WO2017124432A1 - 信号线复用处理方法、无人飞行器、电子调速器及其mcu - Google Patents

信号线复用处理方法、无人飞行器、电子调速器及其mcu Download PDF

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Publication number
WO2017124432A1
WO2017124432A1 PCT/CN2016/071743 CN2016071743W WO2017124432A1 WO 2017124432 A1 WO2017124432 A1 WO 2017124432A1 CN 2016071743 W CN2016071743 W CN 2016071743W WO 2017124432 A1 WO2017124432 A1 WO 2017124432A1
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WIPO (PCT)
Prior art keywords
signal
terminal
pin
communication
multiplexing
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PCT/CN2016/071743
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English (en)
French (fr)
Inventor
蓝求
周长兴
潘道辉
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680002459.2A priority Critical patent/CN107074356B/zh
Priority to PCT/CN2016/071743 priority patent/WO2017124432A1/zh
Publication of WO2017124432A1 publication Critical patent/WO2017124432A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D31/00—Power plant control; Arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to a signal line multiplexing processing method, an unmanned aerial vehicle, an electronic governor, and an MCU thereof.
  • the electronic governor is one of the most important components in the aircraft, used to drive the rotation of the motor in the aircraft to achieve aircraft start and stop and speed regulation.
  • the electronic governor In the prior art, the electronic governor must be connected to the flight controller during normal operation.
  • the electronic governor is provided with a connection terminal, and the connection terminal includes a throttle control signal input terminal and a throttle control signal ground terminal.
  • the throttle control signal input terminal is connected with the throttle control signal input line of the flight controller, and controls the normal rotation of the motor by receiving the throttle control signal sent by the flight controller; when the electronic governor needs to be upgraded or changed parameters, it needs to be connected with the upper position.
  • the machine is connected. Therefore, the communication terminal of the electronic governor also needs to be provided with a communication signal receiving terminal, a communication signal transmitting terminal, and a communication signal grounding terminal, and the communication signal receiving terminal and the communication signal transmitting terminal respectively communicate with the upper computer.
  • the input line and the communication signal output line are connected to realize data transmission.
  • the shortcoming of the prior art is that in order to ensure normal operation and firmware upgrade, it is necessary to set at least five terminals in the electronic governor, occupying a large space, and the cost is high.
  • Embodiments of the present invention provide a signal line multiplexing processing method, which is applied to an electronic governor, which includes a micro control unit MCU and a connection terminal connected to each other, a communication signal input line and a throttle control signal.
  • the input lines are all connected to the signal multiplexing terminals in the terminal, and the method includes:
  • Corresponding processing is performed according to the type of the signal transmitted on the signal multiplexing terminal.
  • An embodiment of the present invention further provides an MCU of an electronic governor, the MCU includes a processor and a pin, and a pin of the MCU is used for connecting with a terminal of the electronic governor to a signal transmitted from a communication signal input line or a throttle control signal input line on a signal multiplexing terminal of the terminal;
  • the processor is configured to acquire feature information of a signal transmitted on the signal multiplexing terminal; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; and multiplex the terminal according to the signal The type of signal transmitted is processed accordingly.
  • the embodiment of the invention further provides an electronic governor comprising: an MCU and a connection terminal; the MCU includes a processor and a pin, the pin of the MCU is connected to the terminal, the communication signal input line and the throttle control The signal input lines are all connected to the signal multiplexing terminals in the terminal;
  • the processor is configured to acquire feature information of a signal transmitted on the signal multiplexing terminal; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; and multiplex the terminal according to the signal The type of signal transmitted is processed accordingly.
  • An embodiment of the present invention provides an unmanned aerial vehicle including: a motor, a propeller, a flight controller, and an electronic governor;
  • the electronic governor is connected to the flight controller, and is configured to control the rotation of the motor according to a throttle control signal sent by the flight controller;
  • the motor is coupled to the propeller to drive the propeller to rotate under control of the electronic governor.
  • the signal line multiplexing processing method, the unmanned aerial vehicle, the electronic governor and the MCU thereof provided by the embodiments of the present invention are provided with a signal multiplexing terminal, a throttle control signal input line of the flight controller in the terminal of the electronic governor
  • the communication signal input line with the upper computer can be connected to the signal multiplexing terminal of the terminal, and the characteristic information of the signal transmitted on the signal multiplexing terminal is obtained, and the type of the signal is determined according to the characteristic information.
  • corresponding processing according to the type of the signal so that the communication signal input line and the throttle control signal input line can share the same terminal, which can save at least one terminal, effectively save space and reduce the cost of the electronic governor.
  • FIG. 1 is a flowchart of a signal line multiplexing processing method according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to Embodiment 1 of the present invention
  • FIG. 3 is a flowchart of a signal line multiplexing processing method according to Embodiment 2 of the present invention.
  • FIG. 4 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to Embodiment 2 of the present invention.
  • FIG. 5 is a flowchart of a signal line multiplexing processing method according to Embodiment 3 of the present invention.
  • FIG. 6 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to Embodiment 3 of the present invention.
  • FIG. 7 is a flowchart of a signal line multiplexing processing method according to Embodiment 4 of the present invention.
  • FIG. 8 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to Embodiment 4 of the present invention.
  • FIG. 9 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 10 of the present invention.
  • a component when a component is called “fixed to” another component, it can be directly in another There may also be a centered component on a component. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • Embodiment 1 of the present invention provides a signal line multiplexing processing method.
  • FIG. 1 is a flowchart of a signal line multiplexing processing method according to Embodiment 1 of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • Step 101 Acquire feature information of a signal transmitted on the signal multiplexing terminal 121.
  • FIG. 2 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to Embodiment 1 of the present invention.
  • the electronic governor may include an MCU (Microcontroller Unit) 11 and a terminal 12 connected to each other.
  • the execution body of the method in this embodiment may be the MCU 11 in the electronic governor.
  • the electronic governor can be respectively connected with the flight controller and the upper computer through the terminal 12, and when the electronic governor is connected with the flight controller, the motor can be controlled to rotate and realize the flight function of the aircraft; when the electronic governor and the electronic governor When the host computer is connected, communication functions such as firmware upgrade, parameter setting, etc. can be realized.
  • the terminal 12 of the electronic governor may include a signal multiplexing terminal 121, and the throttle control signal input line of the flight controller and the communication signal input line of the upper computer may be connected to the terminal 12 The signal multiplexes the terminal 121, thereby realizing the multiplexing function of the signal multiplexing terminal 121.
  • the signal multiplexing terminal 121 of the terminal 12 may not be connected to any input line.
  • the throttle control signal input line of the flight controller may be connected to the signal multiplexing terminal 121.
  • the communication signal input line of the upper computer can be connected to the signal multiplexing terminal 121.
  • characteristic information of a signal transmitted on the signal multiplexing terminal 121 can be acquired.
  • the signal can be an analog signal or a digital signal.
  • the characteristic information may be the frequency, pulse width, voltage, current, etc. of the signal, or may be data information included in the signal.
  • Step 102 Determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal 121.
  • the type of the signal may include a throttle control signal, a communication signal, and the like.
  • the signal multiplexing terminal 121 of the terminal 12 is connected to the throttle control signal input line of the flight controller, the signal transmitted on the signal multiplexing terminal 121 is a throttle control signal.
  • the signal multiplexing terminal 121 is connected to the communication signal input line of the host computer, the signal transmitted on the signal multiplexing terminal 121 is a communication signal.
  • the correspondence between the feature information and the type of the signal may be set in advance according to actual needs.
  • the type of the signal transmitted on the signal multiplexing terminal 121 may be determined according to the correspondence.
  • the signal may be an analog signal. If the voltage value of the signal is less than 5V, the type of the signal is considered to be a communication signal. If the voltage value of the signal is greater than 5V, the type of the signal is considered to be a throttle. control signal.
  • the signal may be a digital signal, and if the certain flag is 0, the type of the signal is considered to be a communication signal, and if the flag is 1, the type of the signal is considered For the throttle control signal.
  • a person skilled in the art can set the correspondence between the type of the characteristic information and the signal according to the specific structure and the actual needs of the electronic governor, the flight controller, the upper computer, and the embodiment does not limit this.
  • Step 103 Perform corresponding processing according to the type of the signal transmitted on the signal multiplexing terminal 121.
  • the type of the signal is a throttle control signal, it indicates that the flight controller is currently connected to the electronic governor, and the motor can be controlled to rotate according to the signal sent by the flight controller to achieve normal flight of the aircraft.
  • the type of the signal is a communication signal, it indicates that the upper computer is currently connected to the electronic governor. At this time, communication data transmission may be performed according to the signal sent by the upper computer, such as upgrading firmware or modifying parameters.
  • the throttle control signal input line of the flight controller may be connected to the signal multiplexing terminal 121 in the terminal 12, and the MCU may transmit according to the signal multiplexing terminal 121.
  • the signal automatically identifies the type of the signal and controls the rotation of the motor of the aircraft based on the signal to achieve normal flight of the aircraft.
  • the communication signal input line of the upper computer may be connected to the signal multiplexing terminal 121 in the terminal 12, and the MCU may multiplex the transmission on the terminal 121 according to the signal.
  • the signal automatically recognizes the type of the signal, and performs data communication according to the signal to implement firmware upgrade and parameter modification.
  • the signal multiplexing terminal 121 is disposed in the terminal 12 of the electronic governor, and the throttle control signal input line of the flight controller and the communication signal input line of the upper computer can be connected.
  • the signal multiplexing terminal 121 in the terminal 12 is configured to acquire the characteristic information of the signal transmitted on the signal multiplexing terminal 121, determine the type of the signal according to the characteristic information, and perform according to the type of the signal.
  • Corresponding processing enables the communication signal input line and the throttle control signal input line to share the same terminal, which can save at least one terminal, effectively save space and reduce the cost of the electronic governor.
  • Embodiment 2 of the present invention provides a signal line multiplexing processing method. This embodiment is based on the technical solution provided in the first embodiment, and four pins are arranged in the MCU for electrical connection with the flight controller and the host computer.
  • FIG. 3 is a flowchart of a signal line multiplexing processing method according to Embodiment 2 of the present invention. As shown in FIG. 3, the method in this embodiment may include:
  • Step 201 Acquire characteristic information of the received signal on the throttle control signal input pin 211.
  • the electronic governor in this embodiment may include a micro control unit MCU21 and a terminal 22 connected to each other.
  • the MCU 21 may include a throttle control signal input pin 211, a communication signal receiving pin 212, a communication signal transmitting pin 213, and a ground pin 214.
  • the terminal 22 may include a signal multiplexing terminal 221, a communication signal receiving terminal 222, and a ground terminal 223.
  • the communication signal input line of the upper computer and the throttle control signal input line of the flight controller can be connected to the terminal 22 The signal multiplexing terminal 221 in the middle.
  • the signal multiplexing terminal 221 is connected to the throttle control signal input pin 211 and the communication signal receiving pin 212, respectively.
  • the communication signal transmitting pin 213 is connected to the communication signal receiving terminal 222.
  • the ground pin 214 is connected to the ground terminal 223.
  • characteristic information of the received signal on the throttle control signal input pin 211 can be acquired. Since the throttle control signal input pin 211 is connected to the signal multiplexing terminal 221, the signal passed through the throttle control signal input pin 211 and the signal multiplexing terminal 221 is the same. The acquired characteristic information of the signal received on the throttle control signal input pin 211 is the characteristic information of the signal transmitted on the signal multiplexing terminal 221.
  • Step 202 Determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal 221.
  • the throttle control signals transmitted on the throttle control signal input line of the existing flight controller are mostly signals with fixed frequency and high pulse width within a certain range (usually 1ms-2ms). The larger the pulse width of the signal is.
  • the electronic governor controls the higher the speed of the motor. Since this throttle control signal is similar to PWM (Pulse Width Modulation) wave or PPM (Pulse Position Modulation) wave, this control mode can also be called PWM control or PPM control.
  • the communication signal is used for data transmission, and the frequency is not fixed, and the pulse width is also irregular. Therefore, in this embodiment, the signal multiplexing frequency 221 can be transmitted through the signal frequency and/or the signal pulse width of the signal.
  • the type of signal is a throttle control signal or a communication signal.
  • the feature information may be a signal frequency and/or a signal pulse width of a signal transmitted on the signal multiplexing terminal 221, and correspondingly, in the step, determining the signal multiplexing terminal 221 according to the feature information.
  • the type of transmission signal can specifically include:
  • the signal frequency and/or the signal pulse width of the signal is within a corresponding preset range, determining that the signal is a throttle control signal; if the signal frequency and/or signal pulse width of the signal is not in a corresponding preset range Then, the signal is determined to be a communication signal.
  • the type of signal can be judged by frequency. If the frequency is within a corresponding preset range, the signal is considered to be a throttle control signal. If the frequency is not within the corresponding preset range, the signal is considered to be a communication signal, and the preset range corresponding to the frequency may be set according to actual needs.
  • the type of signal can be judged by the pulse width. If the pulse width is in the corresponding preset range Within the perimeter, the signal is considered to be a throttle control signal. If the pulse width is not within the corresponding preset range, the signal is considered to be a communication signal, and the preset range corresponding to the pulse width may also be set according to actual needs.
  • the signal is considered to be a throttle control signal. If the frequency is not within the corresponding preset range, or the pulse width is not within the corresponding preset range, or both are not within the corresponding preset range, the signal is considered to be a communication signal, a preset range corresponding to the frequency, and a pulse
  • the preset range corresponding to the width can be set according to actual needs.
  • the frequency of the throttle control signal and the characteristic of the pulse width can be utilized to determine whether the signal frequency of the signal multiplexing signal and/or the signal pulse width is within a corresponding range to determine the type of the signal transmitted on the signal multiplexing terminal 221, which is simple. Convenient, and does not need to change the user's usage habits.
  • the type of the signal transmitted on the signal multiplexing terminal 221 can also be determined by other means, which is not limited herein.
  • Step 203 If the signal is a throttle control signal, use the throttle control signal to control motor rotation; if the signal is a communication signal, receive a communication signal from the communication signal receiving pin 212, and according to the The communication signal carries out communication data transmission.
  • the throttle control signal input line of the flight controller may be connected to the signal multiplexing terminal 221 in the terminal 22 of the electronic governor, and the ground of the flight controller It is connected to the ground terminal 223 in the terminal 22 . Since the throttle control signal input pin 211 of the MCU 21 of the electronic governor is connected to the signal multiplexing terminal 221, the signal received by the throttle control signal input pin 211 is the throttle sent by the flight controller. The control signal, therefore, can control the motor rotation directly based on the signal received on the throttle control signal input pin 211.
  • the communication signal input line of the upper computer can be connected with the signal multiplexing terminal 221 in the terminal 22 of the electronic governor, and the communication signal receiving line of the upper computer can be connected with the wiring
  • the communication signal receiving terminal 222 in the terminal 22 is connected, and the grounding wire of the upper computer can be connected to the ground terminal 223 of the terminal 22. Since the communication signal receiving pin 212 of the MCU 21 is connected to the signal multiplexing terminal 221, the communication signal transmitting pin 213 is connected to the communication signal receiving terminal 222, the ground pin 214 and the ground terminal. 223 is connected, therefore, the MCU 21 can transmit the number of communications to the upper computer through the communication signal transmitting pin 213. According to the communication signal receiving pin 212, the communication data sent by the upper computer is received, thereby implementing functions such as firmware upgrade, parameter setting and the like.
  • the MCU 21 is provided with a throttle control signal input pin 211 and a communication signal receiving pin 212, a signal multiplexing terminal 221 of the terminal 22 and the throttle control signal input pin.
  • the 211 and the communication signal receiving pin 212 are connected, respectively.
  • the signal transmitted on the signal multiplexing terminal 221 is a throttle control signal
  • the signal is received through the throttle control signal input pin 211 and the motor is controlled to rotate.
  • the communication signal receiving pin 212 receives the signal and performs communication data transmission, and the control mode is relatively simple, and the throttle control and the communication data transmission do not interfere with each other.
  • the stability of the system is high.
  • Embodiment 3 of the present invention provides a signal line multiplexing processing method. This embodiment is based on the technical solution provided in Embodiment 1. Three pins are provided in the MCU for electrical connection with the flight controller and the host computer.
  • FIG. 5 is a flowchart of a signal line multiplexing processing method according to Embodiment 3 of the present invention. As shown in FIG. 5, the method in this embodiment may include:
  • Step 301 Acquire characteristic information of a signal received on the signal multiplexing pin 311.
  • FIG. 6 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to Embodiment 3 of the present invention.
  • the electronic governor in this embodiment may include a micro control unit MCU31 and a terminal 32 connected to each other.
  • the MCU 31 includes a signal multiplexing pin 311, a communication signal transmitting pin 312, and a grounding pin 313.
  • the terminal 32 includes a signal multiplexing terminal 321, a communication signal receiving terminal 322, and a ground terminal 323.
  • the communication signal of the upper computer Both the input line and the throttle control signal input line of the flight controller can be connected to the signal multiplexing terminal 321 in the terminal 32.
  • the signal multiplexing terminal 321 is connected to the signal multiplexing pin 311.
  • the communication signal transmitting pin 312 is connected to the communication signal receiving terminal 322.
  • the ground pin 313 is connected to the ground terminal 323.
  • characteristic information of the received signal on the signal multiplexing pin 311 can be acquired. Since the signal multiplexing terminal 321 is connected to the signal multiplexing pin 311, the signal multiplexed pin 311 and the signal passing through the signal multiplexing terminal 321 are the same.
  • the acquired characteristic information of the signal received on the signal multiplexing pin 311 is the characteristic information of the signal transmitted on the signal multiplexing terminal 321.
  • Step 302 Determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal 321 .
  • the feature information may be the signal type indication information carried in the transmission signal on the signal multiplexing terminal 321 .
  • the signal multiplexing terminal 321 is determined to be transmitted according to the feature information.
  • the type of signal can specifically include:
  • the signal type indication information is the first indication information, determining that the signal is a communication signal; if the signal type indication information is the second indication information, determining that the signal is a throttle control signal.
  • the first indication information and the second indication information may be set according to actual needs.
  • the signal type indication information is the first indication information, determining that the signal is a communication signal; if the signal type indication information is empty, determining that the signal is a throttle control signal.
  • the transmission of the communication signal can be regarded as a special case, and only the indication information is added to the communication signal, and the transmission is performed under normal working conditions. No instruction information is added to the throttle control signal, which can effectively reduce the signaling load and improve the processing speed of the electronic governor.
  • the type of the signal may also be determined by other means, which is not limited herein.
  • Step 303 Perform corresponding processing according to the type of the signal transmitted on the signal multiplexing terminal 321 .
  • the throttle control signal is used to control motor rotation; if the signal is a communication signal, communication data transmission is performed according to the communication signal.
  • a signal multiplexing pin 311 is provided in the MCU 31, and a signal multiplexing terminal 321 of the terminal 32 is connected to the signal multiplexing pin 311.
  • the signal transmitted on the signal multiplexing terminal 321 is a throttle control signal
  • the signal is received by the signal multiplexing pin 311 and the motor is controlled to rotate.
  • the signal transmitted on the signal multiplexing terminal 321 is a communication signal
  • a signal is received through the signal multiplexing pin 311 and communication data transmission is performed.
  • the same pin of the MCU31 is used to realize the multiplexing function of the receiving throttle control signal and the receiving communication signal, thereby reducing the number of pins of the MCU 31 and saving system space.
  • Embodiment 4 of the present invention provides a signal line multiplexing processing method. This embodiment is based on the technical solution provided in the first embodiment, and two pins are provided in the MCU for use with the flight controller and The upper computer realizes electrical connection.
  • FIG. 7 is a flowchart of a signal line multiplexing processing method according to Embodiment 4 of the present invention. As shown in FIG. 7, the method in this embodiment may include:
  • Step 401 Acquire feature information of the received signal on the multiplexed pin 411.
  • FIG. 8 is a schematic structural diagram of an electronic governor in a signal line multiplexing processing method according to Embodiment 4 of the present invention.
  • the electronic governor in this embodiment may include a micro control unit MCU41 and a terminal 42 connected to each other.
  • the MCU 41 includes a multiplexing pin 411 and a ground pin 412.
  • the terminal 42 includes a signal multiplexing terminal 421 and a ground terminal 422, a throttle control signal input line of the flight controller, a communication signal input line of the host computer, and communication.
  • the signal output line can be connected to the signal multiplexing terminal 421, the signal multiplexing terminal 421 is connected to the multiplexing pin 411, and the ground pin 412 is connected to the ground terminal 422.
  • characteristic information of the received signal on the multiplexed pin 411 can be acquired. Since the multiplexing terminal is connected to the signal multiplexing pin 411, the signal passed through the multiplexing pin 411 and the signal multiplexing terminal 421 is the same. The acquired characteristic information of the received signal on the multiplexed pin 411 is the characteristic information of the signal transmitted on the signal multiplexing terminal 421.
  • Step 402 Determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal 421.
  • the type of signal transmitted on the signal multiplexing terminal 421 there are various methods for determining the type of signal transmitted on the signal multiplexing terminal 421. For example, it may be determined by the signal frequency and/or the signal pulse width of the signal, or may be determined by the signal type indication information carried in the signal, or may be determined by other means, which is not limited in this embodiment.
  • Step 403 Perform corresponding processing according to the type of the signal transmitted on the signal multiplexing terminal 421.
  • the throttle control signal is used to control motor rotation.
  • the manner of specifically controlling the rotation of the motor may be various.
  • the throttle control signal may be a PWM wave
  • the MCU 41 may control the rotation of the motor through the PWM wave
  • the throttle control signal may be a number indicating the rotation state of the motor.
  • the MCU 41 can generate a corresponding PWM wave according to the digital signal, and use the PWM wave to control the rotation of the motor.
  • the signal is a communication signal
  • communication data transmission is performed according to the communication signal. Specific Receiving a first communication signal from the multiplexing pin 411, and after parsing the first communication signal, feeding back a corresponding second communication signal from the multiplexing pin 411 to complete communication data transmission.
  • the multiplexing pin 411 may be multiplexed into a receiving pin to receive a communication signal sent by the host computer. After receiving and parsing the communication signal, the multiplexed pin 411 is multiplexed into a transmitting pin, and the communication signal that needs to be replied is sent from the multiplexed pin 411 to the upper computer, and then multiplexed as Receive pin for receiving communication signals. In this way, the entire system only needs to multiplex the pins 411 and the ground pins 412 to realize the reception and transmission of communication signals, which further simplifies the system.
  • the signal line multiplexing processing method provided in this embodiment is provided with a multiplexing pin 411 in the MCU 41, a signal multiplexing terminal 421 of the terminal 42 is connected to the multiplexing pin 411, and a throttle control signal input of the flight controller is provided.
  • the communication signal input line and the communication signal output line of the upper computer and the communication signal output line can be connected to the signal multiplexing terminal 421. Therefore, the throttle control signal sent by the flight controller can be received through the multiplexing pin 411, and the upper position can be received.
  • the communication signal sent by the machine and the function of sending the communication signal to the upper computer reduce the number of pins of the MCU41, saving system space.
  • Embodiment 5 of the present invention provides an MCU of an electronic governor.
  • the MCU includes a processor and a pin, and a pin of the MCU is connected to a terminal of the electronic governor to receive a self-communication signal input line or a throttle from a signal multiplexing terminal of the terminal Controls the signal transmitted by the signal input line.
  • the processor is configured to acquire feature information of a signal transmitted on the signal multiplexing terminal; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; and multiplex the terminal according to the signal The type of signal transmitted is processed accordingly.
  • Embodiment 5 of the present invention The structure and connection relationship of the MCU provided in Embodiment 5 of the present invention can be seen in FIG. 2. The specific principles and implementations are similar to the first embodiment, and are not described here.
  • the functions of the processor of the MCU in this embodiment may be implemented by software or by a hardware module.
  • the feature information may be a signal voltage, and the type of the signal may be determined according to the feature information, and may be implemented by a comparator, and corresponding processing may be performed according to the type of the signal, which may be implemented by a switch.
  • the feature information may be a signal frequency, and the type of the signal may be determined according to the signal frequency, and may be implemented by a counter, a timer, and a comparator.
  • the MCU provided in this embodiment includes a processor and a pin, and the pin is used for connecting to a terminal of the electronic governor to receive a self-communication signal input line from a signal multiplexing terminal of the terminal. Or obtaining a signal transmitted by the throttle control signal input line, obtaining characteristic information of the signal transmitted on the signal multiplexing terminal, determining a type of the signal according to the characteristic information, and performing corresponding processing according to the type of the signal, so that The communication signal input line and the throttle control signal input line can share the same terminal, which can save at least one terminal, effectively save space and reduce the cost of the electronic governor.
  • the feature information may be a signal frequency and/or a signal pulse width of a signal transmitted on the signal multiplexing terminal; correspondingly, the processor may be configured to: acquire a signal transmitted on the signal multiplexing terminal Signal frequency and/or signal pulse width; if the signal frequency and/or signal pulse width of the signal is within a corresponding preset range, determining that the signal is a throttle control signal, if the signal frequency of the signal and / Or the signal pulse width is not within the corresponding preset range, then determining that the signal is a communication signal; and performing corresponding processing according to the type of the signal transmitted on the signal multiplexing terminal.
  • the feature information may be signal type indication information carried in the transmission signal on the signal multiplexing terminal; correspondingly, the processor may be configured to: acquire the signal transmitted on the signal multiplexing terminal Carrying the signal type indication information; if the signal type indication information is the first indication information, determining that the signal is a communication signal, and if the signal type indication information is the second indication information, determining that the signal is throttle control a signal, or, if the signal type indication information is the first indication information, determining that the signal is a communication signal, and if the signal type indication information is empty, determining that the signal is a throttle control signal; The type of signal transmitted on the signal multiplexing terminal is processed accordingly.
  • the processor may be configured to: acquire feature information of a signal transmitted on the signal multiplexing terminal; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; if the signal is The throttle control signal controls the motor rotation by using the throttle control signal, and if the signal is a communication signal, the communication data is transmitted according to the communication signal.
  • Embodiment 6 of the present invention provides an MCU of an electronic governor.
  • the pin of the MCU may include a throttle control signal input pin, a communication signal receiving pin, a communication signal sending pin, and a ground pin; the throttle control signal input a pin and a communication signal receiving pin are respectively connected to the signal multiplexing terminal of the terminal;
  • the signal signal transmitting pin is for connecting to a communication signal receiving terminal of the terminal;
  • the grounding pin is for connecting to a ground terminal of the terminal.
  • the processor may be configured to acquire feature information of a received signal on the throttle control signal input pin; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; if the signal is a throttle The control signal controls the motor rotation by using the throttle control signal, and if the signal is a communication signal, receives a communication signal from the communication signal receiving pin, and performs communication data transmission according to the communication signal.
  • the MCU provided in this embodiment is provided with a throttle control signal input pin and a communication signal receiving pin, and the signal multiplexing terminal of the terminal is respectively connected with the throttle control signal input pin and the communication signal receiving pin, when When the signal transmitted on the signal multiplexing terminal is a throttle control signal, the signal is received through the throttle control signal input pin and controls the rotation of the motor. When the signal transmitted on the signal multiplexing terminal is a communication signal, the communication is performed.
  • the signal receiving pin receives the signal and transmits the communication data.
  • the control mode is relatively simple. The throttle control and the communication data transmission do not interfere with each other, and the stability of the system is relatively high.
  • Embodiment 7 of the present invention provides an MCU of an electronic governor.
  • the pins of the MCU may include a signal multiplexing pin, a communication signal sending pin, and a ground pin; the signal multiplexing pin is used for the terminal block The signal multiplexing terminal is connected; the communication signal transmitting pin is for connecting to a communication signal receiving terminal of the terminal; and the grounding pin is for connecting to a ground terminal of the terminal.
  • the processor may be configured to acquire feature information of a received signal on the signal multiplexing pin; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; and multiplex according to the signal The type of signal transmitted on the terminal is processed accordingly.
  • the MCU provided in this embodiment is provided with a signal multiplexing pin, and the signal multiplexing terminal of the terminal is connected to the signal multiplexing pin, and when the signal transmitted on the signal multiplexing terminal is a throttle control signal,
  • the signal multiplexing pin receives a signal and controls motor rotation when the signal is multiplexed
  • the signal transmitted on the terminal is a communication signal
  • the signal is received through the signal multiplexing pin and the communication data is transmitted, and the same pin of the MCU is used to realize the multiplexing function of receiving the throttle control signal and the receiving communication signal, thereby reducing the MCU.
  • the number of pins saves system space.
  • Embodiment 8 of the present invention provides an MCU of an electronic governor.
  • the pins of the MCU may include a multiplexing pin and a ground pin; the multiplexing pin is used for connecting with a signal multiplexing pin of the terminal.
  • the ground pin is for connecting to a ground terminal of the terminal.
  • the processor may be configured to acquire feature information of the received signal on the multiplexing pin; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; if the signal is a throttle control signal Using the throttle control signal to control motor rotation, if the signal is a communication signal, receiving a first communication signal from the multiplexing pin, after parsing the first communication signal, from the A corresponding second communication signal is fed back on the multiplexed pin to complete the communication data transmission.
  • the MCU provided in this embodiment is provided with a multiplexing pin, and the signal multiplexing terminal of the terminal is connected with the multiplexing pin, the throttle control signal input line of the flight controller, the communication signal input line of the upper computer, and the communication signal.
  • the output line can be connected to the signal multiplexing terminal. Therefore, the function of receiving the throttle control signal sent by the flight controller, receiving the communication signal sent by the host computer, and transmitting the communication signal to the upper computer can be realized through the multiplexing pin. , reducing the number of pins of the MCU, saving system space.
  • Embodiment 9 of the present invention provides an electronic governor, including: an MCU and a connection terminal; the MCU includes a processor and a pin, and the pin of the MCU is connected to the terminal, the communication signal input line and the throttle control The signal input lines are all connected to the signal multiplexing terminal in the terminal; the processor is configured to acquire characteristic information of the transmitted signal on the signal multiplexing terminal; and determining the signal according to the characteristic information The type of the signal transmitted on the terminal; and the corresponding processing according to the type of the signal transmitted on the signal multiplexing terminal.
  • the electronic governor provided in this embodiment includes an MCU and a connection terminal, and a pin of the MCU is connected to a terminal of the electronic governor to receive a self-communication signal from a signal multiplexing terminal of the terminal
  • the signal transmitted by the input line or the throttle control signal input line obtains the characteristic information of the transmitted signal on the signal multiplexing terminal, determines the type of the signal according to the characteristic information, and performs corresponding processing according to the type of the signal
  • the communication signal input line and the throttle control signal input line can share the same terminal, which can save at least one terminal, effectively save space and reduce the cost of the electronic governor.
  • the feature information is a signal frequency and/or a signal pulse width of a signal transmitted on the signal multiplexing terminal; correspondingly, the processor may be configured to: acquire a signal transmitted on the signal multiplexing terminal Signal frequency and/or signal pulse width; if the signal frequency and/or signal pulse width of the signal is within a corresponding preset range, determining that the signal is a throttle control signal, if the signal frequency and/or of the signal If the signal pulse width is not within the corresponding preset range, the signal is determined to be a communication signal; and corresponding processing is performed according to the type of the signal transmitted on the signal multiplexing terminal.
  • the feature information is signal type indication information carried in the transmission signal on the signal multiplexing terminal; correspondingly, the processor may be configured to: acquire the signal transmitted on the signal multiplexing terminal Carrying the signal type indication information; if the signal type indication information is the first indication information, determining that the signal is a communication signal, and if the signal type indication information is the second indication information, determining that the signal is throttle control a signal, or, if the signal type indication information is the first indication information, determining that the signal is a communication signal, and if the signal type indication information is empty, determining that the signal is a throttle control signal; The type of signal transmitted on the signal multiplexing terminal is processed accordingly.
  • the processor may be configured to: acquire feature information of a signal transmitted on the signal multiplexing terminal; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; if the signal is The throttle control signal controls the motor rotation by using the throttle control signal, and if the signal is a communication signal, the communication data is transmitted according to the communication signal.
  • the pins of the MCU include a throttle control signal input pin, a communication signal receiving pin, a communication signal sending pin, and a ground pin; the terminal block The signal multiplexing terminal, the communication signal receiving terminal, and the grounding terminal; the signal multiplexing terminal and the throttle control signal input pin and the communication signal receiving pin The communication signal transmitting pin is connected to the communication signal receiving terminal; the grounding pin is connected to the ground terminal.
  • the processor may be configured to acquire feature information of a received signal on the throttle control signal input pin; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; if the signal is a throttle The control signal controls the motor rotation by using the throttle control signal, and if the signal is a communication signal, receives a communication signal from the communication signal receiving pin, and performs communication data transmission according to the communication signal.
  • the pin of the MCU includes a signal multiplexing pin, a communication signal sending pin, and a ground pin;
  • the terminal includes the signal multiplexing terminal a communication signal receiving terminal and a grounding terminal;
  • the signal multiplexing terminal is connected to the signal multiplexing pin;
  • the communication signal transmitting pin is connected to the communication signal receiving terminal; the grounding pin and the grounding Terminal connection.
  • the processor may be configured to acquire feature information of a received signal on the signal multiplexing pin; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; and multiplex according to the signal The type of signal transmitted on the terminal is processed accordingly.
  • a pin of the MCU includes a multiplexing pin and a ground pin; the terminal includes the signal multiplexing terminal and a ground terminal; the communication The signal input line, the throttle control signal input line, and the communication signal output line are all connected to the signal multiplexing terminal; the signal multiplexing terminal is connected to the multiplexing pin; and the ground pin is connected to the ground terminal .
  • the processor may be configured to acquire feature information of the received signal on the multiplexing pin; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; if the signal is a throttle control signal Using the throttle control signal to control motor rotation, if the signal is a communication signal, receiving a first communication signal from the multiplexing pin, after parsing the first communication signal, from the A corresponding second communication signal is fed back on the multiplexed pin to complete the communication data transmission.
  • Embodiment 10 of the present invention provides an unmanned aerial vehicle.
  • FIG. 9 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 10 of the present invention.
  • the unmanned aerial vehicle in this embodiment may include: a motor 1001, a propeller 1002, a flight controller, and an electronic governor 1003;
  • the electronic governor 1003 is connected to the flight controller and electrically connected to the motor 1001 for controlling the rotation of the motor 1001 according to a throttle control signal sent by the flight controller;
  • the motor 1001 is coupled to the propeller 1002 to drive the propeller 1002 to rotate under the control of the electronic governor 1003.
  • the electronic governor 1003 includes: an MCU and a terminal; the MCU includes a processor and a pin, and the pin of the MCU is connected to the terminal, and the communication signal input line and the throttle control signal input line are both Accessing a signal multiplexing terminal in the terminal;
  • the processor is configured to acquire feature information of a signal transmitted on the signal multiplexing terminal; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; and multiplex the terminal according to the signal The type of signal transmitted is processed accordingly.
  • the electronic governor 1003 of the present embodiment may be disposed below the motor 1001 or other suitable place of the aircraft.
  • the structure, function, and connection relationship of the components in the electronic governor 1003 are similar to those in the fifth embodiment, and are not described herein again.
  • the unmanned aerial vehicle provided in this embodiment includes an MCU and a connection terminal, and a pin of the MCU is connected to a terminal of the electronic governor 1003 to receive a self-communication signal from a signal multiplexing terminal of the terminal
  • the signal transmitted by the input line or the throttle control signal input line obtains the characteristic information of the transmitted signal on the signal multiplexing terminal, determines the type of the signal according to the characteristic information, and performs corresponding processing according to the type of the signal
  • the communication signal input line and the throttle control signal input line can share the same terminal, which can save at least one terminal, effectively save space and reduce the cost of the electronic governor 1003.
  • the feature information may be a signal frequency and/or a signal pulse width of a signal transmitted on the signal multiplexing terminal.
  • the processor may be configured to: acquire a signal frequency and/or a signal pulse width of a signal transmitted on the signal multiplexing terminal; if a signal frequency and/or a signal pulse width of the signal is at a corresponding preset Within the range, determining that the signal is a throttle control signal, if the signal frequency and/or signal pulse width of the signal is not within a corresponding preset range, determining that the signal is a communication signal; and multiplexing according to the signal The type of signal transmitted on the terminal is processed accordingly.
  • the feature information may be signal type indication information carried in a transmission signal on the signal multiplexing terminal.
  • the processor may be configured to: obtain signal type indication information carried in the transmission signal on the signal multiplexing terminal; if the signal type indication information is first indication information, determine that the signal is a communication signal, if the signal type indication information is the second indication information, determining that the signal is a throttle control signal, or determining that the signal is a communication signal if the signal type indication information is first indication information, If the signal type indication information is empty, determining that the signal is a throttle control signal; and performing corresponding processing according to the type of the signal transmitted on the signal multiplexing terminal.
  • the processor may be configured to: acquire feature information of a signal transmitted on the signal multiplexing terminal; determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; if the signal is The throttle control signal controls the motor 1001 to rotate using the throttle control signal, and if the signal is a communication signal, the communication data is transmitted according to the communication signal.
  • the pins of the MCU include a throttle control signal input pin, a communication signal receiving pin, a communication signal sending pin, and a ground pin.
  • the terminal includes the signal multiplexing terminal, a communication signal receiving terminal, and a ground terminal.
  • the signal multiplexing terminal is respectively connected to the throttle control signal input pin and the communication signal receiving pin.
  • the communication signal transmitting pin is connected to the communication signal receiving terminal.
  • the ground pin is connected to the ground terminal.
  • the processor is configured to acquire characteristic information of a received signal on the throttle control signal input pin; determine, according to the characteristic information, a type of a signal transmitted on the signal multiplexing terminal; if the signal is throttle control The signal is controlled by the throttle control signal to control the rotation of the motor 1001. If the signal is a communication signal, a communication signal is received from the communication signal receiving pin, and communication data transmission is performed according to the communication signal.
  • the pins of the MCU include a signal multiplexing pin, a communication signal sending pin, and a ground pin.
  • the terminal includes the signal multiplexing terminal, a communication signal receiving terminal, and a ground terminal.
  • the signal multiplexing terminal is connected to the signal multiplexing pin.
  • the communication signal transmitting pin is connected to the communication signal receiving terminal.
  • the ground pin is connected to the ground terminal.
  • the processor is configured to acquire feature information of a received signal on the signal multiplexing pin; determine a type of a signal transmitted on the signal multiplexing terminal according to the feature information; and multiplex a terminal according to the signal The type of the transmitted signal is processed accordingly.
  • the pins of the MCU include a multiplexed pin and a grounded pin.
  • the terminal includes the signal multiplexing terminal and a ground terminal.
  • the communication signal input line, the throttle control signal input line, and the communication signal output line are all connected to the signal multiplexing terminal.
  • the signal multiplexing terminal is connected to the multiplexed pin.
  • the ground pin is connected to the ground terminal.
  • the processor is configured to acquire feature information of the received signal on the multiplexing pin, and determine, according to the feature information, a type of a signal transmitted on the signal multiplexing terminal; if the signal is a throttle control signal, Controlling the rotation of the motor 1001 by using the throttle control signal, and if the signal is a communication signal, receiving a first communication signal from the multiplexing pin, after parsing the first communication signal, from the A corresponding second communication signal is fed back on the multiplexed pin to complete the communication data transmission.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

Abstract

一种信号线复用处理方法，应用于电子调速器(1003)，所述电子调速器(1003)包括彼此连接的微控制单元MCU(11，21，31，41)和接线端子(12，22，32，42)，通信信号输入线与油门控制信号输入线均接入所述接线端子(12，22，32，42)中的信号复用端子(121，221，321，421)，所述方法包括：获取所述信号复用端子(121，221，321，421)上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子(121，221，321，421)上传输信号的类型；根据所述信号复用端子(121，221，321，421)上传输信号的类型，进行相应的处理。所提供的信号线复用处理方法、无人飞行器、电子调速器及其MCU(11，21，31，41)，通信信号输入线和油门控制信号输入线可以共用同一端子，能够节省至少一个端子，有效节约了空间，降低了电子调速器的成本。

Description

信号线复用处理方法、无人飞行器、电子调速器及其MCU 技术领域
本发明涉及飞行器技术领域，尤其涉及一种信号线复用处理方法、无人飞行器、电子调速器及其MCU。
背景技术
电子调速器是飞行器中最重要的部件之一，用于驱动飞行器中的电机转动，以实现飞行器启停和调速等。
现有技术中，电子调速器在正常工作时，必须要与飞行控制器连接，具体地，电子调速器中设置有接线端子，接线端子包括油门控制信号输入端子和油门控制信号接地端子，所述油门控制信号输入端子与飞行控制器的油门控制信号输入线连接，通过接收飞行控制器发送的油门控制信号来控制电机正常转动；当电子调速器需要升级或者改变参数时，需要与上位机连接，因此，电子调速器的接线端子中还需要设置有通信信号接收端子、通信信号发送端子以及通信信号接地端子，所述通信信号接收端子和通信信号发送端子分别与上位机的通信信号输入线以及通信信号输出线连接，以实现数据传输。
现有技术的不足之处在于，为了保证正常工作和固件升级，需要在电子调速器中设置至少五个端子，占用较大空间，且成本较高。
发明内容
本发明实施例提供一种信号线复用处理方法，所述方法应用于电子调速器，所述电子调速器包括彼此连接的微控制单元MCU和接线端子，通信信号输入线与油门控制信号输入线均接入所述接线端子中的信号复用端子，所述方法包括：
获取所述信号复用端子上传输信号的特征信息；
根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及
根据所述信号复用端子上传输信号的类型，进行相应的处理。
本发明实施例还提供一种电子调速器的MCU，所述MCU包括处理器和引脚，所述MCU的引脚用于与所述电子调速器的接线端子连接，以从所述接线端子的信号复用端子上接收自通信信号输入线或油门控制信号输入线传输的信号；
所述处理器，被配置为获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
本发明实施例还提供一种电子调速器，包括：MCU和接线端子；所述MCU包括处理器和引脚，所述MCU的引脚与所述接线端子连接，通信信号输入线与油门控制信号输入线均接入所述接线端子中的信号复用端子；
所述处理器，被配置为获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
本发明实施例提供一种无人飞行器，包括：电机、螺旋桨、飞行控制器以及电子调速器；
所述电子调速器与所述飞行控制器连接，用于根据所述飞行控制器发送的油门控制信号控制所述电机转动；
所述电机与所述螺旋桨连接，以在所述电子调速器的控制下驱动所述螺旋桨转动。
本发明实施例提供的信号线复用处理方法、无人飞行器、电子调速器及其MCU，在电子调速器的接线端子中设置有信号复用端子，飞行控制器的油门控制信号输入线与上位机的通信信号输入线均可接入所述接线端子中的信号复用端子，通过获取所述信号复用端子上传输信号的特征信息，根据所述特征信息确定所述信号的类型，并根据所述信号的类型进行相应的处理，使得通信信号输入线和油门控制信号输入线可以共用同一端子，能够节省至少一个端子，有效节约了空间，降低了电子调速器的成本。
附图说明
图1为本发明实施例一提供的信号线复用处理方法的流程图；
图2为本发明实施例一提供的信号线复用处理方法中电子调速器的结构示意图；
图3为本发明实施例二提供的信号线复用处理方法的流程图；
图4为本发明实施例二提供的信号线复用处理方法中电子调速器的结构示意图；
图5为本发明实施例三提供的信号线复用处理方法的流程图；
图6为本发明实施例三提供的信号线复用处理方法中电子调速器的结构示意图；
图7为本发明实施例四提供的信号线复用处理方法的流程图；
图8为本发明实施例四提供的信号线复用处理方法中电子调速器的结构示意图；
图9为本发明实施例十提供的无人飞行器的结构示意图。
附图标记：
11-MCU   12-接线端子   121-信号复用端子
21-MCU   211-油门控制信号输入引脚   212-通信信号接收引脚   213-通信信号发送引脚   214-接地引脚   22-接线端子   221-信号复用端子   222-通信信号接收端子   223-接地端子
31-MCU   311-信号复用引脚   312-通信信号发送引脚   313-接地引脚   32-接线端子   321-信号复用端子   322-通信信号接收端子   323-接地端子
41-MCU   411-复用引脚   412-接地引脚   42-接线端子   421-信号复用端子  422-接地端子
1001-电机   1002-螺旋桨   1003-电子调速器
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另 一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
实施例一
本发明实施例一提供一种信号线复用处理方法。图1为本发明实施例一提供的信号线复用处理方法的流程图。如图1所示，本实施例中的方法，可以包括：
步骤101、获取信号复用端子121上传输信号的特征信息。
具体地，本实施例中的方法可以应用于电子调速器，图2为本发明实施例一提供的信号线复用处理方法中电子调速器的结构示意图，如图2所示，所述电子调速器可以包括彼此连接的MCU(Microcontroller Unit，微控制单元)11和接线端子12。本实施例中方法的执行主体可以为所述电子调速器中的MCU11。
所述电子调速器可以通过接线端子12分别与飞行控制器和上位机连接，当电子调速器与飞行控制器连接时，可以控制电机转动，实现飞行器的飞行功能；当电子调速器与上位机连接时，可以实现通信功能如固件升级、参数设置等。
本实施例中，所述电子调速器的接线端子12可以包括信号复用端子121，飞行控制器的油门控制信号输入线和上位机的通信信号输入线均可接入所述接线端子12中的信号复用端子121，从而实现信号复用端子121的复用功能。
在电子调速器不工作的情况下，所述接线端子12的信号复用端子121可以不连接任何输入线。当需要控制飞行器的电机转动时，可以将飞行控制器的油门控制信号输入线与所述信号复用端子121连接。当需要进行升级或参 数设置时，可以将上位机的通信信号输入线与所述信号复用端子121连接。
当所述信号复用端子121上有信号通过时，可以获取所述信号复用端子121上传输信号的特征信息。所述信号可以是模拟信号，也可以是数字信号。所述特征信息可以是所述信号的频率、脉宽、电压、电流等，也可以是信号中所包含的数据信息。
步骤102、根据所述特征信息，确定所述信号复用端子121上传输信号的类型。
所述信号的类型可以包括油门控制信号和通信信号等。当所述接线端子12的信号复用端子121与飞行控制器的油门控制信号输入线连接时，所述信号复用端子121上传输的信号即为油门控制信号。当所述信号复用端子121与上位机的通信信号输入线连接时，所述信号复用端子121上传输的信号即为通信信号。
具体地，可以预先根据实际需要来设置特征信息和信号的类型的对应关系。在获取到所述信号复用端子121上传输信号的特征信息时，可以根据该对应关系来确定所述信号复用端子121上传输信号的类型。
例如，所述信号可以是模拟信号，若所述信号的电压值小于5V，则认为所述信号的类型为通信信号，若所述信号的电压值大于5V，则认为所述信号的类型为油门控制信号。或者，所述信号可以是数字信号，在所述数字信号中，若某一标志位为0，则认为所述信号的类型为通信信号，若该标志位为1，则认为所述信号的类型为油门控制信号。
本领域技术人员可以根据电子调速器、飞行控制器、上位机的具体结构和实际需要来设置特征信息和信号的类型的对应关系，本实施例对此不作限制。
步骤103、根据所述信号复用端子121上传输信号的类型，进行相应的处理。
具体地，若所述信号的类型为油门控制信号，说明当前与电子调速器相连接的是飞行控制器，此时可以根据所述飞行控制器发送的信号控制电机转动，实现飞行器的正常飞行。若所述信号的类型为通信信号，说明当前与电子调速器相连接的是上位机，此时可以根据所述上位机发送的信号进行通信数据传输，例如升级固件或修改参数等。
根据飞行控制器发送的信号来控制电机转动、以及根据上位机发送的信号进行数据传输的具体实现方式均属于现有技术，此处不再赘述。
在实际应用中，当用户需要控制飞行器正常飞行时，可以将飞行控制器的油门控制信号输入线与接线端子12中的信号复用端子121连接，MCU可以根据所述信号复用端子121上传输的信号自动识别所述信号的类型，并根据所述信号控制飞行器的电机转动，实现飞行器的正常飞行。当用户需要对MCU进行固件升级、或者需要修改参数时，可以将上位机的通信信号输入线与接线端子12中的信号复用端子121连接，MCU可以根据所述信号复用端子121上传输的信号自动识别所述信号的类型，并根据所述信号进行数据通信，实现固件升级、参数修改的功能。
本实施例提供的信号线复用处理方法，在电子调速器的接线端子12中设置有信号复用端子121，飞行控制器的油门控制信号输入线与上位机的通信信号输入线均可接入所述接线端子12中的信号复用端子121，通过获取所述信号复用端子121上传输信号的特征信息，根据所述特征信息确定所述信号的类型，并根据所述信号的类型进行相应的处理，使得通信信号输入线和油门控制信号输入线可以共用同一端子，能够节省至少一个端子，有效节约了空间，降低了电子调速器的成本。
实施例二
本发明实施例二提供一种信号线复用处理方法。本实施例是在实施例一提供的技术方案的基础上，在MCU中设置有四个引脚用于与飞行控制器和上位机实现电连接。图3为本发明实施例二提供的信号线复用处理方法的流程图。如图3所示，本实施例中的方法，可以包括：
步骤201、获取油门控制信号输入引脚211上接收信号的特征信息。
图4为本发明实施例二提供的信号线复用处理方法中电子调速器的结构示意图。如图4所示，本实施例中的电子调速器，可以包括彼此连接的微控制单元MCU21和接线端子22。
所述MCU21可以包括油门控制信号输入引脚211、通信信号接收引脚212、通信信号发送引脚213以及接地引脚214。所述接线端子22可以包括信号复用端子221、通信信号接收端子222以及接地端子223。上位机的通信信号输入线与飞行控制器的油门控制信号输入线均可接入所述接线端子22 中的信号复用端子221。
所述信号复用端子221与所述油门控制信号输入引脚211和通信信号接收引脚212分别连接。所述通信信号发送引脚213与所述通信信号接收端子222连接。所述接地引脚214与所述接地端子223连接。
当油门控制信号输入引脚211上有信号通过时，可以获取所述油门控制信号输入引脚211上接收信号的特征信息。由于所述油门控制信号输入引脚211与所述信号复用端子221连接，因此，所述油门控制信号输入引脚211与所述信号复用端子221上通过的信号是相同的。获取到的所述油门控制信号输入引脚211上接收信号的特征信息，即为所述信号复用端子221上传输信号的特征信息。
步骤202、根据所述特征信息，确定信号复用端子221上传输信号的类型。
现有的飞行控制器的油门控制信号输入线上传输的油门控制信号多为频率固定、高电平脉宽在一定范围(通常为1ms-2ms)内可调的信号，信号的脉宽越大，电子调速器控制电机的转速越高。由于这种油门控制信号类似PWM(Pulse Width Modulation，脉冲宽度调制)波或PPM(Pulse Position Modulation，脉冲位置调制)波，因此这种控制方式又可以称为PWM控制或PPM控制。而通信信号用于数据传输，往往频率都不固定，脉宽也无规律，因此，本实施例中，可以通过信号的信号频率和/或信号脉宽来判定所述信号复用端子221上传输信号的类型是油门控制信号还是通信信号。
具体地，所述特征信息可以为所述信号复用端子221上传输信号的信号频率和/或信号脉宽，相应的，本步骤中根据所述特征信息，确定所述信号复用端子221上传输信号的类型，可以具体包括：
若所述信号的信号频率和/或信号脉宽在对应的预设范围内，则确定所述信号为油门控制信号；若所述信号的信号频率和/或信号脉宽不在对应的预设范围内，则确定所述信号为通信信号。
例如，可以通过频率来进行信号的类型的判断。若频率在对应的预设范围内，则认为所述信号为油门控制信号。若频率不在对应的预设范围内，则认为所述信号为通信信号，频率对应的预设范围可以根据实际需要来设置。
或者，可以通过脉宽来进行信号的类型的判断。若脉宽在对应的预设范 围内，则认为所述信号为油门控制信号。若脉宽不在对应的预设范围内，则认为所述信号为通信信号，脉宽对应的预设范围也可以根据实际需要来设置。
当然，也可以通过频率和脉宽来综合判断信号的类型。若频率和脉宽均在对应的预设范围内，则认为所述信号为油门控制信号。若频率不在对应的预设范围内、或脉宽不在对应的预设范围内、或两者均不在对应的预设范围内，则认为所述信号为通信信号，频率对应的预设范围以及脉宽对应的预设范围均可以根据实际需要来设置。
本实施例中，可以利用油门控制信号的频率和脉宽的特性，通过检测信号的信号频率和/或信号脉宽是否在对应的范围内来确定信号复用端子221上传输信号的类型，简单、方便，且不需要改变用户的使用习惯。当然，也可以通过其它方式来确定信号复用端子221上传输信号的类型，此处不作限制。
步骤203、若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动；若所述信号为通信信号，则从所述通信信号接收引脚212上接收通信信号，并根据所述通信信号进行通信数据传输。
具体地，当所述电子调速器连接飞行控制器时，飞行控制器的油门控制信号输入线可以与电子调速器的接线端子22中的信号复用端子221连接，飞行控制器的地线与所述接线端子22中的接地端子223连接。由于所述电子调速器的MCU21的油门控制信号输入引脚211与所述信号复用端子221连接，所述油门控制信号输入引脚211接收到的信号即为所述飞行控制器发送的油门控制信号，因此，可以直接根据所述油门控制信号输入引脚211上接收到的信号来控制电机转动。
当所述电子调速器连接上位机时，上位机的通信信号输入线可以与电子调速器的接线端子22中的信号复用端子221连接，上位机的通信信号接收线可以与所述接线端子22中的通信信号接收端子222连接，上位机的地线可以与所述接线端子22的接地端子223连接。由于所述MCU21的通信信号接收引脚212与所述信号复用端子221连接，所述通信信号发送引脚213与所述通信信号接收端子222连接，所述接地引脚214与所述接地端子223连接，因此，MCU21可以通过所述通信信号发送引脚213来向上位机发送通信数 据，通过所述通信信号接收引脚212来接收所述上位机发送的通信数据，从而实现固件升级、参数设置等功能。
本实施例提供的信号线复用处理方法，在MCU21中设置有油门控制信号输入引脚211和通信信号接收引脚212，接线端子22的信号复用端子221与所述油门控制信号输入引脚211和通信信号接收引脚212分别连接。当所述信号复用端子221上传输的信号是油门控制信号时，通过所述油门控制信号输入引脚211接收信号并控制电机转动。当所述信号复用端子221上传输的信号是通信信号时，通过所述通信信号接收引脚212接收信号并进行通信数据传输，控制方式比较简单，油门控制和通信数据传输两部分互不干扰，系统的稳定性较高。
实施例三
本发明实施例三提供一种信号线复用处理方法。本实施例是在实施例一提供的技术方案的基础上，在MCU中设置有三个引脚用于与飞行控制器和上位机实现电连接。图5为本发明实施例三提供的信号线复用处理方法的流程图。如图5所示，本实施例中的方法，可以包括：
步骤301、获取信号复用引脚311上接收信号的特征信息。
图6为本发明实施例三提供的信号线复用处理方法中电子调速器的结构示意图。如图6所示，本实施例中的电子调速器，可以包括彼此连接的微控制单元MCU31和接线端子32。
所述MCU31包括信号复用引脚311、通信信号发送引脚312以及接地引脚313，所述接线端子32包括信号复用端子321、通信信号接收端子322以及接地端子323，上位机的通信信号输入线与飞行控制器的油门控制信号输入线均可接入所述接线端子32中的信号复用端子321。所述信号复用端子321与所述信号复用引脚311连接。所述通信信号发送引脚312与所述通信信号接收端子322连接。所述接地引脚313与所述接地端子323连接。
当信号复用引脚311上有信号通过时，可以获取所述信号复用引脚311上接收信号的特征信息。由于所述信号复用端子321与所述信号复用引脚311连接，因此，所述信号复用引脚311与所述信号复用端子321上通过的信号是相同的。获取到的所述信号复用引脚311上接收信号的特征信息，即为所述信号复用端子321上传输信号的特征信息。
步骤302、根据所述特征信息，确定所述信号复用端子321上传输信号的类型。
具体地，所述特征信息可以为所述信号复用端子321上传输信号中所携带的信号类型指示信息，相应的，本步骤中根据所述特征信息，确定所述信号复用端子321上传输信号的类型，可以具体包括：
若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号；若所述信号类型指示信息为第二指示信息，则确定所述信号为油门控制信号。所述第一指示信息和第二指示信息可以根据实际需要来设置。
或者，若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号；若所述信号类型指示信息为空，则确定所述信号为油门控制信号。考虑到电子调速器通常处于正常工作状态，与上位机的交互通信不常用，因此，通信信号的传输可以看作特殊情况，仅在通信信号中加指示信息，而在正常工作状态下传输的油门控制信号中不加指示信息，能够有效减少信令负荷，提高电子调速器的处理速度。
当然，本实施例中也可以通过其它方式来确定信号的类型，此处不作限制。
步骤303、根据所述信号复用端子321上传输信号的类型，进行相应的处理。
具体地，若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动；若所述信号为通信信号，则根据所述通信信号进行通信数据传输。
本实施例提供的信号线复用处理方法，在MCU31中设置有信号复用引脚311，接线端子32的信号复用端子321与所述信号复用引脚311连接。当所述信号复用端子321上传输的信号是油门控制信号时，通过所述信号复用引脚311接收信号并控制电机转动。当所述信号复用端子321上传输的信号是通信信号时，通过所述信号复用引脚311接收信号并进行通信数据传输。利用MCU31的同一引脚来实现接收油门控制信号和接收通信信号的复用功能，减少了MCU31的引脚个数，节约了系统空间。
实施例四
本发明实施例四提供一种信号线复用处理方法。本实施例是在实施例一提供的技术方案的基础上，在MCU中设置有两个引脚用于与飞行控制器和 上位机实现电连接。图7为本发明实施例四提供的信号线复用处理方法的流程图。如图7所示，本实施例中的方法，可以包括：
步骤401、获取复用引脚411上接收信号的特征信息。
图8为本发明实施例四提供的信号线复用处理方法中电子调速器的结构示意图。如图8所示，本实施例中的电子调速器，可以包括彼此连接的微控制单元MCU41和接线端子42。
所述MCU41包括复用引脚411和接地引脚412；所述接线端子42包括信号复用端子421以及接地端子422，飞行控制器的油门控制信号输入线、上位机的通信信号输入线和通信信号输出线均可接入所述信号复用端子421，所述信号复用端子421与所述复用引脚411连接，所述接地引脚412与所述接地端子422连接。
当复用引脚411上有信号通过时，可以获取所述复用引脚411上接收信号的特征信息。由于所述复用端子与所述信号复用引脚411连接，因此，所述复用引脚411与所述信号复用端子421上通过的信号是相同的。获取到的所述复用引脚411上接收信号的特征信息，即为所述信号复用端子421上传输信号的特征信息。
步骤402、根据所述特征信息，确定信号复用端子421上传输信号的类型。
具体地，确定信号复用端子421上传输信号的类型可以有多种方法。例如，可以通过信号的信号频率和/或信号脉宽来确定，或者，可以通过信号中携带的信号类型指示信息来确定，也可以通过其它方式来确定，本实施例对此不作限制。
步骤403、根据所述信号复用端子421上传输信号的类型，进行相应的处理。
若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动。具体控制电机转动的方式可以有多种，例如，所述油门控制信号可以为PWM波，MCU41可以通过所述PWM波来控制电机转动，或者，所述油门控制信号可以为表征电机转动状态的数字信号，所述MCU41可以根据所述数字信号产生相应的PWM波，并利用所述PWM波来控制电机转动。
若所述信号为通信信号，则根据所述通信信号进行通信数据传输。具体 地，可以从所述复用引脚411上接收第一通信信号，在对所述第一通信信号进行解析之后，从所述复用引脚411上反馈对应的第二通信信号，以完成通信数据传输。
在实际应用中，当确定所述信号复用端子421上传输的信号是通信信号时，可以将所述复用引脚411复用为接收引脚，接收上位机发送的通信信号。接收并解析完通信信号后，再将所述复用引脚411复用为发送引脚，将需要回复的通信信号从所述复用引脚411发送给上位机，发送完毕后再复用为接收引脚，用于接收通信信号。这样，整个系统仅需要复用引脚411和接地引脚412即可实现通信信号的接收和发送，进一步简化了系统。
本实施例提供的信号线复用处理方法，在MCU41中设置有复用引脚411，接线端子42的信号复用端子421与所述复用引脚411连接，飞行控制器的油门控制信号输入线、上位机的通信信号输入线和通信信号输出线均可接入所述信号复用端子421，因此，可以通过所述复用引脚411实现接收飞行控制器发送的油门控制信号、接收上位机发送的通信信号、向上位机发送通信信号的功能，减少了MCU41的引脚个数，节约了系统空间。
实施例五
本发明实施例五提供一种电子调速器的MCU。所述MCU包括处理器和引脚，所述MCU的引脚用于与所述电子调速器的接线端子连接，以从所述接线端子的信号复用端子上接收自通信信号输入线或油门控制信号输入线传输的信号。
所述处理器，被配置为获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
本发明实施例五提供的MCU的结构和连接关系可以参见图2。其具体原理和实现方式均与实施例一类似，此处不再赘述。
本实施例中的MCU的处理器的功能，可以通过软件实现，也可以通过硬件模块实现。例如，所述特征信息可以为信号电压，根据特征信息判断信号的类型，可以通过比较器来实现，根据信号的类型来进行相应的处理，可以通过开关来实现。或者，所述特征信息可以为信号频率，根据信号频率判断信号的类型，可以通过计数器、定时器和比较器来实现。
本实施例提供的MCU，包括处理器和引脚，所述引脚用于与所述电子调速器的接线端子连接，以从所述接线端子的信号复用端子上接收自通信信号输入线或油门控制信号输入线传输的信号，通过获取所述信号复用端子上传输信号的特征信息，根据所述特征信息确定所述信号的类型，并根据所述信号的类型进行相应的处理，使得通信信号输入线和油门控制信号输入线可以共用同一端子，能够节省至少一个端子，有效节约了空间，降低了电子调速器的成本。
进一步地，所述特征信息可以为所述信号复用端子上传输信号的信号频率和/或信号脉宽；相应的，所述处理器可以被配置为：获取所述信号复用端子上传输信号的信号频率和/或信号脉宽；若所述信号的信号频率和/或信号脉宽在对应的预设范围内，则确定所述信号为油门控制信号，若所述信号的信号频率和/或信号脉宽不在对应的预设范围内，则确定所述信号为通信信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
或者，所述特征信息可以为所述信号复用端子上传输信号中所携带的信号类型指示信息；相应的，所述处理器可以被配置为：获取所述信号复用端子上传输信号中所携带的信号类型指示信息；若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为第二指示信息，则确定所述信号为油门控制信号，或者，若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为空，则确定所述信号为油门控制信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
进一步地，所述处理器可以被配置为：获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则根据所述通信信号进行通信数据传输。
实施例六
本发明实施例六提供一种电子调速器的MCU。在实施例五提供的技术方案的基础上，所述MCU的引脚可以包括油门控制信号输入引脚、通信信号接收引脚、通信信号发送引脚以及接地引脚；所述油门控制信号输入引脚和通信信号接收引脚分别用于与所述接线端子的信号复用端子连接；所述通 信信号发送引脚用于与所述接线端子的通信信号接收端子连接；所述接地引脚用于与所述接线端子的接地端子连接。
所述处理器，可以被配置为获取所述油门控制信号输入引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则从所述通信信号接收引脚上接收通信信号，并根据所述通信信号进行通信数据传输。
本发明实施例六提供的MCU的结构和连接关系可以参见图4。其具体原理和实现方式均与实施例二类似，此处不再赘述。
本实施例提供的MCU，设置有油门控制信号输入引脚和通信信号接收引脚，接线端子的信号复用端子与所述油门控制信号输入引脚和通信信号接收引脚分别连接，当所述信号复用端子上传输的信号是油门控制信号时，通过所述油门控制信号输入引脚接收信号并控制电机转动，当所述信号复用端子上传输的信号是通信信号时，通过所述通信信号接收引脚接收信号并进行通信数据传输，控制方式比较简单，油门控制和通信数据传输两部分互不干扰，系统的稳定性较高。
实施例七
本发明实施例七提供一种电子调速器的MCU。在实施例五提供的技术方案的基础上，所述MCU的引脚可以包括信号复用引脚、通信信号发送引脚以及接地引脚；所述信号复用引脚用于与所述接线端子的信号复用端子连接；所述通信信号发送引脚用于与所述接线端子的通信信号接收端子连接；所述接地引脚用于与所述接线端子的接地端子连接。
所述处理器，可以被配置为获取所述信号复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
本发明实施例七提供的MCU的结构和连接关系可以参见图6。其具体原理和实现方式均与实施例三类似，此处不再赘述。
本实施例提供的MCU，设置有信号复用引脚，接线端子的信号复用端子与所述信号复用引脚连接，当所述信号复用端子上传输的信号是油门控制信号时，通过所述信号复用引脚接收信号并控制电机转动，当所述信号复用 端子上传输的信号是通信信号时，通过所述信号复用引脚接收信号并进行通信数据传输，利用MCU的同一引脚来实现接收油门控制信号和接收通信信号的复用功能，减少了MCU的引脚个数，节约了系统空间。
实施例八
本发明实施例八提供一种电子调速器的MCU。在实施例五提供的技术方案的基础上，所述MCU的引脚可以包括复用引脚和接地引脚；所述复用引脚用于与所述接线端子的信号复用引脚连接，所述接地引脚用于与所述接线端子的接地端子连接。
所述处理器，可以被配置为获取所述复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则从所述复用引脚上接收第一通信信号，在对所述第一通信信号进行解析之后，从所述复用引脚上反馈对应的第二通信信号，以完成通信数据传输。
本发明实施例八提供的MCU的结构和连接关系可以参见图8。其具体原理和实现方式均与实施例四类似，此处不再赘述。
本实施例提供的MCU，设置有复用引脚，接线端子的信号复用端子与所述复用引脚连接，飞行控制器的油门控制信号输入线、上位机的通信信号输入线和通信信号输出线均可接入所述信号复用端子，因此，可以通过所述复用引脚实现接收飞行控制器发送的油门控制信号、接收上位机发送的通信信号、向上位机发送通信信号的功能，减少了MCU的引脚个数，节约了系统空间。
实施例九
本发明实施例九提供一种电子调速器，包括：MCU和接线端子；所述MCU包括处理器和引脚，所述MCU的引脚与所述接线端子连接，通信信号输入线与油门控制信号输入线均接入所述接线端子中的信号复用端子；所述处理器，被配置为获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
本实施例的电子调速器的各部件的结构、功能和连接关系均与实施例五 类似，此处不再赘述。
本实施例提供的电子调速器，包括MCU和接线端子，所述MCU的引脚与所述电子调速器的接线端子连接，以从所述接线端子的信号复用端子上接收自通信信号输入线或油门控制信号输入线传输的信号，通过获取所述信号复用端子上传输信号的特征信息，根据所述特征信息确定所述信号的类型，并根据所述信号的类型进行相应的处理，使得通信信号输入线和油门控制信号输入线可以共用同一端子，能够节省至少一个端子，有效节约了空间，降低了电子调速器的成本。
进一步地，所述特征信息为所述信号复用端子上传输信号的信号频率和/或信号脉宽；相应的，所述处理器可以被配置为：获取所述信号复用端子上传输信号的信号频率和/或信号脉宽；若所述信号的信号频率和/或信号脉宽在对应的预设范围内，则确定所述信号为油门控制信号，若所述信号的信号频率和/或信号脉宽不在对应的预设范围内，则确定所述信号为通信信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
进一步地，所述特征信息为所述信号复用端子上传输信号中所携带的信号类型指示信息；相应的，所述处理器可以被配置为：获取所述信号复用端子上传输信号中所携带的信号类型指示信息；若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为第二指示信息，则确定所述信号为油门控制信号，或者，若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为空，则确定所述信号为油门控制信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
进一步地，所述处理器可以被配置为：获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则根据所述通信信号进行通信数据传输。
在实施例九提供的技术方案的基础上，优选的是，所述MCU的引脚包括油门控制信号输入引脚、通信信号接收引脚、通信信号发送引脚以及接地引脚；所述接线端子包括所述信号复用端子、通信信号接收端子以及接地端子；所述信号复用端子与所述油门控制信号输入引脚和通信信号接收引脚分 别连接；所述通信信号发送引脚与所述通信信号接收端子连接；所述接地引脚与所述接地端子连接。
所述处理器，可以被配置为获取所述油门控制信号输入引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则从所述通信信号接收引脚上接收通信信号，并根据所述通信信号进行通信数据传输。
在实施例九提供的技术方案的基础上，优选的是，所述MCU的引脚包括信号复用引脚、通信信号发送引脚以及接地引脚；所述接线端子包括所述信号复用端子、通信信号接收端子以及接地端子；所述信号复用端子与所述信号复用引脚连接；所述通信信号发送引脚与所述通信信号接收端子连接；所述接地引脚与所述接地端子连接。
所述处理器，可以被配置为获取所述信号复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
在实施例九提供的技术方案的基础上，优选的是，所述MCU的引脚包括复用引脚和接地引脚；所述接线端子包括所述信号复用端子以及接地端子；所述通信信号输入线、油门控制信号输入线以及通信信号输出线均接入所述信号复用端子；所述信号复用端子与所述复用引脚连接；所述接地引脚与所述接地端子连接。
所述处理器，可以被配置为获取所述复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则从所述复用引脚上接收第一通信信号，在对所述第一通信信号进行解析之后，从所述复用引脚上反馈对应的第二通信信号，以完成通信数据传输。
实施例十
本发明实施例十提供一种无人飞行器。图9为本发明实施例十提供的无人飞行器的结构示意图。如图9所示，本实施例中的无人飞行器，可以包括：电机1001、螺旋桨1002、飞行控制器以及电子调速器1003；
所述电子调速器1003与所述飞行控制器连接，与所述电机1001电连接，用于根据所述飞行控制器发送的油门控制信号控制所述电机1001转动；
所述电机1001与所述螺旋桨1002连接，以在所述电子调速器1003的控制下驱动所述螺旋桨1002转动。
其中，所述电子调速器1003包括：MCU和接线端子；所述MCU包括处理器和引脚，所述MCU的引脚与所述接线端子连接，通信信号输入线与油门控制信号输入线均接入所述接线端子中的信号复用端子；
所述处理器，被配置为获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
本实施例的电子调速器1003，可以设置在电机1001的下方，或者飞行器的其它合适的地方。电子调速器1003中的各部件的结构、功能和连接关系均与实施例五类似，此处不再赘述。
本实施例提供的无人飞行器，包括MCU和接线端子，所述MCU的引脚与所述电子调速器1003的接线端子连接，以从所述接线端子的信号复用端子上接收自通信信号输入线或油门控制信号输入线传输的信号，通过获取所述信号复用端子上传输信号的特征信息，根据所述特征信息确定所述信号的类型，并根据所述信号的类型进行相应的处理，使得通信信号输入线和油门控制信号输入线可以共用同一端子，能够节省至少一个端子，有效节约了空间，降低了电子调速器1003的成本。
进一步地，所述特征信息可以为所述信号复用端子上传输信号的信号频率和/或信号脉宽。
相应的，所述处理器可以被配置为：获取所述信号复用端子上传输信号的信号频率和/或信号脉宽；若所述信号的信号频率和/或信号脉宽在对应的预设范围内，则确定所述信号为油门控制信号，若所述信号的信号频率和/或信号脉宽不在对应的预设范围内，则确定所述信号为通信信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
进一步地，所述特征信息可以为所述信号复用端子上传输信号中所携带的信号类型指示信息。
相应的，所述处理器可以被配置为：获取所述信号复用端子上传输信号中所携带的信号类型指示信息；若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为第二指示信息，则确定所述信号为油门控制信号，或者，若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为空，则确定所述信号为油门控制信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
进一步地，所述处理器可以被配置为：获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机1001转动，若所述信号为通信信号，则根据所述通信信号进行通信数据传输。
在上述实施例十提供的技术方案的基础上，优选的是，所述MCU的引脚包括油门控制信号输入引脚、通信信号接收引脚、通信信号发送引脚以及接地引脚。
所述接线端子包括所述信号复用端子、通信信号接收端子以及接地端子。
所述信号复用端子与所述油门控制信号输入引脚和通信信号接收引脚分别连接。
所述通信信号发送引脚与所述通信信号接收端子连接。
所述接地引脚与所述接地端子连接。
所述处理器，被配置为获取所述油门控制信号输入引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机1001转动，若所述信号为通信信号，则从所述通信信号接收引脚上接收通信信号，并根据所述通信信号进行通信数据传输。
在上述实施例十提供的技术方案的基础上，优选的是，所述MCU的引脚包括信号复用引脚、通信信号发送引脚以及接地引脚。
所述接线端子包括所述信号复用端子、通信信号接收端子以及接地端子。
所述信号复用端子与所述信号复用引脚连接。
所述通信信号发送引脚与所述通信信号接收端子连接。
所述接地引脚与所述接地端子连接。
所述处理器，被配置为获取所述信号复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
在上述实施例十提供的技术方案的基础上，优选的是，所述MCU的引脚包括复用引脚和接地引脚。
所述接线端子包括所述信号复用端子以及接地端子。所述通信信号输入线、油门控制信号输入线以及通信信号输出线均接入所述信号复用端子。
所述信号复用端子与所述复用引脚连接。
所述接地引脚与所述接地端子连接。
所述处理器，被配置为获取所述复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机1001转动，若所述信号为通信信号，则从所述复用引脚上接收第一通信信号，在对所述第一通信信号进行解析之后，从所述复用引脚上反馈对应的第二通信信号，以完成通信数据传输。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (40)

  1. 一种信号线复用处理方法，其特征在于，所述方法应用于电子调速器，所述电子调速器包括彼此连接的微控制单元MCU和接线端子，所述接线端子中的信号复用端子选择性地与上位机的通信信号输入线或飞行控制器的油门控制信号输入线连接，所述方法包括：
    获取所述信号复用端子上传输信号的特征信息；
    根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及
    根据所述信号复用端子上传输信号的类型，进行相应的处理。
  2. 根据权利要求1所述的方法，其特征在于，所述特征信息为所述信号复用端子上传输信号的信号频率和/或信号脉宽；
    所述根据所述特征信息，确定所述信号复用端子上传输信号的类型，包括：
    若所述信号的信号频率和/或信号脉宽在对应的预设范围内，则确定所述信号为油门控制信号；
    若所述信号的信号频率和/或信号脉宽不在对应的预设范围内，则确定所述信号为通信信号。
  3. 根据权利要求1所述的方法，其特征在于，所述特征信息为所述信号复用端子上传输信号中所携带的信号类型指示信息；
    所述根据所述特征信息，确定所述信号复用端子上传输信号的类型，包括：
    若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号；若所述信号类型指示信息为第二指示信息，则确定所述信号为油门控制信号；
    或者，
    若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号；若所述信号类型指示信息为空，则确定所述信号为油门控制信号。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述根据所述信 号复用端子上传输信号的类型，进行相应的处理，包括：
    若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动；
    若所述信号为通信信号，则根据所述通信信号进行通信数据传输。
  5. 根据权利要求4所述的方法，其特征在于，所述MCU包括油门控制信号输入引脚、通信信号接收引脚、通信信号发送引脚以及接地引脚，所述接线端子包括所述信号复用端子、通信信号接收端子以及接地端子；所述信号复用端子与所述油门控制信号输入引脚和通信信号接收引脚分别连接；所述通信信号发送引脚与所述通信信号接收端子连接；所述接地引脚与所述接地端子连接。
  6. 根据权利要求5所述的方法，其特征在于，所述获取所述信号复用端子上传输信号的特征信息，具体包括：
    获取所述油门控制信号输入引脚上接收信号的特征信息；
    相应的，所述根据所述通信信号进行通信数据传输，具体包括：
    从所述通信信号接收引脚上接收通信信号，并根据所述通信信号进行通信数据传输。
  7. 根据权利要求4所述的方法，其特征在于，所述MCU包括信号复用引脚、通信信号发送引脚以及接地引脚，所述接线端子包括所述信号复用端子、通信信号接收端子以及接地端子；所述信号复用端子与所述信号复用引脚连接；所述通信信号发送引脚与所述通信信号接收端子连接；所述接地引脚与所述接地端子连接。
  8. 根据权利要求7所述的方法，其特征在于，所述获取所述信号复用端子上传输信号的特征信息，具体包括：
    获取所述信号复用引脚上接收信号的特征信息。
  9. 根据权利要求4所述的方法，其特征在于，所述MCU包括复用引脚和接地引脚；所述接线端子包括所述信号复用端子以及接地端子，所述通信信号输入线、油门控制信号输入线以及通信信号输出线均接入所述信号复用端子，所述信号复用端子与所述复用引脚连接，所述接地引脚与所述接地端子连接。
  10. 根据权利要求9所述的方法，其特征在于，所述获取所述信号复用端子上传输信号的特征信息，具体包括：
    获取所述复用引脚上接收信号的特征信息；
    相应的，所述根据所述通信信号进行通信数据传输，具体包括：
    从所述复用引脚上接收第一通信信号，在对所述第一通信信号进行解析之后，从所述复用引脚上反馈对应的第二通信信号，以完成通信数据传输。
  11. 一种电子调速器的MCU，其特征在于，所述MCU包括处理器和引脚，所述MCU的引脚用于与所述电子调速器的接线端子连接，以从所述接线端子的信号复用端子上接收自通信信号输入线或油门控制信号输入线传输的信号；
    所述处理器，被配置为获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  12. 根据权利要求11所述的MCU，其特征在于，所述特征信息为所述信号复用端子上传输信号的信号频率和/或信号脉宽；
    相应的，所述处理器被配置为：获取所述信号复用端子上传输信号的信号频率和/或信号脉宽；若所述信号的信号频率和/或信号脉宽在对应的预设范围内，则确定所述信号为油门控制信号，若所述信号的信号频率和/或信号脉宽不在对应的预设范围内，则确定所述信号为通信信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  13. 根据权利要求11所述的MCU，其特征在于，所述特征信息为所述信号复用端子上传输信号中所携带的信号类型指示信息；
    相应的，所述处理器被配置为：获取所述信号复用端子上传输信号中所携带的信号类型指示信息；若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为第二指示信息，则确定所述信号为油门控制信号，或者，若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为空，则确定所 述信号为油门控制信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  14. 根据权利要求11-13任一项所述的MCU，其特征在于，所述处理器被配置为：获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则根据所述通信信号进行通信数据传输。
  15. 根据权利要求14所述的MCU，其特征在于，所述MCU的引脚包括油门控制信号输入引脚、通信信号接收引脚、通信信号发送引脚以及接地引脚；
    所述油门控制信号输入引脚和通信信号接收引脚分别用于与所述接线端子的信号复用端子连接；所述通信信号发送引脚用于与所述接线端子的通信信号接收端子连接；所述接地引脚用于与所述接线端子的接地端子连接。
  16. 根据权利要求15所述的MCU，其特征在于，所述处理器，被配置为获取所述油门控制信号输入引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则从所述通信信号接收引脚上接收通信信号，并根据所述通信信号进行通信数据传输。
  17. 根据权利要求14所述的MCU，其特征在于，所述MCU的引脚包括信号复用引脚、通信信号发送引脚以及接地引脚；
    所述信号复用引脚用于与所述接线端子的信号复用端子连接；所述通信信号发送引脚用于与所述接线端子的通信信号接收端子连接；所述接地引脚用于与所述接线端子的接地端子连接。
  18. 根据权利要求17所述的MCU，其特征在于，所述处理器，被配置为获取所述信号复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  19. 根据权利要求14所述的MCU，其特征在于，所述MCU的引脚包括复用引脚和接地引脚；
    所述复用引脚用于与所述接线端子的信号复用引脚连接，所述接地引脚用于与所述接线端子的接地端子连接。
  20. 根据权利要求19所述的MCU，其特征在于，所述处理器，被配置为获取所述复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则从所述复用引脚上接收第一通信信号，在对所述第一通信信号进行解析之后，从所述复用引脚上反馈对应的第二通信信号，以完成通信数据传输。
  21. 一种电子调速器，其特征在于，包括：MCU和接线端子；所述MCU包括处理器和引脚，所述MCU的引脚与所述接线端子连接，所述接线端子中的信号复用端子能够选择性地与通信信号输入线或油门控制信号输入线电连接；
    所述处理器，被配置为获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  22. 根据权利要求21所述的电子调速器，其特征在于，所述特征信息为所述信号复用端子上传输信号的信号频率和/或信号脉宽；
    相应的，所述处理器被配置为：获取所述信号复用端子上传输信号的信号频率和/或信号脉宽；若所述信号的信号频率和/或信号脉宽在对应的预设范围内，则确定所述信号为油门控制信号，若所述信号的信号频率和/或信号脉宽不在对应的预设范围内，则确定所述信号为通信信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  23. 根据权利要求21所述的电子调速器，其特征在于，所述特征信息为所述信号复用端子上传输信号中所携带的信号类型指示信息；
    相应的，所述处理器被配置为：获取所述信号复用端子上传输信号中所 携带的信号类型指示信息；若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为第二指示信息，则确定所述信号为油门控制信号，或者，若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为空，则确定所述信号为油门控制信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  24. 根据权利要求21-23任一项所述的电子调速器，其特征在于，所述处理器被配置为：获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则根据所述通信信号进行通信数据传输。
  25. 根据权利要求24所述的电子调速器，其特征在于，所述MCU的引脚包括油门控制信号输入引脚、通信信号接收引脚、通信信号发送引脚以及接地引脚；
    所述接线端子包括所述信号复用端子、通信信号接收端子以及接地端子；
    所述信号复用端子与所述油门控制信号输入引脚和通信信号接收引脚分别连接；
    所述通信信号发送引脚与所述通信信号接收端子连接；
    所述接地引脚与所述接地端子连接。
  26. 根据权利要求25所述的电子调速器，其特征在于，所述处理器，被配置为获取所述油门控制信号输入引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则从所述通信信号接收引脚上接收通信信号，并根据所述通信信号进行通信数据传输。
  27. 根据权利要求24所述的电子调速器，其特征在于，所述MCU的引脚包括信号复用引脚、通信信号发送引脚以及接地引脚；
    所述接线端子包括所述信号复用端子、通信信号接收端子以及接地端子；
    所述信号复用端子与所述信号复用引脚连接；
    所述通信信号发送引脚与所述通信信号接收端子连接；
    所述接地引脚与所述接地端子连接。
  28. 根据权利要求27所述的电子调速器，其特征在于，所述处理器，被配置为获取所述信号复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  29. 根据权利要求24所述的电子调速器，其特征在于，所述MCU的引脚包括复用引脚和接地引脚；
    所述接线端子包括所述信号复用端子以及接地端子；所述通信信号输入线、油门控制信号输入线以及通信信号输出线均接入所述信号复用端子；
    所述信号复用端子与所述复用引脚连接；
    所述接地引脚与所述接地端子连接。
  30. 根据权利要求29所述的电子调速器，其特征在于，所述处理器，被配置为获取所述复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则从所述复用引脚上接收第一通信信号，在对所述第一通信信号进行解析之后，从所述复用引脚上反馈对应的第二通信信号，以完成通信数据传输。
  31. 一种无人飞行器，其特征在于，包括：电机、螺旋桨、飞行控制器以及电子调速器；
    所述电子调速器与所述飞行控制器连接，用于根据所述飞行控制器发送的油门控制信号控制所述电机转动；
    所述电机与所述螺旋桨连接，以在所述电子调速器的控制下驱动所述螺旋桨转动；
    其中，所述电子调速器包括：MCU和接线端子；所述MCU包括处理器和引脚，所述MCU的引脚与所述接线端子连接，所述接线端子中的信号复用端子能够选择性地与通信信号输入线或油门控制信号输入线电连接；
    所述处理器，被配置为获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  32. 根据权利要求31所述的无人飞行器，其特征在于，所述特征信息为所述信号复用端子上传输信号的信号频率和/或信号脉宽；
    相应的，所述处理器被配置为：获取所述信号复用端子上传输信号的信号频率和/或信号脉宽；若所述信号的信号频率和/或信号脉宽在对应的预设范围内，则确定所述信号为油门控制信号，若所述信号的信号频率和/或信号脉宽不在对应的预设范围内，则确定所述信号为通信信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  33. 根据权利要求31所述的无人飞行器，其特征在于，所述特征信息为所述信号复用端子上传输信号中所携带的信号类型指示信息；
    相应的，所述处理器被配置为：获取所述信号复用端子上传输信号中所携带的信号类型指示信息；若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为第二指示信息，则确定所述信号为油门控制信号，或者，若所述信号类型指示信息为第一指示信息，则确定所述信号为通信信号，若所述信号类型指示信息为空，则确定所述信号为油门控制信号；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  34. 根据权利要求31-33任一项所述的无人飞行器，其特征在于，所述处理器被配置为：获取所述信号复用端子上传输信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则根据所述通信信号进行通信数据传输。
  35. 根据权利要求34所述的无人飞行器，其特征在于，所述MCU的引脚包括油门控制信号输入引脚、通信信号接收引脚、通信信号发送引脚以及 接地引脚；
    所述接线端子包括所述信号复用端子、通信信号接收端子以及接地端子；
    所述信号复用端子与所述油门控制信号输入引脚和通信信号接收引脚分别连接；
    所述通信信号发送引脚与所述通信信号接收端子连接；
    所述接地引脚与所述接地端子连接。
  36. 根据权利要求35所述的无人飞行器，其特征在于，所述处理器，被配置为获取所述油门控制信号输入引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则从所述通信信号接收引脚上接收通信信号，并根据所述通信信号进行通信数据传输。
  37. 根据权利要求34所述的无人飞行器，其特征在于，所述MCU的引脚包括信号复用引脚、通信信号发送引脚以及接地引脚；
    所述接线端子包括所述信号复用端子、通信信号接收端子以及接地端子；
    所述信号复用端子与所述信号复用引脚连接；
    所述通信信号发送引脚与所述通信信号接收端子连接；
    所述接地引脚与所述接地端子连接。
  38. 根据权利要求37所述的无人飞行器，其特征在于，所述处理器，被配置为获取所述信号复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；以及根据所述信号复用端子上传输信号的类型，进行相应的处理。
  39. 根据权利要求34所述的无人飞行器，其特征在于，所述MCU的引脚包括复用引脚和接地引脚；
    所述接线端子包括所述信号复用端子以及接地端子；所述通信信号输入 线、油门控制信号输入线以及通信信号输出线均接入所述信号复用端子；
    所述信号复用端子与所述复用引脚连接；
    所述接地引脚与所述接地端子连接。
  40. 根据权利要求39所述的无人飞行器，其特征在于，所述处理器，被配置为获取所述复用引脚上接收信号的特征信息；根据所述特征信息，确定所述信号复用端子上传输信号的类型；若所述信号为油门控制信号，则采用所述油门控制信号控制电机转动，若所述信号为通信信号，则从所述复用引脚上接收第一通信信号，在对所述第一通信信号进行解析之后，从所述复用引脚上反馈对应的第二通信信号，以完成通信数据传输。
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