WO2017132833A1 - 控制方法、系统，以及电调及采用该电调的动力套装、无人飞行器 - Google Patents

控制方法、系统，以及电调及采用该电调的动力套装、无人飞行器 Download PDF

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Publication number
WO2017132833A1
WO2017132833A1 PCT/CN2016/073198 CN2016073198W WO2017132833A1 WO 2017132833 A1 WO2017132833 A1 WO 2017132833A1 CN 2016073198 W CN2016073198 W CN 2016073198W WO 2017132833 A1 WO2017132833 A1 WO 2017132833A1
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WIPO (PCT)
Prior art keywords
motor
color
esc
light
control method
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Application number
PCT/CN2016/073198
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English (en)
French (fr)
Inventor
刘万启
蓝求
周长兴
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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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 CN201680004303.8A priority Critical patent/CN107406146A/zh
Priority to PCT/CN2016/073198 priority patent/WO2017132833A1/zh
Publication of WO2017132833A1 publication Critical patent/WO2017132833A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices

Definitions

  • the invention relates to a control method and system, in particular to a motor/electrical control method and system, and a power package and an unmanned aerial vehicle using the same.
  • the existing ESC Electric Speed Control
  • the existing ESC has no indicators or instructions for simple decoration.
  • the user or the developer does not have professional equipment when flying in the field, it is difficult to judge when the electronic governor or the motor is abnormal, and unnecessary loss due to the failure during flight.
  • a control method for controlling an ESC or/and a motor comprising:
  • control indicating means Based on the state information of the motor or/and the ESC itself, the control indicating means indicates the current state of the motor or/and the ESC itself.
  • the present invention also provides a control system.
  • a control system for controlling an ESC or/and a motor comprising:
  • One or more controllers working individually or in concert, are used to:
  • control indicating means Based on the state information of the motor or/and the ESC itself, the control indicating means indicates the current state of the motor or/and the ESC itself.
  • the present invention also provides an ESC.
  • An electric adjustment for controlling an operating state of a motor wherein the electrical adjustment comprises:
  • a pointing device mounted to the housing
  • controller installed in the housing; the controller is for electrically connecting with the motor and the indicating device;
  • the controller controls the indication device of the ESC to indicate the current state of the motor or/and the ESC itself according to the state information of the motor or/and the ESC.
  • the present invention also provides an unmanned aerial vehicle.
  • Electrically adjustable electrically connected to the motor for controlling an operating state of the motor; the electrical adjustment comprising a housing, a pointing device, and a controller; the indicating device being mounted to the housing; the controller Installed in the housing; the controller is for electrically connecting with the motor and the indicating device;
  • the controller controls the indication device of the ESC to indicate the current state of the motor or/and the ESC itself according to the state information of the motor or/and the ESC.
  • the present invention also provides an unmanned aerial vehicle.
  • Electrically adjustable, electrically connected to the motor for controlling an operating state of the motor comprising a housing, a pointing device, and a controller; the indicating device being mounted to the housing; the controller Installed in the housing; the controller is for use with the motor and The indicating device is electrically connected;
  • the controller controls the indication device of the ESC to indicate the current state of the motor or/and the ESC itself according to the state information of the motor or/and the ESC.
  • a flight controller installed in the fuselage
  • a indicating device for indicating a current state of the motor or/and an ESC
  • the flight controller is electrically connected to the ESC and the indication device, and the flight controller controls the indication device of the ESC to represent the motor according to status information of the motor or/and ESC Or / and the current state of the ESC.
  • the above control method, control system, ESC, and UAV use indicator device to characterize the state of the ESC or/and the motor, so as to more intuitively know the working state of the ESC and the motor, and reduce the need for the ESC and the motor. Flight failure caused by status.
  • the output state of the power structure can be more intuitively reflected, helping to analyze the operation of the aircraft.
  • FIG. 1 is a flow chart of a control method according to an embodiment of the present invention.
  • FIG. 2 is a schematic view of a motor and an ESC according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a control system according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a control system according to another embodiment of the present invention.
  • FIG. 5 is a schematic structural view of an electric switch according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a circuit principle of an ESC according to an embodiment of the present invention.
  • Fig. 7 is a schematic view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Embodiments of the present invention provide a control method for controlling a pointing device to indicate a current state of an element in the power pack according to state information of an element in a power pack.
  • the power pack includes at least one of the following components: a motor, an ESC, a propeller.
  • the indicating device comprises at least one of the following: an indicator light, a display screen, and a sounding device.
  • the indicating device can be integrally provided with at least one of the following: an electric adjustment, a motor, a mobile platform to which the motor is applied, and a remote control device.
  • the indicating device can be drawn from the device by wires: an electric motor, a motor, a mobile platform to which the motor is applied, and a remote control device.
  • the pointing device is controlled by at least one of: a control system for the ESC, a control system for the mobile platform to which the motor is applied, and a control system for the remote control device.
  • an embodiment of the present invention provides a control method for controlling the ESC 100 or/and the motor 200.
  • the method includes the following steps:
  • the status information of the ESC 100 includes at least one of the following: the power-on state of the ESC 100, the abnormal operation of the ESC 100, the internal temperature of the ESC 100, and the internal preset parameters of the motor 200 and the ESC 100. Mismatch, the throttle input is abnormal, and the link of the ESC 100 is abnormal.
  • the status information of the motor 200 includes at least one of the following: the motor 200 is powered on, the motor 200 is abnormal, the motor 200 is in the running state, the motor 200 is in the full power output state, the temperature of the motor 200, the motor 200 speed and the throttle value, The link of the motor 200 is abnormal.
  • step S2 according to the state information of the motor 200 or/and the ESC 100 itself, the control indicating device 300 indicates the current state of the motor 200 or/and the ESC 100 itself.
  • the indicating device 300 is used to provide the user with obvious prompt information to prompt the current state of the motor 200 or/and the ESC 100 itself.
  • the specific structure of the pointing device 300 can be designed according to specific needs, as exemplified below.
  • the indicating device 300 can be an indicator light, and the light emitting form of the indicator light corresponds to the state information, and the current state of the motor 200 or/and the ESC 100 is represented by controlling the light emitting form of the indicator light. .
  • the light-emitting form of the indicator light includes at least one of the following: a light-emitting color, a light-emitting state, and a light-emitting brightness.
  • the light-emitting state may be constant light and extinction, speed of flashing, order of lighting, or frequency of light emission, and the like.
  • the illuminating color may be red, yellow, blue, or green, or the like.
  • the indicator light can be a light-emitting component such as an LED or a light bulb.
  • the LED is taken as an example, and the indicator light may be a monochrome LED or a multi-color LED.
  • the indicator light can be in different illumination forms to indicate different states of the ESC 100 or the motor 200.
  • the indicator light comprises a single color or multi-color lamp
  • the illumination pattern indicating that the ESC 100 or the motor 200 link is abnormal includes at least one of: using a monochrome lamp or a multi-color One of the lights in the light flashes, a monochrome light or In a multi-color lamp, a certain color lamp breathes, multi-color lights alternately flash, multi-color lights alternately breathe, multiple or multiple color lights in a multi-color lamp flash simultaneously, and at least two color lights in a multi-color lamp simultaneously emit light , Monochrome or multi-color lights alternately bright or bright with different lengths.
  • the indicator light comprises a single color or a multi-color lamp
  • the light-emitting form indicating that the effective throttle signal is not included includes at least one of the following: a color light of one of the monochrome light or the multi-color light flashes, A color lamp of a single color lamp or a multi-color lamp breathes and illuminates, the multi-color lamp alternately flashes, and the multi-color lamp alternately illuminates, at least two of the multi-color lamps flash simultaneously, and at least two of the multi-color lamps simultaneously Breathable, monochromatic or multi-colored lights alternately bright or bright with different lengths.
  • the indicator light comprises a single color or a multi-color lamp
  • the light-emitting form indicating that the motor 200 is abnormally operated includes at least one of the following: a color light of a single color lamp or a multi-color lamp blinks, One color lamp of a color lamp or a multi-color lamp breathes and illuminates, the multi-color lamp alternately flashes, the multi-color lamp alternately illuminates, and multiple or more color lights of the multi-color lamp flash simultaneously, and at least two color lights of the multi-color lamp At the same time, the breathing light, the monochrome light or the multi-color light alternately bright or bright with different lengths.
  • the indicator light comprises a single color or a multi-color lamp
  • the illumination pattern indicating that the motor 200 or the ESC 100 is normally powered on includes at least one of the following: a single or multi-color lamp is always on, single A color lamp of a color lamp or a multi-color lamp flashes, a color lamp of a monochrome lamp or a multi-color lamp breathes, a multi-color lamp alternately flashes, a multi-color lamp alternately emits light, and at least two color lamps of the multi-color lamp At the same time, at least two color lights of the multi-color lamp are simultaneously illuminating, and the monochromatic lamp or the multi-color lamp is alternately bright or light and bright at different lengths.
  • the indicator light comprises a single or multi-color lamp that represents the illumination pattern of the temperature of the motor 200 or ESC 100: the color temperature of the multi-color lamp to characterize the current temperature.
  • the indicator light comprises a single color or multi-color lamp
  • the illumination pattern indicating that the motor 200 is in an operating state includes at least one of the following: one or more color lights are constantly lit to indicate that the motor 200 is being Operation, multi-color lights alternately flash or alternately bright, one or more lights often breathe.
  • the indicator light comprises a single color or a multi-color lamp
  • the illumination pattern indicating the rotational speed and the throttle value of the motor 200 includes: a brightness of a monochromatic lamp or a multi-color lamp.
  • the indicator light comprises a single color or a multi-color lamp
  • the illumination form indicating that the motor 200 is in a full power output state comprises: a single color or a multi-color lamp is constantly lit, and the multi-color lamp alternately flashes or Always bright.
  • the indicating device 300 may also be a sounding device, and according to the state information of the motor 200 or/and the ESC 100, the sounding device is controlled to emit a prompt sound of a corresponding form, wherein the shape of the prompt sound is
  • the status information corresponds to indicate the current state of the motor 200 or/and the ESC 100 itself.
  • the form of the prompt tone may be a single tone or a multi-tone.
  • the form of the multi-tone may include at least one of the following: the number of single-tones, and the length of the single-tone.
  • the specific structure of the sounding device can be designed according to different requirements.
  • the sounding device of the motor is taken as an example of the sounding device.
  • the indicating device 300 can also display a state through which the state information of the motor 200 or/and the ESC 100 itself is displayed, indicating the current state of the motor 200 or/and the ESC 100 itself. For example, a different icon may be displayed on the display screen to indicate the current state of the motor 200 or/and the ESC 100 itself, or the display may directly display text content to indicate the motor 200 or/and the ESC 100 itself. The current state.
  • an embodiment of the present invention further provides a control system.
  • the control system is used to control the ESC 100 or/and the motor 200.
  • the control system includes one or more controllers 400.
  • the one or more controllers 400 operate individually or in concert.
  • the controller 400 is configured to: acquire state information of the motor 200 or/and the ESC 100 itself; according to the state information of the motor 200 or/and the ESC 100, the control indicating device 300 represents the motor 200 or/and The current state of the ESC 100 itself.
  • the status information of the ESC 100 includes at least one of the following: the power-on state of the ESC 100, the abnormal operation of the ESC 100, the internal temperature of the ESC 100, and the internal preset parameters of the motor 200 and the ESC 100. Mismatch, the throttle input is abnormal, and the link of the ESC 100 is abnormal.
  • the status information of the motor 200 includes at least one of the following: the motor 200 is powered on, the motor 200 is abnormal, the motor 200 is in the running state, and the motor 200 is in full operation.
  • the output state, the temperature of the motor 200, the motor 200 speed and the throttle value, and the link of the motor 200 are abnormal.
  • the indicating device 300 is used to provide the user with obvious prompt information to prompt the current state of the motor 200 or/and the ESC 100 itself.
  • the specific structure of the pointing device 300 can be designed according to specific needs, as exemplified below.
  • the indicating device 300 can be an indicator light, and the light emitting form of the indicator light corresponds to the state information, and the current state of the motor 200 or/and the ESC 100 is represented by controlling the light emitting form of the indicator light. .
  • the light-emitting form of the indicator light includes at least one of the following: a light-emitting color, a light-emitting state, and a light-emitting brightness.
  • the light-emitting state may be constant light and extinction, speed of flashing, order of lighting, or frequency of light emission, and the like.
  • the illuminating color may be red, yellow, blue, or green, or the like.
  • the indicator light can be a light-emitting component such as an LED or a light bulb.
  • the LED is taken as an example, and the indicator light may be a monochrome LED or a multi-color LED.
  • the indicator light can be in different illumination forms to indicate different states of the ESC 100 or the motor 200.
  • the indicator light comprises a single color or multi-color lamp
  • the illumination pattern indicating that the ESC 100 or the motor 200 link is abnormal includes at least one of: using a monochrome lamp or a multi-color One of the lights in the lamp flashes, one of the monochrome or multi-color lights breathes, the multi-color lights alternately flash, the multi-color lights alternately breathe, and multiple or multiple color lights in the multi-color light flash simultaneously At least two color lights of the multi-color lamp are simultaneously illuminating, and the monochromatic lamp or the multi-color lamp is alternately bright or bright or different lengths.
  • the indicator light comprises a single color or a multi-color lamp
  • the light-emitting form indicating that the effective throttle signal is not included includes at least one of the following: a color light of one of the monochrome light or the multi-color light flashes, A color lamp of a single color lamp or a multi-color lamp breathes and illuminates, the multi-color lamp alternately flashes, and the multi-color lamp alternately illuminates, at least two of the multi-color lamps flash simultaneously, and at least two of the multi-color lamps simultaneously Breathable, monochromatic or multi-colored lights alternately bright or bright with different lengths.
  • the indicator light comprises a single color or a multi-color lamp
  • the light-emitting form indicating that the motor 200 is abnormally operated includes at least one of the following: a color light of a single color lamp or a multi-color lamp blinks, One color lamp in a color lamp or a multi-color lamp is breathing and illuminating, and the multi-color lamp is handed over.
  • a color light of a single color lamp or a multi-color lamp blinks
  • One color lamp in a color lamp or a multi-color lamp is breathing and illuminating
  • the multi-color lamp is handed over.
  • multi-color lights alternately illuminate, multiple or multiple color lights in a multi-color lamp flash simultaneously, at least two of the multi-color lights simultaneously illuminate, monochromatic or multi-color lights alternately bright or different The length is bright.
  • the indicator light comprises a single color or a multi-color lamp
  • the illumination pattern indicating that the motor 200 or the ESC 100 is normally powered on includes at least one of the following: a single or multi-color lamp is always on, single A color lamp of a color lamp or a multi-color lamp flashes, a color lamp of a monochrome lamp or a multi-color lamp breathes, a multi-color lamp alternately flashes, a multi-color lamp alternately emits light, and at least two color lamps of the multi-color lamp At the same time, at least two color lights of the multi-color lamp are simultaneously illuminating, and the monochromatic lamp or the multi-color lamp is alternately bright or light and bright at different lengths.
  • the indicator light comprises a single color or multi-color lamp that represents the illumination pattern of the temperature of the motor 200 or ESC 100: the color temperature of the multi-color lamp is used to characterize the current temperature.
  • the indicator light comprises a single color or multi-color lamp
  • the illumination pattern indicating that the motor 200 is in an operating state includes at least one of the following: one or more color lights are constantly lit to indicate that the motor 200 is being Operation, multi-color lights alternately flash or alternately bright, one or more lights often breathe.
  • the indicator light comprises a single color or a multi-color lamp
  • the illumination pattern indicating the rotational speed and the throttle value of the motor 200 includes: a brightness of a monochromatic lamp or a multi-color lamp.
  • the indicator light comprises a single color or a multi-color lamp
  • the illumination form indicating that the motor 200 is in a full power output state comprises: a single color or a multi-color lamp is constantly lit, and the multi-color lamp alternately flashes or Always bright.
  • the indicating device 300 may also be a sounding device, and according to the state information of the motor 200 or/and the ESC 100, the sounding device is controlled to emit a prompt sound of a corresponding form, wherein the shape of the prompt sound is
  • the status information corresponds to indicate the current state of the motor 200 or/and the ESC 100 itself.
  • the form of the prompt tone may be a single tone or a multi-tone.
  • the form of the multi-tone may include at least one of the following: the number of single-tones, and the length of the single-tone.
  • the specific structure of the sounding device can be designed according to different requirements.
  • the sounding device of the motor is taken as an example of the sounding device.
  • the indicating device 300 can also display a state through which the state information of the motor 200 or/and the ESC 100 itself is displayed, indicating the current state of the motor 200 or/and the ESC 100 itself. For example, a different icon may be displayed on the display screen to indicate the current state of the motor 200 or/and the ESC 100 itself, or the display may directly display text content to indicate the motor 200 or/and the ESC 100 itself. The current state.
  • the setting position of the indicating device 300 can be designed according to different requirements.
  • the indicating device 300 can be disposed on the motor 200 or on the ESC 100.
  • the indicating device 300 may be disposed on a mobile platform to which the motor 200 and the ESC 100 are applied, for example, an unmanned aerial vehicle, a remote control vehicle, a pan/tilt, to which the motor 200 or the ESC 100 is applied.
  • controller 400 can be built in the ESC 100, as shown in FIG.
  • the pointing device 300 can prompt the working state of the motor 200 or/and the ESC 100 in a combination of an indicator light, a sounding device, a display screen, and the like. As shown in the following examples.
  • Embodiment Combination prompt method
  • an embodiment of the present invention further provides an ESC 100 for controlling an operating state of the motor 200.
  • the ESC 100 includes a housing, a pointing device 300, and a controller 400.
  • a pointing device 300 is mounted to the housing.
  • the specific mounting manner of the indicating device 300 can be designed according to different requirements.
  • the indicating device 300 is mounted on the surface of the housing. For example, when the indicating device 300 is an indicator light, the indicator light is directly mounted. On the surface of the housing.
  • the housing is provided with a mounting window, and the indicating device 300 is mounted within the mounting window of the housing.
  • the pointing device 300 is an indicator light
  • the indicator light is embedded in the mounting window of the housing.
  • the housing is provided with a through hole
  • the indicating device 300 is mounted in the housing
  • a corresponding through hole is provided.
  • the pointing device 300 is an electronic buzzer
  • the electronic buzzer is installed in the housing, and is disposed corresponding to the through hole of the housing, so that the electronic buzzer emits sound through the through hole.
  • the indicating device 300 is an indicator light installed in the housing, and the portion of the housing corresponding to the indicator light is transparent.
  • a controller 400 is mounted within the housing.
  • the controller 400 is configured to be electrically connected to the motor 200 and the pointing device 300.
  • the controller 400 controls the pointing device 300 of the ESC 100 to indicate the current state of the motor 200 or/and the ESC 100 itself according to the state information of the motor 200 or/and the ESC 100.
  • the specific control mode of the controller 400 is as described in the control system of the foregoing embodiment, and details are not described herein again.
  • an embodiment of the present invention further provides a Use the power pack of the ESC 100.
  • the power pack includes a motor 200, and an ESC 100.
  • the motor 200 is used to output power.
  • the ESC 100 is electrically coupled to the motor 200 for controlling the operating state of the motor 200.
  • the specific structure of the motor 200 may be a motor existing on the market, or a motor specially designed for the ESC 100 according to the present invention.
  • the specific structure of the motor 200 will not be described in detail herein.
  • a propeller 500 mounted on the motor 200 is further included.
  • the propeller 500 forms a paddle diameter of 540 mm and the motor 200 has a rotational speed of 130 rpm/V.
  • the power factor of each component of the power pack needs to be used in combination, so that the power of the power pack is made larger.
  • the following is an example of the power factor of the entire power package, ESC 100, motor 200, and propeller 500.
  • Embodiment Motor's dynamic coefficient
  • an embodiment of the present invention further provides an unmanned aerial vehicle to which the power kit is applied.
  • the UAV includes a fuselage 600, a motor 200, and an ESC 100.
  • the body 600 can be a body 600 of a fixed arm, a body 600 of a folding arm, a body 600 of a quick release arm, and the like.
  • the motor 200 is used to drive the propeller 500 to rotate to provide flight power.
  • the specific structure of the motor 200 is as described in the above embodiments, and details are not described herein again.
  • the ESC 100 is electrically coupled to the motor 200 for controlling the operating state of the motor 200.
  • the specific structure of the ESC 100 is as described in the ESC 100 of the above embodiment, and details are not described herein again.
  • the pointing device 300 is not limited to being disposed on the ESC 100, and may be disposed on the body 600 or the motor 200. In addition, the pointing device 300 is not limited to being controlled by the ESC 100, but may be controlled by other controllers.
  • the UAV includes a fuselage 600, a flight controller, an electric machine 200, and an ESC 100.
  • a flight controller is mounted to the body 600.
  • the motor 200 is used to drive the propeller 500 to rotate to provide flight power.
  • the ESC 100 is electrically connected to the motor 200 for controlling the operating state of the motor 200.
  • the indicating device 300 is used to indicate the current state of the motor 200 or/and the ESC 100.
  • the flight controller is electrically connected to the ESC 100 and the indicating device 300, and the flight controller controls the indication of the ESC 100 according to the state information of the motor 200 or/and the ESC 100.
  • Device 300 represents the current state of the motor 200 or/and ESC 100.
  • the above control method, control system, ESC, and UAV use indicator device to characterize the state of the ESC or/and the motor, so as to more intuitively know the working state of the ESC and the motor, and reduce the need for the ESC and the motor. Flight failure caused by status.
  • the output state of the power structure can be more intuitively reflected, helping to analyze the operation of the aircraft.
  • 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. It can also be implemented 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 controller 400 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.

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Abstract

一种电调(100)及其控制方法和控制系统、动力套装及无人飞行器，所述控制方法包括：获取电机(200)或/及电调(100)自身的状态信息；根据所述电机(200)或/及电调(100)自身的状态信息，控制指示装置(300)表示所述电机(200)或/及电调(100)自身的当前状态；上述控制方法、控制系统、电调电调(100)、无人飞行器采用指示装置(300)表征电调(100)或/及电机(200)的状态，以便较为直观地得知电调(100)与电机(200)的工作状态，减少因为不知道电调(100)与电机(200)的状态而引发的飞行故障，同时通过观测指示装置(300)更直观地反映动力结构的输出状态，帮助分析飞机的运行等情况。

Description

控制方法、系统，以及电调及采用该电调的动力套装、无人飞行器 技术领域
本发明涉及一种控制方法及系统，特别涉及一种电机/电调的控制方法、系统，以及采用该电调的动力套装以及无人飞行器。
背景技术
现有的市面上的电调(电子调速器，Electronic Speed Control)没有指示灯或指示等仅为简单装饰使用。其一，由于用户或者开发者在外场飞行时没有专业的设备，电子调速器或者电机异常的情况下是很难判断的，在飞行时会因故障引起不必要的损失。其二，现有无法在飞行中很直观的感受电机、电调的运行状态，难以对飞行中的动力做出更为直观的表述与评价等。
发明内容
鉴于此，本发明有必要提供一种有效减少无人飞行器的飞行故障的控制方法。
一种控制方法，用于控制电调或/及电机，其特征在于，包括：
获取电机或/及电调自身的状态信息；
根据所述电机或/及电调自身的状态信息，控制指示装置表示所述电机或/及电调自身的当前状态。
另一方面，基于上述控制方法，本发明还提供一种控制系统。
一种控制系统，用于控制电调或/及电机，其特征在于，包括：
一个或多个控制器，单独地或协同地工作，所述控制器用于：
获取电机或/及电调自身的状态信息；
根据所述电机或/及电调自身的状态信息，控制指示装置表示所述电机或/及电调自身的当前状态。
另一方面，基于上述控制方法，本发明还提供一种电调。
一种电调，用于控制电机的工作状态，其特征在于，所述电调包括：
壳体；
指示装置，安装在所述壳体；以及
控制器，安装在所述壳体内；所述控制器用于与所述电机以及所述指示装置电连接；
其中，所述控制器根据所述电机或/及电调的状态信息，控制所述电调的指示装置表示所述电机或/及电调自身的当前状态。
另一方面，基于上述电调，本发明还提供一种无人飞行器。
一种动力套装，其特征在于，包括：
电机，用于输出动力；以及
电调，与所述电机电连接，用于控制所述电机的工作状态；所述电调包括壳体、指示装置、以及控制器；所述指示装置安装在所述壳体；所述控制器安装在所述壳体内；所述控制器用于与所述电机以及所述指示装置电连接；
其中，所述控制器根据所述电机或/及电调的状态信息，控制所述电调的指示装置表示所述电机或/及电调自身的当前状态。
另一方面，基于上述控制方法，本发明还提供一种无人飞行器。
一种无人飞行器，特征在于，包括：
机身；
电机，用于驱动螺旋桨转动，以提供飞行动力；以及
电调，与所述电机电连接，用于控制所述电机的工作状态；所述电调包括壳体、指示装置、以及控制器；所述指示装置安装在所述壳体；所述控制器安装在所述壳体内；所述控制器用于与所述电机以及 所述指示装置电连接；
其中，所述控制器根据所述电机或/及电调的状态信息，控制所述电调的指示装置表示所述电机或/及电调自身的当前状态。
一种无人飞行器，特征在于，包括：
机身；
飞行控制器，安装在所述机身；
电机，用于驱动螺旋桨转动，以提供飞行动力；
电调，与所述电机电连接，用于控制所述电机的工作状态；以及
指示装置，用于表示所述电机或/及电调的当前状态；
其中，所述飞行控制器与所述电调及所述指示装置电连接，所述飞行控制器根据所述电机或/及电调的状态信息，控制所述电调的指示装置表示所述电机或/及电调的当前状态。
上述控制方法、控制系统、电调、无人飞行器采用指示装置表征电调或/及电机的状态，以便于较为直观地得知电调与电机的工作状态，减少因为不知道电调与电机的状态而引发的飞行故障。
另外，通过观测电调指示灯可以更直观的反映动力结构的输出状态，帮助分析飞机的运行等情况。
附图说明
图1为本发明的实施方式的控制方法的流程图；
图2为本发明的实施方式的电机与电调的示意图；
图3为本发明的实施方式的控制系统的示意图；
图4为本发明的另一实施方式的控制系统的示意图；
图5为本发明的实施方式的电调的结构示意图；
图6为本发明的实施方式的电调的电路原理示意图；
图7为本发明的实施方式的无人飞行器的示意图。
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。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
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。
本发明的实施例提供一种控制方法，用于根据动力套装中的元件的状态信息，控制指示装置表示所述动力套装中的元件的当前状态。
在其中一些实施例中，所述动力套装包括如下至少一个元件：电机，电调，螺旋桨。
在其中一些实施例中，该指示装置包括如下至少一种：指示灯，显示屏，发声装置。
在其中一些实施例中，该指示装置能够与如下至少一种装置一体化设置：电调，电机，应用该电机的移动平台，遥控装置。
在其中一些实施例中，该指示装置能够通过导线从下述装置上引出：电调，电机，应用该电机的移动平台，遥控装置。
在其中一些实施例中，该指示装置由如下至少一种装置控制：电调的控制系统，应用该电机的移动平台的控制系统，遥控装置的控制系统。
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。
请参阅图1及图2，本发明的实施例提供一种控制方法，用于控制电调100或/及电机200。所述方法包括如下步骤：
S1，获取电机200或/及电调100自身的状态信息。
其中，所述电调100自身的状态信息包括如下至少一种：所述电调100上电状态，电调100工作异常，电调100的内部温度，电机200与电调100的内部预设参数不匹配，油门输入量异常，电调100的链路异常。
所述电机200的状态信息包括如下至少一种：电机200上电状态，电机200异常，电机200正处于运行状态，电机200处于满功率输出状态，电机200的温度，电机200转速与油门值，电机200的链路异常。
步骤S2，根据所述电机200或/及电调100自身的状态信息，控制指示装置300表示所述电机200或/及电调100自身的当前状态。
指示装置300用于给用户提供明显的提示信息，以提示所述电机200或/及电调100自身的当前状态。指示装置300的具体结构可以根据具体需求来设计，以下举例说明。
所述指示装置300可以为指示灯，所述指示灯的发光形态与所述状态信息相对应，通过控制所述指示灯的发光形态，表示所述电机200或/及电调100自身的当前状态。
所述指示灯的发光形态包括如下至少一种：发光颜色，发光状态，发光亮度。例如，所述发光状态可以为常亮与熄灭，闪光的快慢，亮灯的次序，或发光频率等。所述发光颜色可以红色，黄色，蓝色，或绿色等。
指示灯可以为LED、灯泡等发光元器件。具体在本实施例中，以LED为例进行说明，该指示灯可以为单色LED，或多色LED。
指示灯可以采用不同发光形态，用于表示电调100或电机200不同的状态。例如，在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电调100或电机200链路出现异常的发光形态包括如下至少一种：使用单色灯或多色灯中某一种颜色灯闪烁，单色灯或 多色灯中某一颜色灯呼吸发光，多色灯交替闪烁，多色灯交替呼吸发光，多色灯中多个或多种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述无有效油门信号的发光形态包括如下至少一种：单色灯或多色灯中某一种颜色灯闪烁，单色灯或多色灯中某一颜色灯呼吸发光，多色灯交替闪烁，多色灯交替呼吸发光，多色灯中至少两种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200运行异常的发光形态包括如下至少一种：单色灯或多色灯中某一颜色灯闪烁，单色灯或多色灯中某一颜色灯呼吸发光，多色灯交替闪烁，多色灯交替呼吸发光，多色灯中多个或多种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200或电调100正常上电的发光形态包括如下至少一种：单色或多色灯常亮，单色灯或多色灯中某一颜色灯闪烁，单色灯或多色灯中某一颜色灯呼吸发光，多色灯交替闪烁，多色灯交替呼吸发光，多色灯中至少两种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200或电调100的温度的发光形态：多色灯的色温来表征当前所处温度。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200正处于运行状态的发光形态包括如下至少一种：一种或多种颜色灯常亮表征电机200正在运行，多色灯交替闪烁或交替常亮，一种或多色灯常呼吸发光。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200转速与油门值的发光形态包括：单色灯或多色灯的亮度。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200处于满功率输出状态的发光形态包括：单色或多色灯常亮示，多色灯交替闪烁或常亮。
所述指示装置300也可以为发声装置，根据所述电机200或/及所述电调100自身的状态信息，控制所述发声装置发出相应形态的提示音，其中，所述提示音的形态与所述状态信息相对应，用于表示所述电机200或/及所述电调100自身的当前状态。
所述提示音的形态可以为单频音或多频音。例如，当发生装置发出单频音时，所述多频音的形态可以包括如下至少一种：单频音的次数，单频音的长短。
所述发声装置的具体结构可以根据不同需求来设计，在本实施例中，以电机发声作为发声装置为例进行说明。
所述指示装置300也可以显示屏，通过所述显示屏显示所述电机200或/及电调100自身的状态信息，表示所述电机200或/及电调100自身的当前状态。例如，可以利用显示屏显示不同的图标来表示所述电机200或/及电调100自身的当前状态，或者，可以利用显示屏直接显示文字内容来表示所述电机200或/及电调100自身的当前状态。
请参阅图3，基于上述控制方法，本发明的实施例还提供一种控制系统。所述控制系统用于控制电调100或/及电机200。
所述控制系统包括一个或多个控制器400。该一个或多个控制器400单独地或协同地工作。所述控制器400用于：获取电机200或/及电调100自身的状态信息；根据所述电机200或/及电调100自身的状态信息，控制指示装置300表示所述电机200或/及电调100自身的当前状态。
其中，所述电调100自身的状态信息包括如下至少一种：所述电调100上电状态，电调100工作异常，电调100的内部温度，电机200与电调100的内部预设参数不匹配，油门输入量异常，电调100的链路异常。
所述电机200的状态信息包括如下至少一种：电机200上电状态，电机200异常，电机200正处于运行状态，电机200处于满功 率输出状态，电机200的温度，电机200转速与油门值，电机200的链路异常。
指示装置300用于给用户提供明显的提示信息，以提示所述电机200或/及电调100自身的当前状态。指示装置300的具体结构可以根据具体需求来设计，以下举例说明。
所述指示装置300可以为指示灯，所述指示灯的发光形态与所述状态信息相对应，通过控制所述指示灯的发光形态，表示所述电机200或/及电调100自身的当前状态。
所述指示灯的发光形态包括如下至少一种：发光颜色，发光状态，发光亮度。例如，所述发光状态可以为常亮与熄灭，闪光的快慢，亮灯的次序，或发光频率等。所述发光颜色可以红色，黄色，蓝色，或绿色等。
指示灯可以为LED、灯泡等发光元器件。具体在本实施例中，以LED为例进行说明，该指示灯可以为单色LED，或多色LED。
指示灯可以采用不同发光形态，用于表示电调100或电机200不同的状态。例如，在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电调100或电机200链路出现异常的发光形态包括如下至少一种：使用单色灯或多色灯中某一种颜色灯闪烁，单色灯或多色灯中某一颜色灯呼吸发光，多色灯交替闪烁，多色灯交替呼吸发光，多色灯中多个或多种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述无有效油门信号的发光形态包括如下至少一种：单色灯或多色灯中某一种颜色灯闪烁，单色灯或多色灯中某一颜色灯呼吸发光，多色灯交替闪烁，多色灯交替呼吸发光，多色灯中至少两种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200运行异常的发光形态包括如下至少一种：单色灯或多色灯中某一颜色灯闪烁，单色灯或多色灯中某一颜色灯呼吸发光，多色灯交 替闪烁，多色灯交替呼吸发光，多色灯中多个或多种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200或电调100正常上电的发光形态包括如下至少一种：单色或多色灯常亮，单色灯或多色灯中某一颜色灯闪烁，单色灯或多色灯中某一颜色灯呼吸发光，多色灯交替闪烁，多色灯交替呼吸发光，多色灯中至少两种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200或电调100的温度的发光形态：使用多色灯的色温来表征当前所处温度。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200正处于运行状态的发光形态包括如下至少一种：一种或多种颜色灯常亮表征电机200正在运行，多色灯交替闪烁或交替常亮，一种或多色灯常呼吸发光。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200转速与油门值的发光形态包括：单色灯或多色灯的亮度。
在其中一个实施例中，所述指示灯包括单色或多色灯，表示所述电机200处于满功率输出状态的发光形态包括：单色或多色灯常亮示，多色灯交替闪烁或常亮。
所述指示装置300也可以为发声装置，根据所述电机200或/及所述电调100自身的状态信息，控制所述发声装置发出相应形态的提示音，其中，所述提示音的形态与所述状态信息相对应，用于表示所述电机200或/及所述电调100自身的当前状态。
所述提示音的形态可以为单频音或多频音。例如，当发生装置发出单频音时，所述多频音的形态可以包括如下至少一种：单频音的次数，单频音的长短。
所述发声装置的具体结构可以根据不同需求来设计，在本实施例中，以电机发声作为发声装置为例进行说明。
所述指示装置300也可以显示屏，通过所述显示屏显示所述电机200或/及电调100自身的状态信息，表示所述电机200或/及电调100自身的当前状态。例如，可以利用显示屏显示不同的图标来表示所述电机200或/及电调100自身的当前状态，或者，可以利用显示屏直接显示文字内容来表示所述电机200或/及电调100自身的当前状态。
所述指示装置300的设置位置可以根据不同需求来设计，例如，所述指示装置300可以设于电机200上，或者电调100上。或者，所述指示装置300可以设置于应用该电机200、电调100的移动平台上，例如，应用该电机200或电调100的无人飞行器，遥控战车，云台。
需要说明的是，所述控制器400可以内置于所述电调100内，如图4所示。
需要说明的是，上述系统可以直接应用于电调100，移动平台的控制系统等。
需要说明的是，指示装置300可以以指示灯、发声装置、显示屏等组合方式来提示电机200或/及电调100的工作状态。如下述实施例所示。
实施例：组合提示方法
Figure PCTCN2016073198-appb-000001
Figure PCTCN2016073198-appb-000002
请参阅图5及图6，基于上述实施例的控制方法，本发明的实施例还提供一种用于控制电机200的工作状态的电调100。所述电调100包括壳体、指示装置300、以及控制器400。
指示装置300安装在所述壳体。指示装置300的具体安装方式可以根据不同的需求来设计，在其中一个实施例中，指示装置300安装在所述壳体的表面，例如，当指示装置300为指示灯时，指示灯直接贴装在所述壳体的表面。
在其中一个实施例中，所述壳体设有安装窗口，指示装置300安装在所述壳体的安装窗口内。例如，当指示装置300为指示灯时，指示灯嵌入所述壳体的安装窗口内。
在其中一个实施例中，所述壳体设有通孔，指示装置300安装在所述壳体内，并且对应的通孔设置。例如，当指示装置300为电子蜂鸣器时，电子蜂鸣器安装所述壳体内，并且对应所述壳体的通孔设置，以使所述电子蜂鸣器发出声音透过所述通孔。
在其中一个实施例中，所述指示装置300为指示灯，安装在所述壳体内，所述壳体对应所述指示灯的部位为透明。
控制器400安装在所述壳体内。所述控制器400用于与所述电机200以及所述指示装置300电连接。
其中，所述控制器400根据所述电机200或/及电调100的状态信息，控制所述电调100的指示装置300表示所述电机200或/及电调100自身的当前状态。
所述控制器400的具体控制方式，如上述实施例的控制系统所述，在此不再赘述。
请参阅图7，基于上述电调100，本发明的实施例还提供一种应 用该电调100的动力套装。所述动力套装包括电机200、以及电调100。电机200用于输出动力。电调100与所述电机200电连接，用于控制所述电机200的工作状态。
电机200的具体结构可以为市场上已有的电机，或者，根据本发明的电调100特制的电机。电机200的具体结构在此不再详述赘述。
电调100的具体结构，如上述实施例的电调所述，在此不再详述赘述。
进一步的，还包括安装在所述电机200上的螺旋桨500。例如，所述螺旋桨500形成的桨盘直径为540mm，所述电机200的转速为130rpm/V。
所述动力套装的各个元件的动力系数需要配合使用，采用使得动力套装的功率较大。以下结合整个动力套装、电调100、电机200、螺旋桨500的动力系数举例说明。
实施例：动力套装的动力系数表
项目 系数
最大拉力 5100克/轴(50V，海平面)
推荐电池 12S LiPo
推荐起飞重量 1800-2500克/轴(海平面)
使用环境温度 -10至50℃
实施例：电调的动力系数
项目 系数
最大允许电压 52.2V
最大允许电流(持续) 25A
最大允许峰值电流(3秒) 40A
PWM输入信号电平 3.3V/5V兼容
工作脉宽 1120-1920μs
兼容信号频率 30-450Hz
电池 12S LiPo
尺寸 85mm×44mm×18mm(±10)
线长 750±20mm
重量(不含线) 55±10g
实施例：电机的动力系数
项目 系数
速度常数 130±10rpm/V
反电动势常数 0.0734±0.01V·s/rad
机械时间常数 200±20ms
电机转子惯量 529±20kg·cm2
转子总惯量(含桨) 1029±100kg·cm2
扭矩常数 0.0760±0.01N·m/A
线电感 0.224±0.01mH
线电阻 230±10mΩ
热时间常数 600±20s
实施例：螺旋桨的动力系数
Figure PCTCN2016073198-appb-000003
请参阅图7，基于上述动力套装，本发明的实施例还提供一种应用该动力套装的无人飞行器。所述无人飞行器包括机身600、电机200、以及电调100。
机身600的具体结构可以根据不同需求来设计，例如，机身600可以为固定机臂的机身600，折叠机臂的机身600，快拆机臂的机身600等等。
电机200用于驱动螺旋桨500转动，以提供飞行动力。电机200的具体结构如上述实施例所述，在此不再详细赘述。
电调100与所述电机200电连接，用于控制所述电机200的工作状态。电调100的具体结构，如上述实施例的电调100所述，在此不再详述赘述。
需要说明的是，指示装置300不限于设于电调100上，也可以设于机身600或电机200上。另外，指示装置300不限于由电调100控制，也可以由其他控制器来控制。
例如，在其中一个实施例中，所述无人飞行器包括机身600、飞行控制器、电机200、以及电调100。飞行控制器，安装在所述机身600。电机200，用于驱动螺旋桨500转动，以提供飞行动力。电调100，与所述电机200电连接，用于控制所述电机200的工作状态。指示装置300，用于表示所述电机200或/及电调100的当前状态。其中，所述飞行控制器与所述电调100及所述指示装置300电连接，所述飞行控制器根据所述电机200或/及电调100的状态信息，控制所述电调100的指示装置300表示所述电机200或/及电调100的当前状态。
上述控制方法、控制系统、电调、无人飞行器采用指示装置表征电调或/及电机的状态，以便于较为直观地得知电调与电机的工作状态，减少因为不知道电调与电机的状态而引发的飞行故障。
另外，通过观测电调指示灯可以更直观的反映动力结构的输出状态，帮助分析飞机的运行等情况。
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控制器400(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。

Claims (30)

  1. 一种控制方法，用于控制电调或/及电机，其特征在于，包括：
    获取电机或/及电调自身的状态信息；
    根据所述电机或/及电调自身的状态信息，控制指示装置表示所述电机或/及电调自身的当前状态。
  2. 根据权利要求1所述的控制方法，其特征在于，所述指示装置包括指示灯，所述指示灯的发光形态与所述状态信息相对应，通过控制所述指示灯的发光形态，表示所述电机或/及电调自身的当前状态。
  3. 根据权利要求2所述的控制方法，其特征在于，所述指示灯的发光形态包括如下至少一种：发光颜色，发光状态，发光亮度。
  4. 根据权利要求3所述的控制方法，其特征在于，所述发光状态包括如下至少一种：常亮与熄灭，闪光的快慢，亮灯的次序，发光频率。
  5. 根据权利要求3所述的控制方法，其特征在于，所述发光颜色包括如下至少一种：红色，黄色，绿色，蓝色。
  6. 根据权利要求2所述的控制方法，其特征在于，所述指示灯包括单色或多色灯，表示所述电调或电机链路出现异常的发光形态包括如下至少一种：使用单色灯或多色灯中某一种颜色灯闪烁，单色灯或多色灯中某一颜色灯呼吸发光，多色灯交替闪烁，多色灯交替呼吸发光，多色灯中多个或多种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
  7. 根据权利要求2所述的控制方法，其特征在于，所述指示灯包括单色或多色灯，表示所述无有效油门信号的发光形态包括如下至少一种：单色灯或多色灯中某一种颜色灯闪烁，单色灯或多色灯中某一颜色灯呼吸发光，多色灯交替闪烁，多色灯交替呼吸发光，多色灯中至少两种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
  8. 根据权利要求2所述的控制方法，其特征在于，所述指示灯 包括单色或多色灯，表示所述电机运行异常的发光形态包括如下至少一种：单色灯或多色灯中某一颜色灯闪烁，单色灯或多色灯中某一颜色灯呼吸发光，多色灯交替闪烁，多色灯交替呼吸发光，多色灯中多个或多种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
  9. 根据权利要求2所述的控制方法，其特征在于，所述指示灯包括单色或多色灯，表示所述电机或电调正常上电的发光形态包括如下至少一种：单色或多色灯常亮，单色灯或多色灯中某一颜色灯闪烁，单色灯或多色灯中某一颜色灯呼吸发光，多色灯交替闪烁，多色灯交替呼吸发光，多色灯中至少两种颜色灯同时闪烁，多色灯中至少两种颜色灯同时呼吸发光，单色灯或多色灯长短交替亮或以不同长度亮。
  10. 根据权利要求2所述的控制方法，其特征在于，所述指示灯包括单色或多色灯，表示所述电机或电调的温度的发光形态：多色灯的色温来表征当前所处温度。
  11. 根据权利要求2所述的控制方法，其特征在于，所述指示灯包括单色或多色灯，表示所述电机正处于运行状态的发光形态包括如下至少一种：一种或多种颜色灯常亮表征电机正在运行，多色灯交替闪烁或交替常亮，一种或多色灯常呼吸发光。
  12. 根据权利要求2所述的控制方法，其特征在于，所述指示灯包括单色或多色灯，表示所述电机转速与油门值的发光形态包括：单色灯或多色灯的亮度。
  13. 根据权利要求2所述的控制方法，其特征在于，所述指示灯包括单色或多色灯，表示所述电机处于满功率输出状态的发光形态包括：单色或多色灯常亮示，多色灯交替闪烁或常亮。
  14. 根据权利要求1所述的控制方法，其特征在于，所述指示装置包括发声装置，根据所述电机或/及所述电调自身的状态信息，控制所述发声装置发出相应形态的提示音，其中，所述提示音的形态与所述状态信息相对应，用于表示所述电机或/及所述电调自身的当前状态。
  15. 根据权利要求14所述的控制方法，其特征在于，所述提示 音的形态包括如下至少一种：单频音，多频音。
  16. 根据权利要求15所述的控制方法，其特征在于，所述多频音的形态包括如下至少一种：单频音的次数，单频音的长短。
  17. 根据权利要求14所述的控制方法，其特征在于，所述发声装置电子式蜂鸣器或电机。
  18. 根据权利要求1所述的控制方法，其特征在于，所述指示装置包括显示屏，通过所述显示屏显示所述电机或/及电调自身的状态信息，表示所述电机或/及电调自身的当前状态。
  19. 根据权利要求1所述的控制方法，其特征在于，所述电调自身的状态信息包括：所述电调上电状态，电调工作异常，电调的内部温度，电机与电调的内部预设参数不匹配，油门输入量异常，电调的链路异常。
  20. 根据权利要求1所述的控制方法，其特征在于，所述电机的状态信息包括如下至少一种：电机上电状态，电机异常，电机正处于运行状态，电机处于满功率输出状态，电机的温度，电机转速与油门值，电机的链路异常。
  21. 一种控制系统，用于控制电调或/及电机，其特征在于，包括：
    一个或多个控制器，单独地或协同地工作，所述控制器用于：
    获取电机或/及电调自身的状态信息；
    根据所述电机或/及电调自身的状态信息，控制指示装置表示所述电机或/及电调自身的当前状态。
  22. 根据权利要求21所述的控制系统，其特征在于，所述指示装置安装如下至少一个位置：所述电机，所述电调，应用该电机的移动平台。
  23. 根据权利要求21所述的控制系统，其特征在于，所述控制系统应用在电调或应用该电机的移动平台。
  24. 一种电调，用于控制电机的工作状态，其特征在于，所述电调包括：
    壳体；
    指示装置，安装在所述壳体；以及
    控制器，安装在所述壳体内；所述控制器用于与所述电机以及所述指示装置电连接；
    其中，所述控制器根据所述电机或/及电调的状态信息，控制所述电调的指示装置表示所述电机或/及电调自身的当前状态。
  25. 一种动力套装，其特征在于，包括：
    电机，用于输出动力；以及
    电调，与所述电机电连接，用于控制所述电机的工作状态；所述电调包括壳体、指示装置、以及控制器；所述指示装置安装在所述壳体；所述控制器安装在所述壳体内；所述控制器用于与所述电机以及所述指示装置电连接；
    其中，所述控制器根据所述电机或/及电调的状态信息，控制所述电调的指示装置表示所述电机或/及电调自身的当前状态。
  26. 根据权利要求25所述的动力套装，其特征在于，还包括安装在所述电机上的螺旋桨。
  27. 根据权利要求26所述的动力套装，其特征在于，所述螺旋桨形成的桨盘直径为540mm，所述电机的转速为130rpm/V。
  28. 根据权利要求26所述的动力套装，其特征在于，所述动力套装的最大拉力为5100克/轴。
  29. 一种无人飞行器，特征在于，包括：
    机身；
    电机，用于驱动螺旋桨转动，以提供飞行动力；以及
    电调，与所述电机电连接，用于控制所述电机的工作状态；所述电调包括壳体、指示装置、以及控制器；所述指示装置安装在所述壳体；所述控制器安装在所述壳体内；所述控制器用于与所述电机以及所述指示装置电连接；
    其中，所述控制器根据所述电机或/及电调的状态信息，控制所述电调的指示装置表示所述电机或/及电调自身的当前状态。
  30. 一种无人飞行器，特征在于，包括：
    机身；
    飞行控制器，安装在所述机身；
    电机，用于驱动螺旋桨转动，以提供飞行动力；
    电调，与所述电机电连接，用于控制所述电机的工作状态；以及
    指示装置，用于表示所述电机或/及电调的当前状态；
    其中，所述飞行控制器与所述电调及所述指示装置电连接，所述飞行控制器根据所述电机或/及电调的状态信息，控制所述电调的指示装置表示所述电机或/及电调的当前状态。
PCT/CN2016/073198 2016-02-02 2016-02-02 控制方法、系统，以及电调及采用该电调的动力套装、无人飞行器 WO2017132833A1 (zh)

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