the present embodiment, propeller running status collector is specially sound transducer, and sound transducer can detect week
The intensity of sound in collarette border.
The sound transducer of the present embodiment is used to gather the voice signal sent when propeller runs, unmanned plane during flying state
Detection method comprise the following steps：
Obtain the voice signal of sound transducer collection；
Voice signal to sound transducer collection is processed, and obtains the running status of propeller.Here propeller
Running status mainly including each propeller rotating speed and whether be in abnormality.
By setting sound transducer, the sound that collection propeller sends when running at least one support arm of unmanned plane
Sound, by the sound recorded, carries out computing to judge the running status of propeller.The sound signal processing of sound transducer it
Afterwards, the information such as rotating speed, amplitude size variation can be obtained, the state of propeller can be reflected.Can by these status informations
To judge whether propeller is abnormal, such as whether disconnected oar, it is also possible to judge whether the rotating speed of propeller is pre- with flight control
Phase is not inconsistent.Then these crucial information Real-time Feedbacks are facilitated into flight control system pair to the flight control system of unmanned plane
Unmanned plane is controlled and adjusts, to improve the controllability and security during unmanned plane during flying.
It should be noted that in other embodiment of the present utility model, propeller running status collector can also be used
Acceleration transducer, acceleration transducer is close to be arranged on unmanned plane support arm, then the detection side of unmanned plane during flying state
Method includes step：Obtain the operation that the vibration signal being delivered on support arm (solid dielectric) when propeller runs obtains propeller
Status signal, then calculates the running status of propeller, according to propeller according to operating state signal and corresponding algorithm
Running status determine the state of flight of unmanned plane.
Example IV
In the present embodiment, propeller running status collector is specially microphone.Based on this, the unmanned plane of the present embodiment flies
The detection method of row state includes：Microphone (i.e. Microphone, abbreviation are set at least one support arm of unmanned plane
MIC)；The voice signal of microphone collection is obtained, voice signal is carried out to process the running status for obtaining propeller；According to spiral
The running status of oar, determines the state of flight of unmanned plane.
Below by taking four rotor wing unmanned aerial vehicles as an example, the reality of the detection method of the unmanned plane during flying state provided the utility model
Existing step is illustrated.
In order to realize determining each spiral using the microphone voice signal that sends of collection propeller and according to voice signal
The purpose of the running status of oar, is received in the present embodiment using many MIC (quantity of microphone and the quantity of propeller are equal)
The voice signal that the multiple propellers of collection send, and distribution to MIC on unmanned plane optimizes.
The setting of MIC
In the present embodiment, a MIC, the sound sent when being run for gathering screw oar are set near each propeller
Sound, the distance of MIC to propeller is defined by ensureing that closest propeller sound that the MIC is collected is dominant.
The sound sent when all propellers run all can be simultaneously collected into due to every MIC, so many MIC are collected into
Information contain the sound that the operation of all propellers sends, and the sound that a closest MIC is collected into is maximum, away from
Sound from propeller farther out substantially can be more than small predetermined threshold (such as 15dB) or more, even if so multiple in multiple sound resource
Close in the case of collecting sound, the sound of a nearest MIC is still able to advantageous at least be higher by predetermined sound pressure level threshold value (such as
3dB), therefore, the result generation of the voice signal of that MIC nearest apart from each propeller can be used in the present embodiment
The running status of table propeller.
Further, in the present embodiment, microphone is oppositely arranged with the perforate on support arm surface, the hole that quiets down of microphone
Axis direction it is different from propeller axis direction on support arm.Preferably, can be by MIC perforates direction (that is, the axle in the hole that quiets down
Line direction) it is set to be distributed in propeller the different directions of support arm, such as MIC perforates direction dorsad propeller works as spiral
When oar is in the top of support arm, bottom of the MIC openings in support arm, to avoid MIC strong when directly being run by propeller
The influence of wind, causes wind to be made an uproar distortion, influences judged result.
Specifically, the axis direction of MIC perforates is [90 °, 180 °] with the span of the angle in propeller axis direction.
In addition, the axis direction of each MIC can also be different, for example, the axis side in the hole that quiets down of two microphones on diagonal
Axis direction to the hole hole that quiets down of two identical, adjacent microphones is different.
Further, since omni-directional microphone is insensitive to sound source position, so using omnidirectional wheat in the present embodiment
Gram wind is collecting the sound sent when closest propeller runs as far as possible.
Finally, in order to ensure the uniformity of later stage sound signal processing, the frequency response characteristic in the present embodiment to MIC is entered
Row measurement and calibration.Specifically, in the rotating speed bandwidth of motor for driving propeller (typically in the range of 50Hz to 300Hz, root
Specifically determine according to the parameter of electric machine) frequency response is compensated as straight straight line.That is, equity rings input, and output level is consistent.
And in order to avoid having differences the accuracy of influence testing result between each MIC in later stage computing, it is preferable that in the present embodiment
Use the MIC products of same model.
After microphone is provided with, the voice signal sent when being run using microphone collection propeller.
The detection method of the unmanned plane during flying state of the present embodiment includes obtaining first the voice signal of microphone collection
Step.Specifically, the voice signal step for obtaining microphone collection includes：Using what is be connected with microphone respectively including multiple
The analog-digital converter of acquisition interface receives the voice signal of microphone, and voice signal to receiving sampled, filtered, mould
Number conversion process.
After the voice signal for obtaining microphone collection, pre-processed.
As described above, in order to detect four states of propeller of unmanned plane, being set near each propeller in the present embodiment
A microphone is put, due to having used many MIC, uniformity of the analog-digital converter per recording data all the way, time delay need to have been ensured
Should be basically identical, with need simultaneously using different MIC signals when process is synchronizing signal.In order to obtain the number of higher precision
According to using sample frequency (such as 192KHz) higher and sampling resolution (such as 32) in the present embodiment.In addition, many for specific
For rotor wing unmanned aerial vehicle, it is certain to drive the range of speeds of the motor of propeller, so can utilize spiral in practical application
The rotary speed information of oar carries out bandpass filtering, to filter garbage.For example, electric motor starting rotating speed is 50Hz, maximum (top) speed
It is 250Hz, then a settable band limits is the bandpass filter of 20Hz to 300Hz, using the bandpass filter to wheat
Gram wind voice signal is filtered.Analog-to-digital conversion is carried out to filtered data, using the data after analog-to-digital conversion and specific calculation
Method judges propeller state.
Note：Here sampling, filtering and analog-to-digital conversion process are the routine pretreatments to microphone voice signal, are not these
The emphasis of embodiment, can be realized using prior art means.
Further calculation process is needed to obtain the running status of propeller after being pre-processed to voice data.Introduce in detail below
How voice signal is carried out processing the running status for obtaining propeller.
The quantity of MIC is multiple in the present embodiment, for many MIC voice datas, because each MIC contains multiple
Voice data when propeller runs, therefore the voice signal of the utilization microphone of the present embodiment determines the running status of propeller
It is the data handling procedure of MIC multiple sound resources more than.All can be simultaneously collected into due to every MIC when all propellers run and sent
Sound, so the information that many MIC are collected into contains the sound that all propellers operations send, and closest one
The sound that MIC is collected into is maximum, and the sound of distant propeller substantially can small more than 15dB or more.It is multiple in multiple sound resource
In the case of closing recording, the sound of a nearest MIC is still able to advantageous at least be higher by 3dB.
For example, to four rotor wing unmanned aerial vehicles, a certain MIC A and the closest propeller (air line distance of propeller a)
It is 5cm, the air line distance apart from adjacent two propellers (propeller b, d) is all 20cm, apart from that farthest propeller
(air line distance of propeller c) is 30cm.For sound pressure level, it is assumed that the sound that four propellers send is the same, and MIC A are received
The sound of propeller a is 100dB, receives propeller b, the sound of propeller d and is 88dB, and the sound for receiving propeller c is
84.5dB, then the sound summation of propeller b+c+d is 88dB+88dB+84.5dB=96.5dB, and the sound than propeller a will also
Small more than 3dB.
Here the computational methods to the superposition of sound pressure level in the prior art are illustrated, sound pressure level identical voice technique,
Sound pressure level can not be done into simple arithmetic to be added, can be overlapped computing can only be the energy of sound, using the addition of energy
Carry out the superposition of sound pressure level.
Specifically, the computing formula of overall sound pressure level is：Lp=20lg (p/p0)；In formula, Lp：Sound pressure level (unit：Decibel)；
p：Acoustic pressure (unit：Handkerchief)；p0：Reference acoustic pressure,
p0：Reference acoustic pressure, in atmosphere p0=2 × 10-5 powers (handkerchief), i.e., 20 micro- handkerchiefs.
Overall sound pressure level computing formula can be reduced to after three sound pressure level superpositions of sound source：L=20log (1088/20+1088/20+
1084.5/20), the sound pressure level summation that propeller b+c+d can be obtained after calculating the formula is 96.5dB.
Understand, when propeller is in normal condition, the sound that propeller sends is in a nearest signal of MIC
It is dominant (such as in previous example, 3dB more than bigger than the sound of other propellers).When propeller is abnormal, the sound of propeller becomes
It is small, even if the voice signal without other propellers is big, at least mutation of 3dB can also occur, it is possible to be mutated with this come
Judge the state of propeller.Likewise, when propeller occurs exception, frequency domain part can also embody change.
Based on this, the voice signal of microphone collection is obtained in the present embodiment, the voice signal to microphone collection is carried out
Treatment, the running status for obtaining propeller includes：The voice signal of microphone collection is obtained, the voice signal that microphone is gathered
Used as the voice signal that the propeller closest with the microphone sends, the voice signal to microphone is processed, obtained
The running status of the propeller closest with the microphone.That is, being using nearest apart from propeller in the present embodiment
The result of a MIC data represent the state of the propeller, it is approximate, the sound that propeller sends is received with MIC
Sound substitute.Similarly, the frequency of the sound that the rotational frequency of propeller can also be received with MIC is come approximate substitution.
So in practical application, when the voice signal of many MIC is received, believe all the way due to having in the sound of each MIC letter
Number (that is, the sound of propeller nearest apart from MIC) is dominant, so other signals can be ignored, other signals are to quantitatively having one
Fixed influence, it is little to qualitative effect.
For description is brief, illustrated with the sound signal processing process of a microphone (such as MIC A) in the present embodiment,
It is appreciated that the processing procedure of remaining microphone is identical with the processing procedure of the voice signal of MIC A, therefore, remaining microphone
Processing procedure may refer to MIC A voice signal processing procedure.
Fig. 4 is that a kind of flow of the detection method of unmanned plane during flying state of the utility model another embodiment is illustrated
Figure, referring to Fig. 4, the detection method of the unmanned plane during flying state of the present embodiment comprises the following steps：
Step S401, obtains MIC voice signals；
Specifically, the pretreated voice signal of MIC A can be obtained in this step.
Step S402, FFT obtains frequency and amplitude；
After the voice signal for obtaining MIC A, using fast Fourier transform FFT (Fast Fourier
Transformation, abbreviation FFT) algorithm processed voice signal.FFT is the fast algorithm of discrete Fourier transform,
One signal can be transformed to frequency domain.Some signals are to be difficult that what feature is found out in time domain, but if are transformed to
After frequency domain, feature is just readily seen, this is also the reason for the present embodiment uses FFT when signal analysis is carried out.
In the present embodiment, frequency domain is transformed to by by the signal of MIC A, find the maximum amplitude value after FFT, then maximum amplitude value
Corresponding frequency values are the rotational frequency of that propeller nearest apart from MIC A, obtain propeller rotational frequency it
The rotating speed of propeller is obtained after being calculated according to the conversion formula of rotational frequency and rotating speed afterwards.Here conversion formula is：Electricity
Machine rotating speed n=60f/P, wherein, f is frequency, and P is the number of pole-pairs of electric machine rotary magnetic field.
Additionally, in order to further improve data precision, can be filtered to the digital audio signal obtained after analog-to-digital conversion
Ripple treatment, specific filtering process algorithm can be arithmetic average value filtering, weighted average value filtering, moving average value filtering,
Medium filtering etc..Then, FFT is carried out to filtered voice signal.
Step S403, judges whether data change, and is then, to perform step S404, otherwise performs step S401；
In the present embodiment, in order to save system power dissipation, simplify algorithm complexity, can be with after the rotating speed for obtaining propeller
Rotating speed and the last rotating speed for calculating that this is calculated are compared, if data there occurs change, then behind carrying out
Treatment (that is, the state of propeller is judged according to the data after change), be can return to if data do not change continue
Obtain MIC voice signals.If this is due to when data do not change, typically representing the state of propeller without exception,
Now flight control can be carried out according to last data, without carrying out the specific of follow-up propeller abnormality again
Judge.
Step S404, the data with winged control setting compare, and judge whether to be consistent；It is then, to perform step S406, otherwise, holds
Row step S405；
In step S404, compare with the rotary speed data set in winged control after the rotating speed for receiving propeller.
In practical application, the flight control system of unmanned plane can in real time set the voltage of the motor for driving propeller, motor
Voltage has corresponding relation with rotating speed, and the rotary speed data of setting can be preserved in chip algorithm in real time.Then, flying when unmanned plane
After control receives the real-time tachometer value calculated in a unmanned plane during flying state-detection process, the real-time tachometer value is set with rotating speed
Determine threshold range to be compared, corresponding state can be determined by comparing.Simultaneously as MIC signal Real-time Feedbacks FFT
Range value afterwards, the mutation of range value can also combine the state for judging propeller.
In the present embodiment step S406 is can perform when being determined in step S404 and being consistent with the data of winged control setting, i.e.
The rotary speed information of propeller is sent to the remote control on ground so that remote control performs corresponding flight according to abnormal state information
Control operation (in this case, typically varies without flight control parameter).
Step S405, abnormality is judged according to frequency and amplitude：
Step S405 is the emphasis of the present embodiment, and in the present embodiment, the trigger condition that propeller abnormality judges is
Rotary speed threshold value scope of the real-time tachometer value for receiving beyond winged control setting.
Specifically, the propeller that will be calculated according to the frequency values of the voice signal of MIC A in step s 404 turn
Fast value and speed setting threshold range are compared, if tachometer value is in speed setting threshold range in real time, it is determined that spiral
The state of oar is normal, if tachometer value exceeds speed setting threshold range in real time, it is determined that the abnormal state of propeller.
That is, the winged control of unmanned plane sets a rotating speed of propeller, i.e. speed setting value.MIC signal transactings
Afterwards, feed back to and fly one real-time tachometer value of propeller of control, fly to control the difference by judging speed setting value and rotating speed instantaneous value
To judge state.
Determining after propeller has exception, next, judging specific abnormality in step S405.
Be calculated the frequency values and range value at voice signal current time in the present embodiment according to voice signal, and according to frequency values and
The comparative result of range value frequency values corresponding with previous moment and range value obtains the running status of propeller.In unmanned plane just
With the increase of revolution speed of propeller in normal running, the Frequency Synchronization of the sound for sending increases, and sound sound pressure level
Increase.And for penetrating oar or disconnected oar these abnormal conditions, the rotating speed of motor can transient rise, and due to no propeller or
Propeller exception, the sound pressure level for sending can step-down.Using such characteristic, the abnormal shape of following judgement is present embodiments provided
The mode of state：
Judgment mode one, the voice signal according to MIC A is calculated the range value and frequency at voice signal current time
The difference between the frequency values and previous moment frequency values at the voice signal current time of microphone is calculated after value,
If difference is less than the range value of previous moment more than the first predetermined threshold value and the range value at current time, it is determined that
Propeller is in and penetrates oar abnormality；
If difference less than or equal to the first predetermined threshold value and the range value at current time less than previous moment range value when,
Then determine that propeller is in disconnected oar abnormality.
For example, it is 50Hz, previous moment frequency values by obtaining the frequency values at voice signal current time after calculating
It is 100Hz, then the difference between the frequency values at current time and previous moment frequency values is 50Hz, the first predetermined threshold value is
20Hz, then can determine that propeller is in and penetrate oar abnormality.
Judgment mode two, calculates the range value at the voice signal current time of MIC A and the difference of previous moment range value,
If difference more than the second predetermined threshold value and the frequency values at current time less than previous moment frequency values when, determine at propeller
In stuck abnormality.
In the present embodiment, the collection of MIC A voice datas is real-time, by doing front and rear contrast in time, can be with
Judge the state change situation of propeller.For example, under without mode of operation, the frequency of MIC signals is detected, if occurred suddenly
Frequency significant changes, generally raise, while being accompanied by FFT amplitude value step-downs, this means that the load of motor diminishes, and one
As be to penetrate oar or disconnected oar the reason for produce the problem.Further, can judge to be specially disconnected oar by the elevated degree of frequency
Still oar is penetrated.Typically, penetrating the rotation speed change of oar will have more than 20%, and disconnected oar is then less than this value.In addition, propeller card
The typical performance of dead abnormality is frequency discontinuity step-down.When propeller is stuck, the rotating speed of propeller is 0, but MIC is gathered
To voice signal due to the voice signal for thering are interference noise and other propellers to send, so 0 value will not be obtained.This
When, the frequency of the voice signal that MIC near stuck propeller is collected can be reduced and amplitude is substantially reduced.
Alternatively, it is same after execution of step S405 to perform step S406, data are radioed into remote control, by
Remote control determines the state of flight of unmanned plane according to the running status of propeller.
Running status according to propeller determines that the state of flight of unmanned plane includes：When the running status of propeller is normal
When, determine that the state of flight of unmanned plane is normal, the state of flight exception of unmanned plane is determined when the running status of propeller is abnormal,
Corresponding control operation can be set the various abnormal operating conditions of correspondence propeller in the winged control of unmanned plane in practical application,
When judging that propeller is in default abnormal operating condition by performing corresponding control operation, it is ensured that unmanned plane during flying is pacified
Entirely.
In addition, when unmanned plane flies control change unmanned plane state, can be with the rotating speed of the propeller of real-time monitoring unmanned plane
It is whether consistent with winged control setting with the data such as amplitude, monitoring result is fed back into winged control, realize optimization and the self adaptation of algorithm.
So far, the detection method of the unmanned plane during flying state of the present embodiment sets Mike by near each propeller
Wind, the voice signal sent when being run using microphone collection propeller, the voice signal to the microphone is processed, obtained
The rotating speed of propeller, the rotary speed threshold value scope set in the tachometer value that will be obtained and UAV Flight Control System compares, can be true
Make whether the current state of flight of unmanned plane meets expection, in addition, entering in time by by the frequency and amplitude of propeller
Row contrast, it may be determined that go out the specific abnormality of propeller, so as to the flight control system for facilitating unmanned plane is preferably controlled
The flare maneuver of unmanned plane, it is to avoid the occurrence of flight course is favorite outer, improves the controllability and security of unmanned plane.
Embodiment five
Fig. 5 is a kind of structured flowchart of wearable device of the utility model one embodiment, and the wearable device 500 is wrapped
Include：
Wireless communication module 502, the operating state signal of the propeller for receiving unmanned plane transmission；
Flight remote control module 501, for processing operating state signal after obtain the running status of propeller, according to
The running status of propeller, determines the state of flight of unmanned plane and the corresponding flight of generation when the state of flight of unmanned plane is abnormal
Telecommand, unmanned plane is sent to by wireless communication module by flight telecommand, and control unmanned plane performs corresponding flight
Operation.
It should be noted that in practical application, the judgement work of unmanned plane during flying state can be by the winged control plate of unmanned plane
State of flight judging unit perform, it is also possible to the operating state signal of the propeller of collection is sent to the wearable of ground
Equipment, has the flight remote control module in wearable device to perform.Preferably, by the state of flight in the winged control plate on unmanned plane
Judging unit is performed, reducing the time delay of signal transmission, it is ensured that the real-time of flight control, improves flight control efficiency.
Here wearable device can be intelligent watch, Intelligent bracelet etc..
In sum, the unmanned plane during flying condition detection method of the utility model embodiment, by unmanned plane at least
Propeller running status collector is set on one support arm, the fortune of the propeller of propeller running status collector collection is obtained
Row status signal obtains the running status of propeller after being processed；According to the running status of propeller, flying for unmanned plane is determined
Row state.Thus, it is possible to realize that unmanned plane during flying state is detected and judged using the running state information of propeller, it is
Grasp the current state of flight of unmanned plane simultaneously carry out that corresponding flight control provides may, it is to avoid unexpected generation, improve
Controllability and security during unmanned plane during flying.In addition, the utility model embodiment additionally provides a kind of unmanned plane, by
Can be by the state of flight that detects the running status of propeller to detect itself, so as to improve state of flight in the unmanned plane
The real-time of detection and detection, it is ensured that flight safety, improve the competitiveness of product in market.Finally, the utility model is implemented
The wearable device that example is provided, can detect the state of flight of unmanned plane, meet the use demand of user, optimize user's body
Test.
The above, specific embodiment only of the present utility model, under above-mentioned teaching of the present utility model, this area
Technical staff can carry out other improvement or deformation on the basis of above-described embodiment.It will be understood by those skilled in the art that
Above-mentioned specific descriptions are preferably to explain the purpose of this utility model, and protection domain of the present utility model is with claim
Protection domain is defined.
Claims (10)
1. a kind of unmanned plane, the unmanned plane includes：Fuselage, is arranged on the winged control plate on fuselage, and support arm is additionally provided with fuselage,
Motor and propeller are provided with the support arm, the motor is used to drive connected propeller to rotate, and its feature exists
In,
Sound transducer is provided with each support arm,
Described sound transducer is connected with winged control plate, for gathering voice signal when propeller runs；
It is provided with the winged control plate：
Signal acquiring unit, the voice signal for obtaining sound transducer collection；
State of flight judging unit, for processing the voice signal, obtains the current running status of propeller, and root
According to the running status of propeller, the state of flight of unmanned plane is determined.
2. unmanned plane according to claim 1, it is characterised in that the propeller running status collector is microphone,
Described microphone is arranged on support arm；
The signal acquiring unit specifically for：Obtain the voice signal of microphone collection；
The state of flight judging unit specifically for：Voice signal to microphone collection is processed, and obtains spiral
The running status of oar, and according to the running status of propeller, determine the state of flight of unmanned plane.
3. unmanned plane according to claim 2, it is characterised in that described microphone is connected with state of flight judging unit
Connect,
State of flight judging unit is calculated the frequency values of voice signal to voice signal, and is calculated according to the frequency values
To the real-time tachometer value of propeller, the real-time tachometer value and speed setting threshold range are compared,
If real-time tachometer value is in the speed setting threshold range, it is determined that the state of propeller is normal, if turned in real time
Speed value exceeds the speed setting threshold range, it is determined that the abnormal state of propeller；
Or, be calculated the frequency values and range value at voice signal current time according to voice signal, and according to frequency values and
The comparative result of range value frequency values corresponding with previous moment and range value obtains the running status of propeller.
4. unmanned plane according to claim 2, it is characterised in that
The microphone is oppositely arranged with the perforate on support arm surface, axis direction and the spiral shell on support arm in the hole that quiets down of microphone
The axis direction for revolving oar is different.
5. unmanned plane according to claim 4, it is characterised in that the hole that quiets down of two microphones on diagonal
Axis direction is identical, and the axis direction in the hole that quiets down of adjacent two microphones is different.
6. unmanned plane according to claim 4, it is characterised in that the axis direction in the hole that quiets down of the microphone and support
The span of the angle of the axis direction of propeller is [90 °, 180 °] on arm.
7. unmanned plane according to claim 4, it is characterised in that including：Four microphones, four microphones are respectively mounted
On four support arms, the state of flight judging unit specifically can using microphone gather voice signal as with the microphone
The voice signal that closest propeller sends, the voice signal to microphone is processed, and is obtained and the microphone distance
The running status of nearest propeller.
8. unmanned plane according to claim 4, it is characterised in that the satisfaction that described microphone is arranged on support arm is as follows
On the position of condition：
The sound of remaining propeller of the sound pressure level than collecting of the voice signal of the nearest propeller that the microphone is collected
The summation of the sound pressure level of message number is higher by predetermined sound pressure level threshold value.
9. unmanned plane according to claim 1, it is characterised in that be additionally provided with data transmission unit in the winged control plate, number
According to transmission unit when the abnormal state of propeller is determined, abnormal state information is sent to the remote control on ground so that institute
State remote control and corresponding flight control operation is performed according to the abnormal state information.
10. a kind of wearable device, it is characterised in that the wearable device includes：
Wireless communication module, the operating state signal of the propeller for receiving unmanned plane transmission；
Flight remote control module, for processing the operating state signal after obtain the running status of propeller, according to spiral shell
The running status of oar is revolved, generation is flown distant accordingly when determining the state of flight and the state of flight exception when unmanned plane of unmanned plane
Control instruction, the unmanned plane is sent to by the wireless communication module by the flight telecommand, controls the unmanned plane
Perform corresponding flight operation.
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| CN201621258630.XU CN206282146U (en) | 2016-11-23 | 2016-11-23 | A kind of unmanned plane and wearable device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018095061A1 (en) * | 2016-11-23 | 2018-05-31 | 歌尔股份有限公司 | Unmanned aerial vehicle and method for detecting flight state thereof, and wearable apparatus |
| CN111164014A (en) * | 2017-10-16 | 2020-05-15 | 日本化药株式会社 | Fall detection device, method for detecting aircraft fall, parachute or paraglider deployment device, and airbag device |
| CN113302128A (en) * | 2020-08-24 | 2021-08-24 | 深圳市大疆创新科技有限公司 | Propeller abnormality detection method, unmanned aerial vehicle, control terminal, system and medium |
| CN113748688A (en) * | 2020-06-10 | 2021-12-03 | 深圳市大疆创新科技有限公司 | Recording method, device and chip for unmanned aerial vehicle, unmanned aerial vehicle and system |
| CN114667255A (en) * | 2019-11-22 | 2022-06-24 | 深圳市大疆创新科技有限公司 | Method and apparatus for determining abnormally mounted propellers in an unmanned aerial vehicle |
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2016
- 2016-11-23 CN CN201621258630.XU patent/CN206282146U/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018095061A1 (en) * | 2016-11-23 | 2018-05-31 | 歌尔股份有限公司 | Unmanned aerial vehicle and method for detecting flight state thereof, and wearable apparatus |
| US10817001B2 (en) | 2016-11-23 | 2020-10-27 | Goertek Inc. | Unmanned aerial vehicle and method for detecting flight state thereof, and wearable device |
| CN111164014A (en) * | 2017-10-16 | 2020-05-15 | 日本化药株式会社 | Fall detection device, method for detecting aircraft fall, parachute or paraglider deployment device, and airbag device |
| CN111164014B (en) * | 2017-10-16 | 2023-10-31 | 日本化药株式会社 | Fall detection device, method for detecting a fall of an aircraft, deployment device for a parachute or paraglider, and airbag device |
| CN114667255A (en) * | 2019-11-22 | 2022-06-24 | 深圳市大疆创新科技有限公司 | Method and apparatus for determining abnormally mounted propellers in an unmanned aerial vehicle |
| CN113748688A (en) * | 2020-06-10 | 2021-12-03 | 深圳市大疆创新科技有限公司 | Recording method, device and chip for unmanned aerial vehicle, unmanned aerial vehicle and system |
| WO2021248364A1 (en) * | 2020-06-10 | 2021-12-16 | 深圳市大疆创新科技有限公司 | Audio recording method and apparatus for unmanned aerial vehicle, chip, unmanned aerial vehicle, and system |
| CN113302128A (en) * | 2020-08-24 | 2021-08-24 | 深圳市大疆创新科技有限公司 | Propeller abnormality detection method, unmanned aerial vehicle, control terminal, system and medium |
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