KR20190010865A - Unmanned vehicle - Google Patents

Abstract

A plurality of motors and a plurality of rotors respectively corresponding to the motors are provided in the main body. Each rotor is driven by the output of the corresponding motor. The rotational speed of each motor is detected by the output detecting unit, and the current flowing in each motor is detected by the characteristic value detecting unit. Relation information indicating the relationship between the rotational speed and current of each motor is acquired by the relationship information acquiring unit. It is judged by the judging section whether or not each motor or the rotor corresponding thereto is abnormal based on the acquired relationship information and the detected rotational speed and current of each motor.

Description

Unmanned vehicle

The present invention relates to a unmanned aerial vehicle flying unmanned.

In recent years, unmanned aerial vehicles such as unmanned helicopters have been used for photographing in areas where human access is difficult or for spraying pesticides on agricultural land. In such a unmanned aerial vehicle, an abnormality may occur in a dynamometer including a rotor (propeller) and a motor. Therefore, it is required to detect the abnormality of the dynamometer of the unmanned aerial vehicle quickly.

Patent Document 1 discloses a vertical take-off and landing vehicle having eight rotor units. Each rotor unit is provided with a rotation detecting sensor, and the number of rotations of each rotor is detected. It is determined that the rotor unit has failed if the difference between the number of revolutions based on the number of revolutions command signal sent to each rotor unit and the detected number of revolutions is equal to or greater than a predetermined value.

Patent Document 2 describes an unmanned emergency body having four rotor blades. Further, a current detecting device for obtaining the drive current of the motor of the rotor is provided corresponding to each rotor. When the data of the acquired drive current agrees with the predetermined abnormal condition, the display indicating the abnormality is performed. Abnormal conditions include abnormal current values that may occur when a part of the rotor blades are defective, or an average of abnormally increased or decreased load currents.

Japanese Patent Application Laid-Open No. 2014-227155 Japanese Patent No. 5857326

However, the dynamometer including the rotor and the motor may be affected by various factors. Although the abnormality of the dynamometer due to a limited factor can be detected by the method of monitoring the difference in the number of revolutions and the drive current described in Patent Documents 1 and 2, the abnormality of the dynamometer caused by various factors can not be detected.

An object of the present invention is to provide an unmanned aerial vehicle capable of detecting an abnormality caused by a wider range of factors.

1) A unmanned aerial vehicle according to one aspect of the present invention includes a flying body, a plurality of motors provided in the flying body, a plurality of rotors provided corresponding to the plurality of motors and driven by outputs of corresponding motors, A first parameter detecting section for detecting a first parameter that changes depending on output information of each motor; a second parameter detecting section for detecting a relationship between output information of each motor and a first parameter Corresponding to each motor or each motor based on the relationship information acquired by the acquisition unit, the output information detected by the output detection unit, and the first parameter detected by the first parameter detection unit And determining whether or not the rotor is abnormal.

In this unmanned aerial vehicle, a plurality of motors and a plurality of rotors corresponding to a plurality of motors are provided in the flying body. Each rotor is driven by the output of the motor corresponding to each rotor. The output information of each motor is detected by the output detecting unit, and the first parameter of each motor is detected by the first parameter detecting unit. Here, when an abnormality is caused by any factor in the motor or the rotor corresponding to each motor, the correspondence relationship between the output information of the motor and the first parameter of the motor is changed.

Thus, the relationship information indicating the relationship between the output information of each motor and the first parameter is acquired by the acquisition unit. It is also determined by the determination section whether or not the rotor corresponding to the motor or the motor is abnormal based on the acquired relationship information, the output information of each motor, and the first parameter. According to this configuration, it is possible to detect an abnormality of each motor caused by a wider range of factors or a rotor corresponding to each motor.

(2) The output information may include at least one of the rotational speed and the torque of each motor. In this case, the output information can be easily detected. It is also possible to easily detect the abnormality of the rotor corresponding to each motor or each motor by using any one of the rotational speed and the torque of each motor detected as the output information and the first parameter.

(3) The first parameter may include at least one of the current flowing through each motor, the voltage of each motor, and the temperature of each motor. In this case, the first parameter can be easily detected. It is also possible to easily detect the abnormality of the rotor corresponding to each motor or each motor by using any one of the current flowing to each motor detected as the first parameter, the voltage of each motor, and the temperature of each motor and the output information .

(4) The relationship information has an allowable range of the first parameter at the time of normal operation of the rotor corresponding to each motor and each motor, and the judging section judges that the first parameter detected by the first parameter detecting section is detected It may be determined that there is no abnormality in the rotor corresponding to each motor and each of the motors.

In this case, it can be easily determined that there is no abnormality in the rotor corresponding to each motor and each motor. It is also possible to inhibit the determination that each motor in the normal operation or the rotor corresponding to each motor is abnormal.

(5) When the first parameter detected by the first parameter detecting section is out of the allowable range corresponding to the output information detected by the output detecting section, the judging section judges that the first parameter detected by the first detecting section It may be determined that the corresponding rotor is abnormal.

If the rotor corresponding to each motor or each motor is abnormal, the first parameter is out of the allowable range for a certain period of time. According to the above configuration, the abnormality of each motor or the rotor corresponding to each motor can be accurately detected.

(6) When the first parameter detected by the first parameter detecting unit is within the allowable range corresponding to the output information detected by the output detecting unit, and the predetermined number of times or more occurs within the predetermined second time, It may be determined that the rotor corresponding to each motor is abnormal.

If the rotor corresponding to each motor or each motor is abnormal, the first parameter is frequently out of the allowable range within a predetermined time. According to the above configuration, the abnormality of each motor or the rotor corresponding to each motor can be accurately detected.

(7) The permissible range includes a first range that is set based on a deviation of a first parameter caused by an individual difference of each motor or an individual difference of rotors corresponding to each motor, and the judgment section detects And the first parameter is within the tolerance range including the first range corresponding to the output information detected by the output detection section, it may be determined that there is no abnormality in the rotor corresponding to each motor and each motor.

The relationship between the output information and the first parameter may be slightly different for each set of the motor and the rotor by the individual difference. According to the above configuration, the permissible range is set based on the individual difference of the rotor or the motor. As a result, it is further suppressed that the motor corresponding to the normal operation or the rotor corresponding to each motor is determined to be abnormal.

(8) The permissible range includes a second range set based on the variation of the environmental factor, and the judging section judges that the first parameter detected by the first parameter detecting section is within the second range corresponding to the output information detected by the output detecting section , It may be determined that there is no abnormality in the rotor corresponding to each motor and each motor.

The relationship between the output information and the first parameter may differ depending on the environment of use of the unmanned aerial vehicle. According to the above configuration, the permissible range is set based on the variation of the environmental factor. As a result, it is further suppressed that the motor corresponding to the normal operation or the rotor corresponding to each motor is determined to be abnormal.

(9) The unmanned aerial vehicle may further include a second parameter detection unit for detecting a second parameter related to the use environment of the unmanned air vehicle, and the second range may be changed based on the second parameter detected by the second parameter detection unit .

In this case, the allowable range is changed based on the second parameter detected by the second parameter detecting unit. Therefore, the abnormality of the rotor corresponding to each motor or each of the motors is determined on the basis of a suitable allowable range according to the use environment of the unmanned air vehicle. As a result, it is further suppressed that the motor corresponding to the normal operation or the rotor corresponding to each motor is determined to be abnormal.

(10) The second parameter may include at least one of air temperature, air pressure, speed of the unmanned aerial vehicle, acceleration of the unmanned aerial vehicle, and angular velocity of the unmanned aerial vehicle. In this case, the second parameter can be easily detected. Also, the permissible range can be appropriately changed by using any one of the temperature, the atmospheric pressure, the speed of the unmanned air vehicle, the acceleration of the unmanned aerial vehicle, and the angular velocity of the unmanned aerial vehicle as the second parameter.

(11) The permissible range includes a third range set based on the transient response of the rotor corresponding to each motor or each motor, and the judging section judges that the first parameter detected by the first parameter detecting section is detected by the output detecting section It may be determined that there is no abnormality in each of the motors and the rotors corresponding to the respective motors in the case of being within the permissible range including the third range corresponding to the output information.

The relationship between the output information and the first parameter may differ in transient response of the rotor corresponding to each motor or each motor. According to the above configuration, the permissible range at the time of transient response of each motor or the rotor corresponding to each motor is set. As a result, it is further suppressed that the motor corresponding to the normal operation or the rotor corresponding to each motor is determined to be abnormal.

(12) The unmanned air vehicle further includes a rotation control unit for controlling the rotation speed of each of the motors so that the plurality of motors rotate at the target speed. The output detection unit detects the rotation speed of each of the motors as output information, And may be changed on the basis of the target speed of each motor by the control unit and the rotational speed difference of the rotational speed of the motor detected by the output detecting unit.

In this case, the permissible range varies based on the difference between the target speed of each motor and the detected rotation speed. Therefore, the abnormality of the rotor corresponding to each motor or each motor is determined on the basis of a more suitable allowable range in the transient response of the rotor corresponding to each motor or each motor. As a result, it is further suppressed that the motor corresponding to the normal operation or the rotor corresponding to each motor is determined to be abnormal.

(13) The allowable range may include the third range when the rotational speed difference is equal to or greater than a predetermined first threshold value. According to this configuration, when the rotational speed difference in each motor is less than the first threshold value, the allowable range does not include the third range set based on the transient response. Thus, the abnormality of the rotor corresponding to each motor or each motor can be accurately detected.

(14) The third range may be changed so that, when the target speed of each motor by the rotation control unit is lower than the rotation speed of the motor detected by the output detection unit, the lower limit of the third range becomes smaller the larger the rotation speed difference. According to this configuration, it is possible to suppress the determination that the rotor corresponding to each motor or each motor is determined to be abnormal even in the case where the first parameter greatly decreases when the rotational speed of each motor decreases during normal operation.

(15) When the target speed of each motor by the rotation control unit is higher than the rotation speed of the motor detected by the output detection unit, the third range may be changed so that the upper limit of the third range becomes larger as the rotation speed difference becomes larger. According to this configuration, it is possible to suppress the determination that the rotor corresponding to each motor or each motor is determined to be abnormal even when the first parameter largely increases at the time of increasing the rotational speed of each motor during normal operation.

(16) When the target speed of each motor by the rotation control unit is lower than the rotation speed of the motor detected by the output detection unit, and the rotation speed difference is equal to or greater than a predetermined second threshold value, The above determination of the rotor may be suspended.

The first parameter may be out of the permissible range when the rotation speed difference is equal to or larger than the second threshold even during normal operation. According to the above arrangement, even in such a case, the abnormality determination of the rotor corresponding to each motor and each motor is suspended. As a result, it is restrained that the motor corresponding to the normal operation or the rotor corresponding to each motor is determined to be abnormal.

(17) The judging section judges that the target speed of each motor by the rotation control section is higher than the rotational speed of the motor detected by the output detecting section, the rotational speed difference is equal to or greater than a predetermined third threshold value and the rotational speed detected by the output detecting section is The abnormality determination of the rotor corresponding to each of the motors and the respective motors may be suspended when the predetermined threshold value is equal to or greater than the predetermined fourth threshold value.

The first parameter may be out of the permissible range when the rotational speed difference is equal to or greater than the third threshold value and the rotational speed is equal to or greater than the fourth threshold value even during normal operation. According to the above arrangement, even in such a case, the abnormality determination of the rotor corresponding to each motor and each motor is suspended. As a result, it is restrained that the motor corresponding to the normal operation or the rotor corresponding to each motor is determined to be abnormal.

(18) When the rotational speed detected by the output detecting unit is lower than a predetermined fifth threshold value, the judging unit may not judge the abnormality of the rotor corresponding to each motor and each motor.

The first parameter may be out of the permissible range when the rotation speed is lower than the predetermined fifth threshold even during normal operation. According to the above configuration, even in such a case, the determination of the rotor corresponding to each motor and each motor is not performed. As a result, it is restrained that the motor corresponding to the normal operation or the rotor corresponding to each motor is determined to be abnormal.

(19) The judging section may judge whether or not the motor corresponding to each motor or each motor is abnormal based on the first parameter detected by the first parameter detecting section a plurality of times within a predetermined third time.

The first parameter may momentarily fall outside the permissible range even during normal operation. According to the above configuration, since the first parameter detected a plurality of times within a predetermined time is used for the determination of abnormality, it is restrained that the motor corresponding to each motor or each motor during normal operation is determined to be abnormal.

(Effects of the Invention)

According to the present invention, an abnormality of the unmanned aerial vehicle caused by a wider range of factors can be detected.

1 is a perspective view showing a flying body according to a first embodiment of the present invention.
2 is a block diagram showing the configuration of one flight unit.
3 is a block diagram showing a configuration of the control apparatus.
4 is a diagram showing the relationship between the rotational speed of the motor and the current flowing in the motor.
5 is a diagram showing a first example of a permissible range at the time of a normal response of the motor and the rotor corresponding to the motor.
6 is a diagram showing a second example of a permissible range at the time of a normal response of the motor and the corresponding rotor.
7 is a diagram showing a third example of the permissible range at the time of normal response of the motor and the rotor corresponding thereto.
8 is a diagram showing a first example of a permissible range in response to a transient response of deceleration of a motor or a rotor corresponding to the motor.
Fig. 9 is a diagram showing a second example of a permissible range at the time of transient response of the acceleration of the motor or the rotor corresponding thereto. Fig.
Fig. 10 is a diagram for explaining a failure to perform the above determination based on the actual rotation speed of the motor. Fig.
11 is a flowchart showing an example of determination processing by the main controller.
12 is a flowchart showing an example of determination processing by the main controller.
Fig. 13 is a block diagram showing a configuration of a control apparatus of a flying object in the second embodiment. Fig.
14 is a flowchart showing an example of determination processing by the main controller in the second embodiment.
15 is a block diagram showing a configuration of a flight according to the third embodiment.

[1] First Embodiment

(1) Unmanned aerial vehicle

Hereinafter, an unmanned aerial vehicle (hereinafter simply referred to as a flying object) according to a first embodiment of the present invention will be described with reference to the drawings. In the present embodiment, the flying body is a multi-copter having a plurality of rotors (propellers). 1 is a perspective view showing a flying body according to a first embodiment of the present invention. 1, the air vehicle 100 includes a main body 10, a plurality of flight units 20, and a control device (flight controller) 30. As shown in Fig.

The main body portion 10 includes a disk-shaped housing portion 11, a plurality of arm portions 12, and leg portions (skids) A plurality of (four in this example) arm portions 12 are provided in the housing portion 11 so as to protrude from the side surface of the housing portion 11 at substantially 90 degree intervals. A circular holding portion 12a is provided at the front end of each arm portion 12. The leg portion 13 is attached to the bottom surface of the housing portion 11. A plurality of flight units 20 are provided corresponding to the plurality of arm portions 12, respectively. The control device 30 is housed in the inner space of the housing part 11. [

Fig. 2 is a block diagram showing the configuration of one flight unit 20. Fig. The flight unit 20 includes a motor 21, a rotor 22, an output detection unit 23, a characteristic value detection unit 24, and a motor control unit 25. The motor 21 is attached to the holding portion 12a (Fig. 1) of the corresponding arm 12 in a state in which the rotating shaft faces upward. The rotor 22 is attached to the rotating shaft of the motor 21, and is driven by the motor 21.

The output detection unit 23, the characteristic value detection unit 24 and the motor control unit 25 are accommodated in the arm portion 12 or the holding portion 12a in Fig. The output detection unit 23 detects information related to the output of the motor 21 as output information. The characteristic value detection section 24 detects a characteristic value that changes depending on the output information of the motor. In the present embodiment, the output information of the motor 21 is the rotational speed of the motor 21 (the rotor 22), and the characteristic value of the motor 21 is the current flowing in the motor 21. [

The motor control unit 25 acquires the rotation speed detected by the output detection unit 23 and the current detected by the characteristic value detection unit 24 and supplies it to the control unit 30 in Fig. The motor control unit 25 also controls the motor 21 so that the motor 21 (the rotor 22) rotates at a target speed given by the control device 30. [

The control device 30 is connected to the motor control unit 25 of the plurality of flight units 20 by, for example, CAN (Controller Area Network) communication. 3 is a block diagram showing a configuration of the control device 30. As shown in Fig. 3, the control device 30 includes a main control unit 31, a storage unit 32, a target speed setting unit 33, a relationship information acquisition unit 34, and a determination unit 35. As shown in Fig.

The main control unit 31 includes, for example, a central processing unit (CPU). The storage unit 32 includes, for example, a volatile memory or a hard disk. The storage unit 32 stores a computer program. The target speed setting section 33, the relationship information obtaining section 34, and the determining section 35 are realized by executing the computer program stored in the storage section 32 by the main control section 31. [

The target speed setting unit 33 sets the target speeds of the plurality of motors 21 in Fig. The target speed setting unit 33 also supplies the set target speed to the determination unit 35 and the motor control unit 25 shown in Fig. The target speed setting unit 33 appropriately updates the target speed of the other motor 21 when the determination unit 35 determines that any one of the motors 21 or the corresponding rotor 22 is abnormal . Thus, various operations for avoiding unstable flying of the flying body 100 can be performed. The operation for avoiding the unstable flying of the flying body 100 includes keeping the attitude of the flying body 100 stable or landing the flying body 100 in a safe place.

The relationship information acquiring unit 34 acquires relationship information indicating the relationship between the rotational speed of each motor 21 and the current flowing in the motor 21 and gives the acquired relationship information to the determining unit 35. [ The relationship information may have an allowable range of the current flowing through the motor 21 at the time of normal operation of each motor 21 and the corresponding rotor 22 (hereinafter referred to simply as normal operation). The relationship information and the allowable range may be acquired based on the relational expression stored in the storage unit 32 or may be acquired based on the table stored in the storage unit 32. [ Details of the relationship information and the allowable range will be described later.

The judging section 35 obtains the rotational speed detected by the output detecting section 23 in Fig. 2 (hereinafter referred to as actual rotational speed) and the current detected by the characteristic value detecting section 24 in Fig. The judging unit 35 also calculates the difference between the target speed of each motor 21 set by the target speed setting unit 33 and the actual rotation speed detected by the output detecting unit 23.

Hereinafter, the absolute value of the difference between the target speed and the actual rotation speed is called the rotation speed difference. The result obtained by subtracting the actual rotation speed from the target speed is referred to as a relative speed difference. When the target speed is higher than the actual rotation speed, the relative speed difference is represented by a positive value, and when the target speed is lower than the actual rotation speed, the relative speed difference is represented by a negative value. The judging unit 35 judges whether each motor 21 or the rotor 22 corresponding thereto is abnormal based on the acquired relation information, the rotational speed and current, and the calculated rotational speed difference (or relative speed difference).

(2) Relationship information

Fig. 4 is a diagram showing the relationship between the rotational speed of the motor 21 and the current flowing through the motor 21. Fig. The horizontal axis of FIG. 4 represents the rotational speed of one of the motors 21, and the vertical axis of FIG. 4 represents the current flowing through the motor 21. In FIG. This also applies to Figs. 5 to 10 to be described later. The relationship between the rotational speed of the motor 21 in the specific environment and the current flowing in the motor 21 (hereinafter referred to as the basic characteristics of the motor 21) is shown in FIG. 4 as indicated by a thick curve L0 It is known.

The determining unit 35 of Fig. 3 determines whether or not the predetermined value of the motor 21 in the normal operation based on the relationship information indicating the basic characteristics of the motor 21 acquired by the relationship information acquiring unit 34 in Fig. It is possible to specify the current flowing in the motor 21 in accordance with the rotation speed. However, an abnormality due to any factor may occur in the motor 21 or the rotor 22 corresponding thereto. In this case, the corresponding relationship between the rotational speed of the motor 21 and the current flowing through the motor 21 is changed.

Here, the abnormality of the motor 21 includes burnout, interruption, disconnection, short-circuit or demagnetization of the motor 21, and the like. Incidentally, the abnormality of the motor 21 includes an increase in sliding resistance due to deterioration of the bearing, lack of grease or rust, or incorporation of foreign matter into the gap. The abnormality of the rotor 22 involves a temporary fluctuation in the rotational speed of the rotor 22 caused by the foreign object being impacted or attached to the rotor 22 and the like. The abnormality of the rotor 22 is caused by a change in the characteristics of the rotor 22 caused by deformation, contamination, deficiency or dropout of the rotor 22 or a change in the stiffness due to the internal breakage of the rotor 22 ). ≪ / RTI >

In addition, the motor 21 or the rotor 22 may be abnormally caused by a change in characteristics due to aged deterioration of the components of the motor 21 or the rotor 22. In addition, an error may occur in the motor 21 or the rotor 22 due to a difference in alignment due to deformation or breakage of the air vehicle 100, or the like.

3 is substantially the same as the current corresponding to the actual rotation speed detected by the output detecting section 23 in Fig. 2 (in the case where the current detected by the characteristic value detecting section 24 in Fig. 2) It is determined that the motor 21 and the corresponding rotor 22 are not abnormal. Thus, it is possible to detect that an abnormality due to a wide range of factors has not occurred in the motor 21 or the corresponding rotor 22.

In the present embodiment, in order to suppress misjudgment that the motor 21 or the rotor 22 corresponding thereto during normal operation is judged to be abnormal, the allowable range of the current flowing through the motor 21 in the normal operation is a relationship Information. Hereinafter, the permissible range at the time of normal response and transient response of the motor 21 and the rotor 22 will be described.

(3) Permissible range in normal response

5 is a diagram showing a first example of an allowable range at the time of normal response of the motor 21 and the rotor 22 corresponding thereto. In the first example of the allowable range at the time of the normal response, the lower limit and the upper limit of the current based on the deviation of the current due to the individual difference of the motor 21 and the rotor 22 corresponding to the motor 21, (21). 5, the thin curve L1 corresponding to the lower limit of the current is shown below the thick curve L0, and the thin curve L2 corresponding to the upper limit of the current is shown above the thick curve L0.

The range between the current on the curve L1 and the current on the curve L2 at each rotational speed of the motor 21 becomes the allowable range D1. When the current detected by the characteristic value detecting section 24 of Fig. 2 is within the allowable range D1 corresponding to the actual rotation speed detected by the output detecting section 23 of Fig. 2, the judging section 35 of Fig. It is determined that the motor 21 and the corresponding rotor 22 are not abnormal.

The relationship between the rotational speed of the motor 21 and the current flowing in the motor 21 may be slightly different for each set of the motor 21 and the rotor 22 due to the individual difference. Even in this case, the permissible range D1 is set in each relationship information, so that it is suppressed that the motor 21 in the normal operation or the rotor 22 corresponding thereto is erroneously determined to be abnormal.

6 is a diagram showing a second example of the permissible range at the time of normal response of the motor 21 and the rotor 22 corresponding thereto. 6, the lower limit and the upper limit of the current based on the fluctuation of the environmental factor of the motor 21 and the rotor 22 corresponding to the allowable range of the normal response are set to be And is set in relation information for each rotation speed. Here, the fluctuation of the environmental factor includes a change in weather conditions such as a temperature, an atmospheric pressure, or a humidity, or a change in the battery remaining amount of the air vehicle 100. In Fig. 6, a thin curve L3 corresponding to the lower limit of the current is shown below the thick curve L0, and a thin curve L4 corresponding to the upper limit of the current is shown above the thick curve L0.

The range between the current on the curve L3 and the current on the curve L4 at each rotational speed of the motor 21 becomes the allowable range D2. The determining section 35 determines whether or not the current detected by the characteristic value detecting section 24 is within the tolerance range D2 corresponding to the actual rotational speed detected by the output detecting section 23, The rotor 22 determines that there is no abnormality.

The relationship between the rotational speed of the motor 21 and the current flowing in the motor 21 may differ depending on the use environment of the air vehicle 100. [ Even in such a case, the allowable range D2 is set for each piece of relationship information, so that the motor 21 during normal operation or the rotor 22 corresponding thereto is prevented from being determined as an error.

7 is a diagram showing a third example of the permissible range at the time of normal response of the motor 21 and the rotor 22 corresponding thereto. In the third example of the allowable range at the time of the normal response, as shown in Fig. 7, the lower limit and the upper limit of the current based on the deviation of the current in the example of Fig. 5 and the variation of the environmental factor in the example of Fig. And is set in relation information for each rotation speed of the motor 21. [ 7, the thin curve L5 corresponding to the lower limit of the current is shown below the thick curve L0, and the thin curve L6 corresponding to the upper limit of the current is shown above the thick curve L0.

The range between the current on the curve L5 and the current on the curve L6 at each rotational speed of the motor 21 becomes the allowable range D12. The determining section 35 determines whether or not the current detected by the characteristic value detecting section 24 is within the tolerance range D12 corresponding to the actual rotational speed detected by the output detecting section 23, The rotor 22 determines that there is no abnormality. Even when the basic characteristics of the motor 21 have individual differences and the basic characteristics are changed due to variations in environmental factors, it is suppressed that the motor 21 in the normal operation or the rotor 22 corresponding thereto is misjudged.

(4) Permissible range in transient response

The relationship between the rotational speed of the motor 21 and the current flowing in the motor 21 may be different from that in the normal response at the time of transient response such as deceleration or acceleration of the motor 21 or the rotor 22 corresponding thereto. Therefore, in the present embodiment, a new allowable range of the current in the transient response of the motor 21 or the corresponding rotor 22 is set in the relationship information.

Here, the permissible range in the transient response is changed based on the rotational speed difference. Therefore, the abnormality of the motor 21 or the rotor 22 corresponding thereto is determined on the basis of a more suitable allowable range in the transient response. As a result, during the transient response, it is further suppressed that the motor 21 or the rotor 22 corresponding to the motor 21 is judged to be abnormal during normal operation.

8 is a diagram showing a first example of a permissible range at the time of transient response of deceleration of the motor 21 or the rotor 22 corresponding thereto. In the transient response of deceleration of the motor 21 or the rotor 22 corresponding thereto, the target speed decreases and then the actual rotation speed of the motor 21 decreases so as to approach the target speed and the rotor 22 decelerates. In this case, the relative speed difference becomes a negative value. In this example, the lower limit of the current determined by the relative speed difference is set in the relationship information for each rotation speed of the motor 21. [ In FIG. 8, a curve L7 corresponding to the lower limit of the current at the time of the transient response of deceleration is shown below the allowable range Ds in the normal response.

Here, the allowable range Ds in the normal response is the allowable range of the current set in the normal response. Therefore, in the example of FIG. 4, since the allowable range is not set, the allowable range Ds corresponds to the curve L0. On the other hand, in the examples of Figs. 5, 6 and 7, the permissible range Ds is the permissible range D1, D2, and D12, respectively. This also applies to Figs. 9 and 10 to be described later.

8 shows a curve L7 when the rotational speed difference (absolute value of the relative speed difference) is small, and a curve L7 when the rotational speed difference is large is shown by the dotted line. The range between the lower limit current of the permissible range Ds at the respective rotational speeds of the motor 21 and the current on the curve L7 becomes the new permissible range D31. Thus, the allowable range D31 is changed by the rotation speed difference. More specifically, the allowable range D31 changes so that the lower limit becomes smaller as the rotation speed difference becomes larger.

8, the range between the upper limit current of the permissible range Ds at the respective rotational speeds of the motor 21 and the current on the curve L7 is a comprehensive range in the transient response of the deceleration of the motor 21 The allowable range is Dt1. The determination section 35 dynamically changes the allowable range D31 on the basis of the rotation speed difference and determines that the current detected by the characteristic value detection section 24 of Fig. 2 is the actual rotation speed detected by the output detection section 23 It is determined that there is no abnormality in the motor 21 and the corresponding rotor when it is within the corresponding tolerance range Dt1. Thus, even when the current flowing through the motor 21 decreases greatly during the transient response of the deceleration during the normal operation, it is suppressed that the motor 21 or the rotor 22 corresponding thereto is judged to be abnormal.

9 is a diagram showing a second example of a permissible range at the time of transient response of acceleration of the motor 21 or the rotor 22 corresponding thereto. At the time of transient response of the motor 21 or the rotor 22 corresponding thereto, the target speed increases and then the actual rotation speed of the motor 21 increases so as to approach the target speed and the rotor 22 is accelerated. In this case, the relative speed difference becomes a positive value. In this example, the upper limit of the current determined by the relative speed difference is set in the relationship information for each rotation speed of the motor 21. [ In FIG. 9, a curve L8 corresponding to the upper limit of the current at the time of transient response of acceleration is shown above the allowable range Ds at the time of normal response.

In Fig. 9, a curve L8 when the difference in rotational speed is small is indicated by a solid line, and a curve L8 when the difference in rotational speed is large is indicated by a broken line. The range between the upper limit current of the permissible range Ds at the respective rotational speeds of the motor 21 and the current on the curve L8 becomes the new permissible range D32. Thus, the allowable range D32 is changed by the rotation speed difference. Specifically, the larger the rotation speed difference, the larger the upper limit is changed.

9, the range between the current at the lower limit of the permissible range Ds at the respective rotational speeds of the motor 21 and the current at the curve L8 is a comprehensive range in the transient response of the acceleration of the motor 21 The allowable range is Dt2. The determination section 35 dynamically changes the allowable range D32 on the basis of the difference in rotation speed while allowing the current detected by the characteristic value detection section 24 to be allowed to correspond to the actual rotation speed detected by the output detection section 23. [ It is determined that the motor 21 and the rotor corresponding to it are not abnormal when they are within the range Dt2. As a result, even when the current flowing through the motor 21 increases greatly during the transient response during the normal operation, it is suppressed that the motor 21 or the corresponding rotor 22 is judged to be abnormal.

(5)

When the rotational speed difference (the absolute value of the difference between the target speed and the actual rotational speed) is less than the preset threshold speed difference G0, the behavior of the motor 21 and the corresponding rotor 22, Is substantially the same as the behavior of the motor 21 and the rotor 22 corresponding thereto. Therefore, in the present embodiment, the allowable ranges D31 and D32 are set when the rotational speed difference is equal to or greater than the threshold value speed difference G0, and are not set when the rotational speed difference is less than the threshold value speed difference G0. This makes it possible to accurately detect the abnormality of the motor 21 or the rotor 22 corresponding to the motor 21 during normal operation.

The current flowing through the motor 21 may be significantly reduced if the difference in rotational speed exceeds a predetermined value even during normal operation during the transient response of deceleration. Thus, when the relative speed difference is negative, the negative threshold value speed difference G1 is preset. The judging section 35 does not judge the motor 21 and the rotor 22 corresponding to the threshold value difference G1 when the relative speed difference is equal to or less than the threshold value speed difference G1. As a result, it is suppressed that the motor 21 or the rotor 22 corresponding thereto during the normal operation is judged as an error.

Likewise, even during normal operation during the transient response of the acceleration, the current flowing through the motor 21 may increase significantly if the rotational speed difference exceeds a predetermined value and the rotational speed exceeds a predetermined value. Thus, when the relative speed difference is positive, the positive threshold value speed difference G2 is preset. In addition, the threshold speed R1 is preset to the actual rotation speed of the motor 21. [ The judging section 35 does not judge the motor 21 and the corresponding rotor 22 to be abnormal if the relative speed difference is equal to or greater than the threshold value speed difference G2 and the actual rotating speed is equal to or greater than the threshold speed R1 . As a result, it is suppressed that the motor 21 or the rotor 22 corresponding thereto during the normal operation is judged as an error.

The judging section 35 does not have to judge the motor 21 and the rotor 22 corresponding thereto for a predetermined time t0 when the motor 21 or the rotor 22 transiently responds. In this case, at the time of the transient response, it is restrained that the motor 21 or the rotor 22 corresponding thereto during the normal operation is judged as an error.

As described above, when the motor 21 or the rotor 22 transiently responds, the above determination may not be performed.

On the other hand, when the motor 21 or the rotor 22 corresponding thereto is abnormal, the current flowing in the motor 21 exceeds the allowable range for a predetermined period of time. Thus, when the current flowing in the motor 21 exceeds the permissible range for a predetermined time t1, the judging unit 35 judges that the motor 21 or the rotor 22 corresponding thereto is abnormal. Thus, the abnormality of the motor 21 or the rotor 22 corresponding to the motor 21 can be accurately detected.

When the motor 21 or the rotor 22 corresponding thereto is abnormal, the current flowing through the motor 21 frequently falls outside the permissible range. When the current flowing in the motor 21 exceeds the allowable range within a predetermined time t2 within a predetermined time t2, the judging unit 35 judges that the motor 21 or the rotor 22 corresponding to the motor 21 is abnormal . Thus, the abnormality of the motor 21 or the rotor 22 corresponding to the motor 21 can be accurately detected.

Further, the judging section 35 makes the above-described judgment non-execution based on the actual rotational speed of the motor 21. [ Fig. 10 is a diagram for explaining a non-execution of the above determination based on the actual rotation speed of the motor 21. Fig. If the actual rotational speed is lower than the rotational speed at the time of hovering even during normal operation, the current flowing through the motor 21 may be out of the permissible range. Therefore, as shown in Fig. 10, the judging section 35 does not judge the motor 21 and the rotor 22 corresponding to the actual rotation speed lower than the threshold value speed R0. The threshold value R0 is lower than the rotational speed at the time of hovering. As a result, it is suppressed that the motor 21 or the rotor 22 corresponding thereto during the normal operation is judged as an error.

In addition, even during normal operation, the current flowing through the motor 21 may momentarily fall outside the permissible range. Therefore, the judging section 35 may judge whether the motor 21 or the rotor 22 corresponding thereto is abnormal based on the current detected plural times within the predetermined time t3.

For example, when the representative value such as the average value or the standard deviation value of the current detected a plurality of times within the time t3 is out of the permissible range within the time t3, the judging unit 35 judges that the motor 21 or the rotor 22 is abnormal It may be determined. Alternatively, the judging section 35 may judge that the motor 21 or the rotor 22 is abnormal when the current continues to fall outside the allowable range within the time t3. This prevents the motor 21 or the rotor 22 corresponding thereto from being misjudged as an error during normal operation.

(6) Judgment processing

Fig. 11 is a flowchart showing an example of determination processing by the main control section 31. Fig. The determination processing is performed by causing the main control unit 31 to execute the computer program stored in the storage unit 32 to the target speed setting unit 33, the relationship information obtaining unit 34, and the determining unit 35. [ Hereinafter, the determination processing will be described in accordance with the allowable ranges of FIGS. 5 to 10 and the flowcharts of FIGS. 11 and 12. FIG.

The judging section 35 judges whether or not the actual rotational speed of the motor 21 is equal to or greater than the threshold value speed R0 (step S11). When the actual rotational speed of the motor 21 is lower than the threshold value R0, the judging section 35 does not make the above-mentioned judgment and judges whether the actual rotational speed of the motor 21 becomes equal to or higher than the threshold value speed R0 The process of step S11 is repeated.

When the actual rotation speed of the motor 21 is equal to or greater than the threshold value speed R0 in step S11, the determination section 35 determines whether or not the relative speed difference of the motor 21 is equal to or less than the threshold value speed difference G1 (Step S12). When the relative speed difference is equal to or smaller than the negative threshold value speed difference G1, the judging unit 35 returns to the process of the step S11 without performing the above judgment. The determining section 35 repeats the processing of steps S11 and S12 until the relative speed difference becomes larger than the negative threshold value speed difference G1.

When the relative speed difference is greater than the negative threshold value speed difference G1 in step S12, the judging section 35 judges that the relative speed difference of the motor 21 is not less than the positive threshold value speed difference G2, Is equal to or greater than the threshold value speed R1 (step S13). When the relative speed difference is equal to or more than the positive threshold value speed difference G2 and the actual rotation speed is equal to or greater than the threshold speed R1, the judging section 35 returns to the processing of the step S11 without performing the above determination. The determining section 35 repeats the processing of steps S11 to S13 until the relative speed difference becomes smaller than the positive threshold value speed difference G2 or the actual rotation speed becomes lower than the threshold value speed R1.

When the relative speed difference is smaller than the positive threshold value speed difference G2 or the actual rotation speed is lower than the threshold speed R1 in step S13, the judging section 35 judges whether the current flowing through the motor 21 is normal It is determined whether or not it is within the permissible range Ds at the time of the response (step S14). When the current is within the permissible range Ds, the judging section 35 judges that the motor 21 and the rotor corresponding thereto are not abnormal, and returns to the processing of the step S11. The determining section 35 repeats the processes of steps S11 to S14 until the current becomes out of the allowable range Ds.

When the current is out of the permissible range Ds in step S14, the judging section 35 judges whether the rotational speed difference (the absolute value of the difference between the target speed and the actual rotational speed) of the motor 21 is less than the threshold value speed G0 ) (Step S15). When the rotational speed difference is less than the threshold value speed difference G0, the judging section 35 proceeds to the processing of step S18.

In step S15, when the rotational speed difference is equal to or greater than the threshold value speed difference G0, the judging section 35 acquires the permissible ranges Dt1 and Dt2 in the transient response based on the relative speed difference of the motor 21 (Step S16). Subsequently, the judging section 35 judges whether the current flowing in the motor 21 is within the permissible range Dt1 in the transient response or within the permissible range Dt2 (step S17). When the current is within the allowable range Dt1 or within the allowable range Dt2, the judging section 35 judges that the motor 21 and the corresponding rotor 22 are not abnormal, and returns to the process of the step S11 . The determining section 35 determines whether the rotational speed difference is less than the threshold value speed difference G0 or until the current becomes out of the allowable range Dt1 or out of the permissible range Dt2 or the processes in steps S11 to S15 or steps S11 to S17 Is repeated.

If the current is outside the allowable range Dt1 or outside the allowable range Dt2 in the step S17, the judging unit 35 suspends the above judgment (step S18). At this time, the main control unit 31 measures the elapsed time from the start of holding of the above judgment by operating a timer (not shown). Thereafter, the judging section 35 judges whether or not the above-mentioned judgment is suspended for a time t1 or longer (step S19). When the above-described judgment is held for more than the time t1, the judging section 35 proceeds to the process of the step S21.

If the suspension of the above determination is not continued for the time t1 or longer in step S19, the determination section 35 determines whether or not the above-described suspension of the determination has occurred more than the predetermined number of times within the time t2 (step S20 ). If the above determination is not generated more than the predetermined number of times within the time t2, the judging unit 35 returns to the processing of the step S11 while holding the above determination. The judging unit 35 judges whether or not the process of the steps S11 to S19 or the processes of the steps S11 to S20 until the holding of the above judgment continues for the time t1 or until the holding of the judgment exceeds the predetermined number of times within the time t2 .

When the judgment of the above-described judgment is continued at the time t1 or more in the step S19 or when the judgment of the above-mentioned judgment is held more than the predetermined number of times within the time t2 in the judgment of the step S20, ) Or the rotor 22 corresponding thereto is abnormal (step S21). Thereby, the judging unit 35 ends the judging process, and the main control unit 31 performs various controls for avoiding unstable flying of the air vehicle 100. [

In the determination processing, a part of the processing may be executed in a different order. For example, the processing in steps S11 to S13 may be executed first. When the allowable ranges Dt1 and Dt2 in the transient response are not set in the relation information, the processing in steps S15 to S20 is omitted. When the above determination is not held at the time of the transient response, the processing of steps S18 to S20 is omitted.

(7) Effect

A plurality of motors 21 and a plurality of rotors 22 corresponding to the motors 21 are provided in the main body 10 in the air vehicle 100 according to the present embodiment. The actual rotation speed of each motor 21 is detected by the output detection unit 23 and the current flowing through each motor 21 is detected by the characteristic value detection unit 24. [ The relationship information acquiring unit 34 acquires relationship information indicating the relationship between the rotational speed and current of each motor 21. [

It is judged by the judging section 35 whether or not the motor 21 or the rotor 22 corresponding thereto is abnormal based on the acquired relationship information and the actual rotational speed and current of each motor 21. [ This makes it possible to detect an abnormality in the motor 21 or the rotor 22 corresponding to each motor 21 caused by a wider range of factors.

[2] Second Embodiment

A description will be given of differences between the air vehicle 100 according to the second embodiment and the air vehicle 100 according to the first embodiment. A calibration information acquisition mode is set in the air vehicle 100 according to the present embodiment in order to urge the user to rotate each motor 21 so that the main body 10 does not take off.

13 is a block diagram showing a configuration of the control device 30 of the air vehicle 100 according to the second embodiment. As shown in Fig. 13, in the present embodiment, the control device 30 further includes a calibration information acquiring section 36. Fig. The function of the calibration information acquisition section 36 is realized by the main control section 31 executing the computer program stored in the storage section 32. [ The calibration information acquisition unit 36 acquires the rotation speed of each motor 21 as calibration information in the calibration information acquisition mode and gives it to the relationship information acquisition unit 34. [

The relationship information acquiring unit (34) corrects basic characteristics of each motor (21) in relation information based on the acquired calibration information. In this case, the deviation of the current due to the individual difference of the motor 21 or the corresponding rotor 22 can be excluded from the relationship information. In addition, it is possible to reduce the influence of the fluctuation of the current due to the fluctuation of the environmental factor in the relationship information.

According to this configuration, it is necessary to set the lower limit and the upper limit of the current based on the deviation of the current due to the individual difference of the motor 21 or the rotor 22 corresponding thereto to the relationship information for each rotation speed of the motor 21 none. Therefore, in the present embodiment, the permissible range D1 in FIG. 5 and the permissible range D12 in FIG. 7 are not used as the permissible range Ds in the normal response. In the present embodiment, the permissible range D2 of FIG. 6 may be set as the permissible range Ds.

In this embodiment, a calibration switch (not shown) is provided in the air vehicle 100. When the calibration switch is in the ON state, the determination process is performed using the relationship information based on the corrected basic characteristics. On the other hand, when the calibration switch is in the OFF state, the determination processing is performed using the relationship information based on the basic characteristics in the initial state. The basic characteristics in the initial state are basic characteristics, for example, in factory shipment of the air vehicle 100 or each flight unit 20.

14 is a flowchart showing an example of determination processing by the main control section 31 in the second embodiment. As shown in Fig. 14, in the determination processing in the present embodiment, the determination section 35 determines whether the calibration switch is in an on-state (step S1). If the calibration switch is not in the on-state, the determination section 35 proceeds to the processing of step S11 in Fig. Thereby, determination processing similar to that of the first embodiment is continued by using the relation information in the initial state.

In step S1, when the calibration switch is turned on, the determination section 35 updates the relationship information with relationship information based on the basic characteristics after calibration (step S2). Thereafter, the determining section 35 determines whether or not the updated relationship information is deviated from the relationship information of the initial state by a predetermined amount or more (step S3). When the updated relationship information is deviated from the relationship information in the initial state, the determination section 35 determines that the assembling of the flight unit 20 is abnormal (step S4), and the determination section 35 ends the determination process .

If the updated relationship information does not deviate from the relationship information in the initial state in step S3, the determination section 35 proceeds to the processing in step S11 in Fig. Thereby, the determination processing similar to that of the first embodiment is continued using the updated relationship information.

[3] Third Embodiment

A description will be given of a difference between the air vehicle 100 according to the third embodiment and the air vehicle 100 according to the first embodiment. 15 is a block diagram showing the configuration of the air vehicle 100 according to the third embodiment. As shown in FIG. 15, the air vehicle 100 according to the present embodiment is further provided with an environment value detecting section 40 for detecting environmental values related to the use environment. The environment value includes at least one of the air temperature, the air pressure, the speed of the air vehicle 100, the acceleration of the air vehicle 100, and the angular speed of the air vehicle 100.

The environment value detection unit 40 is accommodated in the inner space of the housing unit 11 (Fig. 1) of the main body unit 10, and gives the detected environment value to the relationship information acquisition unit 34. [ Here, the storage unit 32 stores a relational expression for calculating relationship information different from the allowable range D2 (Fig. 6) for each environment value, or a table for acquiring the relationship information. The relationship information acquiring unit 34 acquires relationship information corresponding to the acquired environment value on the basis of the relational expression or table stored in the storage unit 32. [

According to this configuration, the allowable range D2 can be appropriately changed on the basis of the environment value detected by the environment value detecting unit 40. [ Therefore, the abnormality of the motor 21 or the rotor 22 corresponding thereto is determined on the basis of an appropriate tolerance range D2 according to the use environment of the air vehicle 100. [ This further suppresses the malfunction of the motor 21 or the rotor 22 corresponding thereto during normal operation.

In this embodiment, a calibration information acquisition section 36 (Fig. 13) similar to that of the second embodiment may be provided in the control device 30. Fig. In this case, it is further suppressed that the motor 21 in the normal operation or the rotor 22 corresponding to the motor 21 is judged to be abnormal.

[4] Another embodiment

(1) In the above embodiment, the output detecting section 23 detects the actual rotational speed of the motor 21 as output information related to the output of the motor 21, but the present invention is not limited to this. The output detection unit 23 may detect other output information related to the output of the motor 21. [ For example, the output detecting section 23 may detect the torque of the motor 21 as output information, or may detect both the actual rotational speed and the torque of the motor 21 as output information.

(2) In the above embodiment, the characteristic value detecting section 24 detects the current flowing in the motor 21 as a characteristic value that changes depending on the output information of the motor 21, but the present invention is not limited to this . The characteristic value detection section 24 may detect another characteristic value that changes depending on the output information of the motor 21. [ For example, the characteristic value detecting section 24 may detect the voltage of the motor 21 or the temperature of the motor 21 as a characteristic value, and may detect the current flowing through the motor 21, the voltage of the motor 21, ) May be detected as a characteristic value.

[5] Correspondence between each component of the claim and each component of the embodiment

Hereinafter, examples of correspondence between the respective components of the claims and the respective elements of the embodiments will be described, but the present invention is not limited to the following examples.

In the above embodiment, the main body 10 is an example of a flying body, the motor 21 is an example of a motor, the rotor 22 is an example of a rotor, and the output detecting unit 23 is an example of an output detecting unit. The characteristic value detection unit 24 and the environment value detection unit 40 are examples of the first and second parameter detection units, the relationship information acquisition unit 34 is an example of the acquisition unit, and the determination unit 35 is an example of a determination unit .

The permissible ranges D1 and D2 are examples of permissible ranges and the permissible ranges D1 and D2 are the first and second permissible ranges, 2 range. The allowable ranges D31 and D32 are examples of the third range and the motor control unit 25 is an example of the rotation control unit and the threshold speed differences G0, G1 and G2 are the first, . The threshold values R0 and R1 are examples of the fifth and fourth threshold values and the times t1, t2 and t3 are examples of the first, second and third times, respectively.

Various elements other than those having the constitution or function described in the claims may be used as each constituent element of the claims.

(Industrial availability)

The present invention can be effectively used in various types of flying objects flying in unmanned manner.

Claims (19)

A flying body,
A plurality of motors mounted on the flying body,
A plurality of rotors provided corresponding to the plurality of motors respectively and driven by outputs of corresponding motors,
An output detecting unit for detecting information relating to the output of each motor as output information,
A first parameter detector for detecting a first parameter that varies depending on output information of each motor,
An acquiring unit that acquires relationship information indicating a relationship between output information of each motor and a first parameter;
A determination is made as to whether or not the rotor corresponding to each motor or each motor is abnormal based on the relationship information acquired by the acquisition section, the output information detected by the output detection section, and the first parameter detected by the first parameter detection section And a judging unit for judging whether or not the unmanned aerial vehicle is in operation. The method according to claim 1,
Wherein the output information includes at least one of a rotational speed and a torque of each motor. 3. The method according to claim 1 or 2,
Wherein the first parameter includes at least one of a current flowing to each motor, a voltage of each motor, and a temperature of each motor. 4. The method according to any one of claims 1 to 3,
Wherein the relationship information has an allowable range of a first parameter in normal operation of each motor and a rotor corresponding to each motor,
Wherein the judging section judges whether the rotor corresponding to each motor and each motor is judged to be unattended when the first parameter detected by the first parameter detecting section is within the permissible range corresponding to the output information detected by the output detecting section Aircraft. 5. The method of claim 4,
When the state in which the first parameter detected by the first parameter detecting section is out of the allowable range corresponding to the output information detected by the output detecting section has continued for a first predetermined time or longer, And determines that the rotor corresponding to the rotor is abnormal. The method according to claim 4 or 5,
When the first parameter detected by the first parameter detecting unit is within the allowable range corresponding to the output information detected by the output detecting unit, and the predetermined number of times or more occurs within a predetermined second time, Wherein the motor or the rotor corresponding to each motor is judged to be abnormal. 7. The method according to any one of claims 4 to 6,
Wherein the permissible range includes a first range set based on a deviation of a first parameter caused by an individual difference of each motor or an individual difference of rotors corresponding to each motor,
Wherein the judging section judges whether or not the first parameter detected by the first parameter detecting section is within the permissible range including the first range corresponding to the output information detected by the output detecting section, An unmanned aerial vehicle in which the rotor judges that there is no abnormality. 8. The method according to any one of claims 4 to 7,
The permissible range includes a second range that is set based on variation of the environmental factor,
Wherein the judging section judges whether or not the first parameter detected by the first parameter detecting section is within the permissible range including the second range corresponding to the output information detected by the output detecting section, An unmanned aerial vehicle in which the rotor judges that there is no abnormality. 9. The method of claim 8,
Further comprising a second parameter detector for detecting a second parameter related to a use environment of the unmanned air vehicle,
And the second range is changed based on a second parameter detected by the second parameter detection unit. 10. The method of claim 9,
Wherein the second parameter includes at least one of a temperature, an air pressure, a speed of the unmanned air vehicle, an acceleration of the unmanned air vehicle, and an angular speed of the unmanned air vehicle. 11. The method according to any one of claims 4 to 10,
The permissible range includes a third range set based on the transient response of the rotor corresponding to each motor or each motor,
Wherein the judging section judges whether or not the first parameter detected by the first parameter detecting section is within the permissible range including the third range corresponding to the output information detected by the output detecting section, An unmanned aerial vehicle in which the rotor judges that there is no abnormality. 12. The method of claim 11,
Further comprising a rotation control unit for controlling a rotation speed of each of the motors so that the plurality of motors rotate at a target speed,
Wherein the output detecting unit detects the rotational speed of each motor as the output information,
Wherein the third range is changed based on a difference between a target speed of each motor by the rotation control unit and a rotation speed difference of the rotation speed of the motor detected by the output detection unit. 13. The method of claim 12,
Wherein the allowable range includes the third range when the rotational speed difference is equal to or greater than a predetermined first threshold value. The method according to claim 12 or 13,
Wherein the third range is changed so that the lower limit of the third range becomes smaller as the rotation speed difference becomes larger when the target speed of each motor by the rotation control unit is lower than the rotation speed of the motor detected by the output detection unit . 15. The method according to any one of claims 12 to 14,
Wherein the third range is changed so that the upper limit of the third range increases as the rotation speed difference becomes larger when the target speed of each motor by the rotation control unit is higher than the rotation speed of the motor detected by the output detection unit . 16. The method according to any one of claims 12 to 15,
Wherein the determination unit is configured to determine whether the target speed of each motor by the rotation control unit is lower than the rotation speed of the motor detected by the output detection unit and when the rotation speed difference is equal to or greater than a predetermined second threshold value, The unmanned aerial vehicle that holds the above-mentioned determination of the rotor. 17. The method according to any one of claims 12 to 16,
Wherein the determination unit determines that the target speed of each motor by the rotation control unit is higher than the rotation speed of the motor detected by the output detection unit and that the rotation speed difference is equal to or greater than a predetermined third threshold value, And when the speed is equal to or greater than a predetermined fourth threshold value, suspends the abnormality determination of the rotor corresponding to each motor and each motor. 18. The method according to any one of claims 12 to 17,
Wherein the judging section does not judge abnormality of the rotor corresponding to each motor and each motor when the rotational speed detected by the output detecting section is lower than a predetermined fifth threshold value. 19. The method according to any one of claims 1 to 18,
Wherein the determination unit determines whether or not the rotor corresponding to each motor or each motor is abnormal based on the first parameter detected a plurality of times by the first parameter detection unit within a predetermined third time.

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